From db9bc4f835a10e7e159581ad584b9b802c9f05e1 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Mon, 9 Sep 2019 18:05:29 -0700
Subject: [PATCH] PyBullet: write body sync data to larger shared memory

---
 examples/SharedMemory/PhysicsServerCommandProcessor.cpp | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 05f02189e..03fd8d09d 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -5963,6 +5963,8 @@ bool PhysicsServerCommandProcessor::processSyncBodyInfoCommand(const struct Shar
 	b3AlignedObjectArray<int> usedHandles;
 	m_data->m_bodyHandles.getUsedHandles(usedHandles);
 	int actualNumBodies = 0;
+	int* bodyUids = (int*)bufferServerToClient;
+
 	for (int i = 0; i < usedHandles.size(); i++)
 	{
 		int usedHandle = usedHandles[i];
@@ -5973,18 +5975,18 @@ bool PhysicsServerCommandProcessor::processSyncBodyInfoCommand(const struct Shar
 		if (body && (body->m_multiBody || body->m_rigidBody))
 #endif
 		{
-			serverStatusOut.m_sdfLoadedArgs.m_bodyUniqueIds[actualNumBodies++] = usedHandle;
+			bodyUids[actualNumBodies++] = usedHandle;
 		}
 	}
 	serverStatusOut.m_sdfLoadedArgs.m_numBodies = actualNumBodies;
 
 	int usz = m_data->m_userConstraints.size();
+	int* constraintUid = bodyUids + actualNumBodies;
 	serverStatusOut.m_sdfLoadedArgs.m_numUserConstraints = usz;
 	for (int i = 0; i < usz; i++)
 	{
 		int key = m_data->m_userConstraints.getKeyAtIndex(i).getUid1();
-		//						int uid = m_data->m_userConstraints.getAtIndex(i)->m_userConstraintData.m_userConstraintUniqueId;
-		serverStatusOut.m_sdfLoadedArgs.m_userConstraintUniqueIds[i] = key;
+		constraintUid[i] = key;
 	}
 
 	serverStatusOut.m_type = CMD_SYNC_BODY_INFO_COMPLETED;