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reduce stack usage (cause some crashes in low-stack tests)

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fix crashing bug in changeVisualShape
add differential gear version of racecar (only 2 back wheels are powered)
This commit is contained in:
Erwin Coumans
2017-06-20 20:22:14 -07:00
parent 61f27a5c72
commit 71170d6384
7 changed files with 857 additions and 33 deletions
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30
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -3181,24 +3181,24 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
clientCmd.m_requestPixelDataArguments.m_projectionMatrix);
} else
{
SharedMemoryStatus tmpCmd = serverStatusOut;
b3OpenGLVisualizerCameraInfo tmpCamResult;
bool result = this->m_data->m_guiHelper->getCameraInfo(
&tmpCmd.m_visualizerCameraResultArgs.m_width,
&tmpCmd.m_visualizerCameraResultArgs.m_height,
tmpCmd.m_visualizerCameraResultArgs.m_viewMatrix,
tmpCmd.m_visualizerCameraResultArgs.m_projectionMatrix,
tmpCmd.m_visualizerCameraResultArgs.m_camUp,
tmpCmd.m_visualizerCameraResultArgs.m_camForward,
tmpCmd.m_visualizerCameraResultArgs.m_horizontal,
tmpCmd.m_visualizerCameraResultArgs.m_vertical,
&tmpCmd.m_visualizerCameraResultArgs.m_yaw,
&tmpCmd.m_visualizerCameraResultArgs.m_pitch,
&tmpCmd.m_visualizerCameraResultArgs.m_dist,
tmpCmd.m_visualizerCameraResultArgs.m_target);
&tmpCamResult.m_width,
&tmpCamResult.m_height,
tmpCamResult.m_viewMatrix,
tmpCamResult.m_projectionMatrix,
tmpCamResult.m_camUp,
tmpCamResult.m_camForward,
tmpCamResult.m_horizontal,
tmpCamResult.m_vertical,
&tmpCamResult.m_yaw,
&tmpCamResult.m_pitch,
&tmpCamResult.m_dist,
tmpCamResult.m_target);
if (result)
{
m_data->m_visualConverter.render(tmpCmd.m_visualizerCameraResultArgs.m_viewMatrix,
tmpCmd.m_visualizerCameraResultArgs.m_projectionMatrix);
m_data->m_visualConverter.render(tmpCamResult.m_viewMatrix,
tmpCamResult.m_projectionMatrix);
} else
{
m_data->m_visualConverter.render();