fix some warnings, disable gimpact by default in world importer,

use DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS by default for now,
until we find the issue with some failing test cases in btMultiBody
fix a crashing issue in MyMultiBodyCreator.cpp (uninitialized variable)
disable excessive debug printf in URDF2Bullet

Extras/Serialize/BulletFileLoader/bFile.cpp

@@ -1601,11 +1601,11 @@ void	bFile::writeChunks(FILE* fp, bool fixupPointers)
 		// Ouch! need to rebuild the struct
 		short *oldStruct,*curStruct;
 		char *oldType, *newType;
-		int oldLen, curLen, reverseOld;
+		int  curLen, reverseOld;
 
 		oldStruct = fileDna->getStruct(dataChunk.dna_nr);
 		oldType = fileDna->getType(oldStruct[0]);
-		oldLen = fileDna->getLength(oldStruct[0]);
+		//int oldLen = fileDna->getLength(oldStruct[0]);
 		///don't try to convert Link block data, just memcpy it. Other data can be converted.
 		reverseOld = mMemoryDNA->getReverseType(oldType);
 		

Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.cpp

@@ -18,8 +18,9 @@ subject to the following restrictions:
 #include "../BulletFileLoader/btBulletFile.h"
 
 #include "btBulletDynamicsCommon.h"
+#ifndef USE_GIMPACT
 #include "BulletCollision/Gimpact/btGImpactShape.h"
-
+#endif
 
 
 //#define USE_INTERNAL_EDGE_UTILITY

Extras/Serialize/BulletWorldImporter/btWorldImporter.cpp

@@ -15,8 +15,9 @@ subject to the following restrictions:
 
 #include "btWorldImporter.h"
 #include "btBulletDynamicsCommon.h"
+#ifdef USE_GIMPACT
 #include "BulletCollision/Gimpact/btGImpactShape.h"
-
+#endif
 btWorldImporter::btWorldImporter(btDynamicsWorld* world)
 :m_dynamicsWorld(world),
 m_verboseMode(0)
@@ -177,6 +178,7 @@ btCollisionShape* btWorldImporter::convertCollisionShape(  btCollisionShapeData*
 		}
 	case GIMPACT_SHAPE_PROXYTYPE:
 		{
+#ifdef USE_GIMPACT
 			btGImpactMeshShapeData* gimpactData = (btGImpactMeshShapeData*) shapeData;
 			if (gimpactData->m_gimpactSubType == CONST_GIMPACT_TRIMESH_SHAPE)
 			{
@@ -195,6 +197,7 @@ btCollisionShape* btWorldImporter::convertCollisionShape(  btCollisionShapeData*
 			{
 				printf("unsupported gimpact sub type\n");
 			}
+#endif//USE_GIMPACT
 			break;
 		}
 	//The btCapsuleShape* API has issue passing the margin/scaling/halfextents unmodified through the API
@@ -1792,9 +1795,13 @@ btCollisionShape* btWorldImporter::createConvexTriangleMeshShape(btStridingMeshI
 }
 btGImpactMeshShape* btWorldImporter::createGimpactShape(btStridingMeshInterface* trimesh)
 {
+#ifdef USE_GIMPACT
 	btGImpactMeshShape* shape = new btGImpactMeshShape(trimesh);
 	m_allocatedCollisionShapes.push_back(shape);
 	return shape;
+#else
+	return 0;
+#endif
 	
 }
 btConvexHullShape* btWorldImporter::createConvexHullShape()

examples/BasicDemo/BasicExample.cpp

@@ -73,7 +73,7 @@ void BasicExample::initPhysics()
 
 	{
 		btScalar mass(0.);
-		btRigidBody* body = createRigidBody(mass,groundTransform,groundShape, btVector4(0,0,1,1));
+		createRigidBody(mass,groundTransform,groundShape, btVector4(0,0,1,1));
 	}
 
 
@@ -113,7 +113,7 @@ void BasicExample::initPhysics()
 										btScalar(2.0*j)));
 
 			
-					btRigidBody* body = createRigidBody(mass,startTransform,colShape);
+					createRigidBody(mass,startTransform,colShape);
 					
 
 				}

examples/BasicDemo/main.cpp

@@ -24,7 +24,6 @@ subject to the following restrictions:
 
 int main(int argc, char* argv[])
 {
-	struct PhysicsInterface* pint = 0;
 	
