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This commit is contained in:
Erwin Coumans
2015-11-11 12:44:26 -08:00
parent 91204e8ed2
commit f6a8079353
16 changed files with 239 additions and 62 deletions
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5
examples/SharedMemory/PhysicsClient.cpp
View File

@@ -1,3 +1,6 @@
#include "PhysicsClient.h"
PhysicsClient::~PhysicsClient() {}
PhysicsClient::~PhysicsClient()
{
}

6
examples/SharedMemory/PhysicsClientExample.cpp
View File

@@ -337,13 +337,15 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
};
}
PhysicsClientExample::PhysicsClientExample(GUIHelperInterface* helper)
:SharedMemoryCommon(helper),
m_physicsClientHandle(0),
m_selectedBody(-1),
m_prevSelectedBody(-1),
m_wantsTermination(false),
m_sharedMemoryKey(SHARED_MEMORY_KEY),
m_selectedBody(-1),
m_prevSelectedBody(-1),
m_numMotors(0)
{
b3Printf("Started PhysicsClientExample\n");

45
examples/SharedMemory/PhysicsClientSharedMemory.cpp
View File

@@ -3,6 +3,7 @@
#include "Win32SharedMemory.h"
#include "LinearMath/btAlignedObjectArray.h"
#include "LinearMath/btVector3.h"
#include <string.h>
#include "Bullet3Common/b3Logging.h"
#include "../Utils/b3ResourcePath.h"
@@ -71,6 +72,15 @@ struct PhysicsClientSharedMemoryInternalData {
bool canSubmitCommand() const;
};
static char* strDup(const char* const str)
{
#ifdef _WIN32
return _strdup(str);
#else
return strdup(str);
#endif
}
int PhysicsClientSharedMemory::getNumJoints(int bodyIndex) const
{
BodyJointInfoCache** bodyJointsPtr = m_data->m_bodyJointMap[bodyIndex];
@@ -188,24 +198,24 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
}
if (serverCmd.m_dataStreamArguments.m_streamChunkLength > 0) {
bParse::btBulletFile* bf = new bParse::btBulletFile(
bParse::btBulletFile bf(
this->m_data->m_testBlock1->m_bulletStreamDataServerToClient,
serverCmd.m_dataStreamArguments.m_streamChunkLength);
bf->setFileDNAisMemoryDNA();
bf->parse(false);
bf.setFileDNAisMemoryDNA();
bf.parse(false);
int bodyIndex = serverCmd.m_dataStreamArguments.m_bodyUniqueId;
BodyJointInfoCache* bodyJoints = new BodyJointInfoCache;
m_data->m_bodyJointMap.insert(bodyIndex,bodyJoints);
for (int i = 0; i < bf->m_multiBodies.size(); i++) {
int flag = bf->getFlags();
for (int i = 0; i < bf.m_multiBodies.size(); i++) {
int flag = bf.getFlags();
int qOffset = 7;
int uOffset = 6;
if ((flag & bParse::FD_DOUBLE_PRECISION) != 0) {
Bullet::btMultiBodyDoubleData* mb =
(Bullet::btMultiBodyDoubleData*)bf->m_multiBodies[i];
(Bullet::btMultiBodyDoubleData*)bf.m_multiBodies[i];
if (mb->m_baseName) {
if (m_data->m_verboseOutput) {
b3Printf("mb->m_baseName = %s\n", mb->m_baseName);
@@ -227,14 +237,14 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
b3Printf("mb->m_links[%d].m_linkName = %s\n", link,
mb->m_links[link].m_linkName);
}
info.m_linkName = mb->m_links[link].m_linkName;
info.m_linkName = strDup(mb->m_links[link].m_linkName);
}
if (mb->m_links[link].m_jointName) {
if (m_data->m_verboseOutput) {
b3Printf("mb->m_links[%d].m_jointName = %s\n", link,
mb->m_links[link].m_jointName);
}
info.m_jointName = mb->m_links[link].m_jointName;
info.m_jointName = strDup(mb->m_links[link].m_jointName);
}
info.m_jointType = mb->m_links[link].m_jointType;
@@ -251,7 +261,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
} else {
Bullet::btMultiBodyFloatData* mb =
(Bullet::btMultiBodyFloatData*)bf->m_multiBodies[i];
(Bullet::btMultiBodyFloatData*)bf.m_multiBodies[i];
if (mb->m_baseName) {
if (m_data->m_verboseOutput) {
b3Printf("mb->m_baseName = %s\n", mb->m_baseName);
@@ -272,14 +282,14 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
b3Printf("mb->m_links[%d].m_linkName = %s\n", link,
mb->m_links[link].m_linkName);
}
info.m_linkName = mb->m_links[link].m_linkName;
info.m_linkName = strDup(mb->m_links[link].m_linkName);
}
if (mb->m_links[link].m_jointName) {
if (m_data->m_verboseOutput) {
b3Printf("mb->m_links[%d].m_jointName = %s\n", link,
mb->m_links[link].m_jointName);
}
info.m_jointName = mb->m_links[link].m_jointName;
info.m_jointName = strDup(mb->m_links[link].m_jointName);
}
info.m_jointType = mb->m_links[link].m_jointType;
if ((mb->m_links[link].m_jointType == eRevoluteType) ||
@@ -293,7 +303,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
}
}
}
if (bf->ok()) {
if (bf.ok()) {
if (m_data->m_verboseOutput) {
b3Printf("Received robot description ok!\n");
}
@@ -401,6 +411,17 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
BodyJointInfoCache** bodyJointsPtr = m_data->m_bodyJointMap.getAtIndex(i);
if (bodyJointsPtr && *bodyJointsPtr)
{
BodyJointInfoCache* bodyJoints = *bodyJointsPtr;
for (int j=0;j<bodyJoints->m_jointInfo.size();j++) {
if (bodyJoints->m_jointInfo[j].m_jointName)
{
free(bodyJoints->m_jointInfo[j].m_jointName);
}
if (bodyJoints->m_jointInfo[j].m_linkName)
{
free(bodyJoints->m_jointInfo[j].m_linkName);
}
}
delete (*bodyJointsPtr);
}
}

