From b6c9a47877b20c6644928d6ef7bc685d962cc7bf Mon Sep 17 00:00:00 2001
From: Raphael Grimm <raphael.grimm@kit.edu>
Date: Tue, 7 Apr 2020 18:32:14 +0200
Subject: [PATCH] Fix code formatting
---
.../BulletEngine/BulletEngine.cpp | 46 +++--
.../BulletEngine/BulletRobot.cpp | 172 +++++++++---------
2 files changed, 115 insertions(+), 103 deletions(-)
diff --git a/SimDynamics/DynamicsEngine/BulletEngine/BulletEngine.cpp b/SimDynamics/DynamicsEngine/BulletEngine/BulletEngine.cpp
index 6eb52a3fe..af6436277 100644
--- a/SimDynamics/DynamicsEngine/BulletEngine/BulletEngine.cpp
+++ b/SimDynamics/DynamicsEngine/BulletEngine/BulletEngine.cpp
@@ -92,8 +92,8 @@ namespace SimDynamics
dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher, overlappingPairCache, constraintSolver, collision_config);
dynamicsWorld->setGravity(btVector3(btScalar(config->gravity[0] * BulletObject::ScaleFactor),
- btScalar(config->gravity[1] * BulletObject::ScaleFactor),
- btScalar(config->gravity[2] * BulletObject::ScaleFactor)));
+ btScalar(config->gravity[1] * BulletObject::ScaleFactor),
+ btScalar(config->gravity[2] * BulletObject::ScaleFactor)));
collisionFilterCallback = new BulletEngine::CustomCollisionCallback(this);
dynamicsWorld->getPairCache()->setOverlapFilterCallback(collisionFilterCallback);
@@ -116,7 +116,7 @@ namespace SimDynamics
//only enable split impulse position correction when the penetration is deeper than this m_splitImpulsePenetrationThreshold, otherwise use the regular velocity/position constraint coupling (Baumgarte).
solverInfo.m_splitImpulsePenetrationThreshold = config->bulletSolverSplitImpulsePenetrationThreshold;
-// dynamicsWorld->setInternalTickCallback(externalCallbacks, this, true);
+ // dynamicsWorld->setInternalTickCallback(externalCallbacks, this, true);
dynamicsWorld->addAction(this);
return true;
}
@@ -166,8 +166,8 @@ namespace SimDynamics
bulletConfig = newConfig;
dynamicsWorld->setGravity(btVector3(btScalar(newConfig->gravity[0] * BulletObject::ScaleFactor),
- btScalar(newConfig->gravity[1] * BulletObject::ScaleFactor),
- btScalar(newConfig->gravity[2] * BulletObject::ScaleFactor)));
+ btScalar(newConfig->gravity[1] * BulletObject::ScaleFactor),
+ btScalar(newConfig->gravity[2] * BulletObject::ScaleFactor)));
btContactSolverInfo& solverInfo = dynamicsWorld->getSolverInfo();
solverInfo.m_numIterations = newConfig->bulletSolverIterations;
@@ -188,7 +188,7 @@ namespace SimDynamics
auto friction = btObject->getSceneObject()->getPhysics().friction;
btObject->getRigidBody()->setRestitution(bulletConfig->bulletObjectRestitution);
- btObject->getRigidBody()->setFriction(friction>0.0?friction:bulletConfig->bulletObjectFriction);
+ btObject->getRigidBody()->setFriction(friction > 0.0 ? friction : bulletConfig->bulletObjectFriction);
btObject->getRigidBody()->setFriction(bulletConfig->bulletObjectFriction);
btObject->getRigidBody()->setDamping(bulletConfig->bulletObjectDampingLinear, bulletConfig->bulletObjectDampingAngular);
btObject->getRigidBody()->setDeactivationTime(bulletConfig->bulletObjectDeactivation);
@@ -233,7 +233,7 @@ namespace SimDynamics
auto friction = o->getSceneObject()->getPhysics().friction;
