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catch setting of invalid joint angles in PhysicsClientC_Api

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use the proper m_bodyUniqueIndex (todo: fix this field, move to shared command data)
This commit is contained in:
Erwin Coumans
2015-10-24 13:48:53 -07:00
parent 25fb92c4c9
commit f28150c368
2 changed files with 9 additions and 5 deletions
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12
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -313,12 +313,16 @@ int b3CreatePoseCommandSetJointPositions(b3SharedMemoryCommandHandle commandHand
int b3CreatePoseCommandSetJointPosition(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle, int jointIndex, double jointPosition)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_INIT_POSE);
command->m_updateFlags |=INIT_POSE_HAS_JOINT_STATE;
b3Assert(command);
b3Assert(command->m_type == CMD_INIT_POSE);
command->m_updateFlags |=INIT_POSE_HAS_JOINT_STATE;
b3JointInfo info;
b3GetJointInfo(physClient, command->m_initPoseArgs.m_bodyUniqueId,jointIndex, &info);
command->m_initPoseArgs.m_initialStateQ[info.m_qIndex] = jointPosition;
btAssert((info.m_flags & JOINT_HAS_MOTORIZED_POWER) && info.m_qIndex >=0);
if ((info.m_flags & JOINT_HAS_MOTORIZED_POWER) && info.m_qIndex >=0)
{
command->m_initPoseArgs.m_initialStateQ[info.m_qIndex] = jointPosition;
}
return 0;
}