--more fixes

Author: jturner65

src/esp/physics/bullet/BulletPhysicsManager.cpp

@@ -162,7 +162,7 @@ int BulletPhysicsManager::addArticulatedObjectInternal(
   }
 
   // allocate ids for links
-  ArticulatedLink& rootObject = articulatedObject->getLink(-1);
+  ArticulatedLink& rootObject = articulatedObject->getLink(BASELINK_ID);
   rootObject.node().setBaseObjectId(articulatedObject->getObjectID());
   for (int linkIx = 0; linkIx < articulatedObject->btMultiBody_->getNumLinks();
        ++linkIx) {
@@ -536,7 +536,7 @@ void BulletPhysicsManager::lookUpObjectIdAndLinkId(
   CORRADE_INTERNAL_ASSERT(objectId);
   CORRADE_INTERNAL_ASSERT(linkId);
 
-  *linkId = -1;
+  *linkId = ID_UNDEFINED;
   // If the lookup fails, default to the stage. TODO: better error-handling.
   *objectId = RIGID_STAGE_ID;
   auto rawColObjIdIter = collisionObjToObjIds_->find(colObj);
@@ -572,10 +572,10 @@ std::vector<ContactPointData> BulletPhysicsManager::getContactPoints() const {
     const btPersistentManifold* manifold =
         dispatcher->getInternalManifoldPointer()[i];
 
-    int objectIdA = ID_UNDEFINED;
-    int objectIdB = ID_UNDEFINED;
-    int linkIndexA = -1;  // -1 if not a multibody
-    int linkIndexB = -1;
+    int objectIdA = RIGID_STAGE_ID - 1;
+    int objectIdB = RIGID_STAGE_ID - 1;
+    int linkIndexA = ID_UNDEFINED;  // -1 if not a multibody
+    int linkIndexB = ID_UNDEFINED;
 
     const btCollisionObject* colObj0 = manifold->getBody0();
     const btCollisionObject* colObj1 = manifold->getBody1();

src/esp/physics/bullet/BulletURDFImporter.cpp

@@ -194,8 +194,9 @@ void BulletURDFImporter::getAllIndices(
   int mbIndex = cache->getMbIndexFromUrdfIndex(urdfLinkIndex);
   cp.m_mbIndex = mbIndex;
   cp.m_parentIndex = parentIndex;
-  int parentMbIndex =
-      parentIndex >= 0 ? cache->getMbIndexFromUrdfIndex(parentIndex) : -1;
+  int parentMbIndex = parentIndex >= 0
+                          ? cache->getMbIndexFromUrdfIndex(parentIndex)
+                          : BASELINK_ID;
   cp.m_parentMBIndex = parentMbIndex;
 
   allIndices.emplace_back(std::move(cp));
@@ -255,9 +256,8 @@ void BulletURDFImporter::initURDFToBulletCache(
     cache->m_urdfLinkIndices2BulletLinkIndices.resize(
         numTotalLinksIncludingBase);
     cache->m_urdfLinkLocalInertialFrames.resize(numTotalLinksIncludingBase);
-
-    cache->m_currentMultiBodyLinkIndex =
-        -1;  // multi body base has 'link' index -1
+    // multi body base has 'link' index BASELINK_ID
+    cache->m_currentMultiBodyLinkIndex = BASELINK_ID;
 
     bool maintainLinkOrder = (flags & CUF_MAINTAIN_LINK_ORDER) != 0;
     if (maintainLinkOrder) {
@@ -327,7 +327,7 @@ void BulletURDFImporter::convertURDFToBullet(
     parentTransforms[urdfLinkIndex] = parentTransformInWorldSpace;
     std::vector<childParentIndex> allIndices;
 
-    getAllIndices(urdfLinkIndex, -1, allIndices);
+    getAllIndices(urdfLinkIndex, BASELINK_ID, allIndices);
     std::sort(allIndices.begin(), allIndices.end(),
               [](const childParentIndex& a, const childParentIndex& b) {
                 return a.m_index < b.m_index;

src/esp/physics/bullet/BulletURDFImporter.h

@@ -54,7 +54,7 @@ struct URDFToBulletCached {
   std::vector<int> m_urdfLinkIndices2BulletLinkIndices;
   std::vector<btTransform> m_urdfLinkLocalInertialFrames;
 
-  int m_currentMultiBodyLinkIndex{-1};
+  int m_currentMultiBodyLinkIndex{BASELINK_ID};
 
   class btMultiBody* m_bulletMultiBody{nullptr};
 

src/esp/physics/objectWrappers/ManagedArticulatedObject.h

@@ -48,15 +48,15 @@ class ManagedArticulatedObject
     return 1.0;
   }
 
-  scene::SceneNode* getLinkSceneNode(int linkId = -1) const {
+  scene::SceneNode* getLinkSceneNode(int linkId = BASELINK_ID) const {
     if (auto sp = getObjectReference()) {
       return &const_cast<scene::SceneNode&>(sp->getLinkSceneNode(linkId));
     }
     return nullptr;
   }
 
   std::vector<scene::SceneNode*> getLinkVisualSceneNodes(
-      int linkId = -1) const {
+      int linkId = BASELINK_ID) const {
     if (auto sp = getObjectReference()) {
       return sp->getLinkVisualSceneNodes(linkId);
     }
@@ -73,7 +73,7 @@ class ManagedArticulatedObject
     if (auto sp = getObjectReference()) {
       return sp->getNumLinks();
     }
-    return -1;
+    return ID_UNDEFINED;
   }
 
   std::vector<int> getLinkIds() const {
@@ -94,7 +94,7 @@ class ManagedArticulatedObject
     if (auto sp = getObjectReference()) {
       return sp->getLinkIdFromName(_name);
     }
-    return -1;
+    return ID_UNDEFINED;
   }
 
   std::unordered_map<int, int> getLinkObjectIds() const {
@@ -237,7 +237,7 @@ class ManagedArticulatedObject
     if (auto sp = getObjectReference()) {
       return sp->getLinkDoFOffset(linkId);
     }
-    return -1;
+    return ID_UNDEFINED;
   }
 
   int getLinkNumDoFs(int linkId) const {
@@ -251,7 +251,7 @@ class ManagedArticulatedObject
     if (auto sp = getObjectReference()) {
       return sp->getLinkJointPosOffset(linkId);
     }
-    return -1;
+    return ID_UNDEFINED;
   }
 
   int getLinkNumJointPos(int linkId) const {