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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/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;