From a174b42c024976df595e59be82e46e4248d2332b Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Wed, 23 Jan 2019 16:33:06 -0800 Subject: [PATCH] fix compile issues --- .../TinyRendererVisualShapeConverter.cpp | 4 ++-- .../details/MultiBodyTreeImpl.cpp | 10 ++++++++-- 2 files changed, 10 insertions(+), 4 deletions(-) diff --git a/examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp b/examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp index 64d385cbe..6fb538089 100644 --- a/examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp +++ b/examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp @@ -92,8 +92,8 @@ struct TinyRendererVisualShapeConverterInternalData SimpleCamera m_camera; TinyRendererVisualShapeConverterInternalData() - : m_upAxis(2), - m_uidGenerator(1), + : m_uidGenerator(1), + m_upAxis(2), m_swWidth(START_WIDTH), m_swHeight(START_HEIGHT), m_rgbColorBuffer(START_WIDTH, START_HEIGHT, TGAImage::RGB), diff --git a/src/BulletInverseDynamics/details/MultiBodyTreeImpl.cpp b/src/BulletInverseDynamics/details/MultiBodyTreeImpl.cpp index 4b1ba3ba4..ec9a56229 100644 --- a/src/BulletInverseDynamics/details/MultiBodyTreeImpl.cpp +++ b/src/BulletInverseDynamics/details/MultiBodyTreeImpl.cpp @@ -486,7 +486,10 @@ int MultiBodyTree::MultiBodyImpl::calculateKinematics(const vecx &q, const vecx transformZ(q(body.m_q_index + 2)); body.m_body_T_parent = T * body.m_body_T_parent_ref; - body.m_parent_pos_parent_body.setValue(0,0,0); + body.m_parent_pos_parent_body(0)=0; + body.m_parent_pos_parent_body(1)=0; + body.m_parent_pos_parent_body(2)=0; + body.m_parent_pos_parent_body = body.m_body_T_parent * body.m_parent_pos_parent_body; if (type >= POSITION_VELOCITY) @@ -850,7 +853,10 @@ int MultiBodyTree::MultiBodyImpl::calculateMassMatrix(const vecx &q, const bool transformZ(q(body.m_q_index + 2)); body.m_body_T_parent = T * body.m_body_T_parent_ref; - body.m_parent_pos_parent_body.setValue(0, 0, 0); + body.m_parent_pos_parent_body(0)=0; + body.m_parent_pos_parent_body(1)=0; + body.m_parent_pos_parent_body(2)=0; + body.m_parent_pos_parent_body = body.m_body_T_parent * body.m_parent_pos_parent_body; } }