Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

remove a lot of warnings (more todo in demos and serialization code)

Browse Source
This commit is contained in:
Erwin Coumans
2014-08-22 10:29:05 -07:00
parent 37aa4dc4f8
commit af5883c6e8
62 changed files with 5469 additions and 5513 deletions
Download Patch File Download Diff File Expand all files Collapse all files

134
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
View File

@@ -4,8 +4,8 @@ Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
@@ -58,7 +58,7 @@ int firstHit=startHit;
SIMD_FORCE_INLINE int btGetConstraintIslandId(const btTypedConstraint* lhs)
{
int islandId;
const btCollisionObject& rcolObj0 = lhs->getRigidBodyA();
const btCollisionObject& rcolObj1 = lhs->getRigidBodyB();
islandId= rcolObj0.getIslandTag()>=0?rcolObj0.getIslandTag():rcolObj1.getIslandTag();
@@ -88,7 +88,7 @@ struct InplaceSolverIslandCallback : public btSimulationIslandManager::IslandCal
int m_numConstraints;
btIDebugDraw* m_debugDrawer;
btDispatcher* m_dispatcher;
btAlignedObjectArray<btCollisionObject*> m_bodies;
btAlignedObjectArray<btPersistentManifold*> m_manifolds;
btAlignedObjectArray<btTypedConstraint*> m_constraints;
@@ -127,7 +127,7 @@ struct InplaceSolverIslandCallback : public btSimulationIslandManager::IslandCal
m_constraints.resize (0);
}
virtual void processIsland(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifolds,int numManifolds, int islandId)
{
if (islandId<0)
@@ -140,7 +140,7 @@ struct InplaceSolverIslandCallback : public btSimulationIslandManager::IslandCal
btTypedConstraint** startConstraint = 0;
int numCurConstraints = 0;
int i;
//find the first constraint for this island
for (i=0;i<m_numConstraints;i++)
{
@@ -164,7 +164,7 @@ struct InplaceSolverIslandCallback : public btSimulationIslandManager::IslandCal
m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,startConstraint,numCurConstraints,*m_solverInfo,m_debugDrawer,m_dispatcher);
} else
{
for (i=0;i<numBodies;i++)
m_bodies.push_back(bodies[i]);
for (i=0;i<numManifolds;i++)
@@ -187,7 +187,7 @@ struct InplaceSolverIslandCallback : public btSimulationIslandManager::IslandCal
btCollisionObject** bodies = m_bodies.size()? &m_bodies[0]:0;
btPersistentManifold** manifold = m_manifolds.size()?&m_manifolds[0]:0;
btTypedConstraint** constraints = m_constraints.size()?&m_constraints[0]:0;
m_solver->solveGroup( bodies,m_bodies.size(),manifold, m_manifolds.size(),constraints, m_constraints.size() ,*m_solverInfo,m_debugDrawer,m_dispatcher);
m_bodies.resize(0);
m_manifolds.resize(0);
@@ -206,10 +206,10 @@ m_solverIslandCallback ( NULL ),
m_constraintSolver(constraintSolver),
m_gravity(0,-10,0),
m_localTime(0),
m_fixedTimeStep(0),
m_synchronizeAllMotionStates(false),
m_applySpeculativeContactRestitution(false),
m_profileTimings(0),
m_fixedTimeStep(0),
m_latencyMotionStateInterpolation(true)
{
@@ -332,7 +332,7 @@ void btDiscreteDynamicsWorld::clearForces()
//it might break backward compatibility (people applying forces on sleeping objects get never cleared and accumulate on wake-up
body->clearForces();
}
}
}
///apply gravity, call this once per timestep
void btDiscreteDynamicsWorld::applyGravity()
@@ -448,7 +448,7 @@ int btDiscreteDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps,
applyGravity();
for (int i=0;i<clampedSimulationSteps;i++)
{
@@ -466,18 +466,18 @@ int btDiscreteDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps,
#ifndef BT_NO_PROFILE
CProfileManager::Increment_Frame_Counter();
#endif //BT_NO_PROFILE
return numSimulationSubSteps;
}
void btDiscreteDynamicsWorld::internalSingleStepSimulation(btScalar timeStep)
{
BT_PROFILE("internalSingleStepSimulation");
