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fix issue, cannot assume 16-byte alignment in shared memory,

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causing crashes when SIMD btVector3 is stored on Mac OSX.
This commit is contained in:
=
2015-08-20 08:09:22 -07:00
parent 081a40d254
commit 63873e2926
3 changed files with 28 additions and 15 deletions
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16
examples/SharedMemory/PhysicsClient.cpp
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@@ -434,9 +434,9 @@ bool PhysicsClientSharedMemory::processServerStatus(SharedMemoryStatus& serverSt
}
int numLines = serverCmd.m_sendDebugLinesArgs.m_numDebugLines;
btVector3* linesFrom = (btVector3*)&m_data->m_testBlock1->m_bulletStreamDataServerToClient[0];
btVector3* linesTo = (btVector3*)(&m_data->m_testBlock1->m_bulletStreamDataServerToClient[0]+numLines*sizeof(btVector3));
btVector3* linesColor = (btVector3*)(&m_data->m_testBlock1->m_bulletStreamDataServerToClient[0]+2*numLines*sizeof(btVector3));
btScalar* linesFrom = (btScalar*)&m_data->m_testBlock1->m_bulletStreamDataServerToClient[0];
btScalar* linesTo = (btScalar*)(&m_data->m_testBlock1->m_bulletStreamDataServerToClient[0]+numLines*sizeof(btVector3));
btScalar* linesColor = (btScalar*)(&m_data->m_testBlock1->m_bulletStreamDataServerToClient[0]+2*numLines*sizeof(btVector3));
m_data->m_debugLinesFrom.resize(numLines);
m_data->m_debugLinesTo.resize(numLines);
@@ -444,9 +444,13 @@ bool PhysicsClientSharedMemory::processServerStatus(SharedMemoryStatus& serverSt
for (int i=0;i<numLines;i++)
{
m_data->m_debugLinesFrom[i] = linesFrom[i];
m_data->m_debugLinesTo[i] = linesTo[i];
m_data->m_debugLinesColor[i] = linesColor[i];
btVector3 from(linesFrom[i*4],linesFrom[i*4+1],linesFrom[i*4+2]);
btVector3 to(linesTo[i*4],linesTo[i*4+1],linesTo[i*4+2]);
btVector3 color(linesColor[i*4],linesColor[i*4+1],linesColor[i*4+2]);
m_data->m_debugLinesFrom[i] = from;
m_data->m_debugLinesTo[i] = to;
m_data->m_debugLinesColor[i] = color;
}
break;
}

2
examples/SharedMemory/PhysicsClientExample.cpp
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@@ -107,7 +107,7 @@ void MyCallback(int buttonId, bool buttonState, void* userPtr)
case CMD_LOAD_URDF:
{
command.m_type =CMD_LOAD_URDF;
sprintf(command.m_urdfArguments.m_urdfFileName,"r2d2.urdf");//kuka_lwr/kuka.urdf");
sprintf(command.m_urdfArguments.m_urdfFileName,"kuka_lwr/kuka.urdf");
command.m_urdfArguments.m_initialPosition[0] = 0.0;
command.m_updateFlags =
URDF_ARGS_FILE_NAME| URDF_ARGS_INITIAL_POSITION|URDF_ARGS_INITIAL_ORIENTATION|URDF_ARGS_USE_MULTIBODY|URDF_ARGS_USE_FIXED_BASE;

23
examples/SharedMemory/PhysicsServer.cpp
View File

@@ -549,6 +549,7 @@ void PhysicsServerSharedMemory::processClientCommands()
{
int curFlags =m_data->m_debugDrawer->getDebugMode();
int debugMode = btIDebugDraw::DBG_DrawWireframe|btIDebugDraw::DBG_DrawAabb;
m_data->m_debugDrawer->m_lines.resize(0);
//|btIDebugDraw::DBG_DrawAabb|
// btIDebugDraw::DBG_DrawConstraints |btIDebugDraw::DBG_DrawConstraintLimits ;
m_data->m_debugDrawer->setDebugMode(debugMode);
@@ -560,16 +561,24 @@ void PhysicsServerSharedMemory::processClientCommands()
if (memRequirements<SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE)
{
btVector3* linesFrom = (btVector3*)&m_data->m_testBlock1->m_bulletStreamDataServerToClient[0];
btVector3* linesTo = (btVector3*)(&m_data->m_testBlock1->m_bulletStreamDataServerToClient[0]+numLines*sizeof(btVector3));
btVector3* linesColor = (btVector3*)(&m_data->m_testBlock1->m_bulletStreamDataServerToClient[0]+2*numLines*sizeof(btVector3));
btScalar* linesFrom = (btScalar*)&m_data->m_testBlock1->m_bulletStreamDataServerToClient[0];
btScalar* linesTo = (btScalar*)(&m_data->m_testBlock1->m_bulletStreamDataServerToClient[0]+numLines*sizeof(btVector3));
btScalar* linesColor = (btScalar*)(&m_data->m_testBlock1->m_bulletStreamDataServerToClient[0]+2*numLines*sizeof(btVector3));
for (int i=0;i<numLines;i++)
{
linesFrom[i] = m_data->m_debugDrawer->m_lines[i].m_from;
linesTo[i] = m_data->m_debugDrawer->m_lines[i].m_to;
linesColor[i] = m_data->m_debugDrawer->m_lines[i].m_color;
}
linesFrom[i*4] = m_data->m_debugDrawer->m_lines[i].m_from.x();
linesTo[i*4] = m_data->m_debugDrawer->m_lines[i].m_to.x();
linesColor[i*4] = m_data->m_debugDrawer->m_lines[i].m_color.x();
linesFrom[i*4+1] = m_data->m_debugDrawer->m_lines[i].m_from.y();
linesTo[i*4+1] = m_data->m_debugDrawer->m_lines[i].m_to.y();
linesColor[i*4+1] = m_data->m_debugDrawer->m_lines[i].m_color.y();
linesFrom[i*4+2] = m_data->m_debugDrawer->m_lines[i].m_from.z();
linesTo[i*4+2] = m_data->m_debugDrawer->m_lines[i].m_to.z();
linesColor[i*4+2] = m_data->m_debugDrawer->m_lines[i].m_color.z();
}
SharedMemoryStatus& status = m_data->createServerStatus(CMD_DEBUG_LINES_COMPLETED,clientCmd.m_sequenceNumber,timeStamp);
status.m_sendDebugLinesArgs.m_numDebugLines = numLines;
m_data->submitServerStatus(status);