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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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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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14
Extras/InverseDynamics/DillCreator.hpp
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@@ -34,13 +34,13 @@ private:
const idScalar a_DH_in, const idScalar alpha_DH_in);
int m_level;
int m_num_bodies;
std::vector<int> m_parent;
std::vector<vec3> m_parent_r_parent_body_ref;
std::vector<mat33> m_body_T_parent_ref;
std::vector<vec3> m_body_axis_of_motion;
std::vector<idScalar> m_mass;
std::vector<vec3> m_body_r_body_com;
std::vector<mat33> m_body_I_body;
idArray<int>::type m_parent;
idArray<vec3>::type m_parent_r_parent_body_ref;
idArray<mat33>::type m_body_T_parent_ref;
idArray<vec3>::type m_body_axis_of_motion;
idArray<idScalar>::type m_mass;
idArray<vec3>::type m_body_r_body_com;
idArray<mat33>::type m_body_I_body;
int m_current_body;
};
}