if(0 != m_internalPreTickCallback) {
(*m_internalPreTickCallback)(this, timeStep);
}
}
///apply gravity, predict motion
predictUnconstraintMotion(timeStep);
@@ -490,20 +490,20 @@ void btDiscreteDynamicsWorld::internalSingleStepSimulation(btScalar timeStep)
createPredictiveContacts(timeStep);
///perform collision detection
performDiscreteCollisionDetection();
calculateSimulationIslands();
getSolverInfo().m_timeStep = timeStep;
///solve contact and other joint constraints
solveConstraints(getSolverInfo());
///CallbackTriggers();
///integrate transforms
@@ -512,12 +512,12 @@ void btDiscreteDynamicsWorld::internalSingleStepSimulation(btScalar timeStep)
///update vehicle simulation
updateActions(timeStep);
updateActivationState( timeStep );
if(0 != m_internalTickCallback) {
(*m_internalTickCallback)(this, timeStep);
}
}
}
void btDiscreteDynamicsWorld::setGravity(const btVector3& gravity)
@@ -609,14 +609,14 @@ void btDiscreteDynamicsWorld::addRigidBody(btRigidBody* body, short group, short
void btDiscreteDynamicsWorld::updateActions(btScalar timeStep)
{
BT_PROFILE("updateActions");
for ( int i=0;i<m_actions.size();i++)
{
m_actions[i]->updateAction( this, timeStep);
}
}
void btDiscreteDynamicsWorld::updateActivationState(btScalar timeStep)
{
BT_PROFILE("updateActivationState");
@@ -637,7 +637,7 @@ void btDiscreteDynamicsWorld::updateActivationState(btScalar timeStep)
{
if (body->getActivationState() == ACTIVE_TAG)
body->setActivationState( WANTS_DEACTIVATION );
if (body->getActivationState() == ISLAND_SLEEPING)
if (body->getActivationState() == ISLAND_SLEEPING)
{
body->setAngularVelocity(btVector3(0,0,0));
body->setLinearVelocity(btVector3(0,0,0));
@@ -710,25 +710,25 @@ void btDiscreteDynamicsWorld::removeCharacter(btActionInterface* character)
void btDiscreteDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
{
BT_PROFILE("solveConstraints");
m_sortedConstraints.resize( m_constraints.size());
int i;
int i;
for (i=0;i<getNumConstraints();i++)
{
m_sortedConstraints[i] = m_constraints[i];
}
// btAssert(0);
m_sortedConstraints.quickSort(btSortConstraintOnIslandPredicate());
btTypedConstraint** constraintsPtr = getNumConstraints() ? &m_sortedConstraints[0] : 0;
m_solverIslandCallback->setup(&solverInfo,constraintsPtr,m_sortedConstraints.size(),getDebugDrawer());
m_constraintSolver->prepareSolve(getCollisionWorld()->getNumCollisionObjects(), getCollisionWorld()->getDispatcher()->getNumManifolds());
/// solve all the constraints for this island
m_islandManager->buildAndProcessIslands(getCollisionWorld()->getDispatcher(),getCollisionWorld(),m_solverIslandCallback);
@@ -749,10 +749,10 @@ void btDiscreteDynamicsWorld::calculateSimulationIslands()
for (int i=0;i<this->m_predictiveManifolds.size();i++)
{
btPersistentManifold* manifold = m_predictiveManifolds[i];
const btCollisionObject* colObj0 = manifold->getBody0();
const btCollisionObject* colObj1 = manifold->getBody1();
if (((colObj0) && (!(colObj0)->isStaticOrKinematicObject())) &&
((colObj1) && (!(colObj1)->isStaticOrKinematicObject())))
{
@@ -760,7 +760,7 @@ void btDiscreteDynamicsWorld::calculateSimulationIslands()
}
}
}
{
int i;
int numConstraints = int(m_constraints.size());
@@ -784,7 +784,7 @@ void btDiscreteDynamicsWorld::calculateSimulationIslands()
//Store the island id in each body
getSimulationIslandManager()->storeIslandActivationState(getCollisionWorld());
}
@@ -800,7 +800,7 @@ public:
btDispatcher* m_dispatcher;
public:
btClosestNotMeConvexResultCallback (btCollisionObject* me,const btVector3& fromA,const btVector3& toA,btOverlappingPairCache* pairCache,btDispatcher* dispatcher) :
