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

Demos3/AllBullet2Demos/BulletDemoEntries.h

@@ -126,9 +126,13 @@ static int loadCurrentDemoEntry(const char* startFileName)
 	{
 		int result;
 		result = fscanf(f,"%d",&currentEntry);
+		if (result)
+		{
+			return currentEntry;
+		}
 		fclose(f);
 	}
-	return currentEntry;
+	return 0;
 };
 
 #endif//BULLET_DEMO_ENTRIES_H

Demos3/AllBullet2Demos/GraphingTexture.cpp

@@ -14,7 +14,7 @@ GraphingTexture::~GraphingTexture()
 	destroy();
 }
 
-bool GraphingTexture::destroy()
+void GraphingTexture::destroy()
 {
 	//TODO(erwincoumans) release memory etc...
 	m_width = 0;
@@ -58,21 +58,18 @@ bool GraphingTexture::create(int texWidth, int texHeight)
 	glGenTextures(1,(GLuint*)&m_textureId);
 	
 	uploadImageData();
+	return true;
 }
 
 void GraphingTexture::uploadImageData()
 {
 	glBindTexture(GL_TEXTURE_2D,m_textureId);
-	GLint err = glGetError();
+	assert(glGetError()==GL_NO_ERROR);
-	assert(err==GL_NO_ERROR);
 	
-	err = glGetError();
-	assert(err==GL_NO_ERROR);
 	glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, m_width,m_height,0,GL_RGBA,GL_UNSIGNED_BYTE,&m_imageData[0]);
 	glGenerateMipmap(GL_TEXTURE_2D);
 	
-	err = glGetError();
+	assert(glGetError()==GL_NO_ERROR);
-	assert(err==GL_NO_ERROR);
 	
 	
 }

Demos3/AllBullet2Demos/GraphingTexture.h

@@ -14,7 +14,7 @@ struct GraphingTexture
 	virtual ~GraphingTexture();
 	
 	bool create(int texWidth, int texHeight);
-	bool destroy();
+	void  destroy();
 	
 	void setPixel(int x, int y, unsigned char red, unsigned char green, unsigned char blue, unsigned char alpha)
 	{

Demos3/AllBullet2Demos/GwenParameterInterface.cpp

@@ -124,7 +124,7 @@ void GwenParameterInterface::registerSliderFloatParameter(SliderParams& params)
 
 	pSlider->onValueChanged.Add( handler, &MySliderEventHandler<btScalar>::SliderMoved );
 	handler->SliderMoved(pSlider);
-	float v = pSlider->GetValue();
+//	float v = pSlider->GetValue();
 	m_gwenInternalData->m_curYposition+=22;
 }
 

Demos3/AllBullet2Demos/GwenProfileWindow.cpp

@@ -27,7 +27,7 @@ protected:
 	
 	void SliderMoved(Gwen::Controls::Base* pControl )
 	{
-		Gwen::Controls::Slider* pSlider = (Gwen::Controls::Slider*)pControl;
+	//	Gwen::Controls::Slider* pSlider = (Gwen::Controls::Slider*)pControl;
 		//this->m_app->scaleYoungModulus(pSlider->GetValue());
 		//	printf("Slider Value: %.2f", pSlider->GetValue() );
 	}
@@ -35,8 +35,8 @@ protected:
 	
 	void	OnCheckChangedStiffnessWarping (Gwen::Controls::Base* pControl)
 	{
-		Gwen::Controls::CheckBox* labeled = (Gwen::Controls::CheckBox* )pControl;
+	//	Gwen::Controls::CheckBox* labeled = (Gwen::Controls::CheckBox* )pControl;
-		bool checked = labeled->IsChecked();
+//		bool checked = labeled->IsChecked();
 		//m_app->m_stiffness_warp_on  = checked;
 	}
 public:
@@ -148,13 +148,13 @@ public:
 	void	UpdateText(CProfileIterator*  profileIterator, bool idle)
 	{
 		
-		static bool update=true;
+	//	static bool update=true;
 		
         m_ctrl->SetBounds(0,0,this->GetInnerBounds().w,this->GetInnerBounds().h);
 		
         //		if (!update)
         //			return;
-		update=false;
+	//	update=false;
 		
 		
 		static int test = 1;
@@ -170,18 +170,18 @@ public:
 		{
             //recompute profiling data, and store profile strings
 			
-            char blockTime[128];
+         //   char blockTime[128];
 			
-            double totalTime = 0;
+           // double totalTime = 0;
 			
-            int frames_since_reset = CProfileManager::Get_Frame_Count_Since_Reset();
+          //  int frames_since_reset = CProfileManager::Get_Frame_Count_Since_Reset();
 			
             profileIterator->First();
 			
             double parent_time = profileIterator->Is_Root() ? time_since_reset : profileIterator->Get_Current_Parent_Total_Time();
 			
 			
-            Gwen::Controls::TreeNode* curParent = m_node;
+         //   Gwen::Controls::TreeNode* curParent = m_node;
 			
             double accumulated_time = dumpRecursive(profileIterator,m_node);
 			

Demos3/AllBullet2Demos/main.cpp

@@ -238,13 +238,13 @@ struct MyMenuItemHander :public Gwen::Event::Handler
 
 	void onButtonA(Gwen::Controls::Base* pControl)
 	{
-		const Gwen::String& name = pControl->GetName();
+		//const Gwen::String& name = pControl->GetName();
 		Gwen::Controls::TreeNode* node = (Gwen::Controls::TreeNode*)pControl;
-		Gwen::Controls::Label* l = node->GetButton();
+	//	Gwen::Controls::Label* l = node->GetButton();
 
 		Gwen::UnicodeString la = node->GetButton()->GetText();// node->GetButton()->GetName();// GetText();
 		Gwen::String laa = Gwen::Utility::UnicodeToString(la);
-		const char* ha = laa.c_str();
+	//	const char* ha = laa.c_str();
 
 		//printf("selected %s\n", ha);
 		//int dep = but->IsDepressed();
@@ -257,7 +257,7 @@ struct MyMenuItemHander :public Gwen::Event::Handler
 		Gwen::Controls::Label* label = (Gwen::Controls::Label*) pControl;
 		Gwen::UnicodeString la = label->GetText();// node->GetButton()->GetName();// GetText();
 		Gwen::String laa = Gwen::Utility::UnicodeToString(la);
-		const char* ha = laa.c_str();
+		//const char* ha = laa.c_str();
 
 
 		selectDemo(sCurrentHightlighted);
@@ -265,10 +265,10 @@ struct MyMenuItemHander :public Gwen::Event::Handler
 	}
 	void onButtonC(Gwen::Controls::Base* pControl)
 	{
-		Gwen::Controls::Label* label = (Gwen::Controls::Label*) pControl;
+//		Gwen::Controls::Label* label = (Gwen::Controls::Label*) pControl;
-		Gwen::UnicodeString la = label->GetText();// node->GetButton()->GetName();// GetText();
+	//	Gwen::UnicodeString la = label->GetText();// node->GetButton()->GetName();// GetText();
-		Gwen::String laa = Gwen::Utility::UnicodeToString(la);
+	//	Gwen::String laa = Gwen::Utility::UnicodeToString(la);
-		const char* ha = laa.c_str();
+	//	const char* ha = laa.c_str();
 
 
 //		printf("onButtonC ! %s\n", ha);
@@ -334,7 +334,7 @@ int main(int argc, char* argv[])
 
 	b3Clock clock;
 
-	float dt = 1./120.f;
+	//float dt = 1./120.f;
 	int width = 1024;
 	int height=768;
 
@@ -348,8 +348,7 @@ int main(int argc, char* argv[])
 	app->m_window->setKeyboardCallback(MyKeyboardCallback);
 
