Changeset 2430 for code/branches/physics/src/bullet/BulletDynamics/Dynamics/btRigidBody.h

Timestamp:

Dec 13, 2008, 11:45:51 PM (16 years ago)

Author:

rgrieder

Message:

Updated to Bullet 2.73 (first part).

File:

• code/branches/physics/src/bullet/BulletDynamics/Dynamics/btRigidBody.h (modified) (6 diffs)

code/branches/physics/src/bullet/BulletDynamics/Dynamics/btRigidBody.h

@@ -18 +18 @@
 
 #include "LinearMath/btAlignedObjectArray.h"
-#include "LinearMath/btPoint3.h"
 #include "LinearMath/btTransform.h"
 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
@@ -32 +31 @@
 
 
-///btRigidBody is the main class for rigid body objects. It is derived from btCollisionObject, so it keeps a pointer to a btCollisionShape.
+///The btRigidBody is the main class for rigid body objects. It is derived from btCollisionObject, so it keeps a pointer to a btCollisionShape.
 ///It is recommended for performance and memory use to share btCollisionShape objects whenever possible.
 ///There are 3 types of rigid bodies: 
@@ -76 +75 @@
 
 
-        ///btRigidBodyConstructionInfo provides information to create a rigid body. Setting mass to zero creates a fixed (non-dynamic) rigid body.
+        ///The btRigidBodyConstructionInfo structure provides information to create a rigid body. Setting mass to zero creates a fixed (non-dynamic) rigid body.
         ///For dynamic objects, you can use the collision shape to approximate the local inertia tensor, otherwise use the zero vector (default argument)
         ///You can use the motion state to synchronize the world transform between physics and graphics objects. 
@@ -304 +303 @@
         void updateInertiaTensor();    
         
-        const btPoint3&     getCenterOfMassPosition() const { 
+        const btVector3&     getCenterOfMassPosition() const { 
                 return m_worldTransform.getOrigin(); 
         }
@@ -322 +321 @@
         inline void setLinearVelocity(const btVector3& lin_vel)
         { 
-                assert (m_collisionFlags != btCollisionObject::CF_STATIC_OBJECT);
                 m_linearVelocity = lin_vel; 
         }
 
-        inline void setAngularVelocity(const btVector3& ang_vel) { 
-                assert (m_collisionFlags != btCollisionObject::CF_STATIC_OBJECT);
-                {
-                        m_angularVelocity = ang_vel; 
-                }
+        inline void setAngularVelocity(const btVector3& ang_vel) 
+        { 
+                m_angularVelocity = ang_vel; 
         }
 
@@ -354 +350 @@
 
         
-        SIMD_FORCE_INLINE btScalar computeImpulseDenominator(const btPoint3& pos, const btVector3& normal) const
+        SIMD_FORCE_INLINE btScalar computeImpulseDenominator(const btVector3& pos, const btVector3& normal) const
         {
                 btVector3 r0 = pos - getCenterOfMassPosition();