fix more warnings in BulletCollision, and fix CMakeLists for Linux

Demos3/AllBullet2Demos/CMakeLists.txt

@@ -6,7 +6,6 @@ INCLUDE_DIRECTORIES(
 	${BULLET_PHYSICS_SOURCE_DIR}/btgui/lua-5.2.3/src
 )
 
- 
 SET(App_AllBullet2Demos_SRCS
 	main.cpp
 	BulletDemoInterface.h
@@ -93,7 +92,13 @@ ELSE(WIN32)
                 MESSAGE(${COCOA})
                 link_libraries(${COCOA})
         ELSE(APPLE)
-		LINK_LIBRARIES( pthread GLEW)
+		ADD_DEFINITIONS("-DGLEW_INIT_OPENGL11_FUNCTIONS=1")
+		ADD_DEFINITIONS("-DGLEW_STATIC")
+	        ADD_DEFINITIONS("-DGLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1")
+		INCLUDE_DIRECTORIES(
+                                ${BULLET_PHYSICS_SOURCE_DIR}/btgui/OpenGLWindow/GlewWindows
+	        )
+		LINK_LIBRARIES( pthread dl)
 	ENDIF(APPLE)
 ENDIF(WIN32)
  

Demos3/GpuDemos/CMakeLists.txt

@@ -50,7 +50,16 @@ ELSE(WIN32)
                 MESSAGE(${COCOA})
                 link_libraries(${COCOA})
         ELSE(APPLE)
-		LINK_LIBRARIES( GLEW X11 pthread dl)
+		 SET(App_Bullet3_OpenCL_Demos_SRCS ${App_Bullet3_OpenCL_Demos_SRCS}  ${App_Bullet3_OpenCL_Demos_Common_SRCS} ../../btgui/OpenGLWindow/GlewWindows/glew.c)
+
+		 INCLUDE_DIRECTORIES(
+                                ${BULLET_PHYSICS_SOURCE_DIR}/btgui/OpenGLWindow/GlewWindows
+       		 )
+		ADD_DEFINITIONS("-DGLEW_INIT_OPENGL11_FUNCTIONS=1")
+                ADD_DEFINITIONS("-DGLEW_STATIC")
+                ADD_DEFINITIONS("-DGLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1")
+
+		LINK_LIBRARIES( X11 pthread dl)
 	ENDIF(APPLE)
 ENDIF(WIN32)
 

Demos3/SimpleOpenGL3/CMakeLists.txt

@@ -27,7 +27,15 @@ ELSE(WIN32)
 		MESSAGE(${COCOA})
 		link_libraries(${COCOA})
 	ELSE(APPLE)
-		LINK_LIBRARIES( GLEW X11 pthread dl Xext)
+
+                 INCLUDE_DIRECTORIES(
+                                ${BULLET_PHYSICS_SOURCE_DIR}/btgui/OpenGLWindow/GlewWindows
+                 )
+                ADD_DEFINITIONS("-DGLEW_INIT_OPENGL11_FUNCTIONS=1")
+                ADD_DEFINITIONS("-DGLEW_STATIC")
+                ADD_DEFINITIONS("-DGLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1")
+
+		LINK_LIBRARIES( X11 pthread dl Xext)
 	ENDIF(APPLE)
 ENDIF(WIN32)
 

btgui/OpenGLWindow/CMakeLists.txt

@@ -32,7 +32,14 @@ ENDIF(APPLE)
 
 #no Linux detection?
 IF(NOT WIN32 AND NOT APPLE)
-	SET(OpenGLWindow_SRCS ${OpenGLWindowLinux_CPP} ${OpenGLWindowCommon_CPP} )
+	INCLUDE_DIRECTORIES(
+                                ${BULLET_PHYSICS_SOURCE_DIR}/btgui/OpenGLWindow/GlewWindows
+        )
+        ADD_DEFINITIONS(-DGLEW_STATIC)
+	ADD_DEFINITIONS("-DGLEW_INIT_OPENGL11_FUNCTIONS=1")
+        ADD_DEFINITIONS("-DGLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1")
+
+	SET(OpenGLWindow_SRCS ${OpenGLWindowLinux_CPP} ${BULLET_PHYSICS_SOURCE_DIR}/btgui/OpenGLWindow/GlewWindows/glew.c ${OpenGLWindowCommon_CPP} )
 ENDIF()
 