btObject->getRigidBody()->setCollisionFlags(btColFlag);
btObject->getRigidBody()->setRestitution(bulletConfig->bulletObjectRestitution);
- btObject->getRigidBody()->setFriction(friction>0.0?friction:bulletConfig->bulletObjectFriction);
+ btObject->getRigidBody()->setFriction(friction > 0.0 ? friction : bulletConfig->bulletObjectFriction);
btObject->getRigidBody()->setDamping(bulletConfig->bulletObjectDampingLinear, bulletConfig->bulletObjectDampingAngular);
btObject->getRigidBody()->setDeactivationTime(bulletConfig->bulletObjectDeactivation);//5.0f);
btObject->getRigidBody()->setSleepingThresholds(bulletConfig->bulletObjectSleepingThresholdLinear, bulletConfig->bulletObjectSleepingThresholdAngular); //0.05f, 0.05f);
@@ -284,7 +284,9 @@ namespace SimDynamics
MutexLockPtr lock = getScopedLock();
if (friction <= 0)
+ {
friction = bulletConfig->bulletObjectFriction;
+ }
DynamicsEngine::createFloorPlane(pos, up);
float size = float(floorExtendMM);//50000.0f; // mm
float sizeSmall = float(floorDepthMM);// 500.0f;
@@ -439,12 +441,12 @@ namespace SimDynamics
std::vector<BulletRobot::LinkInfo> links = btRobot->getLinks();
std::vector<DynamicsObjectPtr> nodes = btRobot->getDynamicsRobotNodes();
- for (const auto & node : nodes)
+ for (const auto& node : nodes)
{
addObject(node);
}
- for (auto & link : links)
+ for (auto& link : links)
{
addLink(link);
}
@@ -473,7 +475,7 @@ namespace SimDynamics
e->updateRobots(timeStep);
- for (auto & callback : e->callbacks)
+ for (auto& callback : e->callbacks)
{
callback.first(callback.second, timeStep);
}
@@ -482,7 +484,7 @@ namespace SimDynamics
void BulletEngine::updateRobots(btScalar timeStep)
{
- for (auto & robot : robots)
+ for (auto& robot : robots)
{
robot->actuateJoints(static_cast<double>(timeStep));
robot->updateSensors(static_cast<double>(timeStep));
@@ -504,12 +506,12 @@ namespace SimDynamics
std::vector<DynamicsObjectPtr> nodes = btRobot->getDynamicsRobotNodes();
- for (auto & link : links)
+ for (auto& link : links)
{
removeLink(link);
}
- for (const auto & node : nodes)
+ for (const auto& node : nodes)
{
removeObject(node);
}
@@ -526,7 +528,7 @@ namespace SimDynamics
dynamicsWorld->addConstraint(l.joint.get(), true);
#endif
- for (auto & disabledCollisionPair : l.disabledCollisionPairs)
+ for (auto& disabledCollisionPair : l.disabledCollisionPairs)
{
this->disableCollision(static_cast<DynamicsObject*>(disabledCollisionPair.first.get()), static_cast<DynamicsObject*>(disabledCollisionPair.second.get()));
}
@@ -621,9 +623,13 @@ namespace SimDynamics
btManifoldPoint& pt = contactManifold->getContactPoint(j);
DynamicsContactInfo i;
if (dynObjA)
+ {
i.objectAName = dynObjA->getName();
+ }
if (dynObjB)
+ {
i.objectBName = dynObjB->getName();
+ }
const btVector3& ptA = pt.getPositionWorldOnA();
const btVector3& ptB = pt.getPositionWorldOnB();
const btVector3& normalOnB = pt.m_normalWorldOnB;
@@ -724,7 +730,7 @@ namespace SimDynamics
std::vector<BulletRobot::LinkInfo> links = br->getLinks(bo);
- for (auto & link : links)
+ for (auto& link : links)
{
removeLink(link);
}
@@ -743,7 +749,7 @@ namespace SimDynamics
} // namespace SimDynamics
#include <chrono>
-void SimDynamics::BulletEngine::updateAction(btCollisionWorld */*collisionWorld*/, btScalar deltaTimeStep)
