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Merge remote-tracking branch 'bp/master'

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This commit is contained in:
Erwin Coumans
2017-12-01 10:25:43 -08:00
parent c556ad651d aa82003174
commit 8c0913d96b
8 changed files with 362 additions and 4 deletions
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2
src/BulletCollision/CollisionShapes/btCompoundShape.cpp
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@@ -213,7 +213,7 @@ void btCompoundShape::calculateLocalInertia(btScalar mass,btVector3& inertia) co
void btCompoundShape::calculatePrincipalAxisTransform(btScalar* masses, btTransform& principal, btVector3& inertia) const
void btCompoundShape::calculatePrincipalAxisTransform(const btScalar* masses, btTransform& principal, btVector3& inertia) const
{
int n = m_children.size();

2
src/BulletCollision/CollisionShapes/btCompoundShape.h
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@@ -160,7 +160,7 @@ public:
///"principal" has to be applied inversely to all children transforms in order for the local coordinate system of the compound
///shape to be centered at the center of mass and to coincide with the principal axes. This also necessitates a correction of the world transform
///of the collision object by the principal transform.
void calculatePrincipalAxisTransform(btScalar* masses, btTransform& principal, btVector3& inertia) const;
void calculatePrincipalAxisTransform(const btScalar* masses, btTransform& principal, btVector3& inertia) const;
int getUpdateRevision() const
{

2
src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h
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@@ -47,7 +47,7 @@ protected:
btScalar resolveSingleConstraintRowGeneric(const btMultiBodySolverConstraint& c);
//solve 2 friction directions and clamp against the implicit friction cone
btScalar resolveConeFrictionConstraintRows(const btMultiBodySolverConstraint& cA, const btMultiBodySolverConstraint& cB);
btScalar resolveConeFrictionConstraintRows(const btMultiBodySolverConstraint& cA1, const btMultiBodySolverConstraint& cB);
void convertContacts(btPersistentManifold** manifoldPtr,int numManifolds, const btContactSolverInfo& infoGlobal);