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revert linkNames in createMultiBody, we cannot pass pointers pointing to local memory (storing the string) around into shared memory or over the network.

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This commit is contained in:
Erwin Coumans
2021-09-20 12:22:30 -07:00
parent 4e881118ef
commit 87605ca4c8
6 changed files with 10 additions and 26 deletions
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5
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -2160,8 +2160,7 @@ B3_SHARED_API int b3CreateMultiBodyLink(b3SharedMemoryCommandHandle commandHandl
const double linkInertialFrameOrientation[4],
int linkParentIndex,
int linkJointType,
const double linkJointAxis[3],
const char* const linkName)
const double linkJointAxis[3])
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command);
@@ -2206,7 +2205,7 @@ B3_SHARED_API int b3CreateMultiBodyLink(b3SharedMemoryCommandHandle commandHandl
command->m_createMultiBodyArgs.m_linkJointAxis[3 * linkIndex + 2] = linkJointAxis[2];
command->m_createMultiBodyArgs.m_linkMasses[linkIndex] = linkMass;
command->m_createMultiBodyArgs.m_linkNames[linkIndex] = linkName;
command->m_createMultiBodyArgs.m_numLinks++;
return numLinks;
}