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Change btVector3/btQuaternion to const btVector3&/btQuaternion&.

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Parameters such as btVector3/btQuaternion need to be passed as const reference, not by value (it causes SIMD alignnment errors on Windows).
This commit is contained in:
Benjamin Ellenberger
2016-07-11 23:22:17 +02:00
parent ed13cc6c26
commit 5f03b039a5
3 changed files with 11 additions and 18 deletions
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21
examples/ExtendedTutorials/MultiPendulum.cpp
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@@ -50,7 +50,7 @@ struct MultiPendulumExample: public CommonRigidBodyBase {
virtual void initPhysics(); // build a multi pendulum
virtual void renderScene(); // render the scene to screen
virtual void createMultiPendulum(btSphereShape* colShape, btScalar pendulaQty, btScalar xPosition, btScalar yPosition,btScalar zPosition, btScalar length, btScalar mass); // create a multi pendulum at the indicated x and y position, the specified number of pendula formed into a chain, each with indicated length and mass
virtual void createMultiPendulum(btSphereShape* colShape, btScalar pendulaQty, const btVector3& position, btScalar length, btScalar mass); // create a multi pendulum at the indicated x and y position, the specified number of pendula formed into a chain, each with indicated length and mass
virtual void changePendulaLength(btScalar length); // change the pendulum length
virtual void changePendulaRestitution(btScalar restitution); // change the pendula restitution
virtual void stepSimulation(float deltaTime); // step the simulation
@@ -155,16 +155,14 @@ void MultiPendulumExample::initPhysics() { // Setup your physics scene
{ // create the multipendulum starting at the indicated position below and where each pendulum has the following mass
btScalar pendulumMass(1.f);
btScalar xPosition(0.0f); // initial top-most pendulum position
btScalar yPosition(15.0f);
btScalar zPosition(0.0f);
btVector3 position(0.0f,15.0f,0.0f); // initial top-most pendulum position
// Re-using the same collision is better for memory usage and performance
btSphereShape* pendulumShape = new btSphereShape(gSphereRadius);
m_collisionShapes.push_back(pendulumShape);
// create multi-pendulum
createMultiPendulum(pendulumShape, floor(gPendulaQty), xPosition, yPosition,zPosition,
createMultiPendulum(pendulumShape, floor(gPendulaQty), position,
gInitialPendulumLength, pendulumMass);
}
@@ -181,7 +179,7 @@ void MultiPendulumExample::stepSimulation(float deltaTime) {
}
void MultiPendulumExample::createMultiPendulum(btSphereShape* colShape,
btScalar pendulaQty, btScalar xPosition, btScalar yPosition, btScalar zPosition,
btScalar pendulaQty, const btVector3& position,
btScalar length, btScalar mass) {
// The multi-pendulum looks like this (names when built):
@@ -200,8 +198,7 @@ void MultiPendulumExample::createMultiPendulum(btSphereShape* colShape,
startTransform.setIdentity();
// position the top sphere
startTransform.setOrigin(
btVector3(btScalar(xPosition), btScalar(yPosition), btScalar(zPosition)));
startTransform.setOrigin(position);
startTransform.setRotation(btQuaternion(0, 0, 0, 1)); // zero rotation
@@ -228,9 +225,7 @@ void MultiPendulumExample::createMultiPendulum(btSphereShape* colShape,
// create joint element to make the pendulum rotate it
// position the joint sphere at the same position as the top sphere
startTransform.setOrigin(
btVector3(btScalar(xPosition), btScalar(yPosition - length*(i)),
btScalar(0)));
startTransform.setOrigin(position - btVector3(0,length*(i),0));
startTransform.setRotation(btQuaternion(0, 0, 0, 1)); // zero rotation
@@ -269,9 +264,7 @@ void MultiPendulumExample::createMultiPendulum(btSphereShape* colShape,
startTransform.setIdentity(); // reset start transform
// position the child sphere below the joint sphere
startTransform.setOrigin(
btVector3(btScalar(xPosition), btScalar(yPosition - length*(i+1)),
btScalar(0)));
startTransform.setOrigin(position - btVector3(0,length*(i+1),0));
startTransform.setRotation(btQuaternion(0, 0, 0, 1)); // zero rotation