 
-	GLint err = glGetError();
+    assert(glGetError()==GL_NO_ERROR);
-    assert(err==GL_NO_ERROR);
 
 	sth_stash* fontstash=app->getFontStash();
 	gui = new GwenUserInterface;
@@ -376,7 +375,8 @@ int main(int argc, char* argv[])
 		gt->create(256,256);
 		int texId = gt->getTextureId();
 		myTexLoader->m_hashMap.insert("graph1", texId);
-		MyGraphWindow* gw = setupTextureWindow(input);
+		//MyGraphWindow* gw = 
+		setupTextureWindow(input);
 	}
 	if (1)
 	{
@@ -403,7 +403,8 @@ int main(int argc, char* argv[])
 		int texId = gt->getTextureId();
 		input.m_xPos = width-input.m_width;
 		myTexLoader->m_hashMap.insert("graph2", texId);
-		MyGraphWindow* gw = setupTextureWindow(input);
+		//MyGraphWindow* gw = 
+		setupTextureWindow(input);
 	}
 	//destroyTextureWindow(gw);
 	
@@ -414,8 +415,8 @@ int main(int argc, char* argv[])
 
 	int numDemos = sizeof(allDemos)/sizeof(BulletDemoEntry);
 
-	char nodeText[1024];
+	//char nodeText[1024];
-	int curDemo = 0;
+	//int curDemo = 0;
 	int selectedDemo = loadCurrentDemoEntry(startFileName);
 	Gwen::Controls::TreeNode* curNode = tree;
 	MyMenuItemHander* handler2 = new MyMenuItemHander(-1);
@@ -476,8 +477,7 @@ int main(int argc, char* argv[])
 	do
 	{
 
-		GLint err = glGetError();
+		assert(glGetError()==GL_NO_ERROR);
-		assert(err==GL_NO_ERROR);
 		app->m_instancingRenderer->init();
         DrawGridData dg;
         dg.upAxis = app->getUpAxis();

Demos3/GpuDemos/gwenUserInterface.cpp

@@ -120,7 +120,7 @@ struct MyButtonHander   :public Gwen::Event::Handler
 	void onButtonA( Gwen::Controls::Base* pControl )
 	{
 		Gwen::Controls::Button* but = (Gwen::Controls::Button*) pControl;
-		int dep = but->IsDepressed();
+//		int dep = but->IsDepressed();
 		int tog = but->GetToggleState();
 		if (m_data->m_toggleButtonCallback)
 			(*m_data->m_toggleButtonCallback)(m_buttonId,tog);

Demos3/ImportObjDemo/ImportObjSetup.cpp

@@ -28,7 +28,7 @@ static GLInstanceGraphicsShape* gCreateGraphicsShapeFromWavefrontObj(std::vector
 		//	int numIndices = 0;
 		b3AlignedObjectArray<int>* indicesPtr = new b3AlignedObjectArray<int>;
 		
-		for (int s=0;s<shapes.size();s++)
+		for (int s=0;s<(int)shapes.size();s++)
 		{
 			tinyobj::shape_t& shape = shapes[s];
 			int faceCount = shape.mesh.indices.size();
@@ -151,7 +151,7 @@ void ImportObjDemo::initPhysics(GraphicsPhysicsBridge& gfxBridge)
 	
 	btVector3 shift(0,0,0);
 	btVector3 scaling(1,1,1);
-	int index=10;
+//	int index=10;
 	
 	{
 		
@@ -172,7 +172,8 @@ void ImportObjDemo::initPhysics(GraphicsPhysicsBridge& gfxBridge)
 		int shapeId = m_app->m_instancingRenderer->registerShape(&gfxShape->m_vertices->at(0).xyzw[0], gfxShape->m_numvertices, &gfxShape->m_indices->at(0), gfxShape->m_numIndices);
 		
 		
-		int id = m_app->m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
+		//int id = 
+		m_app->m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
 
 		/*
 

Demos3/ImportSTLDemo/ImportSTLSetup.cpp

@@ -143,7 +143,7 @@ void ImportSTLDemo::initPhysics(GraphicsPhysicsBridge& gfxBridge)
 	
 	btVector3 shift(0,0,0);
 	btVector3 scaling(10,10,10);
-	int index=10;
+//	int index=10;
 	
 	{
 		
@@ -161,7 +161,8 @@ void ImportSTLDemo::initPhysics(GraphicsPhysicsBridge& gfxBridge)
 		int shapeId = m_app->m_instancingRenderer->registerShape(&gfxShape->m_vertices->at(0).xyzw[0], gfxShape->m_numvertices, &gfxShape->m_indices->at(0), gfxShape->m_numIndices);
 		
 		
-		int id = m_app->m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
+	//	int id = 
+		m_app->m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
 
 		/*
 

Demos3/bullet2/FeatherstoneMultiBodyDemo/BulletMultiBodyDemos.cpp

@@ -169,7 +169,7 @@ bool	Bullet2MultiBodyDemo::mouseMoveCallback(float x,float y)
 			//keep it at the same picking distance
 			btVector3 newRayTo = getRayTo(x,y);
 			btVector3 rayFrom;
-			btVector3 oldPivotInB = pickCon->getPivotInB();
+//			btVector3 oldPivotInB = pickCon->getPivotInB();
 			btVector3 newPivotB;
 			m_glApp->m_instancingRenderer->getCameraPosition(rayFrom);
 			btVector3 dir = newRayTo-rayFrom;
@@ -186,7 +186,7 @@ bool	Bullet2MultiBodyDemo::mouseMoveCallback(float x,float y)
 
 		btVector3 newRayTo = getRayTo(x,y);
 		btVector3 rayFrom;
-		btVector3 oldPivotInB = m_pickingMultiBodyPoint2Point->getPivotInB();
+	//	btVector3 oldPivotInB = m_pickingMultiBodyPoint2Point->getPivotInB();
 		btVector3 newPivotB;
 		btVector3 camPos;
 		m_glApp->m_instancingRenderer->getCameraPosition(camPos);
@@ -438,7 +438,7 @@ btMultiBody* FeatherstoneDemo1::createFeatherstoneMultiBody(class btMultiBodyDyn
 		btVector4 halfExtents(7.5,0.45,4.5,1);
     	{
 			
-			float pos[4]={local_origin[0].x(),local_origin[0].y(),local_origin[0].z(),1};
+		//	float pos[4]={local_origin[0].x(),local_origin[0].y(),local_origin[0].z(),1};
 			float quat[4]={-world_to_local[0].x(),-world_to_local[0].y(),-world_to_local[0].z(),world_to_local[0].w()};
 
 			
@@ -484,7 +484,7 @@ btMultiBody* FeatherstoneDemo1::createFeatherstoneMultiBody(class btMultiBodyDyn
 		{
 		
 			btVector3 posr = local_origin[i+1];
-			float pos[4]={posr.x(),posr.y(),posr.z(),1};
+			//float pos[4]={posr.x(),posr.y(),posr.z(),1};
 			
 			float quat[4]={-world_to_local[i+1].x(),-world_to_local[i+1].y(),-world_to_local[i+1].z(),world_to_local[i+1].w()};
 
@@ -531,8 +531,8 @@ void FeatherstoneDemo1::createGround()
 {
 	//create ground
 	int cubeShapeId = m_glApp->registerCubeShape();
-	float pos[]={0,0,0};
+	//float pos[]={0,0,0};
-	float orn[]={0,0,0,1};
+	//float orn[]={0,0,0,1};
 		
 
 	{
@@ -575,7 +575,8 @@ void	FeatherstoneDemo1::initPhysics()
 	settings.m_isFixedBase = false;
 	settings.m_basePosition.setValue(0,10,0);
 	settings.m_numLinks = 10;
-	btMultiBody* mb = createFeatherstoneMultiBody(m_dynamicsWorld,settings);
+	//btMultiBody* mb = 
+	createFeatherstoneMultiBody(m_dynamicsWorld,settings);
 
 
 	m_glApp->m_instancingRenderer->writeTransforms();
@@ -727,7 +728,7 @@ class RagDoll2
 		hull->buildHull(0.01);
 		