 	DummyGUIHelper noGfx;
 

examples/ExampleBrowser/CMakeLists.txt

@@ -15,9 +15,9 @@ SET(App_ExampleBrowser_SRCS
 	main.cpp
 	ExampleEntries.cpp
 	ExampleEntries.h
-	../SharedMemory/PhysicsClientC_API.cpp
 	../SharedMemory/PhysicsServer.cpp
 	../SharedMemory/PhysicsClient.cpp
+	../SharedMemory/PhysicsClientC_API.cpp
 	../SharedMemory/PhysicsServerExample.cpp
 	../SharedMemory/PhysicsClientExample.cpp
 	../SharedMemory/RobotControlExample.cpp

examples/ExampleBrowser/GwenGUISupport/gwenUserInterface.cpp

@@ -167,8 +167,8 @@ void	GwenUserInterface::setExampleDescription(const char* message)
 
 	m_data->m_exampleInfoTextOutput->Clear();
 	int fixedWidth = m_data->m_exampleInfoTextOutput->GetBounds().w-25;
-
+	int wrapLen = int(wrapmessage.length());
-	for (int endPos=0;endPos<=wrapmessage.length();endPos++)
+	for (int endPos=0;endPos<=wrapLen;endPos++)
 	{
 		std::string sub = wrapmessage.substr(startPos,(endPos-startPos));	
 		Gwen::Point pt = m_data->pRenderer->MeasureText(m_data->pCanvas->GetSkin()->GetDefaultFont(),sub);

examples/ExampleBrowser/OpenGLExampleBrowser.cpp

@@ -240,7 +240,6 @@ void openFileDemo(const char* filename)
 	options.m_fileName = filename;
 
 	char fullPath[1024];
-	int fileType = 0;
 	sprintf(fullPath, "%s", filename);
 	b3FileUtils::toLower(fullPath);
 	if (strstr(fullPath, ".urdf"))
@@ -296,7 +295,6 @@ void selectDemo(int demoIndex)
 		{
 			if (gui)
 			{
-				bool isLeft = true;
 				gui->setStatusBarMessage("Status: OK", false);
 			}
 			b3Printf("Selected demo: %s",gAllExamples->getExampleName(demoIndex));
@@ -429,7 +427,6 @@ struct MyMenuItemHander :public Gwen::Event::Handler
 		Gwen::String laa = Gwen::Utility::UnicodeToString(la);
 		//const char* ha = laa.c_str();
 
-		bool handled = false;
 		
 		selectDemo(sCurrentHightlighted);
 		saveCurrentDemoEntry(sCurrentDemoIndex, startFileName);

examples/ExampleBrowser/premake4.lua

@@ -48,9 +48,12 @@
 
 
 		files {
-		"**.cpp",
+		"*.cpp",
-		"**.h",
+		"*.h",
+		"GwenGUISupport/*.cpp",
+		"GwenGUISupport/*.h",
 		"../SharedMemory/PhysicsClientC_API.cpp",
+		"../SharedMemory/PhysicsClientC_API.h",
 		"../SharedMemory/PhysicsServerExample.cpp",
 		"../SharedMemory/PhysicsClientExample.cpp",
 		"../SharedMemory/RobotControlExample.cpp",

examples/Importers/ImportBullet/SerializeSetup.cpp

@@ -59,8 +59,6 @@ void SerializeSetup::initPhysics()
         int numPrefixes = sizeof(prefix)/sizeof(const char*);
         char relativeFileName[1024];
         FILE* f=0;
-        bool fileFound = false;
-        int result = 0;
 
         for (int i=0;!f && i<numPrefixes;i++)
         {
@@ -68,7 +66,6 @@ void SerializeSetup::initPhysics()
                 f = fopen(relativeFileName,"rb");
                 if (f)
                 {
-                    fileFound = true;
                     break;
                 }
         }

examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp

@@ -231,7 +231,7 @@ void ImportUrdfSetup::initPhysics()
 
 	if (loadOk)
 	{
-		printTree(u2b,u2b.getRootLinkIndex());
+		//printTree(u2b,u2b.getRootLinkIndex());
 
