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fixes for compilation on Visual C++ for Python 9.0

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bump up to PyBullet 2.6.9
This commit is contained in:
Erwin Coumans
2020-03-17 17:10:47 -07:00
parent 9c53c52847
commit d31c248751
10 changed files with 51836 additions and 51848 deletions
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30
examples/SharedMemory/plugins/stablePDPlugin/MathUtil.cpp
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@@ -292,11 +292,6 @@ void cMathUtil::EulerToAxisAngle(const tVector& euler, tVector& out_axis, double
}
}
tVector cMathUtil::AxisAngleToEuler(const tVector& axis, double theta)
{
tQuaternion q = AxisAngleToQuaternion(axis, theta);
return QuaternionToEuler(q);
}
tMatrix cMathUtil::DirToRotMat(const tVector& dir, const tVector& up)
{
@@ -342,29 +337,6 @@ tQuaternion cMathUtil::EulerToQuaternion(const tVector& euler)
return AxisAngleToQuaternion(axis, theta);
}
tVector cMathUtil::QuaternionToEuler(const tQuaternion& q)
{
double sinr = 2.0 * (q.w() * q.x() + q.y() * q.z());
double cosr = 1.0 - 2.0 * (q.x() * q.x() + q.y() * q.y());
double x = std::atan2(sinr, cosr);
double sinp = 2.0 * (q.w() * q.y() - q.z() * q.x());
double y = 0;
if (fabs(sinp) >= 1)
{
y = copysign(M_PI / 2, sinp); // use 90 degrees if out of range
}
else
{
y = asin(sinp);
}
double siny = 2.0 * (q.w() * q.z() + q.x() * q.y());
double cosy = 1.0 - 2.0 * (q.y() * q.y() + q.z() * q.z());
double z = std::atan2(siny, cosy);
return tVector(x, y, z, 0);
}
tQuaternion cMathUtil::AxisAngleToQuaternion(const tVector& axis, double theta)
{
@@ -746,7 +718,7 @@ void cMathUtil::ButterworthFilter(double dt, double cutoff, Eigen::VectorXd& out
int n = static_cast<int>(out_x.size());
double wc = std::tan(cutoff * M_PI / sampling_rate);
double k1 = std::sqrt(2) * wc;
double k1 = std::sqrt(2.0) * wc;
double k2 = wc * wc;
double a = k2 / (1 + k1 + k2);
double b = 2 * a;