+void SimDynamics::BulletEngine::updateAction(btCollisionWorld* /*collisionWorld*/, btScalar deltaTimeStep)
{
auto start = std::chrono::system_clock::now();
// apply lock
@@ -751,14 +757,14 @@ void SimDynamics::BulletEngine::updateAction(btCollisionWorld */*collisionWorld*
updateRobots(deltaTimeStep);
- for (auto & callback : callbacks)
+ for (auto& callback : callbacks)
{
callback.first(callback.second, deltaTimeStep);
}
- std::chrono::duration<double> diff = (std::chrono::system_clock::now()-start);
-// cout << "duration: " << diff.count() << endl;
+ std::chrono::duration<double> diff = (std::chrono::system_clock::now() - start);
+ // cout << "duration: " << diff.count() << endl;
}
-void SimDynamics::BulletEngine::debugDraw(btIDebugDraw */*debugDrawer*/)
+void SimDynamics::BulletEngine::debugDraw(btIDebugDraw* /*debugDrawer*/)
{
}
diff --git a/SimDynamics/DynamicsEngine/BulletEngine/BulletRobot.cpp b/SimDynamics/DynamicsEngine/BulletEngine/BulletRobot.cpp
index e93f3af10..0fd1f45ad 100644
--- a/SimDynamics/DynamicsEngine/BulletEngine/BulletRobot.cpp
+++ b/SimDynamics/DynamicsEngine/BulletEngine/BulletRobot.cpp
@@ -25,7 +25,7 @@ namespace SimDynamics
BulletRobot::BulletRobot(VirtualRobot::RobotPtr rob, bool enableJointMotors)
: DynamicsRobot(rob)
- // should be enough for up to 10ms/step
+ // should be enough for up to 10ms/step
, bulletMaxMotorImulse(30 * BulletObject::ScaleFactor)
{
ignoreTranslationalJoints = false;
@@ -47,7 +47,8 @@ namespace SimDynamics
if (!hasLink(node))
{
VR_WARNING << "Ignoring FT sensor " << ftSensor->getName() << ". Must be linked to a joint" << endl;
- } else
+ }
+ else
{
const LinkInfo& link = getLink(node);
enableForceTorqueFeedback(link);
@@ -58,7 +59,7 @@ namespace SimDynamics
}
BulletRobot::~BulletRobot()
- = default;
+ = default;
@@ -88,7 +89,7 @@ namespace SimDynamics
RobotNodePtr joint;
//RobotNodePtr joint2;
- if ( (rn->isTranslationalJoint() && !ignoreTranslationalJoints) || rn->isRotationalJoint())
+ if ((rn->isTranslationalJoint() && !ignoreTranslationalJoints) || rn->isRotationalJoint())
{
joint = rn;
}
@@ -97,12 +98,13 @@ namespace SimDynamics
while (parent && !bodyA)
{
- if (!parent->getCollisionModel() && ( (parent->isTranslationalJoint() && !ignoreTranslationalJoints) || parent->isRotationalJoint()))
+ if (!parent->getCollisionModel() && ((parent->isTranslationalJoint() && !ignoreTranslationalJoints) || parent->isRotationalJoint()))
{
if (!joint)
{
joint = parent;
- } else
+ }
+ else
{
VR_WARNING << "No body between " << parent->getName() << " and " << joint->getName() << ", skipping " << parent->getName() << endl;
}
@@ -172,7 +174,7 @@ namespace SimDynamics
BulletObjectPtr drn1 = boost::dynamic_pointer_cast<BulletObject>(dynamicRobotNodes[rn]);
VR_ASSERT(drn1);
- for (const auto & i : ic)
+ for (const auto& i : ic)
{
RobotNodePtr rn2 = robot->getRobotNode(i);
@@ -243,22 +245,22 @@ namespace SimDynamics
tr2.getOrigin() = pivot2;
boost::shared_ptr<btHingeConstraint> hinge(new btHingeConstraint(*btBody1, *btBody2, tr1, tr2, true));
-// hinge->setDbgDrawSize(0.15);
+ // hinge->setDbgDrawSize(0.15);
// todo: check effects of parameters...
