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change 4 spaces to tab for src/BulletInverseDynamics

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fix unit test in single precision compilation (use delta t of 0.01 if BT_ID_USE_DOUBLE_PRECISION is not defined)
This commit is contained in:
erwincoumans
2015-11-19 12:08:04 -08:00
parent 069936218a
commit 75d657ec85
15 changed files with 2097 additions and 2089 deletions
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122
src/BulletInverseDynamics/details/IDLinearMathInterface.hpp
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@@ -17,29 +17,29 @@ typedef btMatrixX<idScalar> matxx;
class vec3 : public btVector3 {
public:
vec3() : btVector3() {}
vec3(const btVector3& btv) { *this = btv; }
idScalar& operator()(int i) { return (*this)[i]; }
const idScalar& operator()(int i) const { return (*this)[i]; }
const int size() const { return 3; }
const vec3& operator=(const btVector3& rhs) {
*static_cast<btVector3*>(this) = rhs;
return *this;
}
vec3() : btVector3() {}
vec3(const btVector3& btv) { *this = btv; }
idScalar& operator()(int i) { return (*this)[i]; }
const idScalar& operator()(int i) const { return (*this)[i]; }
const int size() const { return 3; }
const vec3& operator=(const btVector3& rhs) {
*static_cast<btVector3*>(this) = rhs;
return *this;
}
};
class mat33 : public btMatrix3x3 {
public:
mat33() : btMatrix3x3() {}
mat33(const btMatrix3x3& btm) { *this = btm; }
idScalar& operator()(int i, int j) { return (*this)[i][j]; }
const idScalar& operator()(int i, int j) const { return (*this)[i][j]; }
const mat33& operator=(const btMatrix3x3& rhs) {
*static_cast<btMatrix3x3*>(this) = rhs;
return *this;
}
friend mat33 operator*(const idScalar& s, const mat33& a);
friend mat33 operator/(const mat33& a, const idScalar& s);
mat33() : btMatrix3x3() {}
mat33(const btMatrix3x3& btm) { *this = btm; }
idScalar& operator()(int i, int j) { return (*this)[i][j]; }
const idScalar& operator()(int i, int j) const { return (*this)[i][j]; }
const mat33& operator=(const btMatrix3x3& rhs) {
*static_cast<btMatrix3x3*>(this) = rhs;
return *this;
}
friend mat33 operator*(const idScalar& s, const mat33& a);
friend mat33 operator/(const mat33& a, const idScalar& s);
};
inline mat33 operator/(const mat33& a, const idScalar& s) { return a * (1.0 / s); }
@@ -48,64 +48,64 @@ inline mat33 operator*(const idScalar& s, const mat33& a) { return a * s; }
class vecx : public btVectorX<idScalar> {
public:
vecx(int size) : btVectorX(size) {}
const vecx& operator=(const btVectorX<idScalar>& rhs) {
*static_cast<btVectorX*>(this) = rhs;
return *this;
}
vecx(int size) : btVectorX(size) {}
const vecx& operator=(const btVectorX<idScalar>& rhs) {
*static_cast<btVectorX*>(this) = rhs;
return *this;
}
idScalar& operator()(int i) { return (*this)[i]; }
const idScalar& operator()(int i) const { return (*this)[i]; }
idScalar& operator()(int i) { return (*this)[i]; }
const idScalar& operator()(int i) const { return (*this)[i]; }
friend vecx operator*(const vecx& a, const idScalar& s);
friend vecx operator*(const idScalar& s, const vecx& a);
friend vecx operator*(const vecx& a, const idScalar& s);
friend vecx operator*(const idScalar& s, const vecx& a);
friend vecx operator+(const vecx& a, const vecx& b);
friend vecx operator-(const vecx& a, const vecx& b);
friend vecx operator/(const vecx& a, const idScalar& s);
friend vecx operator+(const vecx& a, const vecx& b);
friend vecx operator-(const vecx& a, const vecx& b);
friend vecx operator/(const vecx& a, const idScalar& s);
};
inline vecx operator*(const vecx& a, const idScalar& s) {
vecx result(a.size());
for (int i = 0; i < result.size(); i++) {
result(i) = a(i) * s;
}
return result;
vecx result(a.size());
for (int i = 0; i < result.size(); i++) {
result(i) = a(i) * s;
}
return result;
}
inline vecx operator*(const idScalar& s, const vecx& a) { return a * s; }
inline vecx operator+(const vecx& a, const vecx& b) {
vecx result(a.size());
// TODO: error handling for a.size() != b.size()??
if (a.size() != b.size()) {
error_message("size missmatch. a.size()= %d, b.size()= %d\n", a.size(), b.size());
abort();
}
for (int i = 0; i < a.size(); i++) {
result(i) = a(i) + b(i);
}
vecx result(a.size());
// TODO: error handling for a.size() != b.size()??
if (a.size() != b.size()) {
error_message("size missmatch. a.size()= %d, b.size()= %d\n", a.size(), b.size());
abort();
}
for (int i = 0; i < a.size(); i++) {
result(i) = a(i) + b(i);
}
return result;
return result;
}
inline vecx operator-(const vecx& a, const vecx& b) {
vecx result(a.size());
// TODO: error handling for a.size() != b.size()??
if (a.size() != b.size()) {
error_message("size missmatch. a.size()= %d, b.size()= %d\n", a.size(), b.size());
abort();
}
for (int i = 0; i < a.size(); i++) {
result(i) = a(i) - b(i);
}
return result;
vecx result(a.size());
// TODO: error handling for a.size() != b.size()??
if (a.size() != b.size()) {
error_message("size missmatch. a.size()= %d, b.size()= %d\n", a.size(), b.size());
abort();
}
for (int i = 0; i < a.size(); i++) {
result(i) = a(i) - b(i);
}
return result;
}
inline vecx operator/(const vecx& a, const idScalar& s) {
vecx result(a.size());
for (int i = 0; i < result.size(); i++) {
result(i) = a(i) / s;
}
vecx result(a.size());
for (int i = 0; i < result.size(); i++) {
result(i) = a(i) / s;
}
return result;
return result;
}
}