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| author | erwincoumans <erwincoumans@google.com> | 2020-12-22 17:18:09 -0800 |
|---|---|---|
| committer | GitHub <noreply@github.com> | 2020-12-22 17:18:09 -0800 |
| commit | bbb6f86d1255788888c722540547ae658f82e3bd (patch) | |
| tree | 82b1622b1e2fc68ce1eb4da2a3962dff3c399650 | |
| parent | b1f76960ff630969050f90784b1f254ad6a7ded8 (diff) | |
| parent | 6d1dae286b19b9c12a60ee141219a017900a9eae (diff) | |
| download | bullet3-bbb6f86d1255788888c722540547ae658f82e3bd.tar.gz | |
Merge pull request #3198 from erwincoumans/master
fix changeDynamics for to set lower/upper joint limits
| -rw-r--r-- | examples/SharedMemory/GraphicsServerExample.cpp | 8 | ||||
| -rw-r--r-- | examples/SharedMemory/PhysicsServerCommandProcessor.cpp | 5 |
2 files changed, 8 insertions, 5 deletions
diff --git a/examples/SharedMemory/GraphicsServerExample.cpp b/examples/SharedMemory/GraphicsServerExample.cpp index 3e92b75c4..2b32480a6 100644 --- a/examples/SharedMemory/GraphicsServerExample.cpp +++ b/examples/SharedMemory/GraphicsServerExample.cpp @@ -347,6 +347,11 @@ void TCPThreadFunc(void* userPtr, void* lsMemory) case GFX_CMD_SET_VISUALIZER_FLAG: { + //disable single step rendering for GraphicsServer + if (args->m_cmdPtr->m_visualizerFlagCommand.m_visualizerFlag == COV_ENABLE_SINGLE_STEP_RENDERING) + { + args->m_cmdPtr->m_visualizerFlagCommand.m_visualizerFlag = 0; + } args->submitCommand(); while (args->isCommandOutstanding()) { @@ -740,7 +745,8 @@ public: } case GFX_CMD_SET_VISUALIZER_FLAG: { - if (clientCmd.m_visualizerFlagCommand.m_visualizerFlag != COV_ENABLE_RENDERING) + if ((clientCmd.m_visualizerFlagCommand.m_visualizerFlag != COV_ENABLE_RENDERING) && + (clientCmd.m_visualizerFlagCommand.m_visualizerFlag != COV_ENABLE_SINGLE_STEP_RENDERING)) { //printf("clientCmd.m_visualizerFlag.m_visualizerFlag: %d, clientCmd.m_visualizerFlag.m_enable %d\n", // clientCmd.m_visualizerFlagCommand.m_visualizerFlag, clientCmd.m_visualizerFlagCommand.m_enable); diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 46de664e9..295e202c5 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -9735,10 +9735,7 @@ bool PhysicsServerCommandProcessor::processChangeDynamicsInfoCommand(const struc btMultiBodyConstraint* mbc = m_data->m_dynamicsWorld->getMultiBodyConstraint(c); if (mbc->getConstraintType() == MULTIBODY_CONSTRAINT_LIMIT) { - if (((mbc->getMultiBodyA() == mb) && (mbc->getLinkA() == linkIndex)) - || - ((mbc->getMultiBodyB() == mb) && ((mbc->getLinkB() == linkIndex))) - ) + if ((mbc->getMultiBodyA() == mb) && (mbc->getLinkA() == linkIndex)) { limC = (btMultiBodyJointLimitConstraint*)mbc; } |