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Small modifications

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This commit is contained in:
Daniel Chappuis 2020-05-24 16:52:44 +02:00
parent 44658b90d8
commit ab86620412
7 changed files with 9 additions and 15 deletions
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2
src/body/RigidBody.cpp
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@ -401,8 +401,6 @@ void RigidBody::computeMassAndInertiaTensorLocal(Vector3& inertiaTensorLocal, de
/// mass that has been set with the RigidBody::setInertiaTensorLocal() method.
void RigidBody::updateLocalInertiaTensorFromColliders() {
const Vector3 centerOfMassLocal = mWorld.mRigidBodyComponents.getCenterOfMassLocal(mEntity);
// Compute the local-space inertia tensor
Vector3 inertiaTensorLocal;
decimal totalMass;

2
src/systems/CollisionDetectionSystem.cpp
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@ -1329,7 +1329,7 @@ void CollisionDetectionSystem::reduceContactPoints(ContactManifoldInfo& manifold
}
nbReducedPoints = 3;
// Compute the 4th point by choosing the triangle that add the most
// Compute the 4th point by choosing the triangle that adds the most
// triangle area to the previous triangle and has opposite sign area (opposite winding)
decimal largestArea = decimal(0.0); // Largest area (positive or negative)

12
src/systems/SolveSliderJointSystem.cpp
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@ -496,9 +496,6 @@ void SolveSliderJointSystem::solveVelocityConstraint() {
Vector3& v1 = mRigidBodyComponents.mConstrainedLinearVelocities[componentIndexBody1];
Vector3& v2 = mRigidBodyComponents.mConstrainedLinearVelocities[componentIndexBody2];
Vector3& w1 = mRigidBodyComponents.mConstrainedAngularVelocities[componentIndexBody1];
Vector3& w2 = mRigidBodyComponents.mConstrainedAngularVelocities[componentIndexBody2];
decimal inverseMassBody1 = mRigidBodyComponents.mInverseMasses[componentIndexBody1];
decimal inverseMassBody2 = mRigidBodyComponents.mInverseMasses[componentIndexBody2];
@ -511,6 +508,9 @@ void SolveSliderJointSystem::solveVelocityConstraint() {
if (mSliderJointComponents.mIsLimitEnabled[i]) {
Vector3& w1 = mRigidBodyComponents.mConstrainedAngularVelocities[componentIndexBody1];
Vector3& w2 = mRigidBodyComponents.mConstrainedAngularVelocities[componentIndexBody2];
const decimal inverseMassMatrixLimit = mSliderJointComponents.mInverseMassMatrixLimit[i];
// If the lower limit is violated
@ -786,9 +786,6 @@ void SolveSliderJointSystem::solvePositionConstraint() {
const uint32 componentIndexBody1 = mRigidBodyComponents.getEntityIndex(body1Entity);
const uint32 componentIndexBody2 = mRigidBodyComponents.getEntityIndex(body2Entity);
Vector3& x1 = mRigidBodyComponents.mConstrainedPositions[componentIndexBody1];
Vector3& x2 = mRigidBodyComponents.mConstrainedPositions[componentIndexBody2];
Quaternion& q1 = mRigidBodyComponents.mConstrainedOrientations[componentIndexBody1];
Quaternion& q2 = mRigidBodyComponents.mConstrainedOrientations[componentIndexBody2];
@ -861,6 +858,9 @@ void SolveSliderJointSystem::solvePositionConstraint() {
if (mSliderJointComponents.mIsLimitEnabled[i]) {
Vector3& x1 = mRigidBodyComponents.mConstrainedPositions[componentIndexBody1];
Vector3& x2 = mRigidBodyComponents.mConstrainedPositions[componentIndexBody2];
const Vector3& r2CrossSliderAxis = mSliderJointComponents.mR2CrossSliderAxis[i];
const Vector3& r1PlusUCrossSliderAxis = mSliderJointComponents.mR1PlusUCrossSliderAxis[i];

2
src/utils/Profiler.cpp
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@ -292,7 +292,6 @@ void Profiler::printRecursiveNodeReport(ProfileNodeIterator* iterator,
for (int i=0; i<spacing; i++) outputStream << " ";
outputStream << "| Profiling : " << iterator->getCurrentParentName() <<
" (total running time : " << parentTime << " ms) ---" << std::endl;
long double totalTime = 0.0L;
// Recurse over the children of the current node
int nbChildren = 0;
@ -307,7 +306,6 @@ void Profiler::printRecursiveNodeReport(ProfileNodeIterator* iterator,
fraction << " % | " << (currentTotalTime / (long double) (nbFrames)) <<
" ms/frame (" << iterator->getCurrentNbTotalCalls() << " calls)" <<
std::endl;
totalTime += currentTotalTime;
}
if (parentTime < accumulatedTime) {

1
testbed/scenes/joints/JointsScene.cpp
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@ -215,7 +215,6 @@ void JointsScene::createBallAndSocketJoints() {
rp3d::Vector3 positionBox(0, 15, 5);
openglframework::Vector3 boxDimension(1, 1, 1);
const float boxMass = 0.5f;
for (int i=0; i<NB_BALLSOCKETJOINT_BOXES; i++) {

3
testbed/scenes/pile/PileScene.cpp
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@ -164,9 +164,6 @@ PileScene::PileScene(const std::string& name, EngineSettings& settings)
// ---------- Create the triangular mesh ---------- //
// Position
rp3d::decimal mass = 1.0;
// Create a convex mesh and a corresponding rigid in the physics world
mSandbox = new ConcaveMesh(true, mPhysicsCommon, mPhysicsWorld, meshFolderPath + "sandbox.obj");

2
testbed/src/TestbedApplication.cpp
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@ -301,9 +301,11 @@ void GLAPIENTRY TestbedApplication::onOpenGLError(GLenum source, GLenum type, GL
const GLchar* message, const void* userParam ) {
if (type == GL_DEBUG_TYPE_ERROR) {
/*
fprintf( stderr, "GL CALLBACK: %s type = 0x%x, severity = 0x%x, message = %s\n",
("** GL ERROR **" ),
type, severity, message );
*/
}
}