diff options
Diffstat (limited to 'extern/bullet2/src/BulletDynamics/ConstraintSolver/btJacobianEntry.h')
-rw-r--r-- | extern/bullet2/src/BulletDynamics/ConstraintSolver/btJacobianEntry.h | 18 |
1 files changed, 9 insertions, 9 deletions
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btJacobianEntry.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btJacobianEntry.h index 384e4f7bab5..aae3ed0373f 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btJacobianEntry.h +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btJacobianEntry.h @@ -16,8 +16,8 @@ subject to the following restrictions: #ifndef JACOBIAN_ENTRY_H #define JACOBIAN_ENTRY_H -#include "LinearMath/btVector3.h" -#include "BulletDynamics/Dynamics/btRigidBody.h" +#include "../../LinearMath/btVector3.h" +#include "../Dynamics/btRigidBody.h" //notes: @@ -50,7 +50,7 @@ public: m_1MinvJt = inertiaInvB * m_bJ; m_Adiag = massInvA + m_0MinvJt.dot(m_aJ) + massInvB + m_1MinvJt.dot(m_bJ); - btAssert(m_Adiag > 0.0f); + btAssert(m_Adiag > btScalar(0.0)); } //angular constraint between two different rigidbodies @@ -59,7 +59,7 @@ public: const btMatrix3x3& world2B, const btVector3& inertiaInvA, const btVector3& inertiaInvB) - :m_linearJointAxis(btVector3(0.f,0.f,0.f)) + :m_linearJointAxis(btVector3(btScalar(0.),btScalar(0.),btScalar(0.))) { m_aJ= world2A*jointAxis; m_bJ = world2B*-jointAxis; @@ -67,7 +67,7 @@ public: m_1MinvJt = inertiaInvB * m_bJ; m_Adiag = m_0MinvJt.dot(m_aJ) + m_1MinvJt.dot(m_bJ); - btAssert(m_Adiag > 0.0f); + btAssert(m_Adiag > btScalar(0.0)); } //angular constraint between two different rigidbodies @@ -75,7 +75,7 @@ public: const btVector3& axisInB, const btVector3& inertiaInvA, const btVector3& inertiaInvB) - : m_linearJointAxis(btVector3(0.f,0.f,0.f)) + : m_linearJointAxis(btVector3(btScalar(0.),btScalar(0.),btScalar(0.))) , m_aJ(axisInA) , m_bJ(-axisInB) { @@ -83,7 +83,7 @@ public: m_1MinvJt = inertiaInvB * m_bJ; m_Adiag = m_0MinvJt.dot(m_aJ) + m_1MinvJt.dot(m_bJ); - btAssert(m_Adiag > 0.0f); + btAssert(m_Adiag > btScalar(0.0)); } //constraint on one rigidbody @@ -98,10 +98,10 @@ public: m_aJ= world2A*(rel_pos1.cross(jointAxis)); m_bJ = world2A*(rel_pos2.cross(-jointAxis)); m_0MinvJt = inertiaInvA * m_aJ; - m_1MinvJt = btVector3(0.f,0.f,0.f); + m_1MinvJt = btVector3(btScalar(0.),btScalar(0.),btScalar(0.)); m_Adiag = massInvA + m_0MinvJt.dot(m_aJ); - btAssert(m_Adiag > 0.0f); + btAssert(m_Adiag > btScalar(0.0)); } btScalar getDiagonal() const { return m_Adiag; } |