 		{
-			int strideInBytes = 9*sizeof(float);
+		//	int strideInBytes = 9*sizeof(float);
 			int numVertices = hull->numVertices();
 			int numIndices =hull->numIndices();
 			
@@ -988,7 +989,7 @@ public:
 	
 	virtual	~RagDoll2 ()
 	{
-		int i;
+		//int i;
 		/*
 		// Remove all constraints
 		for ( i = 0; i < JOINT_COUNT; ++i)
@@ -1027,8 +1028,8 @@ void	FeatherstoneDemo2::initPhysics()
 	settings.m_usePrismatic = true;
 	btMultiBody* mb = createFeatherstoneMultiBody(m_dynamicsWorld,settings);
 */
-	btVector3 offset(0,2,0);
+//	btVector3 offset(0,2,0);
-	RagDoll2* doll = new RagDoll2(m_dynamicsWorld,offset,m_glApp);
+	//RagDoll2* doll = new RagDoll2(m_dynamicsWorld,offset,m_glApp);
 
 	
 	m_glApp->m_instancingRenderer->writeTransforms();

Demos3/bullet2/FeatherstoneMultiBodyDemo/MultiDofDemo.cpp

@@ -307,7 +307,7 @@ void MultiDofDemo::addColliders_testMultiDof(btMultiBody *pMultiBody, btMultiBod
 	
 	{
 			
-		float pos[4]={local_origin[0].x(),local_origin[0].y(),local_origin[0].z(),1};
+	//	float pos[4]={local_origin[0].x(),local_origin[0].y(),local_origin[0].z(),1};
 		float quat[4]={-world_to_local[0].x(),-world_to_local[0].y(),-world_to_local[0].z(),world_to_local[0].w()};
 
 			
@@ -348,7 +348,7 @@ void MultiDofDemo::addColliders_testMultiDof(btMultiBody *pMultiBody, btMultiBod
 	{
 		
 		btVector3 posr = local_origin[i+1];
-		float pos[4]={posr.x(),posr.y(),posr.z(),1};
+	//	float pos[4]={posr.x(),posr.y(),posr.z(),1};
 			
 		float quat[4]={-world_to_local[i+1].x(),-world_to_local[i+1].y(),-world_to_local[i+1].z(),world_to_local[i+1].w()};
 

btgui/Gwen/Controls/CrossSplitter.cpp

@@ -112,7 +112,7 @@ void CrossSplitter::Layout( Skin::Base* /*skin*/ )
 	else
 	{
 		//This should probably use Fill docking instead
-		m_Sections[m_iZoomedSection]->SetBounds( 0, 0, Width(), Height() );
+		m_Sections[(int)m_iZoomedSection]->SetBounds( 0, 0, Width(), Height() );
 	}
 }
 

btgui/Gwen/Controls/Resizer.cpp

@@ -23,7 +23,7 @@ void Resizer::OnMouseMoved( int x, int y, int /*deltaX*/, int /*deltaY*/ )
 	if ( !m_pTarget ) return;
 	if ( !m_bDepressed ) return;
 
-	Gwen::Rect oldBounds = m_pTarget->GetBounds();
+//	Gwen::Rect oldBounds = m_pTarget->GetBounds();
 	Gwen::Rect pBounds = m_pTarget->GetBounds();
 
 	Gwen::Point pntMin = m_pTarget->GetMinimumSize();

btgui/Gwen/Controls/TreeControl.cpp

@@ -101,12 +101,12 @@ bool TreeControl::OnKeyUp( bool bDown )
 	if (bDown)
 	{
 		ForceUpdateScrollBars();
-		int maxIndex = 0;
+//		int maxIndex = 0;
 		int newIndex = 0;
 		int maxItem=0;
 		int curItem=-1;
 		iterate(ITERATE_ACTION_FIND_SELECTED_INDEX,&maxItem,&curItem);
-		maxIndex = maxItem;
+	//	maxIndex = maxItem;
 		int targetItem = curItem;
 		if (curItem>0)
 		{
@@ -121,15 +121,15 @@ bool TreeControl::OnKeyUp( bool bDown )
 				iterate(ITERATE_ACTION_DESELECT_INDEX,&maxItem,&deselectIndex);
 			}
 			curItem = newIndex;
-			float amount = float(newIndex)/float(maxIndex);
+		//	float amount = float(newIndex)/float(maxIndex);
 			float viewSize = m_ScrollControl->m_VerticalScrollBar->getViewableContentSize();
 			float contSize = m_ScrollControl->m_VerticalScrollBar->getContentSize();
 		
 			float curAmount = m_ScrollControl->m_VerticalScrollBar->GetScrolledAmount();
-			float minCoordViewableWindow = curAmount*contSize;
+		//	float minCoordViewableWindow = curAmount*contSize;
-			float maxCoordViewableWindow = minCoordViewableWindow+viewSize;
+			//float maxCoordViewableWindow = minCoordViewableWindow+viewSize;
 			float minCoordSelectedItem = curItem*16.f;
-			float maxCoordSelectedItem = (curItem+1)*16.f;
+	//		float maxCoordSelectedItem = (curItem+1)*16.f;
 			{
 				float newAmount = float(minCoordSelectedItem)/(contSize-viewSize);
 				if (newAmount<curAmount)
@@ -157,12 +157,12 @@ bool TreeControl::OnKeyDown( bool bDown )
 	if (bDown)
 	{
 		ForceUpdateScrollBars();
-		int maxIndex = 0;
+	//	int maxIndex = 0;
 		int newIndex = 0;
 		int maxItem=0;
 		int curItem=-1;
 		iterate(ITERATE_ACTION_FIND_SELECTED_INDEX,&maxItem,&curItem);
-		maxIndex = maxItem;
+	//	maxIndex = maxItem;
 		int targetItem = curItem;
 		if (curItem>=0)
 		{
@@ -177,15 +177,15 @@ bool TreeControl::OnKeyDown( bool bDown )
 				iterate(ITERATE_ACTION_DESELECT_INDEX,&maxItem,&deselectIndex);
 			}
 			curItem= newIndex;
-			float amount = (int)float(newIndex)/float(maxIndex);
+		//	float amount = (int)float(newIndex)/float(maxIndex);
 			float viewSize = m_ScrollControl->m_VerticalScrollBar->getViewableContentSize();
 			float contSize = m_ScrollControl->m_VerticalScrollBar->getContentSize();
 		
 			float curAmount = m_ScrollControl->m_VerticalScrollBar->GetScrolledAmount();
-			float minCoordViewableWindow = curAmount*contSize;
+		//	float minCoordViewableWindow = curAmount*contSize;
-			float maxCoordViewableWindow = minCoordViewableWindow+viewSize;
+			//float maxCoordViewableWindow = minCoordViewableWindow+viewSize;
 			float minCoordSelectedItem = curItem*16.f;
-			float maxCoordSelectedItem = (curItem+1)*16.f;
+			//float maxCoordSelectedItem = (curItem+1)*16.f;
 			{
 				float newAmount = float(minCoordSelectedItem)/(contSize-viewSize);
 				if (newAmount<curAmount)
@@ -219,15 +219,15 @@ bool TreeControl::OnKeyRight( bool bDown )
 		int maxItem=0;
 		int curItem=0;
 		iterate(ITERATE_ACTION_FIND_SELECTED_INDEX,&maxItem,&curItem);
-		float amount = float(curItem)/float(maxItem);
+	//	float amount = float(curItem)/float(maxItem);
 		float viewSize = m_ScrollControl->m_VerticalScrollBar->getViewableContentSize();
 		float contSize = m_ScrollControl->m_VerticalScrollBar->getContentSize();
 		
