get rid of auto

5 files changed, 14 insertions, 12 deletions

diff --git a/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp b/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp
index 7b084af0e..a9b77e368 100644
--- a/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp
+++ b/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp
@@ -47,7 +47,7 @@ void btDeformableBackwardEulerObjective::multiply(const TVStack& x, TVStack& b)
         btSoftBody* psb = m_softBodies[i];
         for (int j = 0; j < psb->m_nodes.size(); ++j)
         {
-            const auto& node = psb->m_nodes[j];
+            const btSoftBody::Node& node = psb->m_nodes[j];
             b[counter] += (node.m_im == 0) ? btVector3(0,0,0) : x[counter] / node.m_im;
             ++counter;
         }
diff --git a/src/BulletSoftBody/btDeformableContactProjection.cpp b/src/BulletSoftBody/btDeformableContactProjection.cpp
index 734fbb451..4ae07290c 100644
--- a/src/BulletSoftBody/btDeformableContactProjection.cpp
+++ b/src/BulletSoftBody/btDeformableContactProjection.cpp
@@ -8,6 +8,7 @@
 #include "btDeformableContactProjection.h"
 #include "btDeformableRigidDynamicsWorld.h"
 #include <algorithm>
+#include <math.h>
 static void findJacobian(const btMultiBodyLinkCollider* multibodyLinkCol,
                          btMultiBodyJacobianData& jacobianData,
                          const btVector3& contact_point,
diff --git a/src/BulletSoftBody/btDeformableMassSpringForce.h b/src/BulletSoftBody/btDeformableMassSpringForce.h
index c9fca134c..549985321 100644
--- a/src/BulletSoftBody/btDeformableMassSpringForce.h
+++ b/src/BulletSoftBody/btDeformableMassSpringForce.h
@@ -37,9 +37,9 @@ public:
             const btSoftBody* psb = m_softBodies[i];
             for (int j = 0; j < psb->m_links.size(); ++j)
             {
-                const auto& link = psb->m_links[j];
-                const auto node1 = link.m_n[0];
-                const auto node2 = link.m_n[1];
+                const btSoftBody::Link& link = psb->m_links[j];
+                btSoftBody::Node* node1 = link.m_n[0];
+                btSoftBody::Node* node2 = link.m_n[1];
                 size_t id1 = m_indices->at(node1);
                 size_t id2 = m_indices->at(node2);
                 
@@ -62,9 +62,9 @@ public:
             const btSoftBody* psb = m_softBodies[i];
             for (int j = 0; j < psb->m_links.size(); ++j)
             {
-                const auto& link = psb->m_links[j];
-                const auto node1 = link.m_n[0];
-                const auto node2 = link.m_n[1];
+                const btSoftBody::Link& link = psb->m_links[j];
+                btSoftBody::Node* node1 = link.m_n[0];
+                btSoftBody::Node* node2 = link.m_n[1];
                 btScalar kLST = link.Feature::m_material->m_kLST;
                 btScalar r = link.m_rl;
                 size_t id1 = m_indices->at(node1);
@@ -89,9 +89,9 @@ public:
             const btSoftBody* psb = m_softBodies[i];
             for (int j = 0; j < psb->m_links.size(); ++j)
             {
-                const auto& link = psb->m_links[j];
-                const auto node1 = link.m_n[0];
-                const auto node2 = link.m_n[1];
+                const btSoftBody::Link& link = psb->m_links[j];
+                btSoftBody::Node* node1 = link.m_n[0];
+                btSoftBody::Node* node2 = link.m_n[1];
                 btScalar k_damp = psb->m_dampingCoefficient;
                 size_t id1 = m_indices->at(node1);
                 size_t id2 = m_indices->at(node2);
diff --git a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp
index 0b8807366..78c5f24a9 100644
--- a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp
+++ b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp
@@ -136,7 +136,7 @@ void btDeformableRigidDynamicsWorld::integrateTransforms(btScalar dt)
         btSoftBody* psb = m_softBodies[i];
         for (int j = 0; j < psb->m_nodes.size(); ++j)
         {
-            auto& node = psb->m_nodes[j];
+            btSoftBody::Node& node = psb->m_nodes[j];
             node.m_x  =  node.m_q + dt * node.m_v;
         }
     }
diff --git a/src/BulletSoftBody/btSoftBodyInternals.h b/src/BulletSoftBody/btSoftBodyInternals.h
index 5756fffc7..9c732250b 100644
--- a/src/BulletSoftBody/btSoftBodyInternals.h
+++ b/src/BulletSoftBody/btSoftBodyInternals.h
@@ -28,6 +28,7 @@ subject to the following restrictions:
 #include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
 #include "BulletDynamics/Featherstone/btMultiBodyConstraint.h"
 #include <string.h>  //for memset
+#include <math.h>
 static void findJacobian(const btMultiBodyLinkCollider* multibodyLinkCol,
                          btMultiBodyJacobianData& jacobianData,
                          const btVector3& contact_point,
@@ -954,7 +955,7 @@ struct btSoftColliders
                     {
                         // resolve contact at x_n
                         psb->checkContact(m_colObj1Wrap, n.m_q, m, c.m_cti, /*predicted = */ false);
-                        auto& cti = c.m_cti;
+                        btSoftBody::sCti& cti = c.m_cti;
                         c.m_node = &n;
                         const btScalar fc = psb->m_cfg.kDF * m_colObj1Wrap->getCollisionObject()->getFriction();
                         c.m_c2 = ima * psb->m_sst.sdt;