From f71aea0b665db1a205b3ef2af3b707c3ae14905e Mon Sep 17 00:00:00 2001 From: erwincoumans Date: Sat, 27 Apr 2019 14:24:01 -0700 Subject: [PATCH 1/2] Update PhysicsServerCommandProcessor.cpp --- .../PhysicsServerCommandProcessor.cpp | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 1ed19e316..8c87ecd7b 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -6367,24 +6367,24 @@ bool PhysicsServerCommandProcessor::processRequestActualStateCommand(const struc serverCmd.m_sendActualStateArgs.m_rootLocalInertialFrame[6] = body->m_rootLocalInertialFrame.getRotation()[3]; - //base position in world space, carthesian + //base position in world space, cartesian stateDetails->m_actualStateQ[0] = tr.getOrigin()[0]; stateDetails->m_actualStateQ[1] = tr.getOrigin()[1]; stateDetails->m_actualStateQ[2] = tr.getOrigin()[2]; - //base orientation, quaternion x,y,z,w, in world space, carthesian + //base orientation, quaternion x,y,z,w, in world space, cartesian stateDetails->m_actualStateQ[3] = tr.getRotation()[0]; stateDetails->m_actualStateQ[4] = tr.getRotation()[1]; stateDetails->m_actualStateQ[5] = tr.getRotation()[2]; stateDetails->m_actualStateQ[6] = tr.getRotation()[3]; totalDegreeOfFreedomQ += 7; //pos + quaternion - //base linear velocity (in world space, carthesian) + //base linear velocity (in world space, cartesian) stateDetails->m_actualStateQdot[0] = mb->getBaseVel()[0]; stateDetails->m_actualStateQdot[1] = mb->getBaseVel()[1]; stateDetails->m_actualStateQdot[2] = mb->getBaseVel()[2]; - //base angular velocity (in world space, carthesian) + //base angular velocity (in world space, cartesian) stateDetails->m_actualStateQdot[3] = mb->getBaseOmega()[0]; stateDetails->m_actualStateQdot[4] = mb->getBaseOmega()[1]; stateDetails->m_actualStateQdot[5] = mb->getBaseOmega()[2]; @@ -6549,24 +6549,24 @@ bool PhysicsServerCommandProcessor::processRequestActualStateCommand(const struc int totalDegreeOfFreedomU = 0; btTransform tr = rb->getWorldTransform(); - //base position in world space, carthesian + //base position in world space, cartesian stateDetails->m_actualStateQ[0] = tr.getOrigin()[0]; stateDetails->m_actualStateQ[1] = tr.getOrigin()[1]; stateDetails->m_actualStateQ[2] = tr.getOrigin()[2]; - //base orientation, quaternion x,y,z,w, in world space, carthesian + //base orientation, quaternion x,y,z,w, in world space, cartesian stateDetails->m_actualStateQ[3] = tr.getRotation()[0]; stateDetails->m_actualStateQ[4] = tr.getRotation()[1]; stateDetails->m_actualStateQ[5] = tr.getRotation()[2]; stateDetails->m_actualStateQ[6] = tr.getRotation()[3]; totalDegreeOfFreedomQ += 7; //pos + quaternion - //base linear velocity (in world space, carthesian) + //base linear velocity (in world space, cartesian) stateDetails->m_actualStateQdot[0] = rb->getLinearVelocity()[0]; stateDetails->m_actualStateQdot[1] = rb->getLinearVelocity()[1]; stateDetails->m_actualStateQdot[2] = rb->getLinearVelocity()[2]; - //base angular velocity (in world space, carthesian) + //base angular velocity (in world space, cartesian) stateDetails->m_actualStateQdot[3] = rb->getAngularVelocity()[0]; stateDetails->m_actualStateQdot[4] = rb->getAngularVelocity()[1]; stateDetails->m_actualStateQdot[5] = rb->getAngularVelocity()[2]; From 39a1e8f0f774231d786ac66fcf73d4439205e70d Mon Sep 17 00:00:00 2001 From: erwincoumans Date: Sat, 27 Apr 2019 14:30:10 -0700 Subject: [PATCH 2/2] Update BlockSolverExample.cpp --- examples/BlockSolver/BlockSolverExample.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/BlockSolver/BlockSolverExample.cpp b/examples/BlockSolver/BlockSolverExample.cpp index 76cb2bc5e..61685079a 100644 --- a/examples/BlockSolver/BlockSolverExample.cpp +++ b/examples/BlockSolver/BlockSolverExample.cpp @@ -140,7 +140,7 @@ void BlockSolverExample::createMultiBodyStack() tr.setOrigin(btVector3(0, 0, 0.1 + i * 0.2)); btMultiBody* body = createMultiBody(mass, tr, boxShape); } - if (/* DISABLES CODE */ 0) + if (/* DISABLES CODE */ (0)) { btMultiBody* mb = loadRobot("cube_small.urdf"); btTransform tr;