 		//u2b.printTree();
 

examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp

@@ -156,8 +156,8 @@ class btGeneric6DofSpring2Constraint* MyMultiBodyCreator::createRevoluteJoint(in
 		userInfo->m_urdfJointType = URDFRevoluteJoint;
 		userInfo->m_lowerJointLimit = jointLowerLimit;
 		userInfo->m_upperJointLimit = jointUpperLimit;
-		userInfo->m_urdfIndex = urdfLinkIndex;
 	}
+	userInfo->m_urdfIndex = urdfLinkIndex;
 	dof6->setUserConstraintPtr(userInfo);
 	m_6DofConstraints.push_back(dof6);
 	return dof6;

examples/Importers/ImportURDFDemo/URDF2Bullet.cpp

@@ -10,7 +10,6 @@
 #include "URDFImporterInterface.h"
 #include "MultiBodyCreationInterface.h"
 #include <string>
-#include "Bullet3Common/b3Logging.h"
 
 static int bodyCollisionFilterGroup=btBroadphaseProxy::CharacterFilter;
 static int bodyCollisionFilterMask=btBroadphaseProxy::AllFilter&(~btBroadphaseProxy::CharacterFilter);
@@ -35,42 +34,6 @@ static btVector3 selectColor2()
     return color;
 }
 
-void printTree(const URDFImporterInterface& u2b, int linkIndex, int indentationLevel)
-{
-	  btScalar mass;
-        btVector3 localInertia;
-        btTransform inertialFrame;
-        u2b.getMassAndInertia(linkIndex,mass,localInertia,inertialFrame);
-		 std::string name = u2b.getLinkName(linkIndex);
-		 for(int j=0;j<indentationLevel;j++) 
-			 b3Printf("  "); //indent
-		 b3Printf("link %s mass=%f\n",name.c_str(),mass);
-		 for(int j=0;j<indentationLevel;j++) 
-			 b3Printf("  "); //indent
-		 b3Printf("local inertia:%f,%f,%f\n",localInertia[0],
-               localInertia[1],
-               localInertia[2]);
-
-    btAlignedObjectArray<int> childIndices;
-    u2b.getLinkChildIndices(linkIndex,childIndices);
-
-    int numChildren = childIndices.size();
-
-    indentationLevel+=2;
-    int count = 0;
-    for (int i=0;i<numChildren;i++)
-    {
-        int childLinkIndex = childIndices[i];
-        std::string name = u2b.getLinkName(childLinkIndex);
-      
-        
-        for(int j=0;j<indentationLevel;j++) 
-			b3Printf("  "); //indent
-        b3Printf("child(%d).name=%s with childIndex=%d\n",(count++)+1, name.c_str(),childLinkIndex);
-        // first grandchild
-        printTree(u2b,childLinkIndex,indentationLevel);
-    }
-}
 
 
 struct URDF2BulletCachedData
@@ -182,7 +145,7 @@ void InitURDF2BulletCache(const URDFImporterInterface& u2b, URDF2BulletCachedDat
 
 void ConvertURDF2BulletInternal(const URDFImporterInterface& u2b, MultiBodyCreationInterface& creation, URDF2BulletCachedData& cache, int urdfLinkIndex, const btTransform& parentTransformInWorldSpace, btMultiBodyDynamicsWorld* world1,bool createMultiBody, const char* pathPrefix)
 {
-    b3Printf("start converting/extracting data from URDF interface\n");
+    //b3Printf("start converting/extracting data from URDF interface\n");
 
     btTransform linkTransformInWorldSpace;
     linkTransformInWorldSpace.setIdentity();
@@ -194,9 +157,9 @@ void ConvertURDF2BulletInternal(const URDFImporterInterface& u2b, MultiBodyCreat
     int mbParentIndex = cache.getMbIndexFromUrdfIndex(urdfParentIndex);
     btRigidBody* parentRigidBody = 0;
 
-    std::string name = u2b.getLinkName(urdfLinkIndex);
+    //std::string name = u2b.getLinkName(urdfLinkIndex);
-    b3Printf("link name=%s urdf link index=%d\n",name.c_str(),urdfLinkIndex);
+    //b3Printf("link name=%s urdf link index=%d\n",name.c_str(),urdfLinkIndex);
-    b3Printf("mb link index = %d\n",mbLinkIndex);
+    //b3Printf("mb link index = %d\n",mbLinkIndex);
 
 	btTransform parentLocalInertialFrame;
 	parentLocalInertialFrame.setIdentity();
@@ -205,11 +168,11 @@ void ConvertURDF2BulletInternal(const URDFImporterInterface& u2b, MultiBodyCreat
 
     if (urdfParentIndex==-2)
     {
-        b3Printf("root link has no parent\n");
+        //b3Printf("root link has no parent\n");
     } else
     {
-        b3Printf("urdf parent index = %d\n",urdfParentIndex);
+        //b3Printf("urdf parent index = %d\n",urdfParentIndex);
-        b3Printf("mb parent index = %d\n",mbParentIndex);
+        //b3Printf("mb parent index = %d\n",mbParentIndex);
         parentRigidBody = cache.getRigidBodyFromLink(urdfParentIndex);
 		u2b.getMassAndInertia(urdfParentIndex, parentMass,parentLocalInertiaDiagonal,parentLocalInertialFrame);
 