33
src/BulletCollision/BroadphaseCollision/btDbvt.h
View File

@@ -1196,23 +1196,32 @@ inline void btDbvt::collideOCL( const btDbvtNode* root,
//void * memmove ( void * destination, const void * source, size_t num );
//#if DBVT_USE_MEMMOVE
// memmove(&stack[j],&stack[j-1],sizeof(int)*(stack.size()-j-1));
//#else
for(int k=stack.size()-1;k>j;--k)
{
#if DBVT_USE_MEMMOVE
{
int num_items_to_move = stack.size()-1-j;
if(num_items_to_move > 0)
memmove(&stack[j+1],&stack[j],sizeof(int)*num_items_to_move);
}
#else
for(int k=stack.size()-1;k>j;--k) {
stack[k]=stack[k-1];
}
//#endif
}
#endif
stack[j]=allocate(ifree,stock,nes[q]);
/* Insert 1 */
j=nearest(&stack[0],&stock[0],nes[1-q].value,j,stack.size());
stack.push_back(0);
//#if DBVT_USE_MEMMOVE
// memmove(&stack[j],&stack[j-1],sizeof(int)*(stack.size()-j-1));
//#else
for(int k=stack.size()-1;k>j;--k) stack[k]=stack[k-1];
//#endif
#if DBVT_USE_MEMMOVE
{
int num_items_to_move = stack.size()-1-j;
if(num_items_to_move > 0)
memmove(&stack[j+1],&stack[j],sizeof(int)*num_items_to_move);
}
#else
for(int k=stack.size()-1;k>j;--k) {
stack[k]=stack[k-1];
}
#endif
stack[j]=allocate(ifree,stock,nes[1-q]);
}
else

4
src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h
View File

@@ -196,10 +196,6 @@ public:
m_pointCache[insertIndex].m_appliedImpulseLateral1 = appliedLateralImpulse1;
m_pointCache[insertIndex].m_appliedImpulseLateral2 = appliedLateralImpulse2;
m_pointCache[insertIndex].m_appliedImpulse = appliedImpulse;
m_pointCache[insertIndex].m_appliedImpulseLateral1 = appliedLateralImpulse1;
m_pointCache[insertIndex].m_appliedImpulseLateral2 = appliedLateralImpulse2;
m_pointCache[insertIndex].m_lifeTime = lifeTime;
#else

