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fix uninitialized variable in btMultiBody

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use btAssert to detect 0 determinant in btMatrix3x3 inverse
Remove obsolete comment in PosixSharedMemory, the Windows shared memory implementation was done over a year ago
This commit is contained in:
erwincoumans
2016-09-23 21:59:38 -07:00
parent 666c8f47b7
commit fe6c8775da
5 changed files with 27 additions and 4 deletions
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3
src/LinearMath/btMatrix3x3.h
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@@ -1047,7 +1047,8 @@ btMatrix3x3::inverse() const
{
btVector3 co(cofac(1, 1, 2, 2), cofac(1, 2, 2, 0), cofac(1, 0, 2, 1));
btScalar det = (*this)[0].dot(co);
btFullAssert(det != btScalar(0.0));
//btFullAssert(det != btScalar(0.0));
btAssert(det != btScalar(0.0));
btScalar s = btScalar(1.0) / det;
return btMatrix3x3(co.x() * s, cofac(0, 2, 2, 1) * s, cofac(0, 1, 1, 2) * s,
co.y() * s, cofac(0, 0, 2, 2) * s, cofac(0, 2, 1, 0) * s,