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PyBullet: write body sync data to larger shared memory

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This commit is contained in:
Erwin Coumans
2019-09-09 18:05:29 -07:00
parent 64ea8e9f27
commit db9bc4f835
1 changed files with 5 additions and 3 deletions
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8
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -5963,6 +5963,8 @@ bool PhysicsServerCommandProcessor::processSyncBodyInfoCommand(const struct Shar
b3AlignedObjectArray<int> usedHandles; b3AlignedObjectArray<int> usedHandles;
m_data->m_bodyHandles.getUsedHandles(usedHandles); m_data->m_bodyHandles.getUsedHandles(usedHandles);
int actualNumBodies = 0; int actualNumBodies = 0;
int* bodyUids = (int*)bufferServerToClient;
for (int i = 0; i < usedHandles.size(); i++) for (int i = 0; i < usedHandles.size(); i++)
{ {
int usedHandle = usedHandles[i]; int usedHandle = usedHandles[i];
@@ -5973,18 +5975,18 @@ bool PhysicsServerCommandProcessor::processSyncBodyInfoCommand(const struct Shar
if (body && (body->m_multiBody || body->m_rigidBody)) if (body && (body->m_multiBody || body->m_rigidBody))
#endif #endif
{ {
serverStatusOut.m_sdfLoadedArgs.m_bodyUniqueIds[actualNumBodies++] = usedHandle; bodyUids[actualNumBodies++] = usedHandle;
} }
} }
serverStatusOut.m_sdfLoadedArgs.m_numBodies = actualNumBodies; serverStatusOut.m_sdfLoadedArgs.m_numBodies = actualNumBodies;
int usz = m_data->m_userConstraints.size(); int usz = m_data->m_userConstraints.size();
int* constraintUid = bodyUids + actualNumBodies;
serverStatusOut.m_sdfLoadedArgs.m_numUserConstraints = usz; serverStatusOut.m_sdfLoadedArgs.m_numUserConstraints = usz;
for (int i = 0; i < usz; i++) for (int i = 0; i < usz; i++)
{ {
int key = m_data->m_userConstraints.getKeyAtIndex(i).getUid1(); int key = m_data->m_userConstraints.getKeyAtIndex(i).getUid1();
// int uid = m_data->m_userConstraints.getAtIndex(i)->m_userConstraintData.m_userConstraintUniqueId; constraintUid[i] = key;
serverStatusOut.m_sdfLoadedArgs.m_userConstraintUniqueIds[i] = key;
} }
serverStatusOut.m_type = CMD_SYNC_BODY_INFO_COMPLETED; serverStatusOut.m_type = CMD_SYNC_BODY_INFO_COMPLETED;