Changed MAX_DEGREE_OF_FREEDOM to 512

README.md

@@ -1,6 +1,8 @@
 [![Travis Build Status](https://api.travis-ci.org/bulletphysics/bullet3.png?branch=master)](https://travis-ci.org/bulletphysics/bullet3)
 [![Appveyor Build status](https://ci.appveyor.com/api/projects/status/6sly9uxajr6xsstq)](https://ci.appveyor.com/project/erwincoumans/bullet3)
 
+**This Fork changes the maximum allowed number of Links of a URDF** 
+
 # Bullet Physics SDK
 
 This is the official C++ source code repository of the Bullet Physics SDK: real-time collision detection and multi-physics simulation for VR, games, visual effects, robotics, machine learning etc.
@@ -35,7 +37,7 @@ year = {2016--2021}
 ## Requirements for Bullet Physics C++
 
 A C++ compiler for C++ 2003. The library is tested on Windows, Linux, Mac OSX, iOS, Android,
-but should likely work on any platform with C++ compiler. 
+but should likely work on any platform with C++ compiler.
 Some optional demos require OpenGL 2 or OpenGL 3, there are some non-graphical demos and unit tests too.
 
 ## Contributors and Coding Style information
@@ -118,9 +120,9 @@ make
 Note that on Linux, you need to use cmake to build pybullet, since the compiler has issues of mixing shared and static libraries.
 
 **Mac OSX Xcode**
-	
+
 Click on build3/xcode4.command or in a terminal window execute
-```	
+```
 ./premake_osx xcode4
 ```
 ## Usage

examples/SharedMemory/SharedMemoryCommands.h

@@ -30,7 +30,7 @@ typedef unsigned long long int smUint64_t;
 #endif
 
 #define SHARED_MEMORY_SERVER_TEST_C
-#define MAX_DEGREE_OF_FREEDOM 128
+#define MAX_DEGREE_OF_FREEDOM 512
 #define MAX_NUM_SENSORS 256
 #define MAX_URDF_FILENAME_LENGTH 1024
 #define MAX_SDF_FILENAME_LENGTH 1024
@@ -169,7 +169,7 @@ enum EnumChangeDynamicsInfoFlags
 	CHANGE_DYNAMICS_INFO_SET_ACTIVATION_STATE = 8192,
 	CHANGE_DYNAMICS_INFO_SET_JOINT_DAMPING = 16384,
 	CHANGE_DYNAMICS_INFO_SET_ANISOTROPIC_FRICTION = 32768,
-	CHANGE_DYNAMICS_INFO_SET_MAX_JOINT_VELOCITY = 1<<16,	
+	CHANGE_DYNAMICS_INFO_SET_MAX_JOINT_VELOCITY = 1<<16,
 	CHANGE_DYNAMICS_INFO_SET_COLLISION_MARGIN = 1 << 17,
 	CHANGE_DYNAMICS_INFO_SET_JOINT_LIMITS = 1 << 18,
 	CHANGE_DYNAMICS_INFO_SET_JOINT_LIMIT_MAX_FORCE = 1 << 19,
@@ -200,11 +200,11 @@ struct ChangeDynamicsInfoArgs
 	double m_anisotropicFriction[3];
 	double m_maxJointVelocity;
 	double m_collisionMargin;
-	
+
 	double m_jointLowerLimit;
 	double m_jointUpperLimit;
 	double m_jointLimitForce;
-	
+
 	int m_dynamicType;
 
 	double m_sleepThreshold;