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Change b3GetLinkState to use numLinks in status handle

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Changes the b3GetLinkState function to use numLinks from the
SharedMemoryStatus returned from RequestActualState instead of the
cached number of link value returned by b3GetNumJoints.

The cached value can be outdated when a new body is added and
SyncBodyInfo isn't used, while using the value in the status is always
up-to-date.
This commit is contained in:
Tigran Gasparian
2018-09-11 14:44:06 +02:00
parent ab84975ca9
commit 58699258dd
1 changed files with 3 additions and 3 deletions
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6
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -1008,10 +1008,10 @@ B3_SHARED_API int b3GetLinkState(b3PhysicsClientHandle physClient, b3SharedMemor
int bodyIndex = status->m_sendActualStateArgs.m_bodyUniqueId; int bodyIndex = status->m_sendActualStateArgs.m_bodyUniqueId;
b3Assert(bodyIndex>=0); b3Assert(bodyIndex>=0);
b3Assert(linkIndex >= 0); b3Assert(linkIndex >= 0);
int numJoints = b3GetNumJoints(physClient,bodyIndex); int numLinks = status->m_sendActualStateArgs.m_numLinks;
b3Assert(linkIndex < numJoints); b3Assert(linkIndex < numLinks);
if ((bodyIndex>=0) && (linkIndex >= 0) && linkIndex < numJoints) if ((bodyIndex>=0) && (linkIndex >= 0) && linkIndex < numLinks)
{ {
b3Transform wlf,com,inertial; b3Transform wlf,com,inertial;