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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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2
src/BulletDynamics/Featherstone/btMultiBody.cpp
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@@ -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);

4
src/BulletDynamics/Featherstone/btMultiBody.h
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@@ -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];

6
src/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h
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@@ -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));