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PyBullet: Fix syncBodyInfo for over 512 bodies.

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PyBullet: Fix issue related to recent change in drawDebugDrawerLines (soft body)
This commit is contained in:
Erwin Coumans
2019-09-09 14:56:26 -07:00
parent 4515fcbfaf
commit 5a3c60c709
4 changed files with 117 additions and 33 deletions
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40
examples/SharedMemory/PhysicsClientSharedMemory.cpp
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@@ -1529,19 +1529,45 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus()
{
B3_PROFILE("CMD_LOADING_COMPLETED");
int numConstraints = serverCmd.m_sdfLoadedArgs.m_numUserConstraints;
for (int i = 0; i < numConstraints; i++)
{
int constraintUid = serverCmd.m_sdfLoadedArgs.m_userConstraintUniqueIds[i];
m_data->m_constraintIdsRequestInfo.push_back(constraintUid);
}
int numBodies = serverCmd.m_sdfLoadedArgs.m_numBodies;
if (serverCmd.m_type == CMD_SYNC_BODY_INFO_COMPLETED)
{
int* ids = (int*)m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor;
int* constraintUids = ids + numBodies;
for (int i = 0; i < numConstraints; i++)
{
int constraintUid = constraintUids[i];
m_data->m_constraintIdsRequestInfo.push_back(constraintUid);
}
}
else
{
for (int i = 0; i < numConstraints; i++)
{
int constraintUid = serverCmd.m_sdfLoadedArgs.m_userConstraintUniqueIds[i];
m_data->m_constraintIdsRequestInfo.push_back(constraintUid);
}
}
if (numBodies > 0)
{
m_data->m_tempBackupServerStatus = m_data->m_lastServerStatus;
for (int i = 0; i < numBodies; i++)
if (serverCmd.m_type == CMD_SYNC_BODY_INFO_COMPLETED)
{
m_data->m_bodyIdsRequestInfo.push_back(serverCmd.m_sdfLoadedArgs.m_bodyUniqueIds[i]);
int* bodyIds = (int*)m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor;
for (int i = 0; i < numBodies; i++)
{
m_data->m_bodyIdsRequestInfo.push_back(bodyIds[i]);
}
}
else
{
for (int i = 0; i < numBodies; i++)
{
m_data->m_bodyIdsRequestInfo.push_back(serverCmd.m_sdfLoadedArgs.m_bodyUniqueIds[i]);
}
}
int bodyId = m_data->m_bodyIdsRequestInfo[m_data->m_bodyIdsRequestInfo.size() - 1];