@@ -305,7 +268,7 @@ void ConvertURDF2BulletInternal(const URDFImporterInterface& u2b, MultiBodyCreat
                     {
                         //todo: adjust the center of mass transform and pivot axis properly
 
-                        b3Printf("Fixed joint (btMultiBody)\n");
+                        //b3Printf("Fixed joint (btMultiBody)\n");
                         btQuaternion rot = offsetInA.inverse().getRotation();//parent2joint.inverse().getRotation();
                         cache.m_bulletMultiBody->setupFixed(mbLinkIndex, mass, localInertiaDiagonal, mbParentIndex,
                                                                rot*offsetInB.getRotation(), offsetInA.getOrigin(),-offsetInB.getOrigin(),disableParentCollision);
@@ -314,7 +277,7 @@ void ConvertURDF2BulletInternal(const URDFImporterInterface& u2b, MultiBodyCreat
 
                     } else
                     {
-                        b3Printf("Fixed joint\n");
+                        //b3Printf("Fixed joint\n");
 						
 						btGeneric6DofSpring2Constraint* dof6 = creation.createFixedJoint(urdfLinkIndex,*parentRigidBody, *linkRigidBody, offsetInA, offsetInB);
                        
@@ -343,7 +306,7 @@ void ConvertURDF2BulletInternal(const URDFImporterInterface& u2b, MultiBodyCreat
 
 						if (enableConstraints)
                                     world1->addConstraint(dof6,true);
-                        b3Printf("Revolute/Continuous joint\n");
+                        //b3Printf("Revolute/Continuous joint\n");
                     }
                     break;
                 }
@@ -371,13 +334,13 @@ void ConvertURDF2BulletInternal(const URDFImporterInterface& u2b, MultiBodyCreat
                         if (enableConstraints)
                             world1->addConstraint(dof6,true);
 
-                        b3Printf("Prismatic\n");
+                        //b3Printf("Prismatic\n");
                     }
                     break;
                 }
                 default:
                 {
-                    b3Printf("Error: unsupported joint type in URDF (%d)\n", jointType);
+                    //b3Printf("Error: unsupported joint type in URDF (%d)\n", jointType);
 					btAssert(0);
                 }
             }

examples/Importers/ImportURDFDemo/URDF2Bullet.h

@@ -13,7 +13,6 @@ class URDFImporterInterface;
 class MultiBodyCreationInterface;
 
 
-void printTree(const URDFImporterInterface& u2b, int linkIndex, int identationLevel=0);
 
 
 void ConvertURDF2Bullet(const URDFImporterInterface& u2b, 

examples/MultiBody/MultiDofDemo.cpp

@@ -320,7 +320,7 @@ void MultiDofDemo::addColliders_testMultiDof(btMultiBody *pMultiBody, btMultiBod
 	{
 			
 	//	float pos[4]={local_origin[0].x(),local_origin[0].y(),local_origin[0].z(),1};
-		float quat[4]={-world_to_local[0].x(),-world_to_local[0].y(),-world_to_local[0].z(),world_to_local[0].w()};
+		btScalar quat[4]={-world_to_local[0].x(),-world_to_local[0].y(),-world_to_local[0].z(),world_to_local[0].w()};
 
 			
 		if (1)
@@ -360,7 +360,7 @@ void MultiDofDemo::addColliders_testMultiDof(btMultiBody *pMultiBody, btMultiBod
 		btVector3 posr = local_origin[i+1];
 	//	float pos[4]={posr.x(),posr.y(),posr.z(),1};
 			
