fix in structure alignment of btMultiBodyLinkDoubleData and btMultiBodyDoubleData

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.

CMakeLists.txt

@@ -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)

Extras/Serialize/BulletFileLoader/autogenerated/bullet.h

@@ -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;
+        char *m_paddingPtr;
-        btVector3DoubleData m_baseInertia;
         int m_numLinks;
-        double m_baseMass;
         char m_padding[4];
     };
 

Extras/Serialize/HeaderGenerator/apiGen.cpp

@@ -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];

Extras/Serialize/makesdna/makesdna.cpp

@@ -70,22 +70,17 @@ typedef unsigned __int32 uint32_t;
 typedef unsigned __int64 uint64_t;
 
 #ifndef _INTPTR_T_DEFINED
-#ifdef _WIN64
+	#ifdef _WIN64
-typedef __int64 intptr_t;
+	typedef __int64 btintptr_t;
+	#else
+	typedef long btintptr_t;
+	#endif
+	
 #else
-typedef long intptr_t;
+	typedef intptr_t btintptr_t;
-#endif
-#define _INTPTR_T_DEFINED
 #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);

VERSION

@@ -1 +1 @@
-2.84
+2.85

examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp

@@ -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;

src/BulletDynamics/Featherstone/btMultiBody.h

@@ -677,19 +677,11 @@ 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;
 	double					m_jointPos[7];
@@ -699,6 +691,11 @@ 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;
-
+	char	*m_paddingPtr;
-	btTransformDoubleData m_baseWorldTransform;
-	btVector3DoubleData m_baseInertia;   // inertia of the base (in local frame; diagonal)
-	
 	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';
 
 		}