 		float curAmount = m_ScrollControl->m_VerticalScrollBar->GetScrolledAmount();
-		float minCoordViewableWindow = curAmount*contSize;
+	//	float minCoordViewableWindow = curAmount*contSize;
-		float maxCoordViewableWindow = minCoordViewableWindow+viewSize;
+//		float maxCoordViewableWindow = minCoordViewableWindow+viewSize;
 		float minCoordSelectedItem = curItem*16.f;
-		float maxCoordSelectedItem = (curItem+1)*16.f;
+	//	float maxCoordSelectedItem = (curItem+1)*16.f;
 		{
 			float newAmount = float(minCoordSelectedItem)/(contSize-viewSize);
 			if (newAmount<curAmount)
@@ -262,17 +262,17 @@ bool TreeControl::OnKeyLeft( bool bDown )
 		int maxItems=0;
 		int curItem=0;
 		iterate(ITERATE_ACTION_FIND_SELECTED_INDEX,&maxItems,&curItem);
-		float amount = float(curItem)/float(maxItems);
+	//	float amount = float(curItem)/float(maxItems);
 		
 	//	m_ScrollControl->m_VerticalScrollBar->SetScrolledAmount(amount,true);
 		float viewSize = m_ScrollControl->m_VerticalScrollBar->getViewableContentSize();
 		float contSize = m_ScrollControl->m_VerticalScrollBar->getContentSize();
 		
 		float curAmount = m_ScrollControl->m_VerticalScrollBar->GetScrolledAmount();
-		float minCoordViewableWindow = curAmount*contSize;
+	//	float minCoordViewableWindow = curAmount*contSize;
-		float maxCoordViewableWindow = minCoordViewableWindow+viewSize;
+	//	float maxCoordViewableWindow = minCoordViewableWindow+viewSize;
 		float minCoordSelectedItem = curItem*16.f;
-		float maxCoordSelectedItem = (curItem+1)*16.f;
+	//	float maxCoordSelectedItem = (curItem+1)*16.f;
 		
 		{
 			float newAmount = float(minCoordSelectedItem)/(contSize-viewSize);

btgui/Gwen/Controls/TreeNode.cpp

@@ -73,7 +73,7 @@ void TreeNode::Render( Skin::Base* skin )
 
 TreeNode* TreeNode::AddNode( const UnicodeString& strLabel )
 {
-	int sz = sizeof(TreeNode);
+//	int sz = sizeof(TreeNode);
 	TreeNode* node = new TreeNode( this );
 	node->SetText( strLabel );
 	node->Dock( Pos::Top );
@@ -231,7 +231,7 @@ void TreeNode::iterate(int action, int* curIndex, int* targetIndex)
 
 	Gwen::String name = Gwen::Utility::UnicodeToString(m_Title->GetText());
 	
-	int actualIndex = curIndex? *curIndex : -1;
+//	int actualIndex = curIndex? *curIndex : -1;
 	//printf("iterated over item %d with name = %s\n", actualIndex, name.c_str());
 
 	if (action==ITERATE_ACTION_SELECT)

btgui/Gwen/Renderers/OpenGL_DebugFont.cpp

@@ -164,7 +164,7 @@ namespace Gwen
 			glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
 			glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
 
-			GLenum format = GL_RGB;
+			//GLenum format = GL_RGB;
 			unsigned char* texdata = new unsigned char[256*256*4];
 			for (int i=0;i<256*256;i++)
 			{
@@ -316,11 +316,11 @@ namespace Gwen
 			Gwen::String converted_string = Gwen::Utility::UnicodeToString( text );
 
 			float yOffset=0.0f;
-			for ( int i=0; i<text.length(); i++ )
+			for ( int i=0; i<(int)text.length(); i++ )
 			{
-				wchar_t chr = text[i];
+			//	wchar_t chr = text[i];
 				char ch = converted_string[i];
-				float curSpacing = sGwenDebugFontSpacing[ch] * m_fLetterSpacing * fSize * m_fFontScale[0];
+				float curSpacing = sGwenDebugFontSpacing[(int)ch] * m_fLetterSpacing * fSize * m_fFontScale[0];
 				Gwen::Rect r( pos.x + yOffset, pos.y-fSize*0.2f, (fSize * m_fFontScale[0]), fSize * m_fFontScale[1] );
 
 				if ( m_pFontTexture )
@@ -390,10 +390,10 @@ namespace Gwen
 			Gwen::String converted_string = Gwen::Utility::UnicodeToString( text );
 			float spacing = 0.0f;
 
-			for ( int i=0; i<text.length(); i++ )
+			for ( int i=0; i<(int)text.length(); i++ )
 			{
 				char ch = converted_string[i];
-				spacing += sGwenDebugFontSpacing[ch];
+				spacing += sGwenDebugFontSpacing[(int)ch];
 			}
 
 			p.x = spacing*m_fLetterSpacing*fSize * m_fFontScale[0];

btgui/Gwen/Skins/Simple.h

@@ -78,7 +78,7 @@ namespace Gwen
 						m_Render->DrawLinedRect( control->GetRenderBounds() );
 					}
 
-					Gwen::Rect rect = control->GetRenderBounds();
+				//	Gwen::Rect rect = control->GetRenderBounds();
 					if ( bChecked )
 					{
 						m_Render->SetDrawColor( Color( 0, 0, 0, 255) );
@@ -490,7 +490,7 @@ namespace Gwen
 				virtual void DrawSlider( Gwen::Controls::Base* control, bool bIsHorizontal, int numNotches, int barSize)
 				{
 					Gwen::Rect rect = control->GetRenderBounds();
-					Gwen::Rect notchRect = rect;
+//					Gwen::Rect notchRect = rect;
 
 					if ( bIsHorizontal )
 					{

btgui/OpenGLTrueTypeFont/fontstash.cpp

@@ -219,7 +219,7 @@ int sth_add_font(struct sth_stash* stash, const char* path)
 	FILE* fp = 0;
 	int datasize;
 	unsigned char* data = NULL;
-	int idx;
+	int idx=0;
 
 	// Read in the font data.
 	fp = fopen(path, "rb");
@@ -231,10 +231,14 @@ int sth_add_font(struct sth_stash* stash, const char* path)
 	if (data == NULL) goto error;
 	int bytesRead;
 	bytesRead = fread(data, 1, datasize, fp);
+	if (bytesRead)
+	{
+		idx = sth_add_font_from_memory(stash, data);
+	}
 	fclose(fp);
 	fp = 0;
 
-	idx = sth_add_font_from_memory(stash, data);
+	
 	// Modify type of the loaded font.
 	if (idx)
 		stash->fonts->type = TTFONT_FILE;

btgui/OpenGLTrueTypeFont/opengl_fontstashcallbacks.cpp

@@ -37,8 +37,7 @@ InternalOpenGL2RenderCallbacks::~InternalOpenGL2RenderCallbacks()
 void InternalOpenGL2RenderCallbacks::display2() 
 {
     
-    GLint err = glGetError();
+    assert(glGetError()==GL_NO_ERROR);
-    assert(err==GL_NO_ERROR);
    // glViewport(0,0,10,10);
     
 	//const float timeScale = 0.008f;
@@ -48,39 +47,31 @@ void InternalOpenGL2RenderCallbacks::display2()
     glBindBuffer(GL_ARRAY_BUFFER, s_vertexBuffer);
     glBindVertexArray(s_vertexArrayObject);
     
-    err = glGetError();
+      assert(glGetError()==GL_NO_ERROR);
-    assert(err==GL_NO_ERROR);
   
     
     //   glBindTexture(GL_TEXTURE_2D,m_texturehandle);
     