-// hinge->setParam(BT_CONSTRAINT_STOP_ERP, 2.0f);
-// hinge->setParam(BT_CONSTRAINT_ERP, 2.f);
+ // hinge->setParam(BT_CONSTRAINT_STOP_ERP, 2.0f);
+ // hinge->setParam(BT_CONSTRAINT_ERP, 2.f);
-// hinge->setParam(BT_CONSTRAINT_CFM,0);
-// hinge->setParam(BT_CONSTRAINT_STOP_CFM,0.f);
+ // hinge->setParam(BT_CONSTRAINT_CFM,0);
+ // hinge->setParam(BT_CONSTRAINT_STOP_CFM,0.f);
//hinge->setLimit(limMin,limMax);//,btScalar(1.0f));
-// hinge->setParam(BT_CONSTRAINT_CFM,0.0f);
+ // hinge->setParam(BT_CONSTRAINT_CFM,0.0f);
hinge->setLimit(btScalar(limMinBT), btScalar(limMaxBT));
return hinge;
}
- boost::shared_ptr<btTypedConstraint> BulletRobot::createTranslationalJoint(boost::shared_ptr<btRigidBody> btBody1, boost::shared_ptr<btRigidBody> btBody2, Eigen::Matrix4f &coordSystemNode1, Eigen::Matrix4f &coordSystemNode2, Eigen::Matrix4f& anchor_inNode1, Eigen::Matrix4f& anchor_inNode2, Eigen::Vector3f &directionLocal, Eigen::Matrix4f& coordSystemJoint, double limMinBT, double limMaxBT)
+ boost::shared_ptr<btTypedConstraint> BulletRobot::createTranslationalJoint(boost::shared_ptr<btRigidBody> btBody1, boost::shared_ptr<btRigidBody> btBody2, Eigen::Matrix4f& coordSystemNode1, Eigen::Matrix4f& coordSystemNode2, Eigen::Matrix4f& anchor_inNode1, Eigen::Matrix4f& anchor_inNode2, Eigen::Vector3f& directionLocal, Eigen::Matrix4f& coordSystemJoint, double limMinBT, double limMaxBT)
{
// we need to align coord system joint, so that z-axis is rotation axis
@@ -336,9 +338,9 @@ namespace SimDynamics
boost::shared_ptr<btRigidBody> btBody2 = drn2->getRigidBody();
VR_ASSERT(btBody1);
VR_ASSERT(btBody2);
- DynamicsWorld::GetWorld()->getEngine()->disableCollision(drn1.get(),drn2.get());
+ DynamicsWorld::GetWorld()->getEngine()->disableCollision(drn1.get(), drn2.get());
- if (joint->getJointValue()!=0.0f)
+ if (joint->getJointValue() != 0.0f)
{
VR_WARNING << joint->getName() << ": joint values != 0 may produce a wrong setup, setting joint value to zero" << endl;
joint->setJointValue(0);
@@ -430,7 +432,9 @@ namespace SimDynamics
// activate joint feedback for translational joints (somehow, the jumping positions issue seems sometimes to be solved with this?!)
if (joint && joint->isTranslationalJoint() && !ignoreTranslationalJoints)
+ {
enableForceTorqueFeedback(i);
+ }
// disable col model
i.disabledCollisionPairs.push_back(
@@ -460,7 +464,7 @@ namespace SimDynamics
{
MutexLockPtr lock = getScopedLock();
- for (auto & link : links)
+ for (auto& link : links)
{
if (link.nodeA == node1 && link.nodeB == node2)
{
@@ -512,7 +516,9 @@ namespace SimDynamics
VelocityMotorController& controller = actuationControllers[it->first];
if (!it->second.node->isRotationalJoint() && !it->second.node->isTranslationalJoint())
+ {
continue;
+ }
LinkInfo link = getLink(it->second.node);
@@ -533,64 +539,64 @@ namespace SimDynamics
slider->setPoweredLinMotor(false);
continue;
}
- }
+ }
if (actuation.modes.torque)
{
// TORQUE MODES
- if (it->second.node->isRotationalJoint())
- {
- boost::shared_ptr<btHingeConstraint> hinge = boost::dynamic_pointer_cast<btHingeConstraint>(link.joint);
- auto torque = it->second.jointTorqueTarget;
- btVector3 hingeAxisLocalA =
- hinge->getFrameOffsetA().getBasis().getColumn(2);
- btVector3 hingeAxisLocalB =
- hinge->getFrameOffsetB().getBasis().getColumn(2);
- btVector3 hingeAxisWorldA =
- hinge->getRigidBodyA().getWorldTransform().getBasis() *
- hingeAxisLocalA;
- btVector3 hingeAxisWorldB =
- hinge->getRigidBodyB().getWorldTransform().getBasis() *
- hingeAxisLocalB;
-
-
- int sign = torque > 0?1:-1;
- torque = std::min<double>(fabs(torque), it->first->getMaxTorque()) * sign;
-
- btVector3 hingeTorqueA = - torque * hingeAxisWorldA;
- btVector3 hingeTorqueB = torque * hingeAxisWorldB;
- hinge->enableMotor(false);
- hinge->getRigidBodyA().applyTorque(hingeTorqueA);
- hinge->getRigidBodyB().applyTorque(hingeTorqueB);
- }
- else
- {
- // not yet tested!
