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fix BT_USE_DOUBLE_PRECISION build, address Issue 177

Browse Source 
https://github.com/bulletphysics/bullet3/issues/177
This commit is contained in:
Erwin Coumans
2014-05-19 14:53:11 -07:00
parent 2601932249
commit 3dd759c463
6 changed files with 66 additions and 18 deletions
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22
Demos3/bullet2/FeatherstoneMultiBodyDemo/BulletMultiBodyDemos.cpp
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@@ -38,12 +38,12 @@ struct GraphicsVertex
float texcoord[2];
};
static b3Vector4 colors[4] =
static btVector4 colors[4] =
{
b3MakeVector4(1,0,0,1),
b3MakeVector4(0,1,0,1),
b3MakeVector4(0,1,1,1),
b3MakeVector4(1,1,0,1),
btVector4(1,0,0,1),
btVector4(0,1,0,1),
btVector4(0,1,1,1),
btVector4(1,1,0,1),
};
@@ -435,8 +435,8 @@ btMultiBody* FeatherstoneDemo1::createFeatherstoneMultiBody(class btMultiBodyDyn
world_to_local[0] = bod->getWorldToBaseRot();
local_origin[0] = bod->getBasePos();
//float halfExtents[3]={7.5,0.05,4.5};
float halfExtents[3]={7.5,0.45,4.5};
{
btVector4 halfExtents(7.5,0.45,4.5,1);
{
float pos[4]={local_origin[0].x(),local_origin[0].y(),local_origin[0].z(),1};
float quat[4]={-world_to_local[0].x(),-world_to_local[0].y(),-world_to_local[0].z(),world_to_local[0].w()};
@@ -455,7 +455,7 @@ btMultiBody* FeatherstoneDemo1::createFeatherstoneMultiBody(class btMultiBodyDyn
tr.setRotation(btQuaternion(quat[0],quat[1],quat[2],quat[3]));
col->setWorldTransform(tr);
b3Vector4 color = colors[curColor++];
btVector4 color = colors[curColor++];
curColor&=3;
int index = m_glApp->m_instancingRenderer->registerGraphicsInstance(cubeShapeId,tr.getOrigin(),tr.getRotation(),color,halfExtents);
@@ -500,7 +500,7 @@ btMultiBody* FeatherstoneDemo1::createFeatherstoneMultiBody(class btMultiBodyDyn
col->setFriction(friction);
b3Vector4 color = colors[curColor++];
btVector4 color = colors[curColor++];
curColor&=3;
int index = m_glApp->m_instancingRenderer->registerGraphicsInstance(cubeShapeId,tr.getOrigin(),tr.getRotation(),color,halfExtents);
@@ -536,8 +536,8 @@ void FeatherstoneDemo1::createGround()
{
float color[]={0.3,0.3,1,1};
float halfExtents[]={50,50,50,1};
btVector4 color(0.3,0.3,1,1);
btVector4 halfExtents(50,50,50,1);
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0,-50,0));