-		float quat[4]={-world_to_local[i+1].x(),-world_to_local[i+1].y(),-world_to_local[i+1].z(),world_to_local[i+1].w()};
+		btScalar quat[4]={-world_to_local[i+1].x(),-world_to_local[i+1].y(),-world_to_local[i+1].z(),world_to_local[i+1].w()};
 
 		btCollisionShape* box = new btBoxShape(linkHalfExtents);
 		btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(pMultiBody, i);

examples/MultiBody/TestJointTorqueSetup.cpp

@@ -96,7 +96,6 @@ void TestJointTorqueSetup::initPhysics()
             m_guiHelper->createCollisionShapeGraphicsObject(box);
             btTransform start; start.setIdentity();
             btVector3 groundOrigin(-0.4f, 3.f, 0.f);
-			btVector3 basePosition = btVector3(-0.4f, 3.f, 0.f);
             groundOrigin[upAxis] -=.5;
 			groundOrigin[2]-=0.6;
             start.setOrigin(groundOrigin);
@@ -269,11 +268,11 @@ void TestJointTorqueSetup::initPhysics()
         local_origin.resize(pMultiBody->getNumLinks() + 1);
         world_to_local[0] = pMultiBody->getWorldToBaseRot();
         local_origin[0] = pMultiBody->getBasePos();
-        double friction = 1;
+      //  double friction = 1;
         {
 
         //	float pos[4]={local_origin[0].x(),local_origin[0].y(),local_origin[0].z(),1};
-            float quat[4]={-world_to_local[0].x(),-world_to_local[0].y(),-world_to_local[0].z(),world_to_local[0].w()};
+//            btScalar quat[4]={-world_to_local[0].x(),-world_to_local[0].y(),-world_to_local[0].z(),world_to_local[0].w()};
 
 
             if (1)
@@ -326,7 +325,7 @@ void TestJointTorqueSetup::initPhysics()
             btVector3 posr = local_origin[i+1];
         //	float pos[4]={posr.x(),posr.y(),posr.z(),1};
 
-            float quat[4]={-world_to_local[i+1].x(),-world_to_local[i+1].y(),-world_to_local[i+1].z(),world_to_local[i+1].w()};
+            btScalar quat[4]={-world_to_local[i+1].x(),-world_to_local[i+1].y(),-world_to_local[i+1].z(),world_to_local[i+1].w()};
 			btCollisionShape* shape =0;
 
 			if (i==0)
@@ -422,7 +421,7 @@ void TestJointTorqueSetup::stepSimulation(float deltaTime)
              m_multiBody->getBaseOmega()[2]
              );
     */
-    btScalar jointVel =m_multiBody->getJointVel(0);
+   // btScalar jointVel =m_multiBody->getJointVel(0);
     
 //    b3Printf("child angvel = %f",jointVel);
     

examples/OpenGLWindow/GLInstancingRenderer.cpp

@@ -1170,7 +1170,7 @@ struct PointerCaster
 
 
 
-
+#if 0
 static void    b3CreateFrustum(
                         float left,
                         float right,
@@ -1202,7 +1202,7 @@ static void    b3CreateFrustum(
     frustum[3*4+3] = float(0);
 
 }
-
+#endif
 
 static void b3Matrix4x4Mul(GLfloat aIn[4][4], GLfloat bIn[4][4], GLfloat result[4][4])
 {

examples/OpenGLWindow/SimpleCamera.cpp

@@ -10,13 +10,13 @@ struct SimpleCameraInternalData
 		:m_cameraTargetPosition(b3MakeVector3(0,0,0)),
 		m_cameraDistance(20),
 		m_cameraUp(b3MakeVector3(0,1,0)),
-		m_cameraUpAxis(1),
 		m_cameraForward(b3MakeVector3(1,0,0)),
-		m_frustumZNear(0.01),
+	 	m_cameraUpAxis(1),	
-		m_frustumZFar(1000),
 		m_yaw(20),
 		m_pitch(0),
-		m_aspect(1)
+		m_aspect(1),
+ 		m_frustumZNear(0.01),
+                m_frustumZFar(1000)
 	{
 	}
 	b3Vector3 m_cameraTargetPosition;
@@ -83,7 +83,7 @@ static void    b3CreateFrustum(
 
 
 
