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make some code const correct.

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This commit is contained in:
erwincoumans
2017-09-22 07:53:21 -07:00
parent b9b1b2dbca
commit 312e35964f
3 changed files with 13 additions and 3 deletions
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6
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -1053,13 +1053,13 @@ struct GenericRobotStateLogger : public InternalStateLogger
std::string m_fileName; std::string m_fileName;
FILE* m_logFileHandle; FILE* m_logFileHandle;
std::string m_structTypes; std::string m_structTypes;
btMultiBodyDynamicsWorld* m_dynamicsWorld; const btMultiBodyDynamicsWorld* m_dynamicsWorld;
btAlignedObjectArray<int> m_bodyIdList; btAlignedObjectArray<int> m_bodyIdList;
bool m_filterObjectUniqueId; bool m_filterObjectUniqueId;
int m_maxLogDof; int m_maxLogDof;
int m_logFlags; int m_logFlags;
GenericRobotStateLogger(int loggingUniqueId, const std::string& fileName, btMultiBodyDynamicsWorld* dynamicsWorld, int maxLogDof, int logFlags) GenericRobotStateLogger(int loggingUniqueId, const std::string& fileName, const btMultiBodyDynamicsWorld* dynamicsWorld, int maxLogDof, int logFlags)
:m_loggingTimeStamp(0), :m_loggingTimeStamp(0),
m_logFileHandle(0), m_logFileHandle(0),
m_dynamicsWorld(dynamicsWorld), m_dynamicsWorld(dynamicsWorld),
@@ -1137,7 +1137,7 @@ struct GenericRobotStateLogger : public InternalStateLogger
{ {
for (int i=0;i<m_dynamicsWorld->getNumMultibodies();i++) for (int i=0;i<m_dynamicsWorld->getNumMultibodies();i++)
{ {
btMultiBody* mb = m_dynamicsWorld->getMultiBody(i); const btMultiBody* mb = m_dynamicsWorld->getMultiBody(i);
int objectUniqueId = mb->getUserIndex2(); int objectUniqueId = mb->getUserIndex2();
if (m_filterObjectUniqueId && m_bodyIdList.findLinearSearch2(objectUniqueId) < 0) if (m_filterObjectUniqueId && m_bodyIdList.findLinearSearch2(objectUniqueId) < 0)
{ {

5
src/BulletDynamics/Dynamics/btDynamicsWorld.h
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@@ -135,6 +135,11 @@ public:
return m_solverInfo; return m_solverInfo;
} }
const btContactSolverInfo& getSolverInfo() const
{
return m_solverInfo;
}
///obsolete, use addAction instead. ///obsolete, use addAction instead.
virtual void addVehicle(btActionInterface* vehicle) {(void)vehicle;} virtual void addVehicle(btActionInterface* vehicle) {(void)vehicle;}

5
src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h
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@@ -72,6 +72,11 @@ public:
return m_multiBodies[mbIndex]; return m_multiBodies[mbIndex];
} }
const btMultiBody* getMultiBody(int mbIndex) const
{
return m_multiBodies[mbIndex];
}
virtual void addMultiBodyConstraint( btMultiBodyConstraint* constraint); virtual void addMultiBodyConstraint( btMultiBodyConstraint* constraint);
virtual int getNumMultiBodyConstraints() const virtual int getNumMultiBodyConstraints() const