Merge pull request #475 from erwincoumans/master

fix some warnings, re-enable ground in URDF import example, fix COLLADA up axis issue in URDF collision element

Extras/Serialize/BulletFileLoader/bFile.cpp

@@ -1224,7 +1224,7 @@ void bFile::resolvePointersMismatch()
 				int p = 0;
 				while (blockLen-- > 0)
 				{
-					btPointerUid dp = {0};
+					btPointerUid dp = {{0}};
 					safeSwapPtr((char*)dp.m_uniqueIds, oldPtr);
 
 					void **tptr = (void**)(newPtr + p * ptrMem);

examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp

@@ -742,7 +742,8 @@ btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, co
 			
 									//compensate upAxisTrans and unitMeterScaling here
 									btMatrix4x4 upAxisMat;
-									upAxisMat.setPureRotation(upAxisTrans.getRotation());
+                                    upAxisMat.setIdentity();
+									//upAxisMat.setPureRotation(upAxisTrans.getRotation());
 									btMatrix4x4 unitMeterScalingMat;
 									unitMeterScalingMat.setPureScaling(btVector3(unitMeterScaling,unitMeterScaling,unitMeterScaling));
 									btMatrix4x4 worldMat = unitMeterScalingMat*instance->m_worldTransform*upAxisMat;
@@ -851,10 +852,8 @@ int BulletURDFImporter::convertLinkVisualShapes(int linkIndex, const char* pathP
 		for (int v = 0; v < link->m_visualArray.size();v++)
 		{
 			const UrdfVisual& vis = link->m_visualArray[v];
-			btTransform childTrans = vis.m_linkLocalFrame;
+            		btTransform childTrans = vis.m_linkLocalFrame;
-		
 			convertURDFToVisualShape(&vis, pathPrefix, inertialFrame.inverse()*childTrans, vertices, indices);
-			
 		}
 	}
 #endif
@@ -909,8 +908,7 @@ int BulletURDFImporter::convertLinkVisualShapes(int linkIndex, const char* pathP
 				btTransform childTrans = col.m_linkLocalFrame;
 				
 				compoundShape->addChildShape(localInertiaFrame.inverse()*childTrans,childShape);
-				
+           		}
-			}
 		}
 	}
 

examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp

@@ -185,7 +185,7 @@ void ImportUrdfSetup::initPhysics()
 {
 
 	int upAxis = 2;
-	m_guiHelper->setUpAxis(2);
+	m_guiHelper->setUpAxis(upAxis);
 
 	this->createEmptyDynamicsWorld();
 	//m_dynamicsWorld->getSolverInfo().m_numIterations = 100;
@@ -356,7 +356,7 @@ void ImportUrdfSetup::initPhysics()
 
 
 
-		bool createGround=false;
+		bool createGround=true;
 		if (createGround)
 		{
 			btVector3 groundHalfExtents(20,20,20);

examples/OpenGLWindow/GLInstancingRenderer.cpp

@@ -1409,10 +1409,10 @@ void GLInstancingRenderer::renderSceneInternal(int renderMode)
 	b3Matrix4x4Mul(depthProjectionMatrix,depthModelViewMatrix,depthMVP);
 
 	GLfloat biasMatrix[4][4]={
-			0.5, 0.0, 0.0, 0.0,
+			{ 0.5, 0.0, 0.0, 0.0 },
-			0.0, 0.5, 0.0, 0.0,
+			{ 0.0, 0.5, 0.0, 0.0 },
-			0.0, 0.0, 0.5, 0.0,
+			{ 0.0, 0.0, 0.5, 0.0 },
-			0.5, 0.5, 0.5, 1.0
+			{ 0.5, 0.5, 0.5, 1.0 }
 	};
 
 	GLfloat depthBiasMVP[4][4];

examples/ThirdPartyLibs/Gwen/BaseRender.h

@@ -106,7 +106,6 @@ namespace Gwen
 			private:
 
 				Gwen::Rect m_rectClipRegion;
-				ICacheToTexture* m_RTT;
 
 			public:
 				

src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp

@@ -34,7 +34,6 @@ int gFindPairs =0;
 
 btHashedOverlappingPairCache::btHashedOverlappingPairCache():
 	m_overlapFilterCallback(0),
-	m_blockedForChanges(false),
 	m_ghostPairCallback(0)
 {
 	int initialAllocatedSize= 2;

src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h

@@ -94,7 +94,6 @@ class btHashedOverlappingPairCache : public btOverlappingPairCache
 {
 	btBroadphasePairArray	m_overlappingPairArray;
 	btOverlapFilterCallback* m_overlapFilterCallback;
-	bool		m_blockedForChanges;
 
 protected:
 	

src/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.cpp

@@ -47,8 +47,6 @@ subject to the following restrictions:
 
 btConvex2dConvex2dAlgorithm::CreateFunc::CreateFunc(btSimplexSolverInterface*			simplexSolver, btConvexPenetrationDepthSolver* pdSolver)
 {
-	m_numPerturbationIterations = 0;
-	m_minimumPointsPerturbationThreshold = 3;
 	m_simplexSolver = simplexSolver;
 	m_pdSolver = pdSolver;
 }
@@ -57,15 +55,13 @@ btConvex2dConvex2dAlgorithm::CreateFunc::~CreateFunc()
 { 
 }
 
