From f5ffb11bc55bc041312e88a3c46d5350906080be Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwincoumans@google.com>
Date: Thu, 23 Jun 2016 05:10:00 +0000
Subject: [PATCH] fix bus error on Raspberry Pi, unaligned float access when
 loading STL files fix pybullet Python 3 issue (PyString_FromString ->
 PyBytes_FromString and PyInt_FromLong -> PyLong_FromLong)

---
 examples/Importers/ImportSTLDemo/LoadMeshFromSTL.h | 11 ++++++-----
 examples/pybullet/pybullet.c                       |  8 ++++++--
 2 files changed, 12 insertions(+), 7 deletions(-)

diff --git a/examples/Importers/ImportSTLDemo/LoadMeshFromSTL.h b/examples/Importers/ImportSTLDemo/LoadMeshFromSTL.h
index f670dfeec..65bdd330b 100644
--- a/examples/Importers/ImportSTLDemo/LoadMeshFromSTL.h
+++ b/examples/Importers/ImportSTLDemo/LoadMeshFromSTL.h
@@ -66,17 +66,18 @@ static GLInstanceGraphicsShape* LoadMeshFromSTL(const char* relativeFileName)
 						for (int i=0;i<numTriangles;i++)
 						{
 							char* curPtr = &memoryBuffer[84+i*50];
-							MySTLTriangle* tri = (MySTLTriangle*) curPtr;
+							MySTLTriangle tmp;
+							memcpy(&tmp,curPtr,sizeof(MySTLTriangle));
 							
 							GLInstanceVertex v0,v1,v2;
 							v0.uv[0] = v1.uv[0] = v2.uv[0] = 0.5;
 							v0.uv[1] = v1.uv[1] = v2.uv[1] = 0.5;
 							for (int v=0;v<3;v++)
 							{
-								v0.xyzw[v] = tri->vertex0[v];
-								v1.xyzw[v] = tri->vertex1[v];
-								v2.xyzw[v] = tri->vertex2[v];
-								v0.normal[v] = v1.normal[v] = v2.normal[v] = tri->normal[v];
+								v0.xyzw[v] = tmp.vertex0[v];
+								v1.xyzw[v] = tmp.vertex1[v];
+								v2.xyzw[v] = tmp.vertex2[v];
+								v0.normal[v] = v1.normal[v] = v2.normal[v] = tmp.normal[v];
 							}
 							v0.xyzw[3] = v1.xyzw[3] = v2.xyzw[3] = 0.f;
 							
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index 9235f3e5a..2a3545bb3 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -9,6 +9,12 @@
 #include <Python.h>
 #endif
 
+
+#if PY_MAJOR_VERSION >= 3
+#define PyInt_FromLong PyLong_FromLong
+#define PyString_FromString PyBytes_FromString
+#endif 
+
 enum eCONNECT_METHOD
 {
 	eCONNECT_GUI=1,
@@ -769,7 +775,6 @@ pybullet_getJointInfo(PyObject* self, PyObject* args)
     //          info.m_flags,
     //          info.m_jointDamping,
     //          info.m_jointFriction);
-
       PyTuple_SetItem(pyListJointInfo, 0, 
         PyInt_FromLong(info.m_jointIndex));
       PyTuple_SetItem(pyListJointInfo, 1, 
@@ -786,7 +791,6 @@ pybullet_getJointInfo(PyObject* self, PyObject* args)
         PyFloat_FromDouble(info.m_jointDamping));
       PyTuple_SetItem(pyListJointInfo, 7, 
         PyFloat_FromDouble(info.m_jointFriction));    
-           
       return pyListJointInfo;
     }
   }