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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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4
Extras/InverseDynamics/IDRandomUtil.cpp
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@@ -39,8 +39,8 @@ mat33 randomInertiaMatrix() {
// generate random valid inertia matrix by first getting valid components
// along major axes and then rotating by random amount
vec3 principal = randomInertiaPrincipal();
mat33 rot(transformX(randomFloat(-M_PI, M_PI)) * transformY(randomFloat(-M_PI, M_PI)) *
transformZ(randomFloat(-M_PI, M_PI)));
mat33 rot(transformX(randomFloat(-BT_ID_PI, BT_ID_PI)) * transformY(randomFloat(-BT_ID_PI, BT_ID_PI)) *
transformZ(randomFloat(-BT_ID_PI, BT_ID_PI)));
mat33 inertia;
inertia(0, 0) = principal(0);
inertia(0, 1) = 0;