3
src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp
View File

@@ -294,7 +294,10 @@ bool btVoronoiSimplexSolver::inSimplex(const btVector3& w)
#else
if (m_simplexVectorW[i] == w)
#endif
{
found = true;
break;
}
}
//check in case lastW is already removed

66
src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h
View File

@@ -171,6 +171,11 @@ public:
m_angularOnly = angularOnly;
}
bool getAngularOnly() const
{
return m_angularOnly;
}
void setLimit(int limitIndex,btScalar limitValue)
{
switch (limitIndex)
@@ -196,6 +201,33 @@ public:
};
}
btScalar getLimit(int limitIndex) const
{
switch (limitIndex)
{
case 3:
{
return m_twistSpan;
break;
}
case 4:
{
return m_swingSpan2;
break;
}
case 5:
{
return m_swingSpan1;
break;
}
default:
{
btAssert(0 && "Invalid limitIndex specified for btConeTwistConstraint");
return 0.0;
}
};
}
// setLimit(), a few notes:
// _softness:
// 0->1, recommend ~0.8->1.
@@ -218,8 +250,8 @@ public:
m_relaxationFactor = _relaxationFactor;
}
const btTransform& getAFrame() { return m_rbAFrame; };
const btTransform& getBFrame() { return m_rbBFrame; };
const btTransform& getAFrame() const { return m_rbAFrame; };
const btTransform& getBFrame() const { return m_rbBFrame; };
inline int getSolveTwistLimit()
{
@@ -239,27 +271,43 @@ public:
void calcAngleInfo();
void calcAngleInfo2(const btTransform& transA, const btTransform& transB,const btMatrix3x3& invInertiaWorldA,const btMatrix3x3& invInertiaWorldB);
inline btScalar getSwingSpan1()
inline btScalar getSwingSpan1() const
{
return m_swingSpan1;
}
inline btScalar getSwingSpan2()
inline btScalar getSwingSpan2() const
{
return m_swingSpan2;
}
inline btScalar getTwistSpan()
inline btScalar getTwistSpan() const
{
return m_twistSpan;
}
inline btScalar getTwistAngle()
inline btScalar getLimitSoftness() const
{
return m_limitSoftness;
}
inline btScalar getBiasFactor() const
{
return m_biasFactor;
}
inline btScalar getRelaxationFactor() const
{
return m_relaxationFactor;
}
inline btScalar getTwistAngle() const
{
return m_twistAngle;
}
bool isPastSwingLimit() { return m_solveSwingLimit; }
btScalar getDamping() const { return m_damping; }
void setDamping(btScalar damping) { m_damping = damping; }
void enableMotor(bool b) { m_bMotorEnabled = b; }
bool isMotorEnabled() const { return m_bMotorEnabled; }
btScalar getMaxMotorImpulse() const { return m_maxMotorImpulse; }
bool isMaxMotorImpulseNormalized() const { return m_bNormalizedMotorStrength; }
void setMaxMotorImpulse(btScalar maxMotorImpulse) { m_maxMotorImpulse = maxMotorImpulse; m_bNormalizedMotorStrength = false; }
void setMaxMotorImpulseNormalized(btScalar maxMotorImpulse) { m_maxMotorImpulse = maxMotorImpulse; m_bNormalizedMotorStrength = true; }
@@ -271,6 +319,7 @@ public:
// note: if q violates the joint limits, the internal target is clamped to avoid conflicting impulses (very bad for stability)
// note: don't forget to enableMotor()
void setMotorTarget(const btQuaternion &q);
const btQuaternion& getMotorTarget() const { return m_qTarget; }
// same as above, but q is the desired rotation of frameA wrt frameB in constraint space
void setMotorTargetInConstraintSpace(const btQuaternion &q);
@@ -297,6 +346,11 @@ public:
///return the local value of parameter
virtual btScalar getParam(int num, int axis = -1) const;
int getFlags() const
{
return m_flags;
}
virtual int calculateSerializeBufferSize() const;
///fills the dataBuffer and returns the struct name (and 0 on failure)

