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Fix compilation errors and warnings on Windows #516

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merged 5 commits into from
Oct 11, 2015
Merged

Fix compilation errors and warnings on Windows #516

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ba06493
Use Joint::setPositionLimitEnforced(~) instead obsolute Joint::setPos…
jslee02 Oct 8, 2015
81d6b35
Define std::nextafter(~) for Visual Studio
jslee02 Oct 8, 2015
f755f95
Remove duplicated header inclusion in tutorialCollisions[-Finished].cpp
jslee02 Oct 8, 2015
d9a3e33
Remove macros of some c99 library functions in odeconfig.h
jslee02 Oct 9, 2015
96f7bff
Remove own function definition for std::nextafter(~)
jslee02 Oct 9, 2015
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6 changes: 0 additions & 6 deletions dart/lcpsolver/common.h
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Original file line number Diff line number Diff line change
Expand Up @@ -167,10 +167,6 @@ typedef dReal dQuaternion[4];
#define dCopySign(a,b) ((dReal)copysignf(a,b)) /* copy value sign */
#define dNextAfter(x, y) nextafterf(x, y) /* next value after */

#if defined(_ODE__NEXTAFTERF_REQUIRED)
float _nextafterf(float x, float y);
#endif

#ifdef HAVE___ISNANF
#define dIsNan(x) (__isnanf(x))
#elif defined(HAVE__ISNANF)
Expand Down Expand Up @@ -206,8 +202,6 @@ float _nextafterf(float x, float y);
#define dCopySign(a,b) (copysign((a),(b)))
#define dNextAfter(x, y) nextafter(x, y)

#undef _ODE__NEXTAFTERF_REQUIRED

#ifdef HAVE___ISNAN
#define dIsNan(x) (__isnan(x))
#elif defined(HAVE__ISNAN)
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12 changes: 0 additions & 12 deletions dart/lcpsolver/odeconfig.h
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Expand Up @@ -55,18 +55,6 @@
typedef unsigned char uint8;
#endif

/* Visual C does not define these functions */
#if defined(_MSC_VER)
#define copysignf(x, y) ((float)_copysign(x, y))
#define copysign(x, y) _copysign(x, y)
#define nextafterf(x, y) _nextafterf(x, y)
#define nextafter(x, y) _nextafter(x, y)
#if !defined(_WIN64)
#define _ODE__NEXTAFTERF_REQUIRED
#endif
#endif



/* Define the dInfinity macro */
#ifdef INFINITY
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2 changes: 1 addition & 1 deletion tutorials/tutorialBiped-Finished.cpp
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Expand Up @@ -309,7 +309,7 @@ SkeletonPtr loadBiped()

// Set joint limits
for(size_t i = 0; i < biped->getNumJoints(); ++i)
biped->getJoint(i)->setPositionLimited(true);
biped->getJoint(i)->setPositionLimitEnforced(true);

// Enable self collision check but ignore adjacent bodies
biped->enableSelfCollision();
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2 changes: 1 addition & 1 deletion tutorials/tutorialCollisions-Finished.cpp
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Expand Up @@ -33,9 +33,9 @@
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/

#include <random>
#include "dart/dart.h"
#include <random>

const double default_shape_density = 1000; // kg/m^3
const double default_shape_height = 0.1; // m
Expand Down
2 changes: 1 addition & 1 deletion tutorials/tutorialCollisions.cpp
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Expand Up @@ -33,9 +33,9 @@
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/

#include <random>
#include "dart/dart.h"
#include <random>

const double default_shape_density = 1000; // kg/m^3
const double default_shape_height = 0.1; // m
Expand Down