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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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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));