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Merge pull request #523 from erwincoumans/master

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add deprecated methods to avoid breaking API
This commit is contained in:
erwincoumans 2015-11-11 14:15:08 -08:00
commit 9ac27b77bf
4 changed files with 27 additions and 11 deletions
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5
examples/SharedMemory/PhysicsClient.cpp
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@ -1,3 +1,6 @@
#include "PhysicsClient.h"
PhysicsClient::~PhysicsClient() {}
PhysicsClient::~PhysicsClient()
{
}

6
examples/SharedMemory/PhysicsClientExample.cpp
View File

@ -337,13 +337,15 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
};
}
PhysicsClientExample::PhysicsClientExample(GUIHelperInterface* helper)
:SharedMemoryCommon(helper),
m_physicsClientHandle(0),
m_selectedBody(-1),
m_prevSelectedBody(-1),
m_wantsTermination(false),
m_sharedMemoryKey(SHARED_MEMORY_KEY),
m_selectedBody(-1),
m_prevSelectedBody(-1),
m_numMotors(0)
{
b3Printf("Started PhysicsClientExample\n");

5
src/BulletDynamics/Featherstone/btMultiBody.cpp
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@ -92,7 +92,8 @@ btMultiBody::btMultiBody(int n_links,
btScalar mass,
const btVector3 &inertia,
bool fixedBase,
bool canSleep)
bool canSleep,
bool /*deprecatedUseMultiDof*/)
:
m_baseCollider(0),
m_baseName(0),
@ -137,7 +138,7 @@ void btMultiBody::setupFixed(int i,
int parent,
const btQuaternion &rotParentToThis,
const btVector3 &parentComToThisPivotOffset,
const btVector3 &thisPivotToThisComOffset)
const btVector3 &thisPivotToThisComOffset, bool /*deprecatedDisableParentCollision*/)
{
m_links[i].m_mass = mass;

22
src/BulletDynamics/Featherstone/btMultiBody.h
View File

@ -63,7 +63,7 @@ public:
btScalar mass, // mass of base
const btVector3 &inertia, // inertia of base, in base frame; assumed diagonal
bool fixedBase, // whether the base is fixed (true) or can move (false)
bool canSleep);
bool canSleep, bool deprecatedMultiDof=true);
virtual ~btMultiBody();
@ -75,7 +75,7 @@ public:
int parent,
const btQuaternion &rotParentToThis,
const btVector3 &parentComToThisPivotOffset,
const btVector3 &thisPivotToThisComOffset);
const btVector3 &thisPivotToThisComOffset, bool deprecatedDisableParentCollision=true);
void setupPrismatic(int i,
@ -337,7 +337,8 @@ void addJointTorque(int i, btScalar Q);
// improvement, at least on Windows (where dynamic memory
// allocation appears to be fairly slow).
//
void computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar dt,
btAlignedObjectArray<btScalar> &scratch_r,
btAlignedObjectArray<btVector3> &scratch_v,
@ -345,17 +346,26 @@ void addJointTorque(int i, btScalar Q);
bool isConstraintPass=false
);
///stepVelocitiesMultiDof is deprecated, use computeAccelerationsArticulatedBodyAlgorithmMultiDof instead
void stepVelocitiesMultiDof(btScalar dt,
btAlignedObjectArray<btScalar> &scratch_r,
btAlignedObjectArray<btVector3> &scratch_v,
btAlignedObjectArray<btMatrix3x3> &scratch_m,
bool isConstraintPass=false)
{
computeAccelerationsArticulatedBodyAlgorithmMultiDof(dt,scratch_r,scratch_v,scratch_m,isConstraintPass);
}
// calcAccelerationDeltasMultiDof
// input: force vector (in same format as jacobian, i.e.:
// 3 torque values, 3 force values, num_links joint torque values)
// output: 3 omegadot values, 3 vdot values, num_links q_double_dot values
// (existing contents of output array are replaced)
// stepVelocities must have been called first.
// calcAccelerationDeltasMultiDof must have been called first.
void calcAccelerationDeltasMultiDof(const btScalar *force, btScalar *output,
btAlignedObjectArray<btScalar> &scratch_r,
btAlignedObjectArray<btVector3> &scratch_v) const;
void applyDeltaVeeMultiDof2(const btScalar * delta_vee, btScalar multiplier)
{