 

src/BulletCollision/BroadphaseCollision/btDbvt.cpp

@@ -39,7 +39,8 @@ static DBVT_INLINE btDbvtVolume	merge(	const btDbvtVolume& a,
 {
 #if (DBVT_MERGE_IMPL==DBVT_IMPL_SSE)
 	ATTRIBUTE_ALIGNED16( char locals[sizeof(btDbvtAabbMm)]);
-	btDbvtVolume&	res=*(btDbvtVolume*)locals;
+	btDbvtVolume* ptr = (btDbvtVolume*) locals;
+	btDbvtVolume&	res=*ptr;
 #else
 		btDbvtVolume	res;
 #endif
@@ -250,7 +251,8 @@ static btDbvtVolume				bounds(	const tNodeArray& leaves)
 {
 #if DBVT_MERGE_IMPL==DBVT_IMPL_SSE
 	ATTRIBUTE_ALIGNED16(char	locals[sizeof(btDbvtVolume)]);
-	btDbvtVolume&	volume=*(btDbvtVolume*)locals;
+	btDbvtVolume* ptr = (btDbvtVolume*) locals;
+	btDbvtVolume&	volume=*ptr;
 	volume=leaves[0]->volume;
 #else
 	btDbvtVolume volume=leaves[0]->volume;

src/BulletCollision/CollisionDispatch/btCollisionObject.cpp

@@ -31,11 +31,10 @@ btCollisionObject::btCollisionObject()
 		m_activationState1(1),
 		m_deactivationTime(btScalar(0.)),
 		m_friction(btScalar(0.5)),
-		m_rollingFriction(0.0f),
 		m_restitution(btScalar(0.)),
+		m_rollingFriction(0.0f),
 		m_internalType(CO_COLLISION_OBJECT),
 		m_userObjectPointer(0),
-        m_userIndex(-1),
 		m_hitFraction(btScalar(1.)),
 		m_ccdSweptSphereRadius(btScalar(0.)),
 		m_ccdMotionThreshold(btScalar(0.)),

src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp

@@ -292,7 +292,7 @@ void	btCollisionWorld::rayTestSingleInternal(const btTransform& rayFromTrans,con
 		btGjkConvexCast	gjkConvexCaster(castShape,convexShape,&simplexSolver);
 		
 		//btContinuousConvexCollision convexCaster(castShape,convexShape,&simplexSolver,0);
-		bool condition = true;
+
 		btConvexCast* convexCasterPtr = 0;
 		//use kF_UseSubSimplexConvexCastRaytest by default
 		if (resultCallback.m_flags & btTriangleRaycastCallback::kF_UseGjkConvexCastRaytest)
@@ -1245,7 +1245,10 @@ public:
 void btCollisionWorld::debugDrawObject(const btTransform& worldTransform, const btCollisionShape* shape, const btVector3& color)
 {
 	// Draw a small simplex at the center of the object
+	if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawFrames)
+	{
 		getDebugDrawer()->drawTransform(worldTransform,1);
+	}
 
 	if (shape->getShapeType() == COMPOUND_SHAPE_PROXYTYPE)
 	{

src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp

@@ -123,7 +123,7 @@ public:
 
 		//backup
 		btTransform	orgTrans = m_compoundColObjWrap->getWorldTransform();
-		btTransform	orgInterpolationTrans = m_compoundColObjWrap->getWorldTransform();
+		
 		const btTransform& childTrans = compoundShape->getChildTransform(index);
 		btTransform	newChildWorldTrans = orgTrans*childTrans ;
 
@@ -294,7 +294,7 @@ void btCompoundCollisionAlgorithm::processCollision (const btCollisionObjectWrap
 		btManifoldArray	manifoldArray;
         const btCollisionShape* childShape = 0;
         btTransform	orgTrans;
-        btTransform	orgInterpolationTrans;
+        
         btTransform	newChildWorldTrans;
         btVector3 aabbMin0,aabbMax0,aabbMin1,aabbMax1;        
         
