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fix many warnings

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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
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14
examples/MultiBody/InvertedPendulumPDControl.cpp
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@@ -211,11 +211,11 @@ btMultiBody* createInvertedPendulumMultiBody(btMultiBodyDynamicsWorld* world, GU
local_origin.resize(pMultiBody->getNumLinks() + 1);
world_to_local[0] = pMultiBody->getWorldToBaseRot();
local_origin[0] = pMultiBody->getBasePos();
double friction = 1;
// double friction = 1;
{
// float pos[4]={local_origin[0].x(),local_origin[0].y(),local_origin[0].z(),1};
float quat[4]={-world_to_local[0].x(),-world_to_local[0].y(),-world_to_local[0].z(),world_to_local[0].w()};
// float quat[4]={-world_to_local[0].x(),-world_to_local[0].y(),-world_to_local[0].z(),world_to_local[0].w()};
if (1)
@@ -238,8 +238,8 @@ btMultiBody* createInvertedPendulumMultiBody(btMultiBodyDynamicsWorld* world, GU
col->setWorldTransform(tr);
bool isDynamic = (baseMass > 0 && !fixedBase);
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);
world->addCollisionObject(col,collisionFilterGroup,collisionFilterMask);//, 2,1+2);
@@ -291,8 +291,8 @@ btMultiBody* createInvertedPendulumMultiBody(btMultiBodyDynamicsWorld* world, GU
col->setWorldTransform(tr);
// col->setFriction(friction);
bool isDynamic = 1;//(linkMass > 0);
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);
//if (i==0||i>numLinks-2)
{
@@ -450,7 +450,7 @@ void InvertedPendulumPDControl::stepSimulation(float deltaTime)
m_multiBody->getBaseOmega()[2]
);
*/
btScalar jointVel =m_multiBody->getJointVel(0);
// btScalar jointVel =m_multiBody->getJointVel(0);
// b3Printf("child angvel = %f",jointVel);