- boost::shared_ptr<btSliderConstraint> slider = boost::dynamic_pointer_cast<btSliderConstraint>(link.joint);
- auto torque = it->second.jointTorqueTarget;
- btVector3 sliderAxisLocalA =
- slider->getFrameOffsetA().getBasis().getColumn(2);
- btVector3 sliderAxisLocalB =
- slider->getFrameOffsetB().getBasis().getColumn(2);
- btVector3 sliderAxisWorldA =
- slider->getRigidBodyA().getWorldTransform().getBasis() *
- sliderAxisLocalA;
- btVector3 sliderAxisWorldB =
- slider->getRigidBodyB().getWorldTransform().getBasis() *
- sliderAxisLocalB;
-
-
- int sign = torque > 0?1:-1;
- torque = std::min<double>(fabs(torque), it->first->getMaxTorque()) * sign;
-
- btVector3 sliderTorqueA = - torque * sliderAxisWorldA;
- btVector3 sliderTorqueB = torque * sliderAxisWorldB;
- slider->setPoweredLinMotor(false);
- slider->btTypedConstraint::getRigidBodyA().applyCentralForce(sliderTorqueA);
- slider->btTypedConstraint::getRigidBodyB().applyCentralForce(sliderTorqueB);
- }
+ if (it->second.node->isRotationalJoint())
+ {
+ boost::shared_ptr<btHingeConstraint> hinge = boost::dynamic_pointer_cast<btHingeConstraint>(link.joint);
+ auto torque = it->second.jointTorqueTarget;
+ btVector3 hingeAxisLocalA =
+ hinge->getFrameOffsetA().getBasis().getColumn(2);
+ btVector3 hingeAxisLocalB =
+ hinge->getFrameOffsetB().getBasis().getColumn(2);
+ btVector3 hingeAxisWorldA =
+ hinge->getRigidBodyA().getWorldTransform().getBasis() *
+ hingeAxisLocalA;
+ btVector3 hingeAxisWorldB =
+ hinge->getRigidBodyB().getWorldTransform().getBasis() *
+ hingeAxisLocalB;
+
+
+ int sign = torque > 0 ? 1 : -1;
+ torque = std::min<double>(fabs(torque), it->first->getMaxTorque()) * sign;
+
+ btVector3 hingeTorqueA = - torque * hingeAxisWorldA;
+ btVector3 hingeTorqueB = torque * hingeAxisWorldB;
+ hinge->enableMotor(false);
+ hinge->getRigidBodyA().applyTorque(hingeTorqueA);
+ hinge->getRigidBodyB().applyTorque(hingeTorqueB);
+ }
+ else
+ {
+ // not yet tested!
+ boost::shared_ptr<btSliderConstraint> slider = boost::dynamic_pointer_cast<btSliderConstraint>(link.joint);
+ auto torque = it->second.jointTorqueTarget;
+ btVector3 sliderAxisLocalA =
+ slider->getFrameOffsetA().getBasis().getColumn(2);
+ btVector3 sliderAxisLocalB =
+ slider->getFrameOffsetB().getBasis().getColumn(2);
+ btVector3 sliderAxisWorldA =
+ slider->getRigidBodyA().getWorldTransform().getBasis() *
+ sliderAxisLocalA;
+ btVector3 sliderAxisWorldB =
+ slider->getRigidBodyB().getWorldTransform().getBasis() *
+ sliderAxisLocalB;
+
+
+ int sign = torque > 0 ? 1 : -1;
+ torque = std::min<double>(fabs(torque), it->first->getMaxTorque()) * sign;
+
+ btVector3 sliderTorqueA = - torque * sliderAxisWorldA;
+ btVector3 sliderTorqueB = torque * sliderAxisWorldB;
+ slider->setPoweredLinMotor(false);
+ slider->btTypedConstraint::getRigidBodyA().applyCentralForce(sliderTorqueA);
+ slider->btTypedConstraint::getRigidBodyB().applyCentralForce(sliderTorqueB);
+ }
}
else if (actuation.modes.position || actuation.modes.velocity)
{
@@ -636,13 +642,13 @@ namespace SimDynamics
}*/
btScalar maxImpulse = bulletMaxMotorImulse;
-// controller.setCurrentVelocity(velActual);
+ // controller.setCurrentVelocity(velActual);
if (it->second.node->getMaxTorque() > 0)
{
maxImpulse = it->second.node->getMaxTorque() * btScalar(dt) * BulletObject::ScaleFactor * BulletObject::ScaleFactor * BulletObject::ScaleFactor;
//cout << "node:" << it->second.node->getName() << ", max impulse: " << maxImpulse << ", dt:" << dt << ", maxImp:" << it->second.node->getMaxTorque() << endl;
}
- if(fabs(targetVelocity) > 0.00001)
+ if (fabs(targetVelocity) > 0.00001)
{
link.dynNode1->getRigidBody()->activate();
link.dynNode2->getRigidBody()->activate();
@@ -672,7 +678,7 @@ namespace SimDynamics
boost::unordered_set<std::string> contactObjectNames;
// this seems stupid and it is, but that is abstract interfaces for you.
