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add BT_USE_INVERSE_DYNAMICS_WITH_BULLET2

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This commit is contained in:
nicolaichuk 2017-03-23 15:17:29 +03:00
parent 71e411c2ca
commit 5144949ed8
2 changed files with 18 additions and 1 deletions
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17
src/BulletInverseDynamics/IDConfig.hpp
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@ -68,6 +68,10 @@ typedef btScalar idScalar;
#ifdef BT_USE_DOUBLE_PRECISION
#define BT_ID_USE_DOUBLE_PRECISION
#endif
#ifndef BT_USE_INVERSE_DYNAMICS_WITH_BULLET2
// use bullet types for arrays and array indices
#include "Bullet3Common/b3AlignedObjectArray.h"
// this is to make it work with C++2003, otherwise we could do this:
@ -80,6 +84,19 @@ struct idArray {
typedef int idArrayIdx;
#define ID_DECLARE_ALIGNED_ALLOCATOR() B3_DECLARE_ALIGNED_ALLOCATOR()
#else // BT_USE_INVERSE_DYNAMICS_WITH_BULLET2
#include "LinearMath/btAlignedObjectArray.h"
template <typename T>
struct idArray {
typedef btAlignedObjectArray<T> type;
};
typedef int idArrayIdx;
#define ID_DECLARE_ALIGNED_ALLOCATOR() BT_DECLARE_ALIGNED_ALLOCATOR()
#endif // BT_USE_INVERSE_DYNAMICS_WITH_BULLET2
// use bullet's allocator functions
#define idMalloc btAllocFunc
#define idFree btFreeFunc

2
src/BulletInverseDynamics/IDErrorMessages.hpp
View File

@ -5,7 +5,7 @@
/// name of file being compiled, without leading path components
#define __INVDYN_FILE_WO_DIR__ (strrchr(__FILE__, '/') ? strrchr(__FILE__, '/') + 1 : __FILE__)
#ifndef BT_ID_WO_BULLET
#if !defined(BT_ID_WO_BULLET) && !defined(BT_USE_INVERSE_DYNAMICS_WITH_BULLET2)
#include "Bullet3Common/b3Logging.h"
#define error_message(...) b3Error(__VA_ARGS__)
#define warning_message(...) b3Warning(__VA_ARGS__)