Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Use btAssert instead of assert

Browse Source
This commit is contained in:
Jeongseok Lee
2018-08-03 13:46:59 -07:00
parent 89c6a83ae9
commit 809fb3ed49
1 changed files with 10 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files

20
src/BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.cpp
View File

@@ -83,7 +83,7 @@ static btScalar computeConstraintMatrixDiagElementMultiBody(
else
{
const int solverBodyIdA = constraint.m_solverBodyIdA;
assert(solverBodyIdA != -1);
btAssert(solverBodyIdA != -1);
const btSolverBody* solverBodyA = &solverBodyPool[solverBodyIdA];
const btScalar invMassA = solverBodyA->m_originalBody ? solverBodyA->m_originalBody->getInvMass() : 0.0;
ret += computeDeltaVelocityInConstraintSpace(
@@ -102,7 +102,7 @@ static btScalar computeConstraintMatrixDiagElementMultiBody(
else
{
const int solverBodyIdB = constraint.m_solverBodyIdB;
assert(solverBodyIdB != -1);
btAssert(solverBodyIdB != -1);
const btSolverBody* solverBodyB = &solverBodyPool[solverBodyIdB];
const btScalar invMassB = solverBodyB->m_originalBody ? solverBodyB->m_originalBody->getInvMass() : 0.0;
ret += computeDeltaVelocityInConstraintSpace(
@@ -127,8 +127,8 @@ static btScalar computeConstraintMatrixOffDiagElementMultiBody(
const btMultiBody* offDiagMultiBodyB = offDiagConstraint.m_multiBodyB;
// Assumed at least one system is multibody
assert(multiBodyA || multiBodyB);
assert(offDiagMultiBodyA || offDiagMultiBodyB);
btAssert(multiBodyA || multiBodyB);
btAssert(offDiagMultiBodyA || offDiagMultiBodyB);
if (offDiagMultiBodyA)
{
@@ -153,11 +153,11 @@ static btScalar computeConstraintMatrixOffDiagElementMultiBody(
const int solverBodyIdB = constraint.m_solverBodyIdB;
const int offDiagSolverBodyIdA = offDiagConstraint.m_solverBodyIdA;
assert(offDiagSolverBodyIdA != -1);
btAssert(offDiagSolverBodyIdA != -1);
if (offDiagSolverBodyIdA == solverBodyIdA)
{
assert(solverBodyIdA != -1);
btAssert(solverBodyIdA != -1);
const btSolverBody* solverBodyA = &solverBodyPool[solverBodyIdA];
const btScalar invMassA = solverBodyA->m_originalBody ? solverBodyA->m_originalBody->getInvMass() : 0.0;
offDiagA += computeDeltaVelocityInConstraintSpace(
@@ -168,7 +168,7 @@ static btScalar computeConstraintMatrixOffDiagElementMultiBody(
}
else if (offDiagSolverBodyIdA == solverBodyIdB)
{
assert(solverBodyIdB != -1);
btAssert(solverBodyIdB != -1);
const btSolverBody* solverBodyB = &solverBodyPool[solverBodyIdB];
const btScalar invMassB = solverBodyB->m_originalBody ? solverBodyB->m_originalBody->getInvMass() : 0.0;
offDiagA += computeDeltaVelocityInConstraintSpace(
@@ -203,11 +203,11 @@ static btScalar computeConstraintMatrixOffDiagElementMultiBody(
const int solverBodyIdB = constraint.m_solverBodyIdB;
const int offDiagSolverBodyIdB = offDiagConstraint.m_solverBodyIdB;
assert(offDiagSolverBodyIdB != -1);
btAssert(offDiagSolverBodyIdB != -1);
if (offDiagSolverBodyIdB == solverBodyIdA)
{
assert(solverBodyIdA != -1);
btAssert(solverBodyIdA != -1);
const btSolverBody* solverBodyA = &solverBodyPool[solverBodyIdA];
const btScalar invMassA = solverBodyA->m_originalBody ? solverBodyA->m_originalBody->getInvMass() : 0.0;
offDiagA += computeDeltaVelocityInConstraintSpace(
@@ -218,7 +218,7 @@ static btScalar computeConstraintMatrixOffDiagElementMultiBody(
}
else if (offDiagSolverBodyIdB == solverBodyIdB)
{
assert(solverBodyIdB != -1);
btAssert(solverBodyIdB != -1);
const btSolverBody* solverBodyB = &solverBodyPool[solverBodyIdB];
const btScalar invMassB = solverBodyB->m_originalBody ? solverBodyB->m_originalBody->getInvMass() : 0.0;
offDiagA += computeDeltaVelocityInConstraintSpace(