From 981eba2e83cddd0fcdd7fbc2810732b0ab2fcec4 Mon Sep 17 00:00:00 2001 From: erwin coumans Date: Tue, 3 Mar 2015 13:48:10 -0800 Subject: [PATCH] add missing files fix double-precision build error --- Demos3/AllBullet2Demos/CMakeLists.txt | 2 ++ Demos3/AllBullet2Demos/premake4.lua | 2 ++ Demos3/ImportURDFDemo/ImportURDFSetup.cpp | 10 +++++----- 3 files changed, 9 insertions(+), 5 deletions(-) diff --git a/Demos3/AllBullet2Demos/CMakeLists.txt b/Demos3/AllBullet2Demos/CMakeLists.txt index c46d331e5..0b0a12930 100644 --- a/Demos3/AllBullet2Demos/CMakeLists.txt +++ b/Demos3/AllBullet2Demos/CMakeLists.txt @@ -14,6 +14,8 @@ SET(App_AllBullet2Demos_SRCS ../../Demos/BasicDemo/BasicDemoPhysicsSetup.h ../../Demos/CcdPhysicsDemo/CcdPhysicsSetup.cpp ../../Demos/CcdPhysicsDemo/CcdPhysicsSetup.h + ../../Demos/Raytracer/RaytracerSetup.cpp + ../../Demos/Raytracer/RaytracerSetup.h ../../Demos/SerializeDemo/SerializeSetup.cpp ../../Extras/Serialize/BulletFileLoader/bChunk.cpp ../../Extras/Serialize/BulletFileLoader/bDNA.cpp diff --git a/Demos3/AllBullet2Demos/premake4.lua b/Demos3/AllBullet2Demos/premake4.lua index 9f5aadfb8..683f041b0 100644 --- a/Demos3/AllBullet2Demos/premake4.lua +++ b/Demos3/AllBullet2Demos/premake4.lua @@ -55,6 +55,8 @@ "../../Demos/BasicDemo/BasicDemoPhysicsSetup.h", "../../Demos/CcdPhysicsDemo/CcdPhysicsSetup.cpp", "../../Demos/CcdPhysicsDemo/CcdPhysicsSetup.h", + "../../Demos/Raytracer/RaytracerSetup.cpp", + "../../Demos/Raytracer/RaytracerSetup.h", "../../Demos/SerializeDemo/SerializeSetup.cpp", "../../Extras/Serialize/BulletFileLoader/bChunk.cpp", "../../Extras/Serialize/BulletFileLoader/bDNA.cpp", diff --git a/Demos3/ImportURDFDemo/ImportURDFSetup.cpp b/Demos3/ImportURDFDemo/ImportURDFSetup.cpp index 814cb48a8..113c00d5b 100644 --- a/Demos3/ImportURDFDemo/ImportURDFSetup.cpp +++ b/Demos3/ImportURDFDemo/ImportURDFSetup.cpp @@ -30,7 +30,7 @@ struct ImportUrdfInternalData { } - float m_motorTargetVelocities[MAX_NUM_MOTORS]; + btScalar m_motorTargetVelocities[MAX_NUM_MOTORS]; btMultiBodyJointMotor* m_jointMotors [MAX_NUM_MOTORS]; int m_numMotors; }; @@ -1000,14 +1000,14 @@ void URDFvisual2BulletCollisionShape(my_shared_ptr link, GraphicsPhy char motorName[1024]; sprintf(motorName,"%s q'", jointName); - float* motorVel = &data->m_motorTargetVelocities[data->m_numMotors]; + btScalar* motorVel = &data->m_motorTargetVelocities[data->m_numMotors]; *motorVel = 0.f; SliderParams slider(motorName,motorVel); slider.m_minVal=-4; slider.m_maxVal=4; gfxBridge.getParameterInterface()->registerSliderFloatParameter(slider); - float maxMotorImpulse = 0.1f; + btScalar maxMotorImpulse = 0.1f; btMultiBodyJointMotor* motor = new btMultiBodyJointMotor(mappings.m_bulletMultiBody,linkIndex-1,0,0,maxMotorImpulse); data->m_jointMotors[data->m_numMotors]=motor; @@ -1343,8 +1343,8 @@ void ImportUrdfSetup::stepSimulation(float deltaTime) m_data->m_jointMotors[i]->setVelocityTarget(m_data->m_motorTargetVelocities[i]); } //the maximal coordinates/iterative MLCP solver requires a smallish timestep to converge - int actualSteps = m_dynamicsWorld->stepSimulation(1./240.,0);//deltaTime,10,1./240.); + int actualSteps = m_dynamicsWorld->stepSimulation(deltaTime,10,1./240.); //int actualSteps = m_dynamicsWorld->stepSimulation(deltaTime,1000,1./3000.f);//240.); - printf("deltaTime %f took actualSteps = %d\n",deltaTime,actualSteps); + //printf("deltaTime %f took actualSteps = %d\n",deltaTime,actualSteps); } }