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further work on urdfEditor.py, fix some serialization issues

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This commit is contained in:
Erwin Coumans
2018-01-08 12:25:56 -08:00
parent a85a4f387b
commit e97b751781
23 changed files with 1926 additions and 1455 deletions
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9
src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp
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@@ -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();

10
src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h
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@@ -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