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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
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);
}