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fix more warnings in BulletCollision, and fix CMakeLists for Linux

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This commit is contained in:
Erwin Coumans
2014-08-21 15:54:50 -07:00
parent 143c2da254
commit 5834547368
27 changed files with 1277 additions and 1246 deletions
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148
src/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.cpp
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@@ -178,62 +178,62 @@ void InverseTransformPoint3x3(btVector3& out, const btVector3& in, const btTrans
}
#endif //TEST_INTERNAL_OBJECTS
SIMD_FORCE_INLINE void btSegmentsClosestPoints(
btVector3& ptsVector,
btVector3& offsetA,
btVector3& offsetB,
btScalar& tA, btScalar& tB,
const btVector3& translation,
const btVector3& dirA, btScalar hlenA,
const btVector3& dirB, btScalar hlenB )
{
// compute the parameters of the closest points on each line segment
btScalar dirA_dot_dirB = btDot(dirA,dirB);
btScalar dirA_dot_trans = btDot(dirA,translation);
btScalar dirB_dot_trans = btDot(dirB,translation);
btScalar denom = 1.0f - dirA_dot_dirB * dirA_dot_dirB;
if ( denom == 0.0f ) {
tA = 0.0f;
} else {
tA = ( dirA_dot_trans - dirB_dot_trans * dirA_dot_dirB ) / denom;
if ( tA < -hlenA )
tA = -hlenA;
else if ( tA > hlenA )
tA = hlenA;
}
tB = tA * dirA_dot_dirB - dirB_dot_trans;
if ( tB < -hlenB ) {
tB = -hlenB;
tA = tB * dirA_dot_dirB + dirA_dot_trans;
if ( tA < -hlenA )
tA = -hlenA;
else if ( tA > hlenA )
tA = hlenA;
} else if ( tB > hlenB ) {
tB = hlenB;
tA = tB * dirA_dot_dirB + dirA_dot_trans;
if ( tA < -hlenA )
tA = -hlenA;
else if ( tA > hlenA )
tA = hlenA;
}
// compute the closest points relative to segment centers.
offsetA = dirA * tA;
offsetB = dirB * tB;
ptsVector = translation - offsetA + offsetB;
}
SIMD_FORCE_INLINE void btSegmentsClosestPoints(
btVector3& ptsVector,
btVector3& offsetA,
btVector3& offsetB,
btScalar& tA, btScalar& tB,
const btVector3& translation,
const btVector3& dirA, btScalar hlenA,
const btVector3& dirB, btScalar hlenB )
{
// compute the parameters of the closest points on each line segment
btScalar dirA_dot_dirB = btDot(dirA,dirB);
btScalar dirA_dot_trans = btDot(dirA,translation);
btScalar dirB_dot_trans = btDot(dirB,translation);
btScalar denom = 1.0f - dirA_dot_dirB * dirA_dot_dirB;
if ( denom == 0.0f ) {
tA = 0.0f;
} else {
tA = ( dirA_dot_trans - dirB_dot_trans * dirA_dot_dirB ) / denom;
if ( tA < -hlenA )
tA = -hlenA;
else if ( tA > hlenA )
tA = hlenA;
}
tB = tA * dirA_dot_dirB - dirB_dot_trans;
if ( tB < -hlenB ) {
tB = -hlenB;
tA = tB * dirA_dot_dirB + dirA_dot_trans;
if ( tA < -hlenA )
tA = -hlenA;
else if ( tA > hlenA )
tA = hlenA;
} else if ( tB > hlenB ) {
tB = hlenB;
tA = tB * dirA_dot_dirB + dirA_dot_trans;
if ( tA < -hlenA )
tA = -hlenA;
else if ( tA > hlenA )
tA = hlenA;
}
// compute the closest points relative to segment centers.
offsetA = dirA * tA;
offsetB = dirB * tB;
ptsVector = translation - offsetA + offsetB;
}
@@ -313,7 +313,7 @@ bool btPolyhedralContactClipping::findSeparatingAxis( const btConvexPolyhedron&
int edgeB=-1;
btVector3 worldEdgeA;
btVector3 worldEdgeB;
btVector3 witnessPointA,witnessPointB;
btVector3 witnessPointA(0,0,0),witnessPointB(0,0,0);
int curEdgeEdge = 0;
@@ -369,23 +369,23 @@ bool btPolyhedralContactClipping::findSeparatingAxis( const btConvexPolyhedron&
// printf("edge-edge\n");
//add an edge-edge contact
btVector3 ptsVector;
btVector3 offsetA;
btVector3 offsetB;
btScalar tA;
btScalar tB;
btVector3 translation = witnessPointB-witnessPointA;
btVector3 dirA = worldEdgeA;
btVector3 dirB = worldEdgeB;
btScalar hlenB = 1e30f;
btScalar hlenA = 1e30f;
btSegmentsClosestPoints(ptsVector,offsetA,offsetB,tA,tB,
translation,
dirA, hlenA,
btVector3 ptsVector;
btVector3 offsetA;
btVector3 offsetB;
btScalar tA;
btScalar tB;
btVector3 translation = witnessPointB-witnessPointA;
btVector3 dirA = worldEdgeA;
btVector3 dirB = worldEdgeB;
btScalar hlenB = 1e30f;
btScalar hlenA = 1e30f;
btSegmentsClosestPoints(ptsVector,offsetA,offsetB,tA,tB,
translation,
dirA, hlenA,
dirB,hlenB);
btScalar nlSqrt = ptsVector.length2();