@@ -305,7 +305,7 @@ void btCompoundCollisionAlgorithm::processCollision (const btCollisionObjectWrap
 				childShape = compoundShape->getChildShape(i);
 			//if not longer overlapping, remove the algorithm
 				orgTrans = colObjWrap->getWorldTransform();
-                orgInterpolationTrans = colObjWrap->getWorldTransform();
+                
 				const btTransform& childTrans = compoundShape->getChildTransform(i);
                 newChildWorldTrans = orgTrans*childTrans ;
 

src/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp

@@ -112,10 +112,9 @@ struct	btCompoundCompoundLeafCallback : btDbvt::ICollide
 									btManifoldResult*	resultOut,
 									btHashedSimplePairCache* childAlgorithmsCache,
 									btPersistentManifold*	sharedManifold)
-		:m_compound0ColObjWrap(compound1ObjWrap),m_compound1ColObjWrap(compound0ObjWrap),m_dispatcher(dispatcher),m_dispatchInfo(dispatchInfo),m_resultOut(resultOut),
+		:m_numOverlapPairs(0),m_compound0ColObjWrap(compound1ObjWrap),m_compound1ColObjWrap(compound0ObjWrap),m_dispatcher(dispatcher),m_dispatchInfo(dispatchInfo),m_resultOut(resultOut),
 		m_childCollisionAlgorithmCache(childAlgorithmsCache),
-		m_sharedManifold(sharedManifold),
+		m_sharedManifold(sharedManifold)
-		m_numOverlapPairs(0)
 	{
 
 	}

src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp

@@ -88,20 +88,19 @@ partId, int triangleIndex)
         //just for debugging purposes
         //printf("triangle %d",m_triangleCount++);
 
-        const btCollisionObject* ob = const_cast<btCollisionObject*>(m_triBodyWrap->getCollisionObject());
+
 
 	btCollisionAlgorithmConstructionInfo ci;
 	ci.m_dispatcher1 = m_dispatcher;
 
-	//const btCollisionObject* ob = static_cast<btCollisionObject*>(m_triBodyWrap->getCollisionObject());
-
-	
 
 
 #if 0	
+	
 	///debug drawing of the overlapping triangles
 	if (m_dispatchInfoPtr && m_dispatchInfoPtr->m_debugDraw && (m_dispatchInfoPtr->m_debugDraw->getDebugMode() &btIDebugDraw::DBG_DrawWireframe ))
 	{
+		const btCollisionObject* ob = const_cast<btCollisionObject*>(m_triBodyWrap->getCollisionObject());
 		btVector3 color(1,1,0);
 		btTransform& tr = ob->getWorldTransform();
 		m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[0]),tr(triangle[1]),color);

src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp

@@ -105,8 +105,7 @@ btDefaultCollisionConfiguration::btDefaultCollisionConfiguration(const btDefault
 	int maxSize = sizeof(btConvexConvexAlgorithm);
 	int maxSize2 = sizeof(btConvexConcaveCollisionAlgorithm);
 	int maxSize3 = sizeof(btCompoundCollisionAlgorithm);
-	int sl = sizeof(btConvexSeparatingDistanceUtil);
+
-	sl = sizeof(btGjkPairDetector);
 	int	collisionAlgorithmMaxElementSize = btMax(maxSize,constructionInfo.m_customCollisionAlgorithmMaxElementSize);
 	collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize2);
 	collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize3);

src/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp

@@ -114,7 +114,6 @@ struct btConnectivityProcessor : public btTriangleCallback
 			if(numshared >= 3)
 				return;
 		}
-		
 		switch (numshared)
 		{
 		case 0:
@@ -203,6 +202,7 @@ struct btConnectivityProcessor : public btTriangleCallback
 					ang4 = 0.f;
 				} else
 				{
+
 					calculatedEdge.normalize();
 					btVector3 calculatedNormalA = calculatedEdge.cross(edgeCrossA);
 					calculatedNormalA.normalize();
@@ -213,7 +213,7 @@ struct btConnectivityProcessor : public btTriangleCallback
 					isConvex = (dotA<0.);
 
 					correctedAngle = isConvex ? ang4 : -ang4;
-					btQuaternion orn2 = btQuaternion(btVector3(calculatedEdge.x(), calculatedEdge.y(), calculatedEdge.z()),-correctedAngle);
+					btQuaternion orn2(calculatedEdge,-correctedAngle);
 					calculatedNormalB = btMatrix3x3(orn2)*normalA;
 
