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fix padding in btSolverConstraint, see Issue 650

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fix some warnings
This commit is contained in:
erwin.coumans
2012-09-08 19:21:14 +00:00
parent 9065f59229
commit b69c6ac3f5
47 changed files with 127 additions and 118 deletions
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31
src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp
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@@ -506,7 +506,7 @@ void btConeTwistConstraint::solveConstraintObsolete(btSolverBody& bodyA,btSolver
m_accTwistLimitImpulse = btMax(m_accTwistLimitImpulse + impulseMag, btScalar(0.0) );
impulseMag = m_accTwistLimitImpulse - temp;
btVector3 impulse = m_twistAxis * impulseMag;
// btVector3 impulse = m_twistAxis * impulseMag;
bodyA.internalApplyImpulse(btVector3(0,0,0), m_rbA.getInvInertiaTensorWorld()*m_twistAxis,impulseMag);
bodyB.internalApplyImpulse(btVector3(0,0,0), m_rbB.getInvInertiaTensorWorld()*m_twistAxis,-impulseMag);
@@ -828,12 +828,11 @@ void btConeTwistConstraint::computeConeLimitInfo(const btQuaternion& qCone,
{
vSwingAxis = btVector3(qCone.x(), qCone.y(), qCone.z());
vSwingAxis.normalize();
if (fabs(vSwingAxis.x()) > SIMD_EPSILON)
{
// non-zero twist?! this should never happen.
int wtf = 0; wtf = wtf;
}
#if 0
// non-zero twist?! this should never happen.
btAssert(fabs(vSwingAxis.x()) <= SIMD_EPSILON));
#endif
// Compute limit for given swing. tricky:
// Given a swing axis, we're looking for the intersection with the bounding cone ellipse.
// (Since we're dealing with angles, this ellipse is embedded on the surface of a sphere.)
@@ -877,8 +876,10 @@ void btConeTwistConstraint::computeConeLimitInfo(const btQuaternion& qCone,
else if (swingAngle < 0)
{
// this should never happen!
int wtf = 0; wtf = wtf;
}
#if 0
btAssert(0);
#endif
}
}
btVector3 btConeTwistConstraint::GetPointForAngle(btScalar fAngleInRadians, btScalar fLength) const
@@ -929,7 +930,9 @@ void btConeTwistConstraint::computeTwistLimitInfo(const btQuaternion& qTwist,
if (twistAngle < 0)
{
// this should never happen
int wtf = 0; wtf = wtf;
#if 0
btAssert(0);
#endif
}
vTwistAxis = btVector3(qMinTwist.x(), qMinTwist.y(), qMinTwist.z());
@@ -976,10 +979,10 @@ void btConeTwistConstraint::setMotorTarget(const btQuaternion &q)
{
btTransform trACur = m_rbA.getCenterOfMassTransform();
btTransform trBCur = m_rbB.getCenterOfMassTransform();
btTransform trABCur = trBCur.inverse() * trACur;
btQuaternion qABCur = trABCur.getRotation();
btTransform trConstraintCur = (trBCur * m_rbBFrame).inverse() * (trACur * m_rbAFrame);
btQuaternion qConstraintCur = trConstraintCur.getRotation();
// btTransform trABCur = trBCur.inverse() * trACur;
// btQuaternion qABCur = trABCur.getRotation();
// btTransform trConstraintCur = (trBCur * m_rbBFrame).inverse() * (trACur * m_rbAFrame);
//btQuaternion qConstraintCur = trConstraintCur.getRotation();
btQuaternion qConstraint = m_rbBFrame.getRotation().inverse() * q * m_rbAFrame.getRotation();
setMotorTargetInConstraintSpace(qConstraint);