27
src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h
View File

@@ -111,14 +111,14 @@ public:
//! Is limited
bool isLimited()
bool isLimited() const
{
if(m_loLimit > m_hiLimit) return false;
return true;
}
//! Need apply correction
bool needApplyTorques()
bool needApplyTorques() const
{
if(m_currentLimit == 0 && m_enableMotor == false) return false;
return true;
@@ -207,11 +207,11 @@ public:
- limited means upper > lower
- limitIndex: first 3 are linear, next 3 are angular
*/
inline bool isLimited(int limitIndex)
inline bool isLimited(int limitIndex) const
{
return (m_upperLimit[limitIndex] >= m_lowerLimit[limitIndex]);
}
inline bool needApplyForce(int limitIndex)
inline bool needApplyForce(int limitIndex) const
{
if(m_currentLimit[limitIndex] == 0 && m_enableMotor[limitIndex] == false) return false;
return true;
@@ -457,7 +457,7 @@ public:
m_linearLimits.m_lowerLimit = linearLower;
}
void getLinearLowerLimit(btVector3& linearLower)
void getLinearLowerLimit(btVector3& linearLower) const
{
linearLower = m_linearLimits.m_lowerLimit;
}
@@ -467,7 +467,7 @@ public:
m_linearLimits.m_upperLimit = linearUpper;
}
void getLinearUpperLimit(btVector3& linearUpper)
void getLinearUpperLimit(btVector3& linearUpper) const
{
linearUpper = m_linearLimits.m_upperLimit;
}
@@ -478,7 +478,7 @@ public:
m_angularLimits[i].m_loLimit = btNormalizeAngle(angularLower[i]);
}
void getAngularLowerLimit(btVector3& angularLower)
void getAngularLowerLimit(btVector3& angularLower) const
{
for(int i = 0; i < 3; i++)
angularLower[i] = m_angularLimits[i].m_loLimit;
@@ -490,7 +490,7 @@ public:
m_angularLimits[i].m_hiLimit = btNormalizeAngle(angularUpper[i]);
}
void getAngularUpperLimit(btVector3& angularUpper)
void getAngularUpperLimit(btVector3& angularUpper) const
{
for(int i = 0; i < 3; i++)
angularUpper[i] = m_angularLimits[i].m_hiLimit;
@@ -532,7 +532,7 @@ public:
- limited means upper > lower
- limitIndex: first 3 are linear, next 3 are angular
*/
bool isLimited(int limitIndex)
bool isLimited(int limitIndex) const
{
if(limitIndex<3)
{
@@ -549,9 +549,12 @@ public:
btConstraintInfo2 *info, int row, btVector3& ax1, int rotational, int rotAllowed = false);
// access for UseFrameOffset
bool getUseFrameOffset() { return m_useOffsetForConstraintFrame; }
bool getUseFrameOffset() const { return m_useOffsetForConstraintFrame; }
void setUseFrameOffset(bool frameOffsetOnOff) { m_useOffsetForConstraintFrame = frameOffsetOnOff; }
bool getUseLinearReferenceFrameA() const { return m_useLinearReferenceFrameA; }
void setUseLinearReferenceFrameA(bool linearReferenceFrameA) { m_useLinearReferenceFrameA = linearReferenceFrameA; }
///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
///If no axis is provided, it uses the default axis for this constraint.
virtual void setParam(int num, btScalar value, int axis = -1);
@@ -560,6 +563,10 @@ public:
void setAxis( const btVector3& axis1, const btVector3& axis2);
virtual int getFlags() const
{
return m_flags;
}
virtual int calculateSerializeBufferSize() const;

20
src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h
View File

@@ -63,6 +63,26 @@ public:
void setEquilibriumPoint(int index); // set the current constraint position/orientation as an equilibrium point for given DOF
void setEquilibriumPoint(int index, btScalar val);
bool isSpringEnabled(int index) const
{
return m_springEnabled[index];
}
btScalar getStiffness(int index) const
{
return m_springStiffness[index];
}
btScalar getDamping(int index) const
{
return m_springDamping[index];
}
btScalar getEquilibriumPoint(int index) const
{
return m_equilibriumPoint[index];
}
virtual void setAxis( const btVector3& axis1, const btVector3& axis2);
virtual void getInfo2 (btConstraintInfo2* info);