btClosestNotMeConvexResultCallback (btCollisionObject* me,const btVector3& fromA,const btVector3& toA,btOverlappingPairCache* pairCache,btDispatcher* dispatcher) :
btCollisionWorld::ClosestConvexResultCallback(fromA,toA),
m_me(me),
m_allowedPenetration(0.0f),
@@ -880,7 +880,7 @@ int gNumClampedCcdMotions=0;
void btDiscreteDynamicsWorld::createPredictiveContacts(btScalar timeStep)
{
BT_PROFILE("createPredictiveContacts");
{
BT_PROFILE("release predictive contact manifolds");
@@ -902,7 +902,7 @@ void btDiscreteDynamicsWorld::createPredictiveContacts(btScalar timeStep)
{
body->predictIntegratedTransform(timeStep, predictedTrans);
btScalar squareMotion = (predictedTrans.getOrigin()-body->getWorldTransform().getOrigin()).length2();
if (getDispatchInfo().m_useContinuous && body->getCcdSquareMotionThreshold() && body->getCcdSquareMotionThreshold() < squareMotion)
@@ -916,7 +916,7 @@ void btDiscreteDynamicsWorld::createPredictiveContacts(btScalar timeStep)
{
public:
StaticOnlyCallback (btCollisionObject* me,const btVector3& fromA,const btVector3& toA,btOverlappingPairCache* pairCache,btDispatcher* dispatcher) :
StaticOnlyCallback (btCollisionObject* me,const btVector3& fromA,const btVector3& toA,btOverlappingPairCache* pairCache,btDispatcher* dispatcher) :
btClosestNotMeConvexResultCallback(me,fromA,toA,pairCache,dispatcher)
{
}
@@ -946,14 +946,14 @@ void btDiscreteDynamicsWorld::createPredictiveContacts(btScalar timeStep)
convexSweepTest(&tmpSphere,body->getWorldTransform(),modifiedPredictedTrans,sweepResults);
if (sweepResults.hasHit() && (sweepResults.m_closestHitFraction < 1.f))
{
btVector3 distVec = (predictedTrans.getOrigin()-body->getWorldTransform().getOrigin())*sweepResults.m_closestHitFraction;
btScalar distance = distVec.dot(-sweepResults.m_hitNormalWorld);
btPersistentManifold* manifold = m_dispatcher1->getNewManifold(body,sweepResults.m_hitCollisionObject);
m_predictiveManifolds.push_back(manifold);
btVector3 worldPointB = body->getWorldTransform().getOrigin()+distVec;
btVector3 localPointB = sweepResults.m_hitCollisionObject->getWorldTransform().inverse()*worldPointB;
@@ -986,10 +986,10 @@ void btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep)
{
body->predictIntegratedTransform(timeStep, predictedTrans);
btScalar squareMotion = (predictedTrans.getOrigin()-body->getWorldTransform().getOrigin()).length2();
if (getDispatchInfo().m_useContinuous && body->getCcdSquareMotionThreshold() && body->getCcdSquareMotionThreshold() < squareMotion)
{
@@ -1002,7 +1002,7 @@ void btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep)
{
public:
StaticOnlyCallback (btCollisionObject* me,const btVector3& fromA,const btVector3& toA,btOverlappingPairCache* pairCache,btDispatcher* dispatcher) :
StaticOnlyCallback (btCollisionObject* me,const btVector3& fromA,const btVector3& toA,btOverlappingPairCache* pairCache,btDispatcher* dispatcher) :
btClosestNotMeConvexResultCallback(me,fromA,toA,pairCache,dispatcher)
{
}
@@ -1032,7 +1032,7 @@ void btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep)
convexSweepTest(&tmpSphere,body->getWorldTransform(),modifiedPredictedTrans,sweepResults);
if (sweepResults.hasHit() && (sweepResults.m_closestHitFraction < 1.f))
{
//printf("clamped integration to hit fraction = %f\n",fraction);
body->setHitFraction(sweepResults.m_closestHitFraction);
body->predictIntegratedTransform(timeStep*body->getHitFraction(), predictedTrans);
@@ -1057,13 +1057,13 @@ void btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep)
printf("sm2=%f\n",sm2);
}
#else
//don't apply the collision response right now, it will happen next frame
//if you really need to, you can uncomment next 3 lines. Note that is uses zero restitution.