     
-    err = glGetError();
+       assert(glGetError()==GL_NO_ERROR);
-    assert(err==GL_NO_ERROR);
   
     vec2 p( 0.f,0.f);//?b?0.5f * sinf(timeValue), 0.5f * cosf(timeValue) );
     glUniform2fv(data->m_positionUniform, 1, (const GLfloat *)&p);
     
-    err = glGetError();
+     assert(glGetError()==GL_NO_ERROR);
-    assert(err==GL_NO_ERROR);
-	err = glGetError();
-    assert(err==GL_NO_ERROR);
    
     glEnableVertexAttribArray(data->m_positionAttribute);
-	err = glGetError();
+    assert(glGetError()==GL_NO_ERROR);
-    assert(err==GL_NO_ERROR);
     
     glEnableVertexAttribArray(data->m_colourAttribute);
-	err = glGetError();
+    assert(glGetError()==GL_NO_ERROR);
-    assert(err==GL_NO_ERROR);
     
 	glEnableVertexAttribArray(data->m_textureAttribute);
     
     glVertexAttribPointer(data->m_positionAttribute, 4, GL_FLOAT, GL_FALSE, sizeof(Vertex), (const GLvoid *)0);
     glVertexAttribPointer(data->m_colourAttribute  , 4, GL_FLOAT, GL_FALSE, sizeof(Vertex), (const GLvoid *)sizeof(vec4));
     glVertexAttribPointer(data->m_textureAttribute , 2, GL_FLOAT, GL_FALSE, sizeof(Vertex), (const GLvoid *)(sizeof(vec4)+sizeof(vec4)));
-	err = glGetError();
+    assert(glGetError()==GL_NO_ERROR);
-    assert(err==GL_NO_ERROR);
 /*    
  
     glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, m_indexBuffer);
@@ -101,10 +92,7 @@ void InternalOpenGL2RenderCallbacks::display2()
 
 void InternalOpenGL2RenderCallbacks::updateTexture(sth_texture* texture, sth_glyph* glyph, int textureWidth, int textureHeight)
 {
-	GLint err;
+    assert(glGetError()==GL_NO_ERROR);
-    
-    err = glGetError();
-    assert(err==GL_NO_ERROR);
 
 
 	if (glyph)
@@ -114,13 +102,11 @@ void InternalOpenGL2RenderCallbacks::updateTexture(sth_texture* texture, sth_gly
 		
 		glBindTexture(GL_TEXTURE_2D, *gltexture);
 		glPixelStorei(GL_UNPACK_ALIGNMENT,1);
-		err = glGetError();
+    assert(glGetError()==GL_NO_ERROR);
-		assert(err==GL_NO_ERROR);
 
 		glTexImage2D(GL_TEXTURE_2D, 0, GL_RED, textureWidth, textureHeight, 0, GL_RED, GL_UNSIGNED_BYTE, texture->m_texels);
 	
-		GLenum err = glGetError();
+    assert(glGetError()==GL_NO_ERROR);
-	    assert(err==GL_NO_ERROR);
 
 	} else
 	{
@@ -132,8 +118,7 @@ void InternalOpenGL2RenderCallbacks::updateTexture(sth_texture* texture, sth_gly
 
 			//create new texture
 			glGenTextures(1, texId);
-			GLenum err = glGetError();
+    assert(glGetError()==GL_NO_ERROR);
-			assert(err==GL_NO_ERROR);
 
 			
 	
@@ -143,8 +128,7 @@ void InternalOpenGL2RenderCallbacks::updateTexture(sth_texture* texture, sth_gly
 			glTexImage2D(GL_TEXTURE_2D, 0, GL_RED, textureWidth, textureHeight, 0, GL_RED, GL_UNSIGNED_BYTE, texture->m_texels);
 			glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
 			glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
-			err = glGetError();
+	    assert(glGetError()==GL_NO_ERROR);
-			assert(err==GL_NO_ERROR);
 
 			////////////////////////////
 			//create the other data
@@ -155,8 +139,7 @@ void InternalOpenGL2RenderCallbacks::updateTexture(sth_texture* texture, sth_gly
 				glGenBuffers(1, &s_vertexBuffer);
 				glBindBuffer(GL_ARRAY_BUFFER, s_vertexBuffer);
 				glBufferData(GL_ARRAY_BUFFER, VERT_COUNT * sizeof(Vertex), texture->newverts, GL_DYNAMIC_DRAW);
-				GLuint err = glGetError();
+				assert(glGetError()==GL_NO_ERROR);
-				assert(err==GL_NO_ERROR);
         
 				for (int i=0;i<INDEX_COUNT;i++)
 				{
@@ -167,8 +150,7 @@ void InternalOpenGL2RenderCallbacks::updateTexture(sth_texture* texture, sth_gly
 				glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, s_indexBuffer);
 				glBufferData(GL_ELEMENT_ARRAY_BUFFER,INDEX_COUNT*sizeof(int), s_indexData,GL_STATIC_DRAW);
         
-				err = glGetError();
+		    assert(glGetError()==GL_NO_ERROR);
-				assert(err==GL_NO_ERROR);
 	}
 		} else
 		{
@@ -196,13 +178,10 @@ void InternalOpenGL2RenderCallbacks::render(sth_texture* texture)
 
 	GLuint* texId = (GLuint*) texture->m_userData;
 
-    GLint err;
+    assert(glGetError()==GL_NO_ERROR);
-	err = glGetError();
-    assert(err==GL_NO_ERROR);
             
     glActiveTexture(GL_TEXTURE0);
-    err = glGetError();
+    assert(glGetError()==GL_NO_ERROR);
-    assert(err==GL_NO_ERROR);
 
 	glBindTexture(GL_TEXTURE_2D, *texId);
 	bool useFiltering = false;
@@ -215,25 +194,21 @@ void InternalOpenGL2RenderCallbacks::render(sth_texture* texture)
 		glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
 		glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
 	}
-	err = glGetError();
+    assert(glGetError()==GL_NO_ERROR);
-    assert(err==GL_NO_ERROR);
      glBindBuffer(GL_ARRAY_BUFFER, s_vertexBuffer);
      glBindVertexArray(s_vertexArrayObject);
     glBufferData(GL_ARRAY_BUFFER, texture->nverts * sizeof(Vertex), &texture->newverts[0].position.p[0], GL_DYNAMIC_DRAW);
 
-    err = glGetError();
+    assert(glGetError()==GL_NO_ERROR);
-    assert(err==GL_NO_ERROR);
             
     glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, s_indexBuffer);
             
     //glDrawArrays(GL_TRIANGLE_FAN, 0, 4);
     int indexCount = texture->nverts;
-    err = glGetError();
+    assert(glGetError()==GL_NO_ERROR);
-    assert(err==GL_NO_ERROR);
             
     glDrawElements(GL_TRIANGLES, indexCount, GL_UNSIGNED_INT, 0);
-    err = glGetError();
+    assert(glGetError()==GL_NO_ERROR);
-    assert(err==GL_NO_ERROR);
 		
 	 glBindVertexArray(0);
 

btgui/OpenGLWindow/GLPrimitiveRenderer.cpp

@@ -131,9 +131,8 @@ void GLPrimitiveRenderer::loadBufferData()
     glGenBuffers(1, &m_data->m_vertexBuffer);
     glBindBuffer(GL_ARRAY_BUFFER, m_data->m_vertexBuffer);
     glBufferData(GL_ARRAY_BUFFER, 4 * sizeof(Vertex), vertexData, GL_DYNAMIC_DRAW);
-    GLuint err;
+    
-    err = glGetError();
+    assert(glGetError()==GL_NO_ERROR);
-    assert(err==GL_NO_ERROR);
     
     
     
