Merge remote-tracking branch 'bp/master'

17 files changed, 65 insertions, 38 deletions

diff --git a/examples/DynamicControlDemo/MotorDemo.cpp b/examples/DynamicControlDemo/MotorDemo.cpp
index 0b1885911..850cd6c5d 100644
--- a/examples/DynamicControlDemo/MotorDemo.cpp
+++ b/examples/DynamicControlDemo/MotorDemo.cpp
@@ -18,6 +18,8 @@ subject to the following restrictions:
 #include "LinearMath/btIDebugDraw.h"
 #include "MotorDemo.h"
 
+#include <cmath>
+
 #include "LinearMath/btAlignedObjectArray.h"
 class btBroadphaseInterface;
 class btCollisionShape;
@@ -158,8 +160,8 @@ public:
 		for (i = 0; i < NUM_LEGS; i++)
 		{
 			float fAngle = 2 * M_PI * i / NUM_LEGS;
-			float fSin = sin(fAngle);
-			float fCos = cos(fAngle);
+			float fSin = std::sin(fAngle);
+			float fCos = std::cos(fAngle);
 
 			transform.setIdentity();
 			btVector3 vBoneOrigin = btVector3(btScalar(fCos * (fBodySize + 0.5 * fLegLength)), btScalar(fHeight), btScalar(fSin * (fBodySize + 0.5 * fLegLength)));
@@ -197,8 +199,8 @@ public:
 		for (i = 0; i < NUM_LEGS; i++)
 		{
 			float fAngle = 2 * M_PI * i / NUM_LEGS;
-			float fSin = sin(fAngle);
-			float fCos = cos(fAngle);
+			float fSin = std::sin(fAngle);
+			float fCos = std::cos(fAngle);
 
 			// hip joints
 			localA.setIdentity();
diff --git a/examples/Evolution/NN3DWalkers.cpp b/examples/Evolution/NN3DWalkers.cpp
index d893c8bc6..6ac7d8a23 100755
--- a/examples/Evolution/NN3DWalkers.cpp
+++ b/examples/Evolution/NN3DWalkers.cpp
@@ -15,6 +15,8 @@ subject to the following restrictions:
 
 #include "NN3DWalkers.h"
 
+#include <cmath>
+
 #include "btBulletDynamicsCommon.h"
 
 #include "LinearMath/btIDebugDraw.h"
@@ -282,8 +284,8 @@ public:
 		for (i = 0; i < NUM_LEGS; i++)
 		{
 			float footAngle = 2 * SIMD_PI * i / NUM_LEGS;  // legs are uniformly distributed around the root body
-			float footYUnitPosition = sin(footAngle);      // y position of the leg on the unit circle
-			float footXUnitPosition = cos(footAngle);      // x position of the leg on the unit circle
+			float footYUnitPosition = std::sin(footAngle); // y position of the leg on the unit circle
+			float footXUnitPosition = std::cos(footAngle); // x position of the leg on the unit circle
 
 			transform.setIdentity();
 			btVector3 legCOM = btVector3(btScalar(footXUnitPosition * (gRootBodyRadius + 0.5 * gLegLength)), btScalar(rootAboveGroundHeight), btScalar(footYUnitPosition * (gRootBodyRadius + 0.5 * gLegLength)));
@@ -1017,7 +1019,7 @@ void NN3DWalkersExample::updateEvaluations(const btScalar timeSinceLastTick)
 						}
 
 						// apply the activation function
-						targetAngle = (tanh(targetAngle) + 1.0f) * 0.5f;
+						targetAngle = (std::tanh(targetAngle) + 1.0f) * 0.5f;
 					}
 					btScalar targetLimitAngle = hingeC->getLowerLimit() + targetAngle * (hingeC->getUpperLimit() - hingeC->getLowerLimit());
 					btScalar currentAngle = hingeC->getHingeAngle();
diff --git a/examples/ExampleBrowser/GL_ShapeDrawer.cpp b/examples/ExampleBrowser/GL_ShapeDrawer.cpp
index 81617ad29..b6419a5b4 100644
--- a/examples/ExampleBrowser/GL_ShapeDrawer.cpp
+++ b/examples/ExampleBrowser/GL_ShapeDrawer.cpp
@@ -48,6 +48,8 @@ subject to the following restrictions:
 
