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Only enable SSE4 for Visual Studio 2012 or later (_MSC_FULL_VER >= 170050727), it breaks the build for Visual Studio 2010

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Add additional constructor for btMultiBodyJointMotor
This commit is contained in:
erwincoumans
2014-05-01 22:23:37 -07:00
parent 0e1b90d708
commit 0b6d1af1d4
5 changed files with 39 additions and 13 deletions
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17
src/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp
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@@ -22,8 +22,23 @@ subject to the following restrictions:
btMultiBodyJointMotor::btMultiBodyJointMotor(btMultiBody* body, int link, btScalar desiredVelocity, btScalar maxMotorImpulse)
:btMultiBodyJointMotor(body,link,0,desiredVelocity,maxMotorImpulse)
:btMultiBodyConstraint(body,body,link,link,1,true),
m_desiredVelocity(desiredVelocity)
{
int linkDoF = 0;
m_maxAppliedImpulse = maxMotorImpulse;
// the data.m_jacobians never change, so may as well
// initialize them here
// note: we rely on the fact that data.m_jacobians are
// always initialized to zero by the Constraint ctor
unsigned int offset = 6 + (body->isMultiDof() ? body->getLink(link).m_dofOffset + linkDoF : link);
// row 0: the lower bound
// row 0: the lower bound
jacobianA(0)[offset] = 1;
}

2
src/BulletDynamics/Featherstone/btMultiBodyJointMotor.h
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@@ -30,7 +30,7 @@ protected:
public:
btMultiBodyJointMotor(btMultiBody* body, int link,btScalar desiredVelocity, btScalar maxMotorImpulse);
btMultiBodyJointMotor(btMultiBody* body, int link, btScalar desiredVelocity, btScalar maxMotorImpulse);
btMultiBodyJointMotor(btMultiBody* body, int link, int linkDoF, btScalar desiredVelocity, btScalar maxMotorImpulse);
virtual ~btMultiBodyJointMotor();