@@ -143,16 +142,14 @@ void GLPrimitiveRenderer::loadBufferData()
     
     glEnableVertexAttribArray(m_data->m_positionAttribute);
     glEnableVertexAttribArray(m_data->m_colourAttribute);
-	err = glGetError();
+	assert(glGetError()==GL_NO_ERROR);
-    assert(err==GL_NO_ERROR);
     
 	glEnableVertexAttribArray(m_data->m_textureAttribute);
     
     glVertexAttribPointer(m_data->m_positionAttribute, 4, GL_FLOAT, GL_FALSE, sizeof(Vertex), (const GLvoid *)0);
     glVertexAttribPointer(m_data->m_colourAttribute  , 4, GL_FLOAT, GL_FALSE, sizeof(Vertex), (const GLvoid *)sizeof(vec4));
     glVertexAttribPointer(m_data->m_textureAttribute , 2, GL_FLOAT, GL_FALSE, sizeof(Vertex), (const GLvoid *)(sizeof(vec4)+sizeof(vec4)));
-	err = glGetError();
+	assert(glGetError()==GL_NO_ERROR);
-    assert(err==GL_NO_ERROR);
     
     
     
@@ -192,8 +189,7 @@ void GLPrimitiveRenderer::loadBufferData()
     glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, 256,256,0,GL_RGB,GL_UNSIGNED_BYTE,image);
     glGenerateMipmap(GL_TEXTURE_2D);
     
-    err = glGetError();
+    assert(glGetError()==GL_NO_ERROR);
-    assert(err==GL_NO_ERROR);
     
     delete[] image;
     
@@ -218,36 +214,25 @@ void GLPrimitiveRenderer::drawLine()
 
 void GLPrimitiveRenderer::drawRect(float x0, float y0, float x1, float y1, float color[4])
 {
-	GLint err;
+	assert(glGetError()==GL_NO_ERROR);
-    
-    err = glGetError();
-    assert(err==GL_NO_ERROR);
 	glActiveTexture(GL_TEXTURE0);
-	err = glGetError();
+	assert(glGetError()==GL_NO_ERROR);
-    assert(err==GL_NO_ERROR);
 	
 	 glBindTexture(GL_TEXTURE_2D,m_data->m_texturehandle);
-	err = glGetError();
+	assert(glGetError()==GL_NO_ERROR);
-    assert(err==GL_NO_ERROR);
-
 	drawTexturedRect(x0,y0,x1,y1,color,0,0,1,1);
-	err = glGetError();
+	assert(glGetError()==GL_NO_ERROR);
-    assert(err==GL_NO_ERROR);
 
 }
 
 void GLPrimitiveRenderer::drawTexturedRect(float x0, float y0, float x1, float y1, float color[4], float u0,float v0, float u1, float v1, int useRGBA)
 {
-    GLint err;
+    assert(glGetError()==GL_NO_ERROR);
-    
-    err = glGetError();
-    assert(err==GL_NO_ERROR);
    
     
     glUseProgram(m_data->m_shaderProg);
     
-    err = glGetError();
+    assert(glGetError()==GL_NO_ERROR);
-    assert(err==GL_NO_ERROR);
     
     glBindBuffer(GL_ARRAY_BUFFER, m_data->m_vertexBuffer);
     glBindVertexArray(m_data->m_vertexArrayObject);
@@ -277,8 +262,7 @@ void GLPrimitiveRenderer::drawTexturedRect(float x0, float y0, float x1, float y
     
     
     
-    err = glGetError();
+    assert(glGetError()==GL_NO_ERROR);
-    assert(err==GL_NO_ERROR);
     
     vec2 p( 0.f,0.f);//?b?0.5f * sinf(timeValue), 0.5f * cosf(timeValue) );
 	if (useRGBA)
@@ -291,60 +275,47 @@ void GLPrimitiveRenderer::drawTexturedRect(float x0, float y0, float x1, float y
     
 	glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
 
-    err = glGetError();
+    assert(glGetError()==GL_NO_ERROR);
-    assert(err==GL_NO_ERROR);
-	err = glGetError();
-    assert(err==GL_NO_ERROR);
     
     glEnableVertexAttribArray(m_data->m_positionAttribute);
-	err = glGetError();
+	assert(glGetError()==GL_NO_ERROR);
-    assert(err==GL_NO_ERROR);
     
     glEnableVertexAttribArray(m_data->m_colourAttribute);
-	err = glGetError();
+	assert(glGetError()==GL_NO_ERROR);
-    assert(err==GL_NO_ERROR);
     
 	glEnableVertexAttribArray(m_data->m_textureAttribute);
     
     glVertexAttribPointer(m_data->m_positionAttribute, 4, GL_FLOAT, GL_FALSE, sizeof(Vertex), (const GLvoid *)0);
     glVertexAttribPointer(m_data->m_colourAttribute  , 4, GL_FLOAT, GL_FALSE, sizeof(Vertex), (const GLvoid *)sizeof(vec4));
     glVertexAttribPointer(m_data->m_textureAttribute , 2, GL_FLOAT, GL_FALSE, sizeof(Vertex), (const GLvoid *)(sizeof(vec4)+sizeof(vec4)));
-	err = glGetError();
+	assert(glGetError()==GL_NO_ERROR);
-    assert(err==GL_NO_ERROR);
     
     glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, m_data->m_indexBuffer);
     
     //glDrawArrays(GL_TRIANGLE_FAN, 0, 4);
     int indexCount = 6;
-    err = glGetError();
+    assert(glGetError()==GL_NO_ERROR);
-    assert(err==GL_NO_ERROR);
     
 	
     glDrawElements(GL_TRIANGLES, indexCount, GL_UNSIGNED_INT, 0);
-    err = glGetError();
+    assert(glGetError()==GL_NO_ERROR);
-    assert(err==GL_NO_ERROR);
 	
 	
     glBindVertexArray(0);
-    err = glGetError();
+    assert(glGetError()==GL_NO_ERROR);
-    assert(err==GL_NO_ERROR);
 
 	glBindBuffer(GL_ARRAY_BUFFER, 0);
-    err = glGetError();
+    assert(glGetError()==GL_NO_ERROR);
-    assert(err==GL_NO_ERROR);
 
 	glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
-    err = glGetError();
+    assert(glGetError()==GL_NO_ERROR);
-    assert(err==GL_NO_ERROR);
 
 	//glDisableVertexAttribArray(m_data->m_textureAttribute);
-    err = glGetError();
+    assert(glGetError()==GL_NO_ERROR);
-    assert(err==GL_NO_ERROR);
 
 	glUseProgram(0);
    
-    err = glGetError();
+    assert(glGetError()==GL_NO_ERROR);
-    assert(err==GL_NO_ERROR);
 
 }
 

btgui/OpenGLWindow/GwenOpenGL3CoreRenderer.h

@@ -119,55 +119,37 @@ public:
 	{
 		m_yOffset=0;
 		glEnable(GL_BLEND);
-		GLint err = glGetError();
+	  assert(glGetError()==GL_NO_ERROR);
-		assert(err==GL_NO_ERROR);
+
 
 		glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
 		
-		err = glGetError();
+		assert(glGetError()==GL_NO_ERROR);
-		assert(err==GL_NO_ERROR);
 
-		err = glGetError();
+		assert(glGetError()==GL_NO_ERROR);
-		assert(err==GL_NO_ERROR);
         
 		glDisable(GL_DEPTH_TEST);
-		err = glGetError();
+		assert(glGetError()==GL_NO_ERROR);      
-		assert(err==GL_NO_ERROR);
-        
 		//glColor4ub(255,0,0,255);
 		
-		err = glGetError();
-		assert(err==GL_NO_ERROR);
 		
 		
-		err = glGetError();
-		assert(err==GL_NO_ERROR);
 		glBlendFunc(GL_SRC_ALPHA,GL_ONE_MINUS_SRC_ALPHA);
 
