further work on urdfEditor.py, fix some serialization issues

src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp

@@ -18,6 +18,11 @@ subject to the following restrictions:
 #include "LinearMath/btTransform.h"
 #include "LinearMath/btSerializer.h"
 
+#ifdef BT_USE_DOUBLE_PRECISION
+#define btCollisionObjectData btCollisionObjectDoubleData
+#else
+#define btCollisionObjectData btCollisionObjectFloatData
+#endif
 
 btScalar					gContactBreakingThreshold = btScalar(0.02);
 ContactDestroyedCallback	gContactDestroyedCallback = 0;
@@ -316,8 +321,8 @@ const char*	btPersistentManifold::serialize(const class btPersistentManifold* ma
 	btPersistentManifoldData* dataOut = (btPersistentManifoldData*)dataBuffer;
 	memset(dataOut, 0, sizeof(btPersistentManifoldData));
 
-	dataOut->m_body0 = serializer->getUniquePointer((void*)manifold->getBody0());
-	dataOut->m_body1 = serializer->getUniquePointer((void*)manifold->getBody1());
+	dataOut->m_body0 = (btCollisionObjectData*)serializer->getUniquePointer((void*)manifold->getBody0());
+	dataOut->m_body1 = (btCollisionObjectData*)serializer->getUniquePointer((void*)manifold->getBody1());
 	dataOut->m_contactBreakingThreshold = manifold->getContactBreakingThreshold();
 	dataOut->m_contactProcessingThreshold = manifold->getContactProcessingThreshold();
 	dataOut->m_numCachedPoints = manifold->getNumContacts();

src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h

@@ -24,6 +24,8 @@ class btCollisionObject;
 #include "LinearMath/btAlignedAllocator.h"
 
 struct btCollisionResult;
+struct btCollisionObjectDoubleData;
+struct btCollisionObjectFloatData;
 
 ///maximum contact breaking and merging threshold
 extern btScalar gContactBreakingThreshold;
@@ -310,8 +312,8 @@ struct btPersistentManifoldDoubleData
 	double	m_contactProcessingThreshold;
 	int m_padding;
 
-	void *m_body0;
-	void *m_body1;
+	btCollisionObjectDoubleData *m_body0;
+	btCollisionObjectDoubleData *m_body1;
 };
 
 
@@ -356,8 +358,8 @@ struct btPersistentManifoldFloatData
 	float	m_contactProcessingThreshold;
 	int m_padding;
 
-	void *m_body0;
-	void *m_body1;
+	btCollisionObjectFloatData *m_body0;
+	btCollisionObjectFloatData *m_body1;
 };
 
 #ifdef BT_USE_DOUBLE_PRECISION

src/BulletDynamics/Featherstone/btMultiBody.cpp

@@ -2033,7 +2033,7 @@ const char*	btMultiBody::serialize(void* dataBuffer, class btSerializer* seriali
 				memPtr->m_jointMaxForce = getLink(i).m_jointMaxForce;
 				memPtr->m_jointMaxVelocity = getLink(i).m_jointMaxVelocity;
 
-				getLink(i).m_eVector.serialize(memPtr->m_parentComToThisComOffset);
+				getLink(i).m_eVector.serialize(memPtr->m_parentComToThisPivotOffset);
 				getLink(i).m_dVector.serialize(memPtr->m_thisPivotToThisComOffset);
 				getLink(i).m_zeroRotParentToThis.serialize(memPtr->m_zeroRotParentToThis);
 				btAssert(memPtr->m_dofCount<=3);

src/BulletDynamics/Featherstone/btMultiBody.h

@@ -718,7 +718,7 @@ private:
 struct btMultiBodyLinkDoubleData
 {
 	btQuaternionDoubleData	m_zeroRotParentToThis;
-	btVector3DoubleData		m_parentComToThisComOffset;
+	btVector3DoubleData		m_parentComToThisPivotOffset;
 	btVector3DoubleData		m_thisPivotToThisComOffset;
 	btVector3DoubleData		m_jointAxisTop[6];
 	btVector3DoubleData		m_jointAxisBottom[6];
@@ -751,7 +751,7 @@ struct btMultiBodyLinkDoubleData
 struct btMultiBodyLinkFloatData
 {
 	btQuaternionFloatData	m_zeroRotParentToThis;
-	btVector3FloatData		m_parentComToThisComOffset;
+	btVector3FloatData		m_parentComToThisPivotOffset;
 	btVector3FloatData		m_thisPivotToThisComOffset;
 	btVector3FloatData		m_jointAxisTop[6];
 	btVector3FloatData		m_jointAxisBottom[6];

src/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h

@@ -141,7 +141,7 @@ public:
 struct	btMultiBodyLinkColliderFloatData
 {
 	btCollisionObjectFloatData m_colObjData;
-	void		*m_multiBody;
+	btMultiBodyFloatData	*m_multiBody;
 	int			m_link;
 	char		m_padding[4];
 };
@@ -149,7 +149,7 @@ struct	btMultiBodyLinkColliderFloatData
 struct	btMultiBodyLinkColliderDoubleData
 {
 	btCollisionObjectDoubleData m_colObjData;
-	void		*m_multiBody;
+	btMultiBodyDoubleData		*m_multiBody;
 	int			m_link;
 	char		m_padding[4];
 };
@@ -165,7 +165,7 @@ SIMD_FORCE_INLINE	const char*	btMultiBodyLinkCollider::serialize(void* dataBuffe
 	btCollisionObject::serialize(&dataOut->m_colObjData,serializer);
 	
 	dataOut->m_link = this->m_link;
-	dataOut->m_multiBody = serializer->getUniquePointer(m_multiBody);
+	dataOut->m_multiBody = (btMultiBodyData*)serializer->getUniquePointer(m_multiBody);
 
 	// Fill padding with zeros to appease msan.
 	memset(dataOut->m_padding, 0, sizeof(dataOut->m_padding));