From 95da04bea9bea135cc41ac640f73e5222e339e56 Mon Sep 17 00:00:00 2001 From: ejcoumans Date: Thu, 13 Sep 2007 08:07:45 +0000 Subject: [PATCH] use SIMD_HALF_PI instead of M_PI_2 --- Demos/GenericJointDemo/Ragdoll.cpp | 18 ++++++++++-------- 1 file changed, 10 insertions(+), 8 deletions(-) diff --git a/Demos/GenericJointDemo/Ragdoll.cpp b/Demos/GenericJointDemo/Ragdoll.cpp index 6723920ad..c0528e4c9 100644 --- a/Demos/GenericJointDemo/Ragdoll.cpp +++ b/Demos/GenericJointDemo/Ragdoll.cpp @@ -76,22 +76,22 @@ btScalar(0.))); transform.setIdentity(); transform.setOrigin(btVector3(btScalar(-0.35*scale_ragdoll), btScalar(1.45*scale_ragdoll), btScalar(0.))); - transform.getBasis().setEulerZYX(0,0,M_PI_2); + transform.getBasis().setEulerZYX(0,0,SIMD_HALF_PI); m_bodies[BODYPART_LEFT_UPPER_ARM] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_LEFT_UPPER_ARM]); transform.setIdentity(); transform.setOrigin(btVector3(btScalar(-0.7*scale_ragdoll), btScalar(1.45*scale_ragdoll), btScalar(0.))); - transform.getBasis().setEulerZYX(0,0,M_PI_2); + transform.getBasis().setEulerZYX(0,0,SIMD_HALF_PI); m_bodies[BODYPART_LEFT_LOWER_ARM] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_LEFT_LOWER_ARM]); transform.setIdentity(); transform.setOrigin(btVector3(btScalar(0.35*scale_ragdoll), btScalar(1.45*scale_ragdoll), btScalar(0.))); - transform.getBasis().setEulerZYX(0,0,-M_PI_2); + transform.getBasis().setEulerZYX(0,0,-SIMD_HALF_PI); m_bodies[BODYPART_RIGHT_UPPER_ARM] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_RIGHT_UPPER_ARM]); transform.setIdentity(); transform.setOrigin(btVector3(btScalar(0.7*scale_ragdoll), btScalar(1.45*scale_ragdoll), btScalar(0.))); - transform.getBasis().setEulerZYX(0,0,-M_PI_2); + transform.getBasis().setEulerZYX(0,0,-SIMD_HALF_PI); m_bodies[BODYPART_RIGHT_LOWER_ARM] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_RIGHT_LOWER_ARM]); // Setup some damping on the m_bodies @@ -224,9 +224,9 @@ btScalar(0.))); { localA.setIdentity(); localB.setIdentity(); - localA.getBasis().setEulerZYX(0,M_PI_2,0); + localA.getBasis().setEulerZYX(0,SIMD_HALF_PI,0); localA.setOrigin(btVector3(btScalar(0.), btScalar(0.15*scale_ragdoll), btScalar(0.))); - localB.getBasis().setEulerZYX(0,M_PI_2,0); + localB.getBasis().setEulerZYX(0,SIMD_HALF_PI,0); localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.15*scale_ragdoll), btScalar(0.))); joint6DOF = new btGeneric6DofConstraint (*m_bodies[BODYPART_PELVIS], *m_bodies[BODYPART_SPINE], localA, localB,useLinearReferenceFrameA); @@ -332,15 +332,17 @@ btScalar(0.))); RagDoll::~RagDoll() { + int i; + // Remove all constraints - for (int i = 0; i < JOINT_COUNT; ++i) + for (i = 0; i < JOINT_COUNT; ++i) { m_ownerWorld->removeConstraint(m_joints[i]); delete m_joints[i]; m_joints[i] = 0; } // Remove all bodies and shapes - for (int i = 0; i < BODYPART_COUNT; ++i) + for (i = 0; i < BODYPART_COUNT; ++i) { m_ownerWorld->removeRigidBody(m_bodies[i]);