 #include <stdio.h>  //printf debugging
 
+#include <cmath>
+
 #if defined(BT_USE_DOUBLE_PRECISION)
 #define btglLoadMatrix glLoadMatrixd
 #define btglMultMatrix glMultMatrixd
@@ -149,19 +151,19 @@ void GL_ShapeDrawer::drawSphere(btScalar radius, int lats, int longs)
 	for (i = 0; i <= lats; i++)
 	{
 		btScalar lat0 = SIMD_PI * (-btScalar(0.5) + (btScalar)(i - 1) / lats);
-		btScalar z0 = radius * sin(lat0);
-		btScalar zr0 = radius * cos(lat0);
+		btScalar z0 = radius * std::sin(lat0);
+		btScalar zr0 = radius * std::cos(lat0);
 
 		btScalar lat1 = SIMD_PI * (-btScalar(0.5) + (btScalar)i / lats);
-		btScalar z1 = radius * sin(lat1);
-		btScalar zr1 = radius * cos(lat1);
+		btScalar z1 = radius * std::sin(lat1);
+		btScalar zr1 = radius * std::cos(lat1);
 
 		glBegin(GL_QUAD_STRIP);
 		for (j = 0; j <= longs; j++)
 		{
 			btScalar lng = 2 * SIMD_PI * (btScalar)(j - 1) / longs;
-			btScalar x = cos(lng);
-			btScalar y = sin(lng);
+			btScalar x = std::cos(lng);
+			btScalar y = std::sin(lng);
 			glNormal3f(x * zr1, y * zr1, z1);
 			glVertex3f(x * zr1, y * zr1, z1);
 			glNormal3f(x * zr0, y * zr0, z0);
@@ -906,4 +908,4 @@ void GL_ShapeDrawer::drawScene(const btDiscreteDynamicsWorld* dynamicsWorld, boo
 		glDisable(GL_CULL_FACE);
 		drawSceneInternal(dynamicsWorld, 0, cameraUpAxis);
 	}
-}
\ No newline at end of file
+}
diff --git a/examples/ExtendedTutorials/MultiPendulum.cpp b/examples/ExtendedTutorials/MultiPendulum.cpp
index f10ebb29b..3e0a7feba 100644
--- a/examples/ExtendedTutorials/MultiPendulum.cpp
+++ b/examples/ExtendedTutorials/MultiPendulum.cpp
@@ -15,8 +15,9 @@
 
 #include "MultiPendulum.h"
 
-#include <vector>  // TODO: Should I use another data structure?
+#include <cmath>
 #include <iterator>
+#include <vector>  // TODO: Should I use another data structure?
 
 #include "btBulletDynamicsCommon.h"
 #include "LinearMath/btVector3.h"
@@ -159,7 +160,7 @@ void MultiPendulumExample::initPhysics()
 		m_collisionShapes.push_back(pendulumShape);
 
 		// create multi-pendulum
-		createMultiPendulum(pendulumShape, floor(gPendulaQty), position,
+		createMultiPendulum(pendulumShape, std::floor(gPendulaQty), position,
 							gInitialPendulumLength, pendulumMass);
 	}
 
diff --git a/examples/ExtendedTutorials/NewtonsCradle.cpp b/examples/ExtendedTutorials/NewtonsCradle.cpp
index eae300a7e..ed1645e7d 100644
--- a/examples/ExtendedTutorials/NewtonsCradle.cpp
+++ b/examples/ExtendedTutorials/NewtonsCradle.cpp
@@ -15,8 +15,9 @@
 
 #include "NewtonsCradle.h"
 
-#include <vector>  // TODO: Should I use another data structure?
+#include <cmath>
 #include <iterator>
+#include <vector>  // TODO: Should I use another data structure?
 
