diff options
| author | Juan Linietsky <reduzio@gmail.com> | 2017-01-11 00:52:51 -0300 |
|---|---|---|
| committer | Juan Linietsky <reduzio@gmail.com> | 2017-01-11 00:52:51 -0300 |
| commit | bc26f905817945300d397696330d1ab04a1af33c (patch) | |
| tree | d06338399c8ea410042f6631fb3db3efcc100b05 /servers/physics/joints/generic_6dof_joint_sw.cpp | |
| parent | 710692278d1353aad08bc7bceb655afc1d6c950c (diff) | |
Type renames:
Matrix32 -> Transform2D
Matrix3 -> Basis
AABB -> Rect3
RawArray -> PoolByteArray
IntArray -> PoolIntArray
FloatArray -> PoolFloatArray
Vector2Array -> PoolVector2Array
Vector3Array -> PoolVector3Array
ColorArray -> PoolColorArray
Diffstat (limited to 'servers/physics/joints/generic_6dof_joint_sw.cpp')
| -rw-r--r-- | servers/physics/joints/generic_6dof_joint_sw.cpp | 10 |
1 files changed, 5 insertions, 5 deletions
diff --git a/servers/physics/joints/generic_6dof_joint_sw.cpp b/servers/physics/joints/generic_6dof_joint_sw.cpp index 3c0119971a..5824de0127 100644 --- a/servers/physics/joints/generic_6dof_joint_sw.cpp +++ b/servers/physics/joints/generic_6dof_joint_sw.cpp @@ -38,8 +38,8 @@ See corresponding header file for licensing info. #define GENERIC_D6_DISABLE_WARMSTARTING 1 -real_t btGetMatrixElem(const Matrix3& mat, int index); -real_t btGetMatrixElem(const Matrix3& mat, int index) +real_t btGetMatrixElem(const Basis& mat, int index); +real_t btGetMatrixElem(const Basis& mat, int index) { int i = index%3; int j = index/3; @@ -47,8 +47,8 @@ real_t btGetMatrixElem(const Matrix3& mat, int index) } ///MatrixToEulerXYZ from http://www.geometrictools.com/LibFoundation/Mathematics/Wm4Matrix3.inl.html -bool matrixToEulerXYZ(const Matrix3& mat,Vector3& xyz); -bool matrixToEulerXYZ(const Matrix3& mat,Vector3& xyz) +bool matrixToEulerXYZ(const Basis& mat,Vector3& xyz); +bool matrixToEulerXYZ(const Basis& mat,Vector3& xyz) { // // rot = cy*cz -cy*sz sy // // cz*sx*sy+cx*sz cx*cz-sx*sy*sz -cy*sx @@ -296,7 +296,7 @@ Generic6DOFJointSW::Generic6DOFJointSW(BodySW* rbA, BodySW* rbB, const Transform void Generic6DOFJointSW::calculateAngleInfo() { - Matrix3 relative_frame = m_calculatedTransformA.basis.inverse()*m_calculatedTransformB.basis; + Basis relative_frame = m_calculatedTransformA.basis.inverse()*m_calculatedTransformB.basis; matrixToEulerXYZ(relative_frame,m_calculatedAxisAngleDiff); |