From 953bc0d3e7a61fe7ed021907c41fede1ffc2e8a6 Mon Sep 17 00:00:00 2001 From: Szabolcs Dombi Date: Mon, 13 Mar 2017 18:00:35 +0100 Subject: [PATCH] float to btScalar --- src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp | 4 ++-- src/BulletDynamics/Featherstone/btMultiBody.cpp | 2 +- src/BulletDynamics/Featherstone/btMultiBody.h | 2 +- 3 files changed, 4 insertions(+), 4 deletions(-) diff --git a/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp b/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp index 09b7388b6..0572256f7 100644 --- a/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp +++ b/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp @@ -642,7 +642,7 @@ void btConeTwistConstraint::calcAngleInfo2(const btTransform& transA, const btTr btTransform trDeltaAB = trB * trPose * trA.inverse(); btQuaternion qDeltaAB = trDeltaAB.getRotation(); btVector3 swingAxis = btVector3(qDeltaAB.x(), qDeltaAB.y(), qDeltaAB.z()); - float swingAxisLen2 = swingAxis.length2(); + btScalar swingAxisLen2 = swingAxis.length2(); if(btFuzzyZero(swingAxisLen2)) { return; @@ -903,7 +903,7 @@ btVector3 btConeTwistConstraint::GetPointForAngle(btScalar fAngleInRadians, btSc // a^2 b^2 // Do the math and it should be clear. - float swingLimit = m_swingSpan1; // if xEllipse == 0, just use axis b (1) + btScalar swingLimit = m_swingSpan1; // if xEllipse == 0, just use axis b (1) if (fabs(xEllipse) > SIMD_EPSILON) { btScalar surfaceSlope2 = (yEllipse*yEllipse)/(xEllipse*xEllipse); diff --git a/src/BulletDynamics/Featherstone/btMultiBody.cpp b/src/BulletDynamics/Featherstone/btMultiBody.cpp index dd5f253b6..c14aa2aea 100644 --- a/src/BulletDynamics/Featherstone/btMultiBody.cpp +++ b/src/BulletDynamics/Featherstone/btMultiBody.cpp @@ -1238,7 +1238,7 @@ void btMultiBody::computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar -void btMultiBody::solveImatrix(const btVector3& rhs_top, const btVector3& rhs_bot, float result[6]) const +void btMultiBody::solveImatrix(const btVector3& rhs_top, const btVector3& rhs_bot, btScalar result[6]) const { int num_links = getNumLinks(); ///solve I * x = rhs, so the result = invI * rhs diff --git a/src/BulletDynamics/Featherstone/btMultiBody.h b/src/BulletDynamics/Featherstone/btMultiBody.h index c3a4bb8c1..b36d0e4e8 100644 --- a/src/BulletDynamics/Featherstone/btMultiBody.h +++ b/src/BulletDynamics/Featherstone/btMultiBody.h @@ -616,7 +616,7 @@ private: void operator=(const btMultiBody &); // not implemented - void solveImatrix(const btVector3& rhs_top, const btVector3& rhs_bot, float result[6]) const; + void solveImatrix(const btVector3& rhs_top, const btVector3& rhs_bot, btScalar result[6]) const; void solveImatrix(const btSpatialForceVector &rhs, btSpatialMotionVector &result) const; void updateLinksDofOffsets()