Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

fix many warnings

Browse Source 
remove btMultiSapBroadphase.*
make collisionFilterGroup/collisionFilterMark int (instead of short int)
This commit is contained in:
Erwin Coumans
2017-01-15 22:26:11 -08:00
parent e3df00d5f1
commit c0c4c8ba3f
146 changed files with 830 additions and 1431 deletions
Download Patch File Download Diff File Expand all files Collapse all files

8
examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
View File

@@ -11,8 +11,8 @@
#include "MultiBodyCreationInterface.h"
#include <string>
static int bodyCollisionFilterGroup=btBroadphaseProxy::CharacterFilter;
static int bodyCollisionFilterMask=btBroadphaseProxy::AllFilter&(~btBroadphaseProxy::CharacterFilter);
//static int bodyCollisionFilterGroup=btBroadphaseProxy::CharacterFilter;
//static int bodyCollisionFilterMask=btBroadphaseProxy::AllFilter&(~btBroadphaseProxy::CharacterFilter);
static bool enableConstraints = true;
static btVector4 colors[4] =
@@ -446,8 +446,8 @@ void ConvertURDF2BulletInternal(
//base and fixed? -> static, otherwise flag as dynamic
bool isDynamic = (mbLinkIndex<0 && cache.m_bulletMultiBody->hasFixedBase())? false : true;
short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(btBroadphaseProxy::StaticFilter);
short collisionFilterMask = isDynamic? short(btBroadphaseProxy::AllFilter) : short(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
int collisionFilterGroup = isDynamic? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
int collisionFilterMask = isDynamic? int(btBroadphaseProxy::AllFilter) : int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
int colGroup=0, colMask=0;
int flags = u2b.getCollisionGroupAndMask(urdfLinkIndex,colGroup, colMask);