Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

remove some warnings

Browse Source
This commit is contained in:
Erwin Coumans
2014-08-21 13:31:12 -07:00
parent 590504bf72
commit 4af9c5a4c9
24 changed files with 1136 additions and 1104 deletions
Download Patch File Download Diff File Expand all files Collapse all files

18
Demos3/ImportURDFDemo/ImportURDFSetup.cpp
View File

@@ -142,25 +142,25 @@ void URDFvisual2BulletCollisionShape(my_shared_ptr<const Link> link, GraphicsPhy
{
printf("processing a cylinder\n");
urdf::Cylinder* cyl = (urdf::Cylinder*)visual->geometry.get();
btAlignedObjectArray<btVector3> vertices;
//int numVerts = sizeof(barrel_vertices)/(9*sizeof(float));
int numSteps = 32;
for (int i=0;i<numSteps;i++)
{
btVector3 vert(cyl->radius*btSin(SIMD_2_PI*(float(i)/numSteps)),cyl->radius*btCos(SIMD_2_PI*(float(i)/numSteps)),cyl->length/2.);
vertices.push_back(vert);
vert[2] = -cyl->length/2.;
vertices.push_back(vert);
}
btConvexHullShape* cylZShape = new btConvexHullShape(&vertices[0].x(), vertices.size(), sizeof(btVector3));
cylZShape->initializePolyhedralFeatures();
//btVector3 halfExtents(cyl->radius,cyl->radius,cyl->length/2.);
//btCylinderShapeZ* cylZShape = new btCylinderShapeZ(halfExtents);
cylZShape->setMargin(0.001);
shape = cylZShape;
break;
}
@@ -225,7 +225,7 @@ void URDFvisual2BulletCollisionShape(my_shared_ptr<const Link> link, GraphicsPhy
btRigidBody* body = new btRigidBody(rbci);
world->addRigidBody(body,bodyCollisionFilterGroup,bodyCollisionFilterMask);
// body->setFriction(0);
@@ -359,13 +359,13 @@ void ImportUrdfDemo::initPhysics(GraphicsPhysicsBridge& gfxBridge)
);//+btIDebugDraw::DBG_DrawConstraintLimits);
btVector3 gravity(0,0,0);
gravity[upAxis]=-9.8;
m_dynamicsWorld->setGravity(gravity);
int argc=0;
char* filename="somefile.urdf";
const char* filename="somefile.urdf";
std::string xml_string;
@@ -418,7 +418,7 @@ void ImportUrdfDemo::initPhysics(GraphicsPhysicsBridge& gfxBridge)
groundHalfExtents[upAxis]=1.f;
btBoxShape* box = new btBoxShape(groundHalfExtents);
box->initializePolyhedralFeatures();
gfxBridge.createCollisionShapeGraphicsObject(box);
btTransform start; start.setIdentity();
btVector3 groundOrigin(0,0,0);
@@ -428,6 +428,6 @@ void ImportUrdfDemo::initPhysics(GraphicsPhysicsBridge& gfxBridge)
btVector3 color(0.5,0.5,0.5);
gfxBridge.createRigidBodyGraphicsObject(body,color);
}
}