37
src/BulletDynamics/ConstraintSolver/btHingeConstraint.h
View File

@@ -177,6 +177,7 @@ public:
// maintain a given angular target.
void enableMotor(bool enableMotor) { m_enableAngularMotor = enableMotor; }
void setMaxMotorImpulse(btScalar maxMotorImpulse) { m_maxMotorImpulse = maxMotorImpulse; }
void setMotorTargetVelocity(btScalar motorTargetVelocity) { m_motorTargetVelocity = motorTargetVelocity; }
void setMotorTarget(const btQuaternion& qAinB, btScalar dt); // qAinB is rotation of body A wrt body B.
void setMotorTarget(btScalar targetAngle, btScalar dt);
@@ -194,6 +195,33 @@ public:
#endif
}
btScalar getLimitSoftness() const
{
#ifdef _BT_USE_CENTER_LIMIT_
return m_limit.getSoftness();
#else
return m_limitSoftness;
#endif
}
btScalar getLimitBiasFactor() const
{
#ifdef _BT_USE_CENTER_LIMIT_
return m_limit.getBiasFactor();
#else
return m_biasFactor;
#endif
}
btScalar getLimitRelaxationFactor() const
{
#ifdef _BT_USE_CENTER_LIMIT_
return m_limit.getRelaxationFactor();
#else
return m_relaxationFactor;
#endif
}
void setAxis(btVector3& axisInA)
{
btVector3 rbAxisA1, rbAxisA2;
@@ -297,7 +325,9 @@ public:
// access for UseFrameOffset
bool getUseFrameOffset() { return m_useOffsetForConstraintFrame; }
void setUseFrameOffset(bool frameOffsetOnOff) { m_useOffsetForConstraintFrame = frameOffsetOnOff; }
// access for UseReferenceFrameA
bool getUseReferenceFrameA() const { return m_useReferenceFrameA; }
void setUseReferenceFrameA(bool useReferenceFrameA) { m_useReferenceFrameA = useReferenceFrameA; }
///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
///If no axis is provided, it uses the default axis for this constraint.
@@ -305,6 +335,11 @@ public:
///return the local value of parameter
virtual btScalar getParam(int num, int axis = -1) const;
virtual int getFlags() const
{
return m_flags;
}
virtual int calculateSerializeBufferSize() const;
///fills the dataBuffer and returns the struct name (and 0 on failure)

5
src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h
View File

@@ -117,6 +117,11 @@ public:
///return the local value of parameter
virtual btScalar getParam(int num, int axis = -1) const;
virtual int getFlags() const
{
return m_flags;
}
virtual int calculateSerializeBufferSize() const;
///fills the dataBuffer and returns the struct name (and 0 on failure)

5
src/BulletDynamics/ConstraintSolver/btSliderConstraint.h
View File

@@ -281,6 +281,11 @@ public:
///return the local value of parameter
virtual btScalar getParam(int num, int axis = -1) const;
virtual int getFlags() const
{
return m_flags;
}
virtual int calculateSerializeBufferSize() const;
///fills the dataBuffer and returns the struct name (and 0 on failure)

5
src/BulletDynamics/Featherstone/btMultiBody.cpp
View File

@@ -92,7 +92,8 @@ btMultiBody::btMultiBody(int n_links,
btScalar mass,
const btVector3 &inertia,
bool fixedBase,
bool canSleep)
bool canSleep,
bool /*deprecatedUseMultiDof*/)
:
m_baseCollider(0),
m_baseName(0),
@@ -137,7 +138,7 @@ void btMultiBody::setupFixed(int i,
int parent,
const btQuaternion &rotParentToThis,
const btVector3 &parentComToThisPivotOffset,
const btVector3 &thisPivotToThisComOffset)
const btVector3 &thisPivotToThisComOffset, bool /*deprecatedDisableParentCollision*/)
{
m_links[i].m_mass = mass;

