Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

fix in structure alignment of btMultiBodyLinkDoubleData and btMultiBodyDoubleData

Browse Source 
causing serialization issue in  URDF/SDF loading in double-precision mode on Windows 32bit.
(it was fine on Mac/Linux 64bit)
bump serialization version to 2.85, as we change the file format
fix in name clash in makesdna.cpp -> intptr_t is already defined.
This commit is contained in:
erwin coumans
2016-08-26 10:00:29 -07:00
parent ba8964c4ac
commit c5164e503f
11 changed files with 619 additions and 623 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
CMakeLists.txt
View File

@@ -5,7 +5,7 @@ set(CMAKE_ALLOW_LOOSE_LOOP_CONSTRUCTS true)
SET(MSVC_INCREMENTAL_DEFAULT ON)
PROJECT(BULLET_PHYSICS)
SET(BULLET_VERSION 2.83)
SET(BULLET_VERSION 2.85)
IF(COMMAND cmake_policy)
cmake_policy(SET CMP0003 NEW)

21
Extras/Serialize/BulletFileLoader/autogenerated/bullet.h
View File

@@ -1353,9 +1353,6 @@ typedef struct bInvalidHandle {
btVector3DoubleData m_thisPivotToThisComOffset;
btVector3DoubleData m_jointAxisTop[6];
btVector3DoubleData m_jointAxisBottom[6];
char *m_linkName;
char *m_jointName;
btCollisionObjectDoubleData *m_linkCollider;
btVector3DoubleData m_linkInertia;
double m_linkMass;
int m_parentIndex;
@@ -1367,6 +1364,10 @@ typedef struct bInvalidHandle {
double m_jointTorque[6];
double m_jointDamping;
double m_jointFriction;
char *m_linkName;
char *m_jointName;
btCollisionObjectDoubleData *m_linkCollider;
char *m_paddingPtr;
};
@@ -1379,9 +1380,6 @@ typedef struct bInvalidHandle {
btVector3FloatData m_thisPivotToThisComOffset;
btVector3FloatData m_jointAxisTop[6];
btVector3FloatData m_jointAxisBottom[6];
char *m_linkName;
char *m_jointName;
btCollisionObjectFloatData *m_linkCollider;
btVector3FloatData m_linkInertia;
int m_dofCount;
float m_linkMass;
@@ -1393,6 +1391,10 @@ typedef struct bInvalidHandle {
int m_posVarCount;
float m_jointDamping;
float m_jointFriction;
char *m_linkName;
char *m_jointName;
btCollisionObjectFloatData *m_linkCollider;
char *m_paddingPtr;
};
@@ -1400,13 +1402,14 @@ typedef struct bInvalidHandle {
class btMultiBodyDoubleData
{
public:
btTransformDoubleData m_baseWorldTransform;
btVector3DoubleData m_baseInertia;
double m_baseMass;
char *m_baseName;
btMultiBodyLinkDoubleData *m_links;
btCollisionObjectDoubleData *m_baseCollider;
btTransformDoubleData m_baseWorldTransform;
btVector3DoubleData m_baseInertia;
char *m_paddingPtr;
int m_numLinks;
double m_baseMass;
char m_padding[4];
};

2
Extras/Serialize/HeaderGenerator/apiGen.cpp
View File

@@ -220,7 +220,7 @@ int main(int argc,char** argv)
fprintf(dump, "%s\n", data);
char* filename = "../../../../data/slope.bullet";
char* filename = "../../../../data/r2d2_multibody.bullet";
if (argc==2)
filename = argv[1];

27
Extras/Serialize/makesdna/makesdna.cpp
View File

@@ -70,22 +70,17 @@ typedef unsigned __int32 uint32_t;
typedef unsigned __int64 uint64_t;
#ifndef _INTPTR_T_DEFINED
#ifdef _WIN64
typedef __int64 intptr_t;
#ifdef _WIN64
typedef __int64 btintptr_t;
#else
typedef long btintptr_t;
#endif
#else
typedef long intptr_t;
#endif
#define _INTPTR_T_DEFINED
typedef intptr_t btintptr_t;
#endif
#ifndef _UINTPTR_T_DEFINED
#ifdef _WIN64
typedef unsigned __int64 uintptr_t;
#else
typedef unsigned long uintptr_t;
#endif
#define _UINTPTR_T_DEFINED
#endif
#elif defined(__linux__) || defined(__NetBSD__)
@@ -1070,7 +1065,7 @@ int make_structDNA(char *baseDirectory, FILE *file)
/* calculate size of datablock with strings */
cp= names[nr_names-1];
cp+= strlen(names[nr_names-1]) + 1; /* +1: null-terminator */
len= (intptr_t) (cp - (char*) names[0]);
len= (btintptr_t) (cp - (char*) names[0]);
len= (len+3) & ~3;
dna_write(file, names[0], len);
@@ -1083,7 +1078,7 @@ int make_structDNA(char *baseDirectory, FILE *file)
/* calculate datablock size */
cp= types[nr_types-1];
cp+= strlen(types[nr_types-1]) + 1; /* +1: null-terminator */
len= (intptr_t) (cp - (char*) types[0]);
len= (btintptr_t) (cp - (char*) types[0]);
len= (len+3) & ~3;
dna_write(file, types[0], len);
@@ -1105,7 +1100,7 @@ int make_structDNA(char *baseDirectory, FILE *file)
/* calc datablock size */
sp= structs[nr_structs-1];
sp+= 2+ 2*( sp[1] );
len= (intptr_t) ((char*) sp - (char*) structs[0]);
len= (btintptr_t) ((char*) sp - (char*) structs[0]);
len= (len+3) & ~3;
dna_write(file, structs[0], len);

2
VERSION
View File

@@ -1 +1 @@
2.84
2.85

BIN
data/r2d2_multibody.bullet
View File

Binary file not shown.

3
examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp
View File

@@ -1,7 +1,7 @@
#include "ImportURDFSetup.h"
#include "BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h"
//#define TEST_MULTIBODY_SERIALIZATION 1
#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
#include "Bullet3Common/b3FileUtils.h"
@@ -377,6 +377,7 @@ void ImportUrdfSetup::initPhysics()
}
#ifdef TEST_MULTIBODY_SERIALIZATION
m_dynamicsWorld->serialize(s);
b3ResourcePath p;

40
src/BulletDynamics/Featherstone/btMultiBody.h
View File

@@ -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

2
src/LinearMath/btScalar.h
View File

@@ -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()
{

1141
src/LinearMath/btSerializer.cpp
View File

File diff suppressed because it is too large Load Diff

2
src/LinearMath/btSerializer.h
View File

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