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float to btScalar

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This commit is contained in:
Szabolcs Dombi
2017-03-13 18:00:35 +01:00
parent bd3009a5eb
commit 953bc0d3e7
3 changed files with 4 additions and 4 deletions
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4
src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp
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@@ -642,7 +642,7 @@ void btConeTwistConstraint::calcAngleInfo2(const btTransform& transA, const btTr
btTransform trDeltaAB = trB * trPose * trA.inverse(); btTransform trDeltaAB = trB * trPose * trA.inverse();
btQuaternion qDeltaAB = trDeltaAB.getRotation(); btQuaternion qDeltaAB = trDeltaAB.getRotation();
btVector3 swingAxis = btVector3(qDeltaAB.x(), qDeltaAB.y(), qDeltaAB.z()); btVector3 swingAxis = btVector3(qDeltaAB.x(), qDeltaAB.y(), qDeltaAB.z());
float swingAxisLen2 = swingAxis.length2(); btScalar swingAxisLen2 = swingAxis.length2();
if(btFuzzyZero(swingAxisLen2)) if(btFuzzyZero(swingAxisLen2))
{ {
return; return;
@@ -903,7 +903,7 @@ btVector3 btConeTwistConstraint::GetPointForAngle(btScalar fAngleInRadians, btSc
// a^2 b^2 // a^2 b^2
// Do the math and it should be clear. // 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) if (fabs(xEllipse) > SIMD_EPSILON)
{ {
btScalar surfaceSlope2 = (yEllipse*yEllipse)/(xEllipse*xEllipse); btScalar surfaceSlope2 = (yEllipse*yEllipse)/(xEllipse*xEllipse);

2
src/BulletDynamics/Featherstone/btMultiBody.cpp
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@@ -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(); int num_links = getNumLinks();
///solve I * x = rhs, so the result = invI * rhs ///solve I * x = rhs, so the result = invI * rhs

2
src/BulletDynamics/Featherstone/btMultiBody.h
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@@ -616,7 +616,7 @@ private:
void operator=(const btMultiBody &); // not implemented 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 solveImatrix(const btSpatialForceVector &rhs, btSpatialMotionVector &result) const;
void updateLinksDofOffsets() void updateLinksDofOffsets()