 
@@ -301,6 +301,11 @@ struct btConnectivityProcessor : public btTriangleCallback
 
 				break;
 			}
+		default:
+			{
+				//				printf("warning: duplicate triangle\n");
+			}
+
 		}
 	}
 };

src/BulletCollision/CollisionShapes/btCollisionShape.h

@@ -28,18 +28,14 @@ ATTRIBUTE_ALIGNED16(class) btCollisionShape
 {
 protected:
 	int m_shapeType;
-
-	union
-	{
 	void* m_userPointer;
 	int m_userIndex;
-	};
 
 public:
 
 	BT_DECLARE_ALIGNED_ALLOCATOR();
 
-	btCollisionShape() : m_shapeType (INVALID_SHAPE_PROXYTYPE), m_userPointer(0)
+	btCollisionShape() : m_shapeType (INVALID_SHAPE_PROXYTYPE), m_userPointer(0), m_userIndex(-1)
 	{
 	}
 
@@ -135,7 +131,6 @@ public:
 	{
 		return m_userPointer;
 	}
-
 	void setUserIndex(int index)
 	{
 		m_userIndex = index;
@@ -146,6 +141,7 @@ public:
 		return m_userIndex;
 	}
 
+
 	virtual	int	calculateSerializeBufferSize() const;
 
 	///fills the dataBuffer and returns the struct name (and 0 on failure)

src/BulletCollision/CollisionShapes/btCompoundShape.cpp

@@ -303,7 +303,7 @@ void btCompoundShape::createAabbTreeFromChildren()
         m_dynamicAabbTree = new(mem) btDbvt();
         btAssert(mem==m_dynamicAabbTree);
 
-        for ( size_t index = 0; index < m_children.size(); index++ )
+        for ( int index = 0; index < m_children.size(); index++ )
         {
             btCompoundShapeChild &child = m_children[index];
 
@@ -312,7 +312,8 @@ void btCompoundShape::createAabbTreeFromChildren()
             child.m_childShape->getAabb(child.m_transform,localAabbMin,localAabbMax);
 
             const btDbvtVolume  bounds=btDbvtVolume::FromMM(localAabbMin,localAabbMax);
-            child.m_node = m_dynamicAabbTree->insert(bounds, reinterpret_cast<void*>(index) );
+			size_t index2 = index;
+            child.m_node = m_dynamicAabbTree->insert(bounds, reinterpret_cast<void*>(index2) );
         }
     }
 }

src/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.cpp

@@ -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;

src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.h

@@ -21,7 +21,6 @@ subject to the following restrictions:
 struct btBroadphaseProxy;
 class btConvexShape;
 
-
 class  btTriangleRaycastCallback: public btTriangleCallback
 {
 public:

src/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp

@@ -65,10 +65,10 @@ bool	btSubsimplexConvexCast::calcTimeOfImpact(
 
 	btVector3 n;
 	n.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
-	bool hasResult = false;
+	
 	btVector3 c;
 
-	btScalar lastLambda = lambda;
+	
 
 
 	btScalar dist2 = v.length2();
@@ -109,9 +109,9 @@ bool	btSubsimplexConvexCast::calcTimeOfImpact(
 				//m_simplexSolver->reset();
 				//check next line
 				 w = supVertexA-supVertexB;
-				lastLambda = lambda;
+				
 				n = v;
-				hasResult = true;
+				
 			}
 		} 
 		///Just like regular GJK only add the vertex if it isn't already (close) to current vertex, it would lead to divisions by zero and NaN etc.
@@ -121,7 +121,7 @@ bool	btSubsimplexConvexCast::calcTimeOfImpact(
 		if (m_simplexSolver->closest(v))
 		{
 			dist2 = v.length2();
-			hasResult = true;
+			
 			//todo: check this normal for validity
 			//n=v;
 			//printf("V=%f , %f, %f\n",v[0],v[1],v[2]);