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fix some warnings, disable gimpact by default in world importer,

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use DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS by default for now,
until we find the issue with some failing test cases in btMultiBody
fix a crashing issue in MyMultiBodyCreator.cpp (uninitialized variable)
disable excessive debug printf in URDF2Bullet
This commit is contained in:
Erwin Coumans
2015-07-27 13:28:47 -07:00
parent ad03dba2fa
commit 26531f3fbc
27 changed files with 248 additions and 290 deletions
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13
examples/OpenGLWindow/SimpleCamera.cpp
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@@ -10,13 +10,13 @@ struct SimpleCameraInternalData
:m_cameraTargetPosition(b3MakeVector3(0,0,0)),
m_cameraDistance(20),
m_cameraUp(b3MakeVector3(0,1,0)),
m_cameraUpAxis(1),
m_cameraForward(b3MakeVector3(1,0,0)),
m_frustumZNear(0.01),
m_frustumZFar(1000),
m_cameraUpAxis(1),
m_yaw(20),
m_pitch(0),
m_aspect(1)
m_aspect(1),
m_frustumZNear(0.01),
m_frustumZFar(1000)
{
}
b3Vector3 m_cameraTargetPosition;
@@ -83,7 +83,7 @@ static void b3CreateFrustum(
#if 0
static void b3CreateDiagonalMatrix(float value, float result[4][4])
{
for (int i=0;i<4;i++)
@@ -100,7 +100,6 @@ static void b3CreateDiagonalMatrix(float value, float result[4][4])
}
}
}
static void b3CreateOrtho(float left, float right, float bottom, float top, float zNear, float zFar, float result[4][4])
{
b3CreateDiagonalMatrix(1.f,result);
@@ -112,7 +111,7 @@ static void b3CreateOrtho(float left, float right, float bottom, float top, floa
result[3][1] = - (top + bottom) / (top - bottom);
result[3][2] = - (zFar + zNear) / (zFar - zNear);
}
#endif
static void b3CreateLookAt(const b3Vector3& eye, const b3Vector3& center,const b3Vector3& up, float result[16])
{
b3Vector3 f = (center - eye).normalized();