diff --git a/Extras/HACD/hacdHACD.h b/Extras/HACD/hacdHACD.h index 9c496f4e5..0b2415ba6 100644 --- a/Extras/HACD/hacdHACD.h +++ b/Extras/HACD/hacdHACD.h @@ -81,38 +81,38 @@ namespace HACD //! Gives the triangles partitionas an array of size m_nTriangles where the i-th element specifies the cluster to which belong the i-th triangle //! @return triangles partition - const long * const GetPartition() const { return m_partition;} + const long * GetPartition() const { return m_partition;} //! Sets the scale factor //! @param scale scale factor void SetScaleFactor(double scale) { m_scale = scale;} //! Gives the scale factor //! @return scale factor - const double GetScaleFactor() const { return m_scale;} + double GetScaleFactor() const { return m_scale;} //! Sets the call-back function //! @param callBack pointer to the call-back function void SetCallBack(CallBackFunction callBack) { m_callBack = callBack;} //! Gives the call-back function //! @return pointer to the call-back function - const CallBackFunction GetCallBack() const { return m_callBack;} - + CallBackFunction GetCallBack() const { return m_callBack;} + //! Specifies whether faces points should be added when computing the concavity //! @param addFacesPoints true = faces points should be added void SetAddFacesPoints(bool addFacesPoints) { m_addFacesPoints = addFacesPoints;} //! Specifies wheter faces points should be added when computing the concavity //! @return true = faces points should be added - const bool GetAddFacesPoints() const { return m_addFacesPoints;} + bool GetAddFacesPoints() const { return m_addFacesPoints;} //! Specifies whether extra points should be added when computing the concavity //! @param addExteraDistPoints true = extra points should be added void SetAddExtraDistPoints(bool addExtraDistPoints) { m_addExtraDistPoints = addExtraDistPoints;} //! Specifies wheter extra points should be added when computing the concavity //! @return true = extra points should be added - const bool GetAddExtraDistPoints() const { return m_addExtraDistPoints;} + bool GetAddExtraDistPoints() const { return m_addExtraDistPoints;} //! Specifies whether extra points should be added when computing the concavity //! @param addExteraDistPoints true = extra points should be added void SetAddNeighboursDistPoints(bool addNeighboursDistPoints) { m_addNeighboursDistPoints = addNeighboursDistPoints;} //! Specifies wheter extra points should be added when computing the concavity //! @return true = extra points should be added - const bool GetAddNeighboursDistPoints() const { return m_addNeighboursDistPoints;} + bool GetAddNeighboursDistPoints() const { return m_addNeighboursDistPoints;} //! Sets the points of the input mesh (Remark: the input points will be scaled and shifted. Use DenormalizeData() to invert those operations) //! @param points pointer to the input points void SetPoints(Vec3 * points) { m_points = points;} @@ -130,19 +130,19 @@ namespace HACD void SetNPoints(size_t nPoints) { m_nPoints = nPoints;} //! Gives the number of points in the input mesh. //! @return number of points the input mesh - const size_t GetNPoints() const { return m_nPoints;} + size_t GetNPoints() const { return m_nPoints;} //! Sets the number of triangles in the input mesh. //! @param nTriangles number of triangles in the input mesh void SetNTriangles(size_t nTriangles) { m_nTriangles = nTriangles;} //! Gives the number of triangles in the input mesh. //! @return number of triangles the input mesh - const size_t GetNTriangles() const { return m_nTriangles;} + size_t GetNTriangles() const { return m_nTriangles;} //! Sets the minimum number of clusters to be generated. //! @param nClusters minimum number of clusters void SetNClusters(size_t nClusters) { m_nMinClusters = nClusters;} //! Gives the number of generated clusters. //! @return number of generated clusters - const size_t GetNClusters() const { return m_nClusters;} + size_t GetNClusters() const { return m_nClusters;} //! Sets the maximum allowed concavity. //! @param concavity maximum concavity void SetConcavity(double concavity) { m_concavity = concavity;} @@ -172,7 +172,7 @@ namespace HACD void SetNVerticesPerCH(size_t nVerticesPerCH) { m_nVerticesPerCH = nVerticesPerCH;} //! Gives the maximum number of vertices for each generated convex-hull. //! @return maximum # vertices per CH - const size_t GetNVerticesPerCH() const { return m_nVerticesPerCH;} + size_t GetNVerticesPerCH() const { return m_nVerticesPerCH;} //! Gives the number of vertices for the cluster number numCH. //! @return number of vertices size_t GetNPointsCH(size_t numCH) const; diff --git a/Extras/HACD/hacdVector.h b/Extras/HACD/hacdVector.h index 0c8dd022d..bb0858ba5 100644 --- a/Extras/HACD/hacdVector.h +++ b/Extras/HACD/hacdVector.h @@ -58,7 +58,7 @@ namespace HACD T m_data[3]; }; template - const bool Colinear(const Vec3 & a, const Vec3 & b, const Vec3 & c); + bool Colinear(const Vec3 & a, const Vec3 & b, const Vec3 & c); template const T Volume(const Vec3 & a, const Vec3 & b, const Vec3 & c, const Vec3 & d); diff --git a/Extras/HACD/hacdVector.inl b/Extras/HACD/hacdVector.inl index ab0a94ddb..b1f0c1b2a 100644 --- a/Extras/HACD/hacdVector.inl +++ b/Extras/HACD/hacdVector.inl @@ -162,7 +162,7 @@ namespace HACD inline Vec3::Vec3() {} template - inline const bool Colinear(const Vec3 & a, const Vec3 & b, const Vec3 & c) + inline bool Colinear(const Vec3 & a, const Vec3 & b, const Vec3 & c) { return ((c.Z() - a.Z()) * (b.Y() - a.Y()) - (b.Z() - a.Z()) * (c.Y() - a.Y()) == 0.0 /*EPS*/) && ((b.Z() - a.Z()) * (c.X() - a.X()) - (b.X() - a.X()) * (c.Z() - a.Z()) == 0.0 /*EPS*/) && @@ -175,4 +175,4 @@ namespace HACD return (a-d) * ((b-d) ^ (c-d)); } } -#endif //HACD_VECTOR_INL \ No newline at end of file +#endif //HACD_VECTOR_INL diff --git a/src/BulletInverseDynamics/details/IDLinearMathInterface.hpp b/src/BulletInverseDynamics/details/IDLinearMathInterface.hpp index cbe6e5a96..5bb4a33bd 100644 --- a/src/BulletInverseDynamics/details/IDLinearMathInterface.hpp +++ b/src/BulletInverseDynamics/details/IDLinearMathInterface.hpp @@ -22,7 +22,7 @@ public: 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; } + int size() const { return 3; } const vec3& operator=(const btVector3& rhs) { *static_cast(this) = rhs; return *this;