 	//	saveOpenGLState(width,height);//m_glutScreenWidth,m_glutScreenHeight);
 			
-		err = glGetError();
+		assert(glGetError()==GL_NO_ERROR);
-		assert(err==GL_NO_ERROR);
 			
 
-		err = glGetError();
-		assert(err==GL_NO_ERROR);
-
 		glDisable(GL_CULL_FACE);
 
 		glDisable(GL_DEPTH_TEST);
-		err = glGetError();
+		assert(glGetError()==GL_NO_ERROR);
-		assert(err==GL_NO_ERROR);
 
-		err = glGetError();
-		assert(err==GL_NO_ERROR);
 		        
 		glEnable(GL_BLEND);
 
-            
+		assert(glGetError()==GL_NO_ERROR);        
-		err = glGetError();
-		assert(err==GL_NO_ERROR);
-            
 	}
 	virtual void End()
 	{
@@ -375,10 +357,7 @@ public:
 	glBindTexture(GL_TEXTURE_2D,texHandle);
 //		glDisable(GL_DEPTH_TEST);
 
-		GLint err;
+		assert(glGetError()==GL_NO_ERROR);
-		
-		err = glGetError();
-		assert(err==GL_NO_ERROR);
 		
 	
 /*	bool useFiltering = true;
@@ -406,8 +385,8 @@ public:
 	m_primitiveRenderer->drawTexturedRect(rect.x, rect.y+m_yOffset, rect.x+rect.w, rect.y+rect.h+m_yOffset, color,0+add,0,1+add,1,true);
 
 		
-		err = glGetError();
+				assert(glGetError()==GL_NO_ERROR);
-		assert(err==GL_NO_ERROR);
+
 		
 		
 	}

btgui/OpenGLWindow/LoadShader.cpp

@@ -18,9 +18,7 @@ void gltLoadShaderSrc(const char *szShaderSrc, GLuint shader)
 GLuint gltLoadShaderPair(const char *szVertexProg, const char *szFragmentProg)
 {
 
-    GLuint err;
+  assert(glGetError()==GL_NO_ERROR);
-     err = glGetError();
-    assert(err==GL_NO_ERROR);
 
 	// Temporary Shader objects
 	GLuint hVertexShader;
@@ -37,7 +35,7 @@ GLuint gltLoadShaderPair(const char *szVertexProg, const char *szFragmentProg)
 
 	// Compile them
 	glCompileShader(hVertexShader);
-    err = glGetError();
+  assert(glGetError()==GL_NO_ERROR);
 
 	glGetShaderiv(hVertexShader, GL_COMPILE_STATUS, &testVal);
 	if(testVal == GL_FALSE)
@@ -52,10 +50,10 @@ GLuint gltLoadShaderPair(const char *szVertexProg, const char *szFragmentProg)
 		return (GLuint)NULL;
 	}
 
-    assert(err==GL_NO_ERROR);
+  assert(glGetError()==GL_NO_ERROR);
 
     glCompileShader(hFragmentShader);
-    err = glGetError();
+    assert(glGetError()==GL_NO_ERROR);
 
     glGetShaderiv(hFragmentShader, GL_COMPILE_STATUS, &testVal);
 	if(testVal == GL_FALSE)
@@ -70,7 +68,7 @@ GLuint gltLoadShaderPair(const char *szVertexProg, const char *szFragmentProg)
 		return (GLuint)NULL;
 	}
 
-    assert(err==GL_NO_ERROR);
+    assert(glGetError()==GL_NO_ERROR);
 
 	// Check for errors
 

btgui/OpenGLWindow/SimpleOpenGL3App.cpp

@@ -430,19 +430,17 @@ static void writeTextureToFile(int textureWidth, int textureHeight, const char*
 {
 	int numComponents = 4;
 	//glPixelStorei(GL_PACK_ALIGNMENT,1);
-	GLuint err=glGetError();
+	
-	assert(err==GL_NO_ERROR);
+	b3Assert(glGetError()==GL_NO_ERROR);
 	//glReadBuffer(GL_BACK);//COLOR_ATTACHMENT0);
-	err=glGetError();
+	
-	assert(err==GL_NO_ERROR);
 	float* orgPixels = (float*)malloc(textureWidth*textureHeight*numComponents*4);
 	glReadPixels(0,0,textureWidth, textureHeight, GL_RGBA, GL_FLOAT, orgPixels);
 	//it is useful to have the actual float values for debugging purposes
 
 	//convert float->char
 	char* pixels = (char*)malloc(textureWidth*textureHeight*numComponents);
-	err=glGetError();
+	assert(glGetError()==GL_NO_ERROR);
-	assert(err==GL_NO_ERROR);
 
 	for (int j=0;j<textureHeight;j++)
 	{

src/BulletDynamics/Character/btKinematicCharacterController.cpp

@@ -381,8 +381,8 @@ void btKinematicCharacterController::stepForwardAndStrafe ( btCollisionWorld* co
 		if (callback.hasHit())
 		{	
 			// we moved only a fraction
-			btScalar hitDistance;
+			//btScalar hitDistance;
-			hitDistance = (callback.m_hitPointWorld - m_currentPosition).length();
+			//hitDistance = (callback.m_hitPointWorld - m_currentPosition).length();
 
 //			m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, callback.m_closestHitFraction);
 

src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp

@@ -540,8 +540,8 @@ void btConeTwistConstraint::calcAngleInfo()
 	m_solveTwistLimit = false;
 	m_solveSwingLimit = false;
 
-	btVector3 b1Axis1,b1Axis2,b1Axis3;
+	btVector3 b1Axis1(0,0,0),b1Axis2(0,0,0),b1Axis3(0,0,0);
-	btVector3 b2Axis1,b2Axis2;
+	btVector3 b2Axis1(0,0,0),b2Axis2(0,0,0);
 
 	b1Axis1 = getRigidBodyA().getCenterOfMassTransform().getBasis() * this->m_rbAFrame.getBasis().getColumn(0);
 	b2Axis1 = getRigidBodyB().getCenterOfMassTransform().getBasis() * this->m_rbBFrame.getBasis().getColumn(0);
@@ -983,8 +983,8 @@ void btConeTwistConstraint::adjustSwingAxisToUseEllipseNormal(btVector3& vSwingA
 
 void btConeTwistConstraint::setMotorTarget(const btQuaternion &q)
 {
-	btTransform trACur = m_rbA.getCenterOfMassTransform();
+	//btTransform trACur = m_rbA.getCenterOfMassTransform();
-	btTransform trBCur = m_rbB.getCenterOfMassTransform();
+	//btTransform trBCur = m_rbB.getCenterOfMassTransform();
 //	btTransform trABCur = trBCur.inverse() * trACur;
 //	btQuaternion qABCur = trABCur.getRotation();
 //	btTransform trConstraintCur = (trBCur * m_rbBFrame).inverse() * (trACur * m_rbAFrame);

src/BulletDynamics/ConstraintSolver/btContactConstraint.cpp

@@ -155,8 +155,7 @@ void resolveSingleBilateral(btRigidBody& body1, const btVector3& pos1,
 		body1.getCenterOfMassTransform().getBasis().transpose() * body1.getAngularVelocity(),
 		body2.getLinearVelocity(),
 		body2.getCenterOfMassTransform().getBasis().transpose() * body2.getAngularVelocity()); 
-	btScalar a;
+
-	a=jacDiagABInv;
 
 
 	rel_vel = normal.dot(vel);

