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fix compile errors

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This commit is contained in:
erwin.coumans@gmail.com
2013-10-21 23:33:01 +00:00
parent 379f0079e0
commit 5e372d6ac5
2 changed files with 14 additions and 14 deletions
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4
Demos/RaytestDemo/RaytestDemo.cpp
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@@ -68,8 +68,8 @@ void RaytestDemo::castRays()
sDebugDraw.drawLine(from,to,btVector4(0,0,0,1)); sDebugDraw.drawLine(from,to,btVector4(0,0,0,1));
btCollisionWorld::AllHitsRayResultCallback allResults(from,to); btCollisionWorld::AllHitsRayResultCallback allResults(from,to);
allResults.m_flags |= btTriangleRaycastCallback::kF_KeepUnflippedNormal; allResults.m_flags |= btTriangleRaycastCallback::kF_KeepUnflippedNormal;
//optional kF_UseGjkConvexRaytest flag enabled a slightly more accurate and slightly slower algorithm //kF_UseGjkConvexRaytest flag is now enabled by default, use the faster but more approximate algorithm
allResults.m_flags |= btTriangleRaycastCallback::kF_UseGjkConvexRaytest; allResults.m_flags |= btTriangleRaycastCallback::kF_UseSubSimplexConvexCastRaytest;
m_dynamicsWorld->rayTest(from,to,allResults); m_dynamicsWorld->rayTest(from,to,allResults);

24
src/BulletDynamics/MLCPSolvers/btDantzigLCP.cpp
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@@ -1471,16 +1471,16 @@ void btLDLTAddTL (btScalar *L, btScalar *d, const btScalar *a, int n, int nskip,
btScalar *W1 = tmpbuf ? (btScalar *)tmpbuf : (btScalar*) alloca ((2*nskip)*sizeof(btScalar)); btScalar *W1 = tmpbuf ? (btScalar *)tmpbuf : (btScalar*) alloca ((2*nskip)*sizeof(btScalar));
btScalar *W2 = W1 + nskip; btScalar *W2 = W1 + nskip;
W1[0] = REAL(0.0); W1[0] = btScalar(0.0);
W2[0] = REAL(0.0); W2[0] = btScalar(0.0);
for (int j=1; j<n; ++j) { for (int j=1; j<n; ++j) {
W1[j] = W2[j] = (btScalar) (a[j] * SIMDSQRT12); W1[j] = W2[j] = (btScalar) (a[j] * SIMDSQRT12);
} }
btScalar W11 = (btScalar) ((REAL(0.5)*a[0]+1)*SIMDSQRT12); btScalar W11 = (btScalar) ((btScalar(0.5)*a[0]+1)*SIMDSQRT12);
btScalar W21 = (btScalar) ((REAL(0.5)*a[0]-1)*SIMDSQRT12); btScalar W21 = (btScalar) ((btScalar(0.5)*a[0]-1)*SIMDSQRT12);
btScalar alpha1 = REAL(1.0); btScalar alpha1 = btScalar(1.0);
btScalar alpha2 = REAL(1.0); btScalar alpha2 = btScalar(1.0);
{ {
btScalar dee = d[0]; btScalar dee = d[0];
@@ -1494,7 +1494,7 @@ void btLDLTAddTL (btScalar *L, btScalar *d, const btScalar *a, int n, int nskip,
dee /= alphanew; dee /= alphanew;
//btScalar gamma2 = W21 * dee; //btScalar gamma2 = W21 * dee;
alpha2 = alphanew; alpha2 = alphanew;
btScalar k1 = REAL(1.0) - W21*gamma1; btScalar k1 = btScalar(1.0) - W21*gamma1;
btScalar k2 = W21*gamma1*W11 - W21; btScalar k2 = W21*gamma1*W11 - W21;
btScalar *ll = L + nskip; btScalar *ll = L + nskip;
for (int p=1; p<n; ll+=nskip, ++p) { for (int p=1; p<n; ll+=nskip, ++p) {
@@ -1573,7 +1573,7 @@ void btLDLTRemove (btScalar **A, const int *p, btScalar *L, btScalar *d,
for (int i=0; i<n2; ++i) { for (int i=0; i<n2; ++i) {
a[i] = -BTGETA(p[i],p_0); a[i] = -BTGETA(p[i],p_0);
} }
a[0] += REAL(1.0); a[0] += btScalar(1.0);
btLDLTAddTL (L,d,a,n2,nskip,tmp); btLDLTAddTL (L,d,a,n2,nskip,tmp);
} }
else { else {
@@ -1594,7 +1594,7 @@ void btLDLTRemove (btScalar **A, const int *p, btScalar *L, btScalar *d,
a[i] = btLargeDot(Lcurr,t,r) - BTGETA(pp_r[i],p_r); a[i] = btLargeDot(Lcurr,t,r) - BTGETA(pp_r[i],p_r);
} }
} }
a[0] += REAL(1.0); a[0] += btScalar(1.0);
btLDLTAddTL (L + r*nskip+r, d+r, a, n2-r, nskip, tmp); btLDLTAddTL (L + r*nskip+r, d+r, a, n2-r, nskip, tmp);
} }
} }
@@ -1918,11 +1918,11 @@ bool btSolveDantzigLCP (int n, btScalar *A, btScalar *x, btScalar *b,
// find direction to push on x(i) // find direction to push on x(i)
if (w[i] <= 0) { if (w[i] <= 0) {
dir = 1; dir = 1;
dirf = REAL(1.0); dirf = btScalar(1.0);
} }
else { else {
dir = -1; dir = -1;
dirf = REAL(-1.0); dirf = btScalar(-1.0);
} }
// compute: delta_x(C) = -dir*A(C,C)\A(C,i) // compute: delta_x(C) = -dir*A(C,C)\A(C,i)
@@ -2009,7 +2009,7 @@ bool btSolveDantzigLCP (int n, btScalar *A, btScalar *x, btScalar *b,
// if s <= 0 then we've got a problem. if we just keep going then // if s <= 0 then we've got a problem. if we just keep going then
// we're going to get stuck in an infinite loop. instead, just cross // we're going to get stuck in an infinite loop. instead, just cross
// our fingers and exit with the current solution. // our fingers and exit with the current solution.
if (s <= REAL(0.0)) if (s <= btScalar(0.0))
{ {
printf("LCP internal error, s <= 0 (s=%.4e)",(double)s); printf("LCP internal error, s <= 0 (s=%.4e)",(double)s);
if (i < n) { if (i < n) {