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fix double->float issue by cast, fixes issue #1510

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fix possible out-of-bounds access in btMultiBody
This commit is contained in:
erwincoumans
2018-01-15 11:59:00 -08:00
parent 9d405fde67
commit 9ffb05eb3b
2 changed files with 5 additions and 5 deletions
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src/BulletDynamics/Featherstone/btMultiBody.cpp
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@@ -749,7 +749,7 @@ void btMultiBody::computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar
// Temporary matrices/vectors -- use scratch space from caller
// so that we don't have to keep reallocating every frame
scratch_r.resize(2*m_dofCount + 6); //multidof? ("Y"s use it and it is used to store qdd) => 2 x m_dofCount
scratch_r.resize(2*m_dofCount + 7); //multidof? ("Y"s use it and it is used to store qdd) => 2 x m_dofCount
scratch_v.resize(8*num_links + 6);
scratch_m.resize(4*num_links + 4);