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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.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