From 809fb3ed49a3401a837cecbb5903f9d8b72afcc5 Mon Sep 17 00:00:00 2001 From: Jeongseok Lee Date: Fri, 3 Aug 2018 13:46:59 -0700 Subject: [PATCH] Use btAssert instead of assert --- .../btMultiBodyMLCPConstraintSolver.cpp | 20 +++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) diff --git a/src/BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.cpp b/src/BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.cpp index f5357a7c5..8242b7b27 100644 --- a/src/BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.cpp +++ b/src/BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.cpp @@ -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(