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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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4
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -318,7 +318,11 @@ int b3CreatePoseCommandSetJointPosition(b3PhysicsClientHandle physClient, b3Shar
command->m_updateFlags |=INIT_POSE_HAS_JOINT_STATE;
b3JointInfo info;
b3GetJointInfo(physClient, command->m_initPoseArgs.m_bodyUniqueId,jointIndex, &info);
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;
}

2
examples/SharedMemory/PhysicsServer.cpp
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@@ -1246,7 +1246,7 @@ void PhysicsServerSharedMemory::processClientCommands()
{
b3Printf("Server Init Pose not implemented yet");
}
int bodyUniqueId = clientCmd.m_sendDesiredStateCommandArgument.m_bodyUniqueId;
int bodyUniqueId = clientCmd.m_initPoseArgs.m_bodyUniqueId;
InteralBodyData* body = m_data->getHandle(bodyUniqueId);
if (body && body->m_multiBody)