//btScalar appliedImpulse = 0.f;
//btScalar depth = 0.f;
//appliedImpulse = resolveSingleCollision(body,(btCollisionObject*)sweepResults.m_hitCollisionObject,sweepResults.m_hitPointWorld,sweepResults.m_hitNormalWorld,getSolverInfo(), depth);
#endif
@@ -1071,10 +1071,10 @@ void btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep)
}
}
}
body->proceedToTransform( predictedTrans);
}
}
@@ -1088,7 +1088,7 @@ void btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep)
btPersistentManifold* manifold = m_predictiveManifolds[i];
btRigidBody* body0 = btRigidBody::upcast((btCollisionObject*)manifold->getBody0());
btRigidBody* body1 = btRigidBody::upcast((btCollisionObject*)manifold->getBody1());
for (int p=0;p<manifold->getNumContacts();p++)
{
const btManifoldPoint& pt = manifold->getContactPoint(p);
@@ -1098,11 +1098,11 @@ void btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep)
//if (pt.getDistance()>0 && combinedRestitution>0 && pt.m_appliedImpulse != 0.f)
{
btVector3 imp = -pt.m_normalWorldOnB * pt.m_appliedImpulse* combinedRestitution;
const btVector3& pos1 = pt.getPositionWorldOnA();
const btVector3& pos2 = pt.getPositionWorldOnB();
btVector3 rel_pos0 = pos1 - body0->getWorldTransform().getOrigin();
btVector3 rel_pos0 = pos1 - body0->getWorldTransform().getOrigin();
btVector3 rel_pos1 = pos2 - body1->getWorldTransform().getOrigin();
if (body0)
@@ -1113,7 +1113,7 @@ void btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep)
}
}
}
}
@@ -1152,7 +1152,7 @@ void btDiscreteDynamicsWorld::startProfiling(btScalar timeStep)
void btDiscreteDynamicsWorld::debugDrawConstraint(btTypedConstraint* constraint)
{
@@ -1172,12 +1172,12 @@ void btDiscreteDynamicsWorld::debugDrawConstraint(btTypedConstraint* constraint)
btTransform tr;
tr.setIdentity();
btVector3 pivot = p2pC->getPivotInA();
pivot = p2pC->getRigidBodyA().getCenterOfMassTransform() * pivot;
pivot = p2pC->getRigidBodyA().getCenterOfMassTransform() * pivot;
tr.setOrigin(pivot);
getDebugDrawer()->drawTransform(tr, dbgDrawSize);
// that ideally should draw the same frame
// that ideally should draw the same frame
pivot = p2pC->getPivotInB();
pivot = p2pC->getRigidBodyB().getCenterOfMassTransform() * pivot;
pivot = p2pC->getRigidBodyB().getCenterOfMassTransform() * pivot;
tr.setOrigin(pivot);
if(drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize);
}
@@ -1196,13 +1196,13 @@ void btDiscreteDynamicsWorld::debugDrawConstraint(btTypedConstraint* constraint)
break;
}
bool drawSect = true;
if(minAng > maxAng)
if(!pHinge->hasLimit())
{
minAng = btScalar(0.f);
maxAng = SIMD_2_PI;
drawSect = false;
}
if(drawLimits)
if(drawLimits)
{
btVector3& center = tr.getOrigin();
btVector3 normal = tr.getBasis().getColumn(2);
@@ -1237,7 +1237,7 @@ void btDiscreteDynamicsWorld::debugDrawConstraint(btTypedConstraint* constraint)
getDebugDrawer()->drawLine(tr.getOrigin(), pCur, btVector3(0,0,0));
pPrev = pCur;
}
}
btScalar tws = pCT->getTwistSpan();
btScalar twa = pCT->getTwistAngle();
bool useFrameB = (pCT->getRigidBodyB().getInvMass() > btScalar(0.f));
@@ -1265,7 +1265,7 @@ void btDiscreteDynamicsWorld::debugDrawConstraint(btTypedConstraint* constraint)
if(drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize);
tr = p6DOF->getCalculatedTransformB();
if(drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize);
if(drawLimits)
if(drawLimits)
{
tr = p6DOF->getCalculatedTransformA();
const btVector3& center = p6DOF->getCalculatedTransformB().getOrigin();
@@ -1328,7 +1328,7 @@ void btDiscreteDynamicsWorld::debugDrawConstraint(btTypedConstraint* constraint)
}
}
break;
default :
default :
break;
}
return;
@@ -1428,19 +1428,19 @@ void btDiscreteDynamicsWorld::serializeDynamicsWorldInfo(btSerializer* serialize
worldInfo->m_solverInfo.m_globalCfm = getSolverInfo().m_globalCfm;
worldInfo->m_solverInfo.m_splitImpulsePenetrationThreshold = getSolverInfo().m_splitImpulsePenetrationThreshold;
worldInfo->m_solverInfo.m_splitImpulseTurnErp = getSolverInfo().m_splitImpulseTurnErp;
worldInfo->m_solverInfo.m_linearSlop = getSolverInfo().m_linearSlop;
worldInfo->m_solverInfo.m_warmstartingFactor = getSolverInfo().m_warmstartingFactor;
worldInfo->m_solverInfo.m_maxGyroscopicForce = getSolverInfo().m_maxGyroscopicForce;
worldInfo->m_solverInfo.m_singleAxisRollingFrictionThreshold = getSolverInfo().m_singleAxisRollingFrictionThreshold;
worldInfo->m_solverInfo.m_numIterations = getSolverInfo().m_numIterations;
worldInfo->m_solverInfo.m_solverMode = getSolverInfo().m_solverMode;
worldInfo->m_solverInfo.m_restingContactRestitutionThreshold = getSolverInfo().m_restingContactRestitutionThreshold;
worldInfo->m_solverInfo.m_minimumSolverBatchSize = getSolverInfo().m_minimumSolverBatchSize;
worldInfo->m_solverInfo.m_splitImpulse = getSolverInfo().m_splitImpulse;
#ifdef BT_USE_DOUBLE_PRECISION
const char* structType = "btDynamicsWorldDoubleData";
#else//BT_USE_DOUBLE_PRECISION