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Use btAssert instead of assert

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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
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20
src/BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.cpp
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@@ -83,7 +83,7 @@ static btScalar computeConstraintMatrixDiagElementMultiBody(
else else
{ {
const int solverBodyIdA = constraint.m_solverBodyIdA; const int solverBodyIdA = constraint.m_solverBodyIdA;
assert(solverBodyIdA != -1); btAssert(solverBodyIdA != -1);
const btSolverBody* solverBodyA = &solverBodyPool[solverBodyIdA]; const btSolverBody* solverBodyA = &solverBodyPool[solverBodyIdA];
const btScalar invMassA = solverBodyA->m_originalBody ? solverBodyA->m_originalBody->getInvMass() : 0.0; const btScalar invMassA = solverBodyA->m_originalBody ? solverBodyA->m_originalBody->getInvMass() : 0.0;
ret += computeDeltaVelocityInConstraintSpace( ret += computeDeltaVelocityInConstraintSpace(
@@ -102,7 +102,7 @@ static btScalar computeConstraintMatrixDiagElementMultiBody(
else else
{ {
const int solverBodyIdB = constraint.m_solverBodyIdB; const int solverBodyIdB = constraint.m_solverBodyIdB;
assert(solverBodyIdB != -1); btAssert(solverBodyIdB != -1);
const btSolverBody* solverBodyB = &solverBodyPool[solverBodyIdB]; const btSolverBody* solverBodyB = &solverBodyPool[solverBodyIdB];
const btScalar invMassB = solverBodyB->m_originalBody ? solverBodyB->m_originalBody->getInvMass() : 0.0; const btScalar invMassB = solverBodyB->m_originalBody ? solverBodyB->m_originalBody->getInvMass() : 0.0;
ret += computeDeltaVelocityInConstraintSpace( ret += computeDeltaVelocityInConstraintSpace(
@@ -127,8 +127,8 @@ static btScalar computeConstraintMatrixOffDiagElementMultiBody(
const btMultiBody* offDiagMultiBodyB = offDiagConstraint.m_multiBodyB; const btMultiBody* offDiagMultiBodyB = offDiagConstraint.m_multiBodyB;
// Assumed at least one system is multibody // Assumed at least one system is multibody
assert(multiBodyA || multiBodyB); btAssert(multiBodyA || multiBodyB);
assert(offDiagMultiBodyA || offDiagMultiBodyB); btAssert(offDiagMultiBodyA || offDiagMultiBodyB);
if (offDiagMultiBodyA) if (offDiagMultiBodyA)
{ {
@@ -153,11 +153,11 @@ static btScalar computeConstraintMatrixOffDiagElementMultiBody(
const int solverBodyIdB = constraint.m_solverBodyIdB; const int solverBodyIdB = constraint.m_solverBodyIdB;
const int offDiagSolverBodyIdA = offDiagConstraint.m_solverBodyIdA; const int offDiagSolverBodyIdA = offDiagConstraint.m_solverBodyIdA;
assert(offDiagSolverBodyIdA != -1); btAssert(offDiagSolverBodyIdA != -1);
if (offDiagSolverBodyIdA == solverBodyIdA) if (offDiagSolverBodyIdA == solverBodyIdA)
{ {
assert(solverBodyIdA != -1); btAssert(solverBodyIdA != -1);
const btSolverBody* solverBodyA = &solverBodyPool[solverBodyIdA]; const btSolverBody* solverBodyA = &solverBodyPool[solverBodyIdA];
const btScalar invMassA = solverBodyA->m_originalBody ? solverBodyA->m_originalBody->getInvMass() : 0.0; const btScalar invMassA = solverBodyA->m_originalBody ? solverBodyA->m_originalBody->getInvMass() : 0.0;
offDiagA += computeDeltaVelocityInConstraintSpace( offDiagA += computeDeltaVelocityInConstraintSpace(
@@ -168,7 +168,7 @@ static btScalar computeConstraintMatrixOffDiagElementMultiBody(
} }
else if (offDiagSolverBodyIdA == solverBodyIdB) else if (offDiagSolverBodyIdA == solverBodyIdB)
{ {
assert(solverBodyIdB != -1); btAssert(solverBodyIdB != -1);
const btSolverBody* solverBodyB = &solverBodyPool[solverBodyIdB]; const btSolverBody* solverBodyB = &solverBodyPool[solverBodyIdB];
const btScalar invMassB = solverBodyB->m_originalBody ? solverBodyB->m_originalBody->getInvMass() : 0.0; const btScalar invMassB = solverBodyB->m_originalBody ? solverBodyB->m_originalBody->getInvMass() : 0.0;
offDiagA += computeDeltaVelocityInConstraintSpace( offDiagA += computeDeltaVelocityInConstraintSpace(
@@ -203,11 +203,11 @@ static btScalar computeConstraintMatrixOffDiagElementMultiBody(
const int solverBodyIdB = constraint.m_solverBodyIdB; const int solverBodyIdB = constraint.m_solverBodyIdB;
const int offDiagSolverBodyIdB = offDiagConstraint.m_solverBodyIdB; const int offDiagSolverBodyIdB = offDiagConstraint.m_solverBodyIdB;
assert(offDiagSolverBodyIdB != -1); btAssert(offDiagSolverBodyIdB != -1);
if (offDiagSolverBodyIdB == solverBodyIdA) if (offDiagSolverBodyIdB == solverBodyIdA)
{ {
assert(solverBodyIdA != -1); btAssert(solverBodyIdA != -1);
const btSolverBody* solverBodyA = &solverBodyPool[solverBodyIdA]; const btSolverBody* solverBodyA = &solverBodyPool[solverBodyIdA];
const btScalar invMassA = solverBodyA->m_originalBody ? solverBodyA->m_originalBody->getInvMass() : 0.0; const btScalar invMassA = solverBodyA->m_originalBody ? solverBodyA->m_originalBody->getInvMass() : 0.0;
offDiagA += computeDeltaVelocityInConstraintSpace( offDiagA += computeDeltaVelocityInConstraintSpace(
@@ -218,7 +218,7 @@ static btScalar computeConstraintMatrixOffDiagElementMultiBody(
} }
else if (offDiagSolverBodyIdB == solverBodyIdB) else if (offDiagSolverBodyIdB == solverBodyIdB)
{ {
assert(solverBodyIdB != -1); btAssert(solverBodyIdB != -1);
const btSolverBody* solverBodyB = &solverBodyPool[solverBodyIdB]; const btSolverBody* solverBodyB = &solverBodyPool[solverBodyIdB];
const btScalar invMassB = solverBodyB->m_originalBody ? solverBodyB->m_originalBody->getInvMass() : 0.0; const btScalar invMassB = solverBodyB->m_originalBody ? solverBodyB->m_originalBody->getInvMass() : 0.0;
offDiagA += computeDeltaVelocityInConstraintSpace( offDiagA += computeDeltaVelocityInConstraintSpace(