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fix some warnings

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This commit is contained in:
Erwin Coumans
2019-05-31 19:00:38 -07:00
parent 4247104050
commit f838e22bd9
4 changed files with 16 additions and 16 deletions
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4
src/BulletDynamics/Featherstone/btMultiBody.cpp
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@@ -352,9 +352,9 @@ void btMultiBody::finalizeMultiDof()
updateLinksDofOffsets();
}
int btMultiBody::getParent(int i) const
int btMultiBody::getParent(int link_num) const
{
return m_links[i].m_parent;
return m_links[link_num].m_parent;
}
btScalar btMultiBody::getLinkMass(int i) const

20
src/BulletDynamics/Featherstone/btMultiBody.h
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@@ -65,7 +65,7 @@ public:
virtual ~btMultiBody();
//note: fixed link collision with parent is always disabled
void setupFixed(int linkIndex,
void setupFixed(int i, //linkIndex
btScalar mass,
const btVector3 &inertia,
int parent,
@@ -83,7 +83,7 @@ public:
const btVector3 &thisPivotToThisComOffset,
bool disableParentCollision);
void setupRevolute(int linkIndex, // 0 to num_links-1
void setupRevolute(int i, // 0 to num_links-1
btScalar mass,
const btVector3 &inertia,
int parentIndex,
@@ -93,7 +93,7 @@ public:
const btVector3 &thisPivotToThisComOffset, // vector from joint axis to my COM, in MY frame
bool disableParentCollision = false);
void setupSpherical(int linkIndex, // 0 to num_links-1
void setupSpherical(int i, // linkIndex, 0 to num_links-1
btScalar mass,
const btVector3 &inertia,
int parent,
@@ -277,15 +277,15 @@ public:
//
// transform vectors in local frame of link i to world frame (or vice versa)
//
btVector3 localPosToWorld(int i, const btVector3 &vec) const;
btVector3 localDirToWorld(int i, const btVector3 &vec) const;
btVector3 worldPosToLocal(int i, const btVector3 &vec) const;
btVector3 worldDirToLocal(int i, const btVector3 &vec) const;
btVector3 localPosToWorld(int i, const btVector3 &local_pos) const;
btVector3 localDirToWorld(int i, const btVector3 &local_dir) const;
btVector3 worldPosToLocal(int i, const btVector3 &world_pos) const;
btVector3 worldDirToLocal(int i, const btVector3 &world_dir) const;
//
// transform a frame in local coordinate to a frame in world coordinate
//
btMatrix3x3 localFrameToWorld(int i, const btMatrix3x3 &mat) const;
btMatrix3x3 localFrameToWorld(int i, const btMatrix3x3 &local_frame) const;
//
// calculate kinetic energy and angular momentum
@@ -576,11 +576,11 @@ public:
{
return m_internalNeedsJointFeedback;
}
void forwardKinematics(btAlignedObjectArray<btQuaternion> & scratch_q, btAlignedObjectArray<btVector3> & scratch_m);
void forwardKinematics(btAlignedObjectArray<btQuaternion>& world_to_local, btAlignedObjectArray<btVector3> & local_origin);
void compTreeLinkVelocities(btVector3 * omega, btVector3 * vel) const;
void updateCollisionObjectWorldTransforms(btAlignedObjectArray<btQuaternion> & scratch_q, btAlignedObjectArray<btVector3> & scratch_m);
void updateCollisionObjectWorldTransforms(btAlignedObjectArray<btQuaternion> & world_to_local, btAlignedObjectArray<btVector3> & local_origin);
virtual int calculateSerializeBufferSize() const;