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add missing files

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fix double-precision build error
This commit is contained in:
erwin coumans
2015-03-03 13:48:10 -08:00
parent 5d40d90bd0
commit 981eba2e83
3 changed files with 9 additions and 5 deletions
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2
Demos3/AllBullet2Demos/CMakeLists.txt
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@@ -14,6 +14,8 @@ SET(App_AllBullet2Demos_SRCS
../../Demos/BasicDemo/BasicDemoPhysicsSetup.h ../../Demos/BasicDemo/BasicDemoPhysicsSetup.h
../../Demos/CcdPhysicsDemo/CcdPhysicsSetup.cpp ../../Demos/CcdPhysicsDemo/CcdPhysicsSetup.cpp
../../Demos/CcdPhysicsDemo/CcdPhysicsSetup.h ../../Demos/CcdPhysicsDemo/CcdPhysicsSetup.h
../../Demos/Raytracer/RaytracerSetup.cpp
../../Demos/Raytracer/RaytracerSetup.h
../../Demos/SerializeDemo/SerializeSetup.cpp ../../Demos/SerializeDemo/SerializeSetup.cpp
../../Extras/Serialize/BulletFileLoader/bChunk.cpp ../../Extras/Serialize/BulletFileLoader/bChunk.cpp
../../Extras/Serialize/BulletFileLoader/bDNA.cpp ../../Extras/Serialize/BulletFileLoader/bDNA.cpp

2
Demos3/AllBullet2Demos/premake4.lua
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@@ -55,6 +55,8 @@
"../../Demos/BasicDemo/BasicDemoPhysicsSetup.h", "../../Demos/BasicDemo/BasicDemoPhysicsSetup.h",
"../../Demos/CcdPhysicsDemo/CcdPhysicsSetup.cpp", "../../Demos/CcdPhysicsDemo/CcdPhysicsSetup.cpp",
"../../Demos/CcdPhysicsDemo/CcdPhysicsSetup.h", "../../Demos/CcdPhysicsDemo/CcdPhysicsSetup.h",
"../../Demos/Raytracer/RaytracerSetup.cpp",
"../../Demos/Raytracer/RaytracerSetup.h",
"../../Demos/SerializeDemo/SerializeSetup.cpp", "../../Demos/SerializeDemo/SerializeSetup.cpp",
"../../Extras/Serialize/BulletFileLoader/bChunk.cpp", "../../Extras/Serialize/BulletFileLoader/bChunk.cpp",
"../../Extras/Serialize/BulletFileLoader/bDNA.cpp", "../../Extras/Serialize/BulletFileLoader/bDNA.cpp",

10
Demos3/ImportURDFDemo/ImportURDFSetup.cpp
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@@ -30,7 +30,7 @@ struct ImportUrdfInternalData
{ {
} }
float m_motorTargetVelocities[MAX_NUM_MOTORS]; btScalar m_motorTargetVelocities[MAX_NUM_MOTORS];
btMultiBodyJointMotor* m_jointMotors [MAX_NUM_MOTORS]; btMultiBodyJointMotor* m_jointMotors [MAX_NUM_MOTORS];
int m_numMotors; int m_numMotors;
}; };
@@ -1000,14 +1000,14 @@ void URDFvisual2BulletCollisionShape(my_shared_ptr<const Link> link, GraphicsPhy
char motorName[1024]; char motorName[1024];
sprintf(motorName,"%s q'", jointName); sprintf(motorName,"%s q'", jointName);
float* motorVel = &data->m_motorTargetVelocities[data->m_numMotors]; btScalar* motorVel = &data->m_motorTargetVelocities[data->m_numMotors];
*motorVel = 0.f; *motorVel = 0.f;
SliderParams slider(motorName,motorVel); SliderParams slider(motorName,motorVel);
slider.m_minVal=-4; slider.m_minVal=-4;
slider.m_maxVal=4; slider.m_maxVal=4;
gfxBridge.getParameterInterface()->registerSliderFloatParameter(slider); gfxBridge.getParameterInterface()->registerSliderFloatParameter(slider);
float maxMotorImpulse = 0.1f; btScalar maxMotorImpulse = 0.1f;
btMultiBodyJointMotor* motor = new btMultiBodyJointMotor(mappings.m_bulletMultiBody,linkIndex-1,0,0,maxMotorImpulse); btMultiBodyJointMotor* motor = new btMultiBodyJointMotor(mappings.m_bulletMultiBody,linkIndex-1,0,0,maxMotorImpulse);
data->m_jointMotors[data->m_numMotors]=motor; 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]); m_data->m_jointMotors[i]->setVelocityTarget(m_data->m_motorTargetVelocities[i]);
} }
//the maximal coordinates/iterative MLCP solver requires a smallish timestep to converge //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.); //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);
} }
} }