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fix portability of BulletInverseDynamics (usual issues: std::pow, M_PI, std::vector->idArray<T>::type, snprintf, pass vec3 and mat33 by const reference, not by value)

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This commit is contained in:
erwincoumans
2015-11-17 21:51:02 -08:00
parent aa4d119f98
commit de763a26e7
11 changed files with 49 additions and 36 deletions
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22
Extras/InverseDynamics/DillCreator.cpp
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@@ -4,14 +4,16 @@ namespace btInverseDynamics {
DillCreator::DillCreator(int level)
: m_level(level),
m_num_bodies(std::pow(2, level)),
m_parent(m_num_bodies),
m_parent_r_parent_body_ref(m_num_bodies),
m_body_T_parent_ref(m_num_bodies),
m_body_axis_of_motion(m_num_bodies),
m_mass(m_num_bodies),
m_body_r_body_com(m_num_bodies),
m_body_I_body(m_num_bodies) {
m_num_bodies(BT_ID_POW(2, level))
{
m_parent.resize(m_num_bodies);
m_parent_r_parent_body_ref.resize(m_num_bodies);
m_body_T_parent_ref.resize(m_num_bodies);
m_body_axis_of_motion.resize(m_num_bodies);
m_mass.resize(m_num_bodies);
m_body_r_body_com.resize(m_num_bodies);
m_body_I_body.resize(m_num_bodies);
// generate names (for debugging)
for (int i = 0; i < m_num_bodies; i++) {
m_parent[i] = i - 1;
@@ -85,7 +87,7 @@ int DillCreator::recurseDill(const int level, const int parent, const idScalar d
/// these parameters are from the paper ...
/// TODO: add proper citation
m_parent[body] = parent;
m_mass[body] = 0.1 * std::pow(size, 3);
m_mass[body] = 0.1 * BT_ID_POW(size, 3);
m_body_r_body_com[body](0) = 0.05 * size;
m_body_r_body_com[body](1) = 0;
m_body_r_body_com[body](2) = 0;
@@ -112,7 +114,7 @@ int DillCreator::recurseDill(const int level, const int parent, const idScalar d
d_DH = 0.0;
}
const idScalar a_DH = i * 0.1;
const idScalar alpha_DH = i * M_PI / 3.0;
const idScalar alpha_DH = i * BT_ID_PI / 3.0;
m_current_body++;
recurseDill(i - 1, body, d_DH, a_DH, alpha_DH);
}