-btConvex2dConvex2dAlgorithm::btConvex2dConvex2dAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver,int numPerturbationIterations, int minimumPointsPerturbationThreshold)
+btConvex2dConvex2dAlgorithm::btConvex2dConvex2dAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver,int /* numPerturbationIterations */, int /* minimumPointsPerturbationThreshold */)
 : btActivatingCollisionAlgorithm(ci,body0Wrap,body1Wrap),
 m_simplexSolver(simplexSolver),
 m_pdSolver(pdSolver),
 m_ownManifold (false),
 m_manifoldPtr(mf),
-m_lowLevelOfDetail(false),
+m_lowLevelOfDetail(false)
- m_numPerturbationIterations(numPerturbationIterations),
-m_minimumPointsPerturbationThreshold(minimumPointsPerturbationThreshold)
 {
 	(void)body0Wrap;
 	(void)body1Wrap;

src/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.h

@@ -40,9 +40,6 @@ class btConvex2dConvex2dAlgorithm : public btActivatingCollisionAlgorithm
 	btPersistentManifold*	m_manifoldPtr;
 	bool			m_lowLevelOfDetail;
 	
-	int m_numPerturbationIterations;
-	int m_minimumPointsPerturbationThreshold;
-
 public:
 
 	btConvex2dConvex2dAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold);

src/BulletCollision/CollisionDispatch/btHashedSimplePairCache.cpp

@@ -28,9 +28,7 @@ int gFindSimplePairs =0;
 
 
 
-btHashedSimplePairCache::btHashedSimplePairCache():
+btHashedSimplePairCache::btHashedSimplePairCache() {
-	m_blockedForChanges(false)
-{
 	int initialAllocatedSize= 2;
 	m_overlappingPairArray.reserve(initialAllocatedSize);
 	growTables();

src/BulletCollision/CollisionDispatch/btHashedSimplePairCache.h

@@ -56,8 +56,6 @@ class btHashedSimplePairCache
 {
 	btSimplePairArray	m_overlappingPairArray;
 		
-	bool		m_blockedForChanges;
-	
 
 protected:
 	

src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h

@@ -39,7 +39,11 @@ ATTRIBUTE_ALIGNED16(class) btBvhTriangleMeshShape : public btTriangleMeshShape
 
 	bool m_useQuantizedAabbCompression;
 	bool m_ownsBvh;
+#ifdef __clang__
+	bool m_pad[11] __attribute__((unused));////need padding due to alignment
+#else
 	bool m_pad[11];////need padding due to alignment
+#endif
 
 public:
 

src/BulletCollision/CollisionShapes/btConvexPolyhedron.cpp

@@ -21,6 +21,7 @@ subject to the following restrictions:
 #include "btConvexPolyhedron.h"
 #include "LinearMath/btHashMap.h"
 
+
 btConvexPolyhedron::btConvexPolyhedron()
 {
 
@@ -33,7 +34,7 @@ btConvexPolyhedron::~btConvexPolyhedron()
 
 inline bool IsAlmostZero(const btVector3& v)
 {
-	if(fabsf(v.x())>1e-6 || fabsf(v.y())>1e-6 || fabsf(v.z())>1e-6)	return false;
+	if(btFabs(v.x())>1e-6 || btFabs(v.y())>1e-6 || btFabs(v.z())>1e-6)	return false;
 	return true;
 }
 

src/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.h

@@ -25,7 +25,6 @@ subject to the following restrictions:
 ATTRIBUTE_ALIGNED16(class) btMultimaterialTriangleMeshShape : public btBvhTriangleMeshShape
 {
     btAlignedObjectArray <btMaterial*> m_materialList;
-    int ** m_triangleMaterials;
 
 public:
 

src/BulletDynamics/Vehicle/btRaycastVehicle.h

@@ -58,8 +58,6 @@ public:
 		};
 private:
 
-	btScalar	m_tau;
-	btScalar	m_damping;
 	btVehicleRaycaster*	m_vehicleRaycaster;
 	btScalar		m_pitchControl;
 	btScalar	m_steeringValue;