-
+#if 0
 static void b3CreateDiagonalMatrix(float value, float result[4][4])
 {
 	for (int i=0;i<4;i++)
@@ -100,7 +100,6 @@ static void b3CreateDiagonalMatrix(float value, float result[4][4])
 		}
 	}
 }
-
 static void b3CreateOrtho(float left, float right, float bottom, float top, float zNear, float zFar, float result[4][4])
 {
 	b3CreateDiagonalMatrix(1.f,result);
@@ -112,7 +111,7 @@ static void b3CreateOrtho(float left, float right, float bottom, float top, floa
 	result[3][1] = - (top + bottom) / (top - bottom);
 	result[3][2] = - (zFar + zNear) / (zFar - zNear);
 }
-
+#endif
 static void    b3CreateLookAt(const b3Vector3& eye, const b3Vector3& center,const b3Vector3& up, float result[16])
 {
     b3Vector3 f = (center - eye).normalized();

examples/OpenGLWindow/SimpleOpenGL2App.cpp

@@ -325,9 +325,8 @@ void SimpleOpenGL2App::drawText3D( const char* txt, float worldPosX, float world
 	
 	float camPos[4];
 	cam->getCameraPosition(camPos);
-	b3Vector3 cp= b3MakeVector3(camPos[0],camPos[2],camPos[1]);
+	//b3Vector3 cp= b3MakeVector3(camPos[0],camPos[2],camPos[1]);
-	b3Vector3 p = b3MakeVector3(worldPosX,worldPosY,worldPosZ);
+//	b3Vector3 p = b3MakeVector3(worldPosX,worldPosY,worldPosZ);
-    float dx=0;
 
 	glEnable(GL_BLEND);
 	glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
@@ -399,11 +398,11 @@ void SimpleOpenGL2App::drawText3D( const char* txt, float worldPosX, float world
 
 
 			float z = 2.f*winz-1.f;//*(far
-			 float identity[16]={1,0,0,0,
+			 /*float identity[16]={1,0,0,0,
 						0,1,0,0,
 						0,0,1,0,
 						0,0,0,1};
-
+*/
 			   PrimVertex vertexData[4] = {
 					{ PrimVec4(-1.f+2.f*x0/float(screenWidth), 1.f-2.f*y0/float(screenHeight), z, 1.f ), PrimVec4( color[0], color[1], color[2], color[3] ) ,PrimVec2(u0,v0)},
 					{ PrimVec4(-1.f+2.f*x0/float(screenWidth),  1.f-2.f*y1/float(screenHeight), z, 1.f ), PrimVec4( color[0], color[1], color[2], color[3] ) ,PrimVec2(u0,v1)},

examples/OpenGLWindow/SimpleOpenGL3App.cpp

@@ -224,8 +224,8 @@ void SimpleOpenGL3App::drawText3D( const char* txt, float worldPosX, float world
 	
 	float camPos[4];
 	cam->getCameraPosition(camPos);
-	b3Vector3 cp= b3MakeVector3(camPos[0],camPos[2],camPos[1]);
+	//b3Vector3 cp= b3MakeVector3(camPos[0],camPos[2],camPos[1]);
-	b3Vector3 p = b3MakeVector3(worldPosX,worldPosY,worldPosZ);
+	//b3Vector3 p = b3MakeVector3(worldPosX,worldPosY,worldPosZ);
 	//float dist = (cp-p).length();
 	//float dv = 0;//dist/1000.f;
     //
@@ -564,7 +564,7 @@ void SimpleOpenGL3App::drawGrid(DrawGridData data)
 			indices.push_back(lineIndex++);
 			vertices.push_back(to);
 			indices.push_back(lineIndex++);
-			m_instancingRenderer->drawLine(from,to,gridColor);
+			// m_instancingRenderer->drawLine(from,to,gridColor);
 		}
 
 		b3Assert(glGetError() ==GL_NO_ERROR);
@@ -583,16 +583,16 @@ void SimpleOpenGL3App::drawGrid(DrawGridData data)
 			indices.push_back(lineIndex++);
 			vertices.push_back(to);
 			indices.push_back(lineIndex++);
-			m_instancingRenderer->drawLine(from,to,gridColor);
+			// m_instancingRenderer->drawLine(from,to,gridColor);
 		}
 
