From d88d0e92effc69b0b39e8219bc1c18affb2137a5 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Tue, 7 Jul 2020 19:49:29 -0700
Subject: [PATCH] also update m_jointLowerLimit/m_jointUpperLimit in multibody
 link.

---
 examples/SharedMemory/PhysicsServerCommandProcessor.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index e3f37862f..17f164775 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -9355,6 +9355,8 @@ bool PhysicsServerCommandProcessor::processChangeDynamicsInfoCommand(const struc
 								limC->setLowerBound(lower);
 								limC->setUpperBound(upper);
 							}
+							mb->getLink(linkIndex).m_jointLowerLimit = lower;
+							mb->getLink(linkIndex).m_jointUpperLimit = upper;
 						}
 						else
 						{
@@ -9364,6 +9366,8 @@ bool PhysicsServerCommandProcessor::processChangeDynamicsInfoCommand(const struc
 								delete limC;
 								limC = 0;
 							}
+							mb->getLink(linkIndex).m_jointLowerLimit = 1;
+							mb->getLink(linkIndex).m_jointUpperLimit = -1;
 						}
 					}