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ASSERT -> btAssert

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Added btStackAlloc to Bullet (right now only used by btGjkEpa)
removed default constructors of btCollisionWorld/btDiscreteDynamicsWorld, to reduce link-time dependencies
This commit is contained in:
ejcoumans
2006-11-29 01:52:09 +00:00
parent 43ab3c67c4
commit 6738ed329d
41 changed files with 206 additions and 269 deletions
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8
src/BulletDynamics/ConstraintSolver/btJacobianEntry.h
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@@ -50,7 +50,7 @@ public:
m_1MinvJt = inertiaInvB * m_bJ;
m_Adiag = massInvA + m_0MinvJt.dot(m_aJ) + massInvB + m_1MinvJt.dot(m_bJ);
ASSERT(m_Adiag > 0.0f);
btAssert(m_Adiag > 0.0f);
}
//angular constraint between two different rigidbodies
@@ -67,7 +67,7 @@ public:
m_1MinvJt = inertiaInvB * m_bJ;
m_Adiag = m_0MinvJt.dot(m_aJ) + m_1MinvJt.dot(m_bJ);
ASSERT(m_Adiag > 0.0f);
btAssert(m_Adiag > 0.0f);
}
//angular constraint between two different rigidbodies
@@ -83,7 +83,7 @@ public:
m_1MinvJt = inertiaInvB * m_bJ;
m_Adiag = m_0MinvJt.dot(m_aJ) + m_1MinvJt.dot(m_bJ);
ASSERT(m_Adiag > 0.0f);
btAssert(m_Adiag > 0.0f);
}
//constraint on one rigidbody
@@ -101,7 +101,7 @@ public:
m_1MinvJt = btVector3(0.f,0.f,0.f);
m_Adiag = massInvA + m_0MinvJt.dot(m_aJ);
ASSERT(m_Adiag > 0.0f);
btAssert(m_Adiag > 0.0f);
}
btScalar getDiagonal() const { return m_Adiag; }

4
src/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.cpp
View File

@@ -51,7 +51,7 @@ void btSolve2LinearConstraint::resolveUnilateralPairConstraint(
if (fabs(len) >= SIMD_EPSILON)
return;
ASSERT(len < SIMD_EPSILON);
btAssert(len < SIMD_EPSILON);
//this jacobian entry could be re-used for all iterations
@@ -133,7 +133,7 @@ void btSolve2LinearConstraint::resolveBilateralPairConstraint(
if (fabs(len) >= SIMD_EPSILON)
return;
ASSERT(len < SIMD_EPSILON);
btAssert(len < SIMD_EPSILON);
//this jacobian entry could be re-used for all iterations