Merge pull request #757 from erwincoumans/master

fix in structure alignment of btMultiBodyLinkDoubleData and btMultiBo…

src/BulletDynamics/Featherstone/btMultiBody.h

@@ -677,18 +677,10 @@ struct btMultiBodyLinkDoubleData
 	btVector3DoubleData		m_jointAxisTop[6];
 	btVector3DoubleData		m_jointAxisBottom[6];
 
-
-	char					*m_linkName;
-	char					*m_jointName;
-	btCollisionObjectDoubleData	*m_linkCollider;
-	
 	btVector3DoubleData		m_linkInertia;   // inertia of the base (in local frame; diagonal)
 	double					m_linkMass;
 	int						m_parentIndex;
 	int						m_jointType;
-	
-
-	
 
 	int						m_dofCount;
 	int						m_posVarCount;
@@ -698,7 +690,12 @@ struct btMultiBodyLinkDoubleData
 
 	double					m_jointDamping;
 	double					m_jointFriction;
-	
+
+	char					*m_linkName;
+	char					*m_jointName;
+	btCollisionObjectDoubleData	*m_linkCollider;
+	char					*m_paddingPtr;
+
 };
 
 struct btMultiBodyLinkFloatData
@@ -708,12 +705,6 @@ struct btMultiBodyLinkFloatData
 	btVector3FloatData		m_thisPivotToThisComOffset;
 	btVector3FloatData		m_jointAxisTop[6];
 	btVector3FloatData		m_jointAxisBottom[6];
-	
-
-	char				*m_linkName;
-	char				*m_jointName;
-	btCollisionObjectFloatData	*m_linkCollider;
-	
 	btVector3FloatData	m_linkInertia;   // inertia of the base (in local frame; diagonal)
 	int						m_dofCount;
 	float				m_linkMass;
@@ -729,23 +720,26 @@ struct btMultiBodyLinkFloatData
 	float					m_jointDamping;
 	float					m_jointFriction;
 
+	char				*m_linkName;
+	char				*m_jointName;
+	btCollisionObjectFloatData	*m_linkCollider;
+	char				*m_paddingPtr;
+
 };
 
 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
 struct	btMultiBodyDoubleData
 {
+	btTransformDoubleData m_baseWorldTransform;
+	btVector3DoubleData m_baseInertia;   // inertia of the base (in local frame; diagonal)
+	double	m_baseMass;
+
 	char	*m_baseName;
 	btMultiBodyLinkDoubleData	*m_links;
 	btCollisionObjectDoubleData	*m_baseCollider;
-
-	btTransformDoubleData m_baseWorldTransform;
-	btVector3DoubleData m_baseInertia;   // inertia of the base (in local frame; diagonal)
-	
+	char	*m_paddingPtr;
 	int		m_numLinks;
-	double	m_baseMass;
-
-	char m_padding[4];
-	
+	char	m_padding[4];
 };
 
 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64

src/LinearMath/btScalar.h

@@ -29,7 +29,7 @@ subject to the following restrictions:
 #include <float.h>
 
 /* SVN $Revision$ on $Date$ from http://bullet.googlecode.com*/
-#define BT_BULLET_VERSION 284
+#define BT_BULLET_VERSION 285
 
 inline int	btGetVersion()
 {

src/LinearMath/btSerializer.h

@@ -484,7 +484,7 @@ public:
 
 			buffer[9] = '2';
 			buffer[10] = '8';
-			buffer[11] = '4';
+			buffer[11] = '5';
 
 		}