- for (auto & sensor : sensors)
+ for (auto& sensor : sensors)
{
ContactSensorPtr contactSensor = boost::dynamic_pointer_cast<ContactSensor>(sensor);
@@ -686,7 +692,7 @@ namespace SimDynamics
std::vector<SimDynamics::DynamicsEngine::DynamicsContactInfo> contacts = world->getEngine()->getContacts();
boost::unordered_map<std::string, VirtualRobot::ContactSensor::ContactFrame> frameMap;
- for (auto & contact : contacts)
+ for (auto& contact : contacts)
{
if (contact.objectAName.empty() || contact.objectBName.empty())
{
@@ -724,7 +730,7 @@ namespace SimDynamics
}
// Update forces and torques
- for (auto & sensor : sensors)
+ for (auto& sensor : sensors)
{
ForceTorqueSensorPtr ftSensor = boost::dynamic_pointer_cast<ForceTorqueSensor>(sensor);
@@ -759,7 +765,7 @@ namespace SimDynamics
{
MutexLockPtr lock = getScopedLock();
- for (auto & link : links)
+ for (auto& link : links)
{
if (link.nodeJoint == node /*|| links[i].nodeJoint2 == node*/)
{
@@ -775,7 +781,7 @@ namespace SimDynamics
{
MutexLockPtr lock = getScopedLock();
- for (auto & link : links)
+ for (auto& link : links)
{
if ((link.dynNode1 == object1 && link.dynNode2 == object2) || (link.dynNode1 == object2 && link.dynNode2 == object1))
{
@@ -792,7 +798,7 @@ namespace SimDynamics
MutexLockPtr lock = getScopedLock();
std::vector<BulletRobot::LinkInfo> result;
- for (auto & link : links)
+ for (auto& link : links)
{
if (link.nodeJoint == node /*|| links[i].nodeJoint2 == node*/ || link.nodeA == node || link.nodeB == node)
{
@@ -808,7 +814,7 @@ namespace SimDynamics
MutexLockPtr lock = getScopedLock();
std::vector<BulletRobot::LinkInfo> result;
- for (auto & link : links)
+ for (auto& link : links)
{
if (link.dynNode1 == node || link.dynNode2 == node)
{
@@ -965,7 +971,7 @@ namespace SimDynamics
return true; // not a failure, object is not attached
}
- for (const auto & l : ls)
+ for (const auto& l : ls)
{
res = res & removeLink(l);
}
@@ -978,7 +984,7 @@ namespace SimDynamics
{
MutexLockPtr lock = getScopedLock();
- for (auto & link : links)
+ for (auto& link : links)
{
if (link.nodeJoint == node /*|| links[i].nodeJoint2 == node*/)
{
@@ -1036,7 +1042,7 @@ namespace SimDynamics
}
else
{
- VR_ERROR << "Only Revolute and Prismatic joints implemented so far (node: " << node->getName() <<")..." << endl;
+ VR_ERROR << "Only Revolute and Prismatic joints implemented so far (node: " << node->getName() << ")..." << endl;
}
}
@@ -1442,7 +1448,7 @@ namespace SimDynamics
}
}
- void BulletRobot::enableForceTorqueFeedback(const LinkInfo& link , bool enable)
+ void BulletRobot::enableForceTorqueFeedback(const LinkInfo& link, bool enable)
{
MutexLockPtr lock = getScopedLock();
@@ -1534,7 +1540,7 @@ namespace SimDynamics
void BulletRobot::setMaximumMotorImpulse(double maxImpulse)
{
- bulletMaxMotorImulse = (btScalar)maxImpulse;
+ bulletMaxMotorImulse = (btScalar)maxImpulse;
}
double BulletRobot::getMaximumMotorImpulse() const
--
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