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fix issue when re-connecting to physics server, after removeBody.

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This commit is contained in:
Erwin Coumans
2017-05-16 17:19:45 -07:00
parent 433d11d8cf
commit ea10c6d335
1 changed files with 4 additions and 3 deletions
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7
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -2181,7 +2181,7 @@ int PhysicsServerCommandProcessor::createBodyInfoStream(int bodyUniqueId, char*
//serialize the btMultiBody and send the data to the client. This is one way to get the link/joint names across the (shared memory) wire //serialize the btMultiBody and send the data to the client. This is one way to get the link/joint names across the (shared memory) wire
InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(bodyUniqueId); InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(bodyUniqueId);
btMultiBody* mb = bodyHandle->m_multiBody; btMultiBody* mb = bodyHandle? bodyHandle->m_multiBody:0;
if (mb) if (mb)
{ {
UrdfLinkNameMapUtil* util = new UrdfLinkNameMapUtil; UrdfLinkNameMapUtil* util = new UrdfLinkNameMapUtil;
@@ -2837,10 +2837,11 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
int actualNumBodies = 0; int actualNumBodies = 0;
for (int i=0;i<usedHandles.size();i++) for (int i=0;i<usedHandles.size();i++)
{ {
InteralBodyData* body = m_data->m_bodyHandles.getHandle(usedHandles[i]); int usedHandle = usedHandles[i];
InteralBodyData* body = m_data->m_bodyHandles.getHandle(usedHandle);
if (body && (body->m_multiBody || body->m_rigidBody)) if (body && (body->m_multiBody || body->m_rigidBody))
{ {
serverStatusOut.m_sdfLoadedArgs.m_bodyUniqueIds[actualNumBodies++] = i; serverStatusOut.m_sdfLoadedArgs.m_bodyUniqueIds[actualNumBodies++] = usedHandle;
} }
} }
serverStatusOut.m_sdfLoadedArgs.m_numBodies = actualNumBodies; serverStatusOut.m_sdfLoadedArgs.m_numBodies = actualNumBodies;