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fixes, backwards compatibility

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This commit is contained in:
Erwin Coumans
2018-04-12 09:28:30 -07:00
parent 719c352216
commit 11008d8110
4 changed files with 13 additions and 3 deletions
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2
examples/Importers/ImportURDFDemo/UrdfParser.h
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@@ -266,7 +266,7 @@ protected:
bool parseMaterial(UrdfMaterial& material, tinyxml2::XMLElement *config, ErrorLogger* logger); bool parseMaterial(UrdfMaterial& material, tinyxml2::XMLElement *config, ErrorLogger* logger);
bool parseJointLimits(UrdfJoint& joint, tinyxml2::XMLElement* config, ErrorLogger* logger); bool parseJointLimits(UrdfJoint& joint, tinyxml2::XMLElement* config, ErrorLogger* logger);
bool parseJointDynamics(UrdfJoint& joint, tinyxml2::XMLElement* config, ErrorLogger* logger); bool parseJointDynamics(UrdfJoint& joint, tinyxml2::XMLElement* config, ErrorLogger* logger);
bool parseJoint(UrdfJoint& link, tinyxml2::XMLElement *config, ErrorLogger* logger); bool parseJoint(UrdfJoint& joint, tinyxml2::XMLElement *config, ErrorLogger* logger);
bool parseLink(UrdfModel& model, UrdfLink& link, tinyxml2::XMLElement *config, ErrorLogger* logger); bool parseLink(UrdfModel& model, UrdfLink& link, tinyxml2::XMLElement *config, ErrorLogger* logger);

2
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -597,7 +597,7 @@ struct CommandLogPlayback
#ifdef BACKWARD_COMPAT #ifdef BACKWARD_COMPAT
cmd->m_physSimParamArgs = unused.m_physSimParamArgs; cmd->m_physSimParamArgs = unused.m_physSimParamArgs;
#else #else
s= s = fread(&cmd->m_updateFlags,sizeof(int),1,m_file); s = fread(&cmd->m_updateFlags,sizeof(int),1,m_file);
s = fread(&cmd->m_physSimParamArgs ,sizeof(b3PhysicsSimulationParameters),1,m_file); s = fread(&cmd->m_physSimParamArgs ,sizeof(b3PhysicsSimulationParameters),1,m_file);
#endif #endif

2
src/BulletCollision/BroadphaseCollision/btDispatcher.h
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@@ -47,7 +47,7 @@ struct btDispatcherInfo
m_allowedCcdPenetration(btScalar(0.04)), m_allowedCcdPenetration(btScalar(0.04)),
m_useConvexConservativeDistanceUtil(false), m_useConvexConservativeDistanceUtil(false),
m_convexConservativeDistanceThreshold(0.0f), m_convexConservativeDistanceThreshold(0.0f),
m_deterministicOverlappingPairs(true) m_deterministicOverlappingPairs(false)
{ {
} }

10
src/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp
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@@ -72,7 +72,17 @@ bool btSubsimplexConvexCast::calcTimeOfImpact(
btScalar dist2 = v.length2(); btScalar dist2 = v.length2();
#ifdef BT_USE_DOUBLE_PRECISION
btScalar epsilon = SIMD_EPSILON * 10; btScalar epsilon = SIMD_EPSILON * 10;
#else
//todo: epsilon kept for backward compatibility of unit tests.
//will need to digg deeper to make the algorithm more robust
//since, a large epsilon can cause an early termination with false
//positive results (ray intersections that shouldn't be there)
btScalar epsilon = btScalar(0.0001);
#endif //BT_USE_DOUBLE_PRECISION
btVector3 w,p; btVector3 w,p;
btScalar VdotR; btScalar VdotR;