 	}
 
 
-	/*m_instancingRenderer->drawLines(&vertices[0].x,
+	m_instancingRenderer->drawLines(&vertices[0].x,
 			gridColor,
 			vertices.size(),sizeof(b3Vector3),&indices[0],indices.size(),1);
-	*/
+	
 
 	m_instancingRenderer->drawLine(b3MakeVector3(0,0,0),b3MakeVector3(1,0,0),b3MakeVector3(1,0,0),3);
 	m_instancingRenderer->drawLine(b3MakeVector3(0,0,0),b3MakeVector3(0,1,0),b3MakeVector3(0,1,0),3);
@@ -766,7 +766,7 @@ void SimpleOpenGL3App::dumpNextFrameToPng(const char* filename)
             m_data->m_renderTexture->init(m_instancingRenderer->getScreenWidth(),this->m_instancingRenderer->getScreenHeight(),renderTextureId, RENDERTEXTURE_COLOR);
     }
 
-    bool result = m_data->m_renderTexture->enable();
+    m_data->m_renderTexture->enable();
 
 }
 

examples/SimpleOpenGL3/main.cpp

@@ -14,9 +14,9 @@ int main(int argc, char* argv[])
 
 
 	SimpleOpenGL3App* app = new SimpleOpenGL3App("SimpleOpenGL3App",1024,768);
-	app->m_instancingRenderer->setCameraDistance(13);
+	app->m_instancingRenderer->getActiveCamera()->setCameraDistance(13);
-	app->m_instancingRenderer->setCameraPitch(0);
+	app->m_instancingRenderer->getActiveCamera()->setCameraPitch(0);
-	app->m_instancingRenderer->setCameraTargetPosition(b3MakeVector3(0,0,0));
+	app->m_instancingRenderer->getActiveCamera()->setCameraTargetPosition(0,0,0);
 
     assert(glGetError()==GL_NO_ERROR);
 

examples/ThirdPartyLibs/Gwen/Gwen.h

@@ -24,7 +24,6 @@
 	THE SOFTWARE.
 */
 
-#pragma once
 #ifndef GWEN_GWEN_H
 #define GWEN_GWEN_H
 

examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp

@@ -171,7 +171,7 @@ updateVertex(
     return it->second;
   }
 
-  assert(in_positions.size() > (3*i.v_idx+2));
+  assert(static_cast<int>(in_positions.size()) > (3*i.v_idx+2));
 
   positions.push_back(in_positions[3*i.v_idx+0]);
   positions.push_back(in_positions[3*i.v_idx+1]);

src/Bullet3Common/b3Vector3.h

@@ -22,8 +22,6 @@ subject to the following restrictions:
 #include "b3MinMax.h"
 #include "b3AlignedAllocator.h"
 
-
-
 #ifdef B3_USE_DOUBLE_PRECISION
 #define b3Vector3Data b3Vector3DoubleData
 #define b3Vector3DataName "b3Vector3DoubleData"

src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp

@@ -59,15 +59,13 @@ PHY_ScalarType hdt, bool flipQuadEdges
 )
 {
 	// validation
-	btAssert(heightStickWidth > 1 && "bad width");
+	btAssert(heightStickWidth > 1);// && "bad width");
-	btAssert(heightStickLength > 1 && "bad length");
+	btAssert(heightStickLength > 1);// && "bad length");
-	btAssert(heightfieldData && "null heightfield data");
+	btAssert(heightfieldData);// && "null heightfield data");
 	// btAssert(heightScale) -- do we care?  Trust caller here
-	btAssert(minHeight <= maxHeight && "bad min/max height");
+	btAssert(minHeight <= maxHeight);// && "bad min/max height");
-	btAssert(upAxis >= 0 && upAxis < 3 &&
+	btAssert(upAxis >= 0 && upAxis < 3);// && "bad upAxis--should be in range [0,2]");
-	    "bad upAxis--should be in range [0,2]");
+	btAssert(hdt != PHY_UCHAR || hdt != PHY_FLOAT || hdt != PHY_SHORT);// && "Bad height data type enum");
-	btAssert(hdt != PHY_UCHAR || hdt != PHY_FLOAT || hdt != PHY_SHORT &&
-	    "Bad height data type enum");
 
 	// initialize member variables
 	m_shapeType = TERRAIN_SHAPE_PROXYTYPE;
@@ -110,7 +108,7 @@ PHY_ScalarType hdt, bool flipQuadEdges
 	default:
 		{
 			//need to get valid m_upAxis
-			btAssert(0 && "Bad m_upAxis");
+			btAssert(0);// && "Bad m_upAxis");
 		}
 	}
 

src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h

@@ -19,7 +19,7 @@ subject to the following restrictions:
 #include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
 #include "btMultiBodySolverConstraint.h"
 
-//#define DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
+#define DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
 
 class btMultiBody;