src/BulletDynamics/ConstraintSolver/btFixedConstraint.cpp

@@ -96,7 +96,7 @@ void btFixedConstraint::getInfo2 (btConstraintInfo2* info)
 	btVector3 kvA = transA.getBasis() * m_frameInA.getBasis().getColumn(2);
 	btVector3 ivB = transB.getBasis() * m_frameInB.getBasis().getColumn(0);
 	btVector3 target;
-	btScalar x = ivB.dot(ivA);
+	//btScalar x = ivB.dot(ivA);//??
 	btScalar y = ivB.dot(jvA);
 	btScalar z = ivB.dot(kvA);
 	btVector3 swingAxis(0,0,0);

src/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp

@@ -50,8 +50,8 @@ btGeneric6DofSpring2Constraint::btGeneric6DofSpring2Constraint(btRigidBody& rbA,
 	: btTypedConstraint(D6_SPRING_2_CONSTRAINT_TYPE, rbA, rbB)
 	, m_frameInA(frameInA)
 	, m_frameInB(frameInB)
-	, m_flags(0)
 	, m_rotateOrder(rotOrder)	
+	, m_flags(0)
 {
 	calculateTransforms();
 }
@@ -60,8 +60,8 @@ btGeneric6DofSpring2Constraint::btGeneric6DofSpring2Constraint(btRigidBody& rbA,
 btGeneric6DofSpring2Constraint::btGeneric6DofSpring2Constraint(btRigidBody& rbB, const btTransform& frameInB, RotateOrder rotOrder)
 	: btTypedConstraint(D6_SPRING_2_CONSTRAINT_TYPE, getFixedBody(), rbB)
 	, m_frameInB(frameInB)
-	, m_flags(0)
 	, m_rotateOrder(rotOrder)
+	, m_flags(0)
 {
 	///not providing rigidbody A means implicitly using worldspace for body A
 	m_frameInA = rbB.getCenterOfMassTransform() * m_frameInB;
@@ -776,7 +776,7 @@ int btGeneric6DofSpring2Constraint::get_limit_motor_info2(
 		btScalar kd = limot->m_springDamping;
 		btScalar ks = limot->m_springStiffness;
 		btScalar vel = rotational ? angVelA.dot(ax1) - angVelB.dot(ax1) : linVelA.dot(ax1) - linVelB.dot(ax1);
-		btScalar erp = 0.1;
+//		btScalar erp = 0.1;
 		btScalar cfm = 0.0;
 		btScalar mA = 1.0 / m_rbA.getInvMass();
 		btScalar mB = 1.0 / m_rbB.getInvMass();

src/BulletDynamics/ConstraintSolver/btHingeConstraint.h

@@ -217,6 +217,14 @@ public:
 
 	}
 
+    bool hasLimit() const {
+#ifdef  _BT_USE_CENTER_LIMIT_
+        return m_limit.getHalfRange() > 0;
+#else
+        return m_lowerLimit <= m_upperLimit;
+#endif
+    }
+
 	btScalar	getLowerLimit() const
 	{
 #ifdef	_BT_USE_CENTER_LIMIT_

src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp

@@ -364,9 +364,9 @@ void	btSequentialImpulseConstraintSolver::resolveSplitPenetrationImpulseCacheFri
 
 
  btSequentialImpulseConstraintSolver::btSequentialImpulseConstraintSolver()
-	 :m_btSeed2(0),
+	 : m_resolveSingleConstraintRowGeneric(gResolveSingleConstraintRowGeneric_scalar_reference),
-	 m_resolveSingleConstraintRowGeneric(gResolveSingleConstraintRowGeneric_scalar_reference),
+	 m_resolveSingleConstraintRowLowerLimit(gResolveSingleConstraintRowLowerLimit_scalar_reference),
-	 m_resolveSingleConstraintRowLowerLimit(gResolveSingleConstraintRowLowerLimit_scalar_reference)
+	 m_btSeed2(0)
  {
 
 #ifdef USE_SIMD
@@ -761,8 +761,8 @@ void btSequentialImpulseConstraintSolver::setupContactConstraint(btSolverConstra
 																 const btVector3& rel_pos1, const btVector3& rel_pos2)
 {
 
-			const btVector3& pos1 = cp.getPositionWorldOnA();
+		//	const btVector3& pos1 = cp.getPositionWorldOnA();
-			const btVector3& pos2 = cp.getPositionWorldOnB();
+		//	const btVector3& pos2 = cp.getPositionWorldOnB();
 
 			btSolverBody* bodyA = &m_tmpSolverBodyPool[solverBodyIdA];
 			btSolverBody* bodyB = &m_tmpSolverBodyPool[solverBodyIdB];

src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp

@@ -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)
 
 {
@@ -1196,7 +1196,7 @@ void btDiscreteDynamicsWorld::debugDrawConstraint(btTypedConstraint* constraint)
 					break;
 				}
 				bool drawSect = true;
-				if(minAng > maxAng)
+				if(!pHinge->hasLimit())
 				{
 					minAng = btScalar(0.f);
 					maxAng = SIMD_2_PI;

src/BulletDynamics/Featherstone/btMultiBody.cpp

@@ -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_maxCoordinateVelocity(100.f),
 			m_hasSelfCollision(true),		
-		m_dofCount(0),
-		__posUpdated(false),		
 		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)

src/BulletDynamics/Featherstone/btMultiBody.h

@@ -510,7 +510,14 @@ public:
 	void useGlobalVelocities(bool use) { m_useGlobalVelocities = use; }
 	bool isUsingGlobalVelocities() const { return m_useGlobalVelocities; }
 
-	bool __posUpdated;
+	bool isPosUpdated() const
+	{
+		return __posUpdated;
+	}
+	void setPosUpdated(bool updated)
+	{
+		__posUpdated = updated;
+	}
 	
 private:
     btMultiBody(const btMultiBody &);  // not implemented
@@ -535,6 +542,7 @@ private:
 
 	void mulMatrix(btScalar *pA, btScalar *pB, int rowsA, int colsA, int rowsB, int colsB, btScalar *pC) const;
 	
+	
 private:
 
 	btMultiBodyLinkCollider* m_baseCollider;//can be NULL
@@ -550,9 +558,7 @@ private:
     
     btAlignedObjectArray<btMultibodyLink> m_links;    // array of m_links, excluding the base. index from 0 to num_links-1.
 	btAlignedObjectArray<btMultiBodyLinkCollider*> m_colliders;
-	int m_dofCount, m_posVarCnt;
 
-	bool m_useRK4, m_useGlobalVelocities;
     
     //
     // realBuf:
@@ -596,6 +602,9 @@ private:
 	btScalar	m_maxCoordinateVelocity;
 	bool		m_hasSelfCollision;
 	bool		m_isMultiDof;
+		bool __posUpdated;
+		int m_dofCount, m_posVarCnt;
+	bool m_useRK4, m_useGlobalVelocities;
 };
 
 #endif

src/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp

@@ -2,16 +2,18 @@
 #include "BulletDynamics/Dynamics/btRigidBody.h"
 #include "btMultiBodyPoint2Point.h"				//for testing (BTMBP2PCONSTRAINT_BLOCK_ANGULAR_MOTION_TEST macro)
 
+
+	
 btMultiBodyConstraint::btMultiBodyConstraint(btMultiBody* bodyA,btMultiBody* bodyB,int linkA, int linkB, int numRows, bool isUnilateral)
 	:m_bodyA(bodyA),
 	m_bodyB(bodyB),
 	m_linkA(linkA),
 	m_linkB(linkB),
 	m_numRows(numRows),
-	m_isUnilateral(isUnilateral),
-	m_maxAppliedImpulse(100),
 	m_jacSizeA(0),
-	m_jacSizeBoth(0)
+	m_jacSizeBoth(0),
+	m_isUnilateral(isUnilateral),
+	m_maxAppliedImpulse(100)
 {
 	
 	if(bodyA)

src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp

@@ -37,9 +37,9 @@ btScalar btMultiBodyConstraintSolver::solveSingleIteration(int iteration, btