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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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11
src/BulletInverseDynamics/IDConfig.hpp
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@@ -5,6 +5,17 @@
// If we have a custom configuration, compile without using other parts of bullet.
#ifdef BT_CUSTOM_INVERSE_DYNAMICS_CONFIG_H
#define BT_ID_WO_BULLET
#define BT_ID_POW(a,b) std::pow(a,b)
#define BT_ID_SNPRINTF snprintf
#define BT_ID_PI M_PI
#else
#define BT_ID_POW(a,b) btPow(a,b)
#define BT_ID_PI SIMD_PI
#ifdef _WIN32
#define BT_ID_SNPRINTF _snprintf
#else
#define BT_ID_SNPRINTF snprintf
#endif //
#endif
// error messages
#include "IDErrorMessages.hpp"

4
src/BulletInverseDynamics/MultiBodyTree.cpp
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@@ -298,11 +298,11 @@ int MultiBodyTree::setBodyMass(const int body_index, idScalar mass) {
return m_impl->setBodyMass(body_index, mass);
}
int MultiBodyTree::setBodyFirstMassMoment(const int body_index, vec3 first_mass_moment) {
int MultiBodyTree::setBodyFirstMassMoment(const int body_index, const vec3& first_mass_moment) {
return m_impl->setBodyFirstMassMoment(body_index, first_mass_moment);
}
int MultiBodyTree::setBodySecondMassMoment(const int body_index, mat33 second_mass_moment) {
int MultiBodyTree::setBodySecondMassMoment(const int body_index, const mat33& second_mass_moment) {
return m_impl->setBodySecondMassMoment(body_index, second_mass_moment);
}

4
src/BulletInverseDynamics/MultiBodyTree.hpp
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@@ -250,13 +250,13 @@ public:
/// @param body_index index of the body
/// @param first_mass_moment the vector to set
/// @return 0 on success, -1 on failure
int setBodyFirstMassMoment(const int body_index, const vec3 first_mass_moment);
int setBodyFirstMassMoment(const int body_index, const vec3& first_mass_moment);
/// set second moment of mass for a body
/// (moment of inertia, in body fixed frame, relative to joint)
/// @param body_index index of the body
/// @param second_mass_moment the inertia matrix
/// @return 0 on success, -1 on failure
int setBodySecondMassMoment(const int body_index, const mat33 second_mass_moment);
int setBodySecondMassMoment(const int body_index, const mat33& second_mass_moment);
/// get mass for a body
/// @param body_index index of the body
/// @param mass the mass

4
src/BulletInverseDynamics/details/MultiBodyTreeImpl.cpp
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@@ -792,13 +792,13 @@ int MultiBodyTree::MultiBodyImpl::setBodyMass(const int body_index, const idScal
}
int MultiBodyTree::MultiBodyImpl::setBodyFirstMassMoment(const int body_index,
const vec3 first_mass_moment) {
const vec3& first_mass_moment) {
CHECK_IF_BODY_INDEX_IS_VALID(body_index);
m_body_list[body_index].m_body_mass_com = first_mass_moment;
return 0;
}
int MultiBodyTree::MultiBodyImpl::setBodySecondMassMoment(const int body_index,
const mat33 second_mass_moment) {
const mat33& second_mass_moment) {
CHECK_IF_BODY_INDEX_IS_VALID(body_index);
m_body_list[body_index].m_body_I_body = second_mass_moment;
return 0;

4
src/BulletInverseDynamics/details/MultiBodyTreeImpl.hpp
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@@ -181,9 +181,9 @@ public:
///\copydoc MultiBodytTree::setBodyMass
int setBodyMass(const int body_index, const idScalar mass);
///\copydoc MultiBodytTree::setBodyFirstMassMoment
int setBodyFirstMassMoment(const int body_index, const vec3 first_mass_moment);
int setBodyFirstMassMoment(const int body_index, const vec3& first_mass_moment);
///\copydoc MultiBodytTree::setBodySecondMassMoment
int setBodySecondMassMoment(const int body_index, const mat33 second_mass_moment);
int setBodySecondMassMoment(const int body_index, const mat33& second_mass_moment);
///\copydoc MultiBodytTree::getBodyMass
int getBodyMass(const int body_index, idScalar* mass) const;
///\copydoc MultiBodytTree::getBodyFirstMassMoment