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

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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
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28
src/BulletDynamics/Featherstone/btMultiBody.cpp
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@@ -87,7 +87,10 @@ btMultiBody::btMultiBody(int n_links,
bool fixedBase,
bool canSleep,
bool multiDof)
: m_baseQuat(0, 0, 0, 1),
:
m_baseCollider(0),
m_basePos(0,0,0),
m_baseQuat(0, 0, 0, 1),
m_baseMass(mass),
m_baseInertia(inertia),
@@ -95,18 +98,19 @@ btMultiBody::btMultiBody(int n_links,
m_awake(true),
m_canSleep(canSleep),
m_sleepTimer(0),
m_baseCollider(0),
m_linearDamping(0.04f),
m_angularDamping(0.04f),
m_useGyroTerm(true),
m_maxAppliedImpulse(1000.f),
m_maxAppliedImpulse(1000.f),
m_maxCoordinateVelocity(100.f),
m_hasSelfCollision(true),
m_dofCount(0),
__posUpdated(false),
m_hasSelfCollision(true),
m_isMultiDof(multiDof),
__posUpdated(false),
m_dofCount(0),
m_posVarCnt(0),
m_useRK4(false), m_useGlobalVelocities(false)
m_useRK4(false),
m_useGlobalVelocities(false)
{
if(!m_isMultiDof)
@@ -119,7 +123,7 @@ btMultiBody::btMultiBody(int n_links,
m_links.resize(n_links);
m_matrixBuf.resize(n_links + 1);
m_basePos.setValue(0, 0, 0);
m_baseForce.setValue(0, 0, 0);
m_baseTorque.setValue(0, 0, 0);
}
@@ -1257,7 +1261,7 @@ void btMultiBody::stepVelocitiesMultiDof(btScalar dt,
zeroAccSpatFrc[i+1].addAngular(spatVel[i+1].getAngular().cross(m_baseInertia * spatVel[i+1].getAngular()));
//
zeroAccSpatFrc[i+1].addLinear(m_links[i].m_mass * spatVel[i+1].getAngular().cross(spatVel[i+1].getLinear()));
btVector3 temp = m_links[i].m_mass * spatVel[i+1].getAngular().cross(spatVel[i+1].getLinear());
//btVector3 temp = m_links[i].m_mass * spatVel[i+1].getAngular().cross(spatVel[i+1].getLinear());
////clamp parent's omega
//btScalar parOmegaMod = temp.length();
//btScalar parOmegaModMax = 1000;
@@ -2010,7 +2014,7 @@ void btMultiBody::calcAccelerationDeltasMultiDof(const btScalar *force, btScalar
{
for(int dof = 0; dof < m_links[i].m_dofCount; ++dof)
{
btScalar sdp = -SpatialDotProduct(m_links[i].getAxisTop(dof), m_links[i].getAxisBottom(dof), zeroAccForce[i+1], zeroAccTorque[i+1]);
//?? btScalar sdp = -SpatialDotProduct(m_links[i].getAxisTop(dof), m_links[i].getAxisBottom(dof), zeroAccForce[i+1], zeroAccTorque[i+1]);
Y[m_links[i].m_dofOffset + dof] = force[6 + m_links[i].m_dofOffset + dof]
- SpatialDotProduct(m_links[i].getAxisTop(dof), m_links[i].getAxisBottom(dof), zeroAccForce[i+1], zeroAccTorque[i+1])
@@ -2352,7 +2356,7 @@ void btMultiBody::calcAccelerationDeltas(const btScalar *force, btScalar *output
// 'Downward' loop.
for (int i = num_links - 1; i >= 0; --i)
{
btScalar sdp = -SpatialDotProduct(m_links[i].getAxisTop(0), m_links[i].getAxisBottom(0), zero_acc_top_angular[i+1], zero_acc_bottom_linear[i+1]);
// btScalar sdp = -SpatialDotProduct(m_links[i].getAxisTop(0), m_links[i].getAxisBottom(0), zero_acc_top_angular[i+1], zero_acc_bottom_linear[i+1]);
Y[i] = - SpatialDotProduct(m_links[i].getAxisTop(0), m_links[i].getAxisBottom(0), zero_acc_top_angular[i+1], zero_acc_bottom_linear[i+1]);
Y[i] += force[6 + i]; // add joint torque
@@ -2437,7 +2441,7 @@ void btMultiBody::calcAccelerationDeltas(const btScalar *force, btScalar *output
/////////////////
*/
int dummy = 0;
//int dummy = 0;
}
void btMultiBody::stepPositions(btScalar dt)