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more small refactoring: some methods were still upper-case.

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This commit is contained in:
ejcoumans
2006-11-03 04:32:48 +00:00
parent 4050da0e2f
commit 07873854a4
15 changed files with 69 additions and 63 deletions
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6
Extras/quickstep/SorLcp.cpp
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@@ -596,7 +596,7 @@ static void SOR_LCP (int m, int nb, dRealMutablePtr J, int *jb, OdeSolverBody *
void SolveInternal1 (float global_cfm,
float global_erp,
OdeSolverBody* const *body, int nb,
BU_Joint * const *_joint,
BU_Joint **joint,
int nj,
const btContactSolverInfo& solverInfo)
{
@@ -616,8 +616,8 @@ void SolveInternal1 (float global_cfm,
// (the "BU_Joint *const*" declaration says we're allowed to modify the joints
// but not the joint array, because the caller might need it unchanged).
//@@@ do we really need to do this? we'll be sorting constraint rows individually, not joints
BU_Joint **joint = (BU_Joint**) alloca (nj * sizeof(BU_Joint*));
memcpy (joint,_joint,nj * sizeof(BU_Joint*));
//BU_Joint **joint = (BU_Joint**) alloca (nj * sizeof(BU_Joint*));
//memcpy (joint,_joint,nj * sizeof(BU_Joint*));
// for all bodies, compute the inertia tensor and its inverse in the global
// frame, and compute the rotational force and add it to the torque