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I got this patch from sgefant Mostly its just casting floats as floats.

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(also adding a couple of include pathes)
changes in Ode*.cpp to get it compile with gcc 2.95.4
to make it compile with ./configure --with-gameengine
                        --enable-gameplayer


Kent
--
mein@cs.umn.edu
This commit is contained in:
Kent Mein
2002-12-02 16:30:13 +00:00
parent 644e4d7c1c
commit 73aef31b52
2 changed files with 19 additions and 17 deletions
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16
source/gameengine/Physics/BlOde/OdePhysicsController.cpp
View File

@@ -261,7 +261,8 @@ bool ODEPhysicsController::SynchronizeMotionStates(float time)
dQuaternion worldquat; dQuaternion worldquat;
float worldpos[3]; float worldpos[3];
m_MotionState->getWorldOrientation(worldquat[1],worldquat[2],worldquat[3],worldquat[0]); m_MotionState->getWorldOrientation((float)worldquat[1],
(float)worldquat[2],(float)worldquat[3],(float)worldquat[0]);
m_MotionState->getWorldPosition(worldpos[0],worldpos[1],worldpos[2]); m_MotionState->getWorldPosition(worldpos[0],worldpos[1],worldpos[2]);
float scaling[3]; float scaling[3];
@@ -329,10 +330,10 @@ bool ODEPhysicsController::SynchronizeMotionStates(float time)
return false; return false;
} }
const float* worldPos = dBodyGetPosition(m_bodyId); const float* worldPos = (float *)dBodyGetPosition(m_bodyId);
m_MotionState->setWorldPosition(worldPos[0],worldPos[1],worldPos[2]); m_MotionState->setWorldPosition(worldPos[0],worldPos[1],worldPos[2]);
const float* worldquat = dBodyGetQuaternion(m_bodyId); const float* worldquat = (float *)dBodyGetQuaternion(m_bodyId);
m_MotionState->setWorldOrientation(worldquat[1],worldquat[2],worldquat[3],worldquat[0]); m_MotionState->setWorldOrientation(worldquat[1],worldquat[2],worldquat[3],worldquat[0]);
} }
else { else {
@@ -345,7 +346,8 @@ bool ODEPhysicsController::SynchronizeMotionStates(float time)
dQuaternion worldquat; dQuaternion worldquat;
float worldpos[3]; float worldpos[3];
m_MotionState->getWorldOrientation(worldquat[1],worldquat[2],worldquat[3],worldquat[0]); m_MotionState->getWorldOrientation((float)worldquat[1],
(float)worldquat[2],(float)worldquat[3],(float)worldquat[0]);
m_MotionState->getWorldPosition(worldpos[0],worldpos[1],worldpos[2]); m_MotionState->getWorldPosition(worldpos[0],worldpos[1],worldpos[2]);
float scaling[3]; float scaling[3];
@@ -497,9 +499,9 @@ void ODEPhysicsController::applyImpulse(float attachX,float attachY,float attach
newvel[2]=linvel[2]+impulseZ*massinv; newvel[2]=linvel[2]+impulseZ*massinv;
dBodySetLinearVel(m_bodyId,newvel[0],newvel[1],newvel[2]); dBodySetLinearVel(m_bodyId,newvel[0],newvel[1],newvel[2]);
const float* worldPos = dBodyGetPosition(m_bodyId); const float* worldPos = (float *)dBodyGetPosition(m_bodyId);
const float* angvelc = dBodyGetAngularVel (m_bodyId); const float* angvelc = (float *)dBodyGetAngularVel(m_bodyId);
float angvel[3]; float angvel[3];
angvel[0]=angvelc[0]; angvel[0]=angvelc[0];
angvel[1]=angvelc[1]; angvel[1]=angvelc[1];
@@ -542,7 +544,7 @@ void ODEPhysicsController::GetLinearVelocity(float& linvX,float& linvY,float& li
{ {
if (m_OdeDyna) if (m_OdeDyna)
{ {
const float* vel = dBodyGetLinearVel(m_bodyId); const float* vel = (float *)dBodyGetLinearVel(m_bodyId);
linvX = vel[0]; linvX = vel[0];
linvY = vel[1]; linvY = vel[1];
linvZ = vel[2]; linvZ = vel[2];

20
source/gameengine/Physics/BlOde/OdePhysicsEnvironment.cpp
View File

@@ -93,10 +93,10 @@ int ODEPhysicsEnvironment::createConstraint(class PHY_IPhysicsController* ctrl
dJointID jointid = dJointCreateBall (m_OdeWorld,m_JointGroup); dJointID jointid = dJointCreateBall (m_OdeWorld,m_JointGroup);
struct dxBody* bodyid1 = dynactrl->GetOdeBodyId(); struct dxBody* bodyid1 = dynactrl->GetOdeBodyId();
struct dxBody* bodyid2=0; struct dxBody* bodyid2=0;
const float* pos = dBodyGetPosition(bodyid1); const dReal* pos = dBodyGetPosition(bodyid1);
const float* R = dBodyGetRotation(bodyid1); const dReal* R = dBodyGetRotation(bodyid1);
float offset[3] = {pivotX,pivotY,pivotZ}; dReal offset[3] = {pivotX,pivotY,pivotZ};
float newoffset[3]; dReal newoffset[3];
dMULTIPLY0_331 (newoffset,R,offset); dMULTIPLY0_331 (newoffset,R,offset);
newoffset[0] += pos[0]; newoffset[0] += pos[0];
newoffset[1] += pos[1]; newoffset[1] += pos[1];
@@ -121,13 +121,13 @@ int ODEPhysicsEnvironment::createConstraint(class PHY_IPhysicsController* ctrl
dJointID jointid = dJointCreateHinge (m_OdeWorld,m_JointGroup); dJointID jointid = dJointCreateHinge (m_OdeWorld,m_JointGroup);
struct dxBody* bodyid1 = dynactrl->GetOdeBodyId(); struct dxBody* bodyid1 = dynactrl->GetOdeBodyId();
struct dxBody* bodyid2=0; struct dxBody* bodyid2=0;
const float* pos = dBodyGetPosition(bodyid1); const dReal* pos = dBodyGetPosition(bodyid1);
const float* R = dBodyGetRotation(bodyid1); const dReal* R = dBodyGetRotation(bodyid1);
float offset[3] = {pivotX,pivotY,pivotZ}; dReal offset[3] = {pivotX,pivotY,pivotZ};
float axisset[3] = {axisX,axisY,axisZ}; dReal axisset[3] = {axisX,axisY,axisZ};
float newoffset[3]; dReal newoffset[3];
float newaxis[3]; dReal newaxis[3];
dMULTIPLY0_331 (newaxis,R,axisset); dMULTIPLY0_331 (newaxis,R,axisset);
dMULTIPLY0_331 (newoffset,R,offset); dMULTIPLY0_331 (newoffset,R,offset);