 #include "btBulletDynamicsCommon.h"
 #include "LinearMath/btVector3.h"
@@ -158,7 +159,7 @@ void NewtonsCradleExample::initPhysics()
 		btSphereShape* pendulumShape = new btSphereShape(gSphereRadius);
 		m_collisionShapes.push_back(pendulumShape);
 
-		for (int i = 0; i < floor(gPendulaQty); i++)
+		for (int i = 0; i < std::floor(gPendulaQty); i++)
 		{
 			// create pendulum
 			createPendulum(pendulumShape, position, gInitialPendulumLength, pendulumMass);
diff --git a/examples/ExtendedTutorials/NewtonsRopeCradle.cpp b/examples/ExtendedTutorials/NewtonsRopeCradle.cpp
index 7a7c74eaa..5c60c5590 100644
--- a/examples/ExtendedTutorials/NewtonsRopeCradle.cpp
+++ b/examples/ExtendedTutorials/NewtonsRopeCradle.cpp
@@ -15,8 +15,9 @@
 
 #include "NewtonsRopeCradle.h"
 
-#include <vector>  // TODO: Should I use another data structure?
+#include <cmath>
 #include <iterator>
+#include <vector>  // TODO: Should I use another data structure?
 
 #include "btBulletDynamicsCommon.h"
 #include "LinearMath/btVector3.h"
@@ -204,7 +205,7 @@ void NewtonsRopeCradleExample::initPhysics()
 		btSphereShape* pendulumShape = new btSphereShape(gSphereRadius);
 		m_collisionShapes.push_back(pendulumShape);
 
-		for (int i = 0; i < floor(gPendulaQty); i++)
+		for (int i = 0; i < std::floor(gPendulaQty); i++)
 		{
 			// create pendulum
 			createRopePendulum(pendulumShape, position, orientation, gInitialPendulumWidth,
diff --git a/examples/MultiThreadedDemo/MultiThreadedDemo.cpp b/examples/MultiThreadedDemo/MultiThreadedDemo.cpp
index 25294cc69..a9defe28a 100644
--- a/examples/MultiThreadedDemo/MultiThreadedDemo.cpp
+++ b/examples/MultiThreadedDemo/MultiThreadedDemo.cpp
@@ -22,6 +22,7 @@ subject to the following restrictions:
 
 #include <stdio.h>  //printf debugging
 #include <algorithm>
+#include <cmath>
 
 static btScalar gSliderStackRows = 1.0f;
 static btScalar gSliderStackColumns = 1.0f;
@@ -107,7 +108,7 @@ public:
 				// update ground
 				const float cyclesPerSecond = 1.0f;
 				m_groundMovePhase += cyclesPerSecond * deltaTime;
-				m_groundMovePhase -= floor(m_groundMovePhase);  // keep phase between 0 and 1
+				m_groundMovePhase -= std::floor(m_groundMovePhase);  // keep phase between 0 and 1
 				btTransform xf = m_groundStartXf;
 				float gndHOffset = btSin(m_groundMovePhase * SIMD_2_PI) * gSliderGroundHorizontalAmplitude;
 				float gndHVel = btCos(m_groundMovePhase * SIMD_2_PI) * gSliderGroundHorizontalAmplitude * cyclesPerSecond * SIMD_2_PI;  // d(gndHOffset)/dt
diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp
index 8eaac0a6f..945ddc552 100644
--- a/examples/SharedMemory/PhysicsClientC_API.cpp
+++ b/examples/SharedMemory/PhysicsClientC_API.cpp
@@ -1082,7 +1082,7 @@ B3_SHARED_API int b3GetLinkState(b3PhysicsClientHandle physClient, b3SharedMemor
 	int numLinks = status->m_sendActualStateArgs.m_numLinks;
 	b3Assert(linkIndex < numLinks);
 
-	if ((bodyIndex >= 0) && (linkIndex >= 0) && linkIndex < numLinks)
+	if (status->m_sendActualStateArgs.m_stateDetails != NULL && (bodyIndex >= 0) && (linkIndex >= 0) && linkIndex < numLinks)
 	{
 		b3Transform wlf, com, inertial;
 
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index e04686e81..0778d57df 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -1613,6 +1613,7 @@ struct PhysicsServerCommandProcessorInternalData
 
