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Merge pull request #757 from erwincoumans/master

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fix in structure alignment of btMultiBodyLinkDoubleData and btMultiBo…
This commit is contained in:
erwincoumans
2016-08-26 12:08:29 -07:00
committed by GitHub
parent c29d445b94 c5164e503f
commit 79be5800cb
11 changed files with 619 additions and 623 deletions
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40
src/BulletDynamics/Featherstone/btMultiBody.h
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@@ -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