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use SIMD_HALF_PI instead of M_PI_2

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ejcoumans
2007-09-13 08:07:45 +00:00
parent 91b44448b0
commit 95da04bea9
1 changed files with 10 additions and 8 deletions
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18
Demos/GenericJointDemo/Ragdoll.cpp
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@@ -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]);