 	btScalar m_physicsDeltaTime;
 	btScalar m_numSimulationSubSteps;
+        btScalar m_simulationTimestamp;
 	btAlignedObjectArray<btMultiBodyJointFeedback*> m_multiBodyJointFeedbacks;
 	b3HashMap<btHashPtr, btInverseDynamics::MultiBodyTree*> m_inverseDynamicsBodies;
 	b3HashMap<btHashPtr, IKTrajectoryHelper*> m_inverseKinematicsHelpers;
@@ -7608,10 +7609,12 @@ bool PhysicsServerCommandProcessor::processForwardDynamicsCommand(const struct S
 	if (m_data->m_numSimulationSubSteps > 0)
 	{
 		numSteps = m_data->m_dynamicsWorld->stepSimulation(deltaTimeScaled, m_data->m_numSimulationSubSteps, m_data->m_physicsDeltaTime / m_data->m_numSimulationSubSteps);
+                m_data->m_simulationTimestamp += deltaTimeScaled;
 	}
 	else
 	{
 		numSteps = m_data->m_dynamicsWorld->stepSimulation(deltaTimeScaled, 0);
+                m_data->m_simulationTimestamp += deltaTimeScaled;
 	}
 
 	if (numSteps > 0)
@@ -8161,6 +8164,7 @@ bool PhysicsServerCommandProcessor::processRequestPhysicsSimulationParametersCom
 	serverCmd.m_simulationParameterResultArgs.m_allowedCcdPenetration = m_data->m_dynamicsWorld->getDispatchInfo().m_allowedCcdPenetration;
 	serverCmd.m_simulationParameterResultArgs.m_collisionFilterMode = m_data->m_broadphaseCollisionFilterCallback->m_filterMode;
 	serverCmd.m_simulationParameterResultArgs.m_deltaTime = m_data->m_physicsDeltaTime;
+        serverCmd.m_simulationParameterResultArgs.m_simulationTimestamp = m_data->m_simulationTimestamp;
 	serverCmd.m_simulationParameterResultArgs.m_contactBreakingThreshold = gContactBreakingThreshold;
 	serverCmd.m_simulationParameterResultArgs.m_contactSlop = m_data->m_dynamicsWorld->getSolverInfo().m_linearSlop;
 	serverCmd.m_simulationParameterResultArgs.m_enableSAT = m_data->m_dynamicsWorld->getDispatchInfo().m_enableSatConvex;
@@ -11718,7 +11722,9 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec, const
 			gSubStep = m_data->m_physicsDeltaTime;
 		}
 
-		int numSteps = m_data->m_dynamicsWorld->stepSimulation(dtInSec * simTimeScalingFactor, maxSteps, gSubStep);
+		btScalar deltaTimeScaled = dtInSec * simTimeScalingFactor;
+                int numSteps = m_data->m_dynamicsWorld->stepSimulation(deltaTimeScaled, maxSteps, gSubStep);
+                m_data->m_simulationTimestamp += deltaTimeScaled;
 		gDroppedSimulationSteps += numSteps > maxSteps ? numSteps - maxSteps : 0;
 
 		if (numSteps)
@@ -11797,7 +11803,8 @@ void PhysicsServerCommandProcessor::resetSimulation()
 {
 	//clean up all data
 
-	m_data->m_cachedVUrdfisualShapes.clear();
+	m_data->m_simulationTimestamp = 0;
+        m_data->m_cachedVUrdfisualShapes.clear();
 
 #ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
 	if (m_data && m_data->m_dynamicsWorld)
diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h
index 53d29c732..28e62700f 100644
--- a/examples/SharedMemory/SharedMemoryPublic.h
+++ b/examples/SharedMemory/SharedMemoryPublic.h
@@ -900,6 +900,7 @@ struct b3PluginArguments
 struct b3PhysicsSimulationParameters
 {
 	double m_deltaTime;
+        double m_simulationTimestamp;  // Output only timestamp of simulation.
 	double m_gravityAcceleration[3];
 	int m_numSimulationSubSteps;
 	int m_numSolverIterations;
diff --git a/examples/ThirdPartyLibs/BussIK/Misc.cpp b/examples/ThirdPartyLibs/BussIK/Misc.cpp
index c3a97c930..63649d7d4 100644
--- a/examples/ThirdPartyLibs/BussIK/Misc.cpp
+++ b/examples/ThirdPartyLibs/BussIK/Misc.cpp
@@ -21,6 +21,8 @@ subject to the following restrictions:
 */
 
 #include <math.h>
+
+#include <cmath>
 #include "LinearR3.h"
 