18
src/BulletDynamics/Featherstone/btMultiBody.h
View File

@@ -63,7 +63,7 @@ public:
btScalar mass, // mass of base
const btVector3 &inertia, // inertia of base, in base frame; assumed diagonal
bool fixedBase, // whether the base is fixed (true) or can move (false)
bool canSleep);
bool canSleep, bool deprecatedMultiDof=true);
virtual ~btMultiBody();
@@ -75,7 +75,7 @@ public:
int parent,
const btQuaternion &rotParentToThis,
const btVector3 &parentComToThisPivotOffset,
const btVector3 &thisPivotToThisComOffset);
const btVector3 &thisPivotToThisComOffset, bool deprecatedDisableParentCollision=true);
void setupPrismatic(int i,
@@ -338,6 +338,7 @@ void addJointTorque(int i, btScalar Q);
// allocation appears to be fairly slow).
//
void computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar dt,
btAlignedObjectArray<btScalar> &scratch_r,
btAlignedObjectArray<btVector3> &scratch_v,
@@ -345,13 +346,22 @@ void addJointTorque(int i, btScalar Q);
bool isConstraintPass=false
);
///stepVelocitiesMultiDof is deprecated, use computeAccelerationsArticulatedBodyAlgorithmMultiDof instead
void stepVelocitiesMultiDof(btScalar dt,
btAlignedObjectArray<btScalar> &scratch_r,
btAlignedObjectArray<btVector3> &scratch_v,
btAlignedObjectArray<btMatrix3x3> &scratch_m,
bool isConstraintPass=false)
{
computeAccelerationsArticulatedBodyAlgorithmMultiDof(dt,scratch_r,scratch_v,scratch_m,isConstraintPass);
}
// calcAccelerationDeltasMultiDof
// input: force vector (in same format as jacobian, i.e.:
// 3 torque values, 3 force values, num_links joint torque values)
// output: 3 omegadot values, 3 vdot values, num_links q_double_dot values
// (existing contents of output array are replaced)
// stepVelocities must have been called first.
// calcAccelerationDeltasMultiDof must have been called first.
void calcAccelerationDeltasMultiDof(const btScalar *force, btScalar *output,
btAlignedObjectArray<btScalar> &scratch_r,
btAlignedObjectArray<btVector3> &scratch_v) const;

14
src/LinearMath/btAlignedObjectArray.h
View File

@@ -39,6 +39,12 @@ subject to the following restrictions:
#include <new> //for placement new
#endif //BT_USE_PLACEMENT_NEW
// The register keyword is deprecated in C++11 so don't use it.
#if __cplusplus > 199711L
#define BT_REGISTER
#else
#define BT_REGISTER register
#endif
///The btAlignedObjectArray template class uses a subset of the stl::vector interface for its methods
///It is developed to replace stl::vector to avoid portability issues, including STL alignment issues to add SIMD/SSE data
@@ -211,7 +217,7 @@ protected:
SIMD_FORCE_INLINE void resize(int newsize, const T& fillData=T())
{
const register int curSize = size();
const BT_REGISTER int curSize = size();
if (newsize < curSize)
{
@@ -238,7 +244,7 @@ protected:
}
SIMD_FORCE_INLINE T& expandNonInitializing( )
{
const register int sz = size();
const BT_REGISTER int sz = size();
if( sz == capacity() )
{
reserve( allocSize(size()) );
@@ -251,7 +257,7 @@ protected:
SIMD_FORCE_INLINE T& expand( const T& fillValue=T())
{
const register int sz = size();
const BT_REGISTER int sz = size();
if( sz == capacity() )
{
reserve( allocSize(size()) );
@@ -267,7 +273,7 @@ protected:
SIMD_FORCE_INLINE void push_back(const T& _Val)
{
const register int sz = size();
const BT_REGISTER int sz = size();
if( sz == capacity() )
{
reserve( allocSize(size()) );

4
src/LinearMath/btTransform.h
View File

@@ -127,7 +127,7 @@ public:
/**@brief Set from an array
* @param m A pointer to a 15 element array (12 rotation(row major padded on the right by 1), and 3 translation */
* @param m A pointer to a 16 element array (12 rotation(row major padded on the right by 1), and 3 translation */
void setFromOpenGLMatrix(const btScalar *m)
{
m_basis.setFromOpenGLSubMatrix(m);
@@ -135,7 +135,7 @@ public:
}
/**@brief Fill an array representation
* @param m A pointer to a 15 element array (12 rotation(row major padded on the right by 1), and 3 translation */
* @param m A pointer to a 16 element array (12 rotation(row major padded on the right by 1), and 3 translation */
void getOpenGLMatrix(btScalar *m) const
{
m_basis.getOpenGLSubMatrix(m);