 #if 0
@@ -121,7 +123,7 @@ float unit(float vin[3], float vout[3])
 
 	if (dist > 0.0)
 	{
-		dist = sqrt(dist);
+		dist = std::sqrt(dist);
 		f = 1. / dist;
 		vout[0] = f * vin[0];
 		vout[1] = f * vin[1];
diff --git a/examples/ThirdPartyLibs/Gwen/BaseRender.cpp b/examples/ThirdPartyLibs/Gwen/BaseRender.cpp
index 36473fa1e..570bad016 100644
--- a/examples/ThirdPartyLibs/Gwen/BaseRender.cpp
+++ b/examples/ThirdPartyLibs/Gwen/BaseRender.cpp
@@ -11,6 +11,8 @@
 
 #include <math.h>
 
+#include <cmath>
+
 namespace Gwen
 {
 namespace Renderer
@@ -87,16 +89,16 @@ void Base::Translate(int& x, int& y)
 	x += m_RenderOffset.x;
 	y += m_RenderOffset.y;
 
-	x = ceil(((float)x) * m_fScale);
-	y = ceil(((float)y) * m_fScale);
+	x = std::ceil(((float)x) * m_fScale);
+	y = std::ceil(((float)y) * m_fScale);
 }
 
 void Base::Translate(Gwen::Rect& rect)
 {
 	Translate(rect.x, rect.y);
 
-	rect.w = ceil(((float)rect.w) * m_fScale);
-	rect.h = ceil(((float)rect.h) * m_fScale);
+	rect.w = std::ceil(((float)rect.w) * m_fScale);
+	rect.h = std::ceil(((float)rect.h) * m_fScale);
 }
 
 void Gwen::Renderer::Base::SetClipRegion(Gwen::Rect rect)
@@ -214,4 +216,4 @@ Gwen::Point Base::MeasureText(Gwen::Font* pFont, const Gwen::UnicodeString& text
 	return p;
 }
 }  // namespace Renderer
-}  // namespace Gwen
\ No newline at end of file
+}  // namespace Gwen
diff --git a/examples/ThirdPartyLibs/Gwen/Controls/Slider.cpp b/examples/ThirdPartyLibs/Gwen/Controls/Slider.cpp
index 2eb8104c5..85cba5859 100644
--- a/examples/ThirdPartyLibs/Gwen/Controls/Slider.cpp
+++ b/examples/ThirdPartyLibs/Gwen/Controls/Slider.cpp
@@ -5,6 +5,7 @@
 */
 
 #include <math.h>
+#include <cmath>
 #include "Gwen/Controls/Slider.h"
 
 using namespace Gwen;
@@ -68,7 +69,7 @@ void Slider::SetValueInternal(float val)
 {
 	if (m_bClampToNotches)
 	{
-		val = floor((val * (float)m_iNumNotches) + 0.5f);
+		val = std::floor((val * (float)m_iNumNotches) + 0.5f);
 		val /= (float)m_iNumNotches;
 	}
 
@@ -98,4 +99,4 @@ void Slider::RenderFocus(Gwen::Skin::Base* skin)
 	if (!IsTabable()) return;
 
 	skin->DrawKeyboardHighlight(this, GetRenderBounds(), 0);
-}
\ No newline at end of file
+}
diff --git a/examples/pybullet/gym/pybullet_envs/bullet/kuka_diverse_object_gym_env.py b/examples/pybullet/gym/pybullet_envs/bullet/kuka_diverse_object_gym_env.py
index 8ed46fbe0..c2c4d2acc 100644
--- a/examples/pybullet/gym/pybullet_envs/bullet/kuka_diverse_object_gym_env.py
+++ b/examples/pybullet/gym/pybullet_envs/bullet/kuka_diverse_object_gym_env.py
@@ -316,7 +316,7 @@ class KukaDiverseObjectEnv(KukaGymEnv):
     if test:
       urdf_pattern = os.path.join(self._urdfRoot, 'random_urdfs/*0/*.urdf')
     else:
-      urdf_pattern = os.path.join(self._urdfRoot, 'random_urdfs/*[^0]/*.urdf')
+      urdf_pattern = os.path.join(self._urdfRoot, 'random_urdfs/*[1-9]/*.urdf')
     found_object_directories = glob.glob(urdf_pattern)
     total_num_objects = len(found_object_directories)
     selected_objects = np.random.choice(np.arange(total_num_objects),
diff --git a/src/BulletDynamics/ConstraintSolver/btBatchedConstraints.cpp b/src/BulletDynamics/ConstraintSolver/btBatchedConstraints.cpp
index b51dfaad3..2a5efc649 100644
--- a/src/BulletDynamics/ConstraintSolver/btBatchedConstraints.cpp
+++ b/src/BulletDynamics/ConstraintSolver/btBatchedConstraints.cpp
@@ -22,6 +22,8 @@ subject to the following restrictions:
 
 #include <string.h>  //for memset
 
+#include <cmath>
+
 const int kNoMerge = -1;
 
 bool btBatchedConstraints::s_debugDrawBatches = false;
@@ -520,7 +522,7 @@ static void writeGrainSizes(btBatchedConstraints* bc)
 	{
 		const Range& phase = bc->m_phases[iPhase];
 		int numBatches = phase.end - phase.begin;
-		float grainSize = floor((0.25f * numBatches / float(numThreads)) + 0.0f);
+		float grainSize = std::floor((0.25f * numBatches / float(numThreads)) + 0.0f);
 		bc->m_phaseGrainSize[iPhase] = btMax(1, int(grainSize));
 	}
 }
diff --git a/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp b/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp
index 10678b2a6..ac046aa6e 100644
--- a/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp
+++ b/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp
@@ -19,6 +19,7 @@ Written by: Marcus Hennix
 #include "BulletDynamics/Dynamics/btRigidBody.h"
 #include "LinearMath/btTransformUtil.h"
 #include "LinearMath/btMinMax.h"
+#include <cmath>
 #include <new>
 
 //#define CONETWIST_USE_OBSOLETE_SOLVER true
@@ -842,7 +843,7 @@ void btConeTwistConstraint::computeConeLimitInfo(const btQuaternion& qCone,
 			btScalar norm = 1 / (m_swingSpan2 * m_swingSpan2);
 			norm += surfaceSlope2 / (m_swingSpan1 * m_swingSpan1);
 			btScalar swingLimit2 = (1 + surfaceSlope2) / norm;
-			swingLimit = sqrt(swingLimit2);
+			swingLimit = std::sqrt(swingLimit2);
 		}
 
 		// test!
@@ -887,7 +888,7 @@ btVector3 btConeTwistConstraint::GetPointForAngle(btScalar fAngleInRadians, btSc
 		btScalar norm = 1 / (m_swingSpan2 * m_swingSpan2);
 		norm += surfaceSlope2 / (m_swingSpan1 * m_swingSpan1);
 		btScalar swingLimit2 = (1 + surfaceSlope2) / norm;
-		swingLimit = sqrt(swingLimit2);
+		swingLimit = std::sqrt(swingLimit2);
 	}
 
 	// convert into point in constraint space:
diff --git a/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp b/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp
index e1d4edfa9..7740ffeca 100644
--- a/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp
+++ b/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp
@@ -40,6 +40,7 @@ http://gimpact.sf.net
 #include "btGeneric6DofSpring2Constraint.h"

 #include "BulletDynamics/Dynamics/btRigidBody.h"

 #include "LinearMath/btTransformUtil.h"

+#include <cmath>

 #include <new>

 

 btGeneric6DofSpring2Constraint::btGeneric6DofSpring2Constraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB, RotateOrder rotOrder)

@@ -845,7 +846,7 @@ int btGeneric6DofSpring2Constraint::get_limit_motor_info2(
 		if (m_rbA.getInvMass() == 0) m = mB; else

 		if (m_rbB.getInvMass() == 0) m = mA; else

 			m = mA*mB / (mA + mB);

-		btScalar angularfreq = sqrt(ks / m);

+		btScalar angularfreq = btSqrt(ks / m);

 

 		//limit stiffness (the spring should not be sampled faster that the quarter of its angular frequency)

 		if (limot->m_springStiffnessLimited && 0.25 < angularfreq * dt)

@@ -1085,7 +1086,7 @@ void btGeneric6DofSpring2Constraint::setServoTarget(int index, btScalar targetOr
 		btScalar target = targetOrg + SIMD_PI;

 		if (1)

 		{

-			btScalar m = target - SIMD_2_PI * floor(target / SIMD_2_PI);

+			btScalar m = target - SIMD_2_PI * std::floor(target / SIMD_2_PI);

 			// handle boundary cases resulted from floating-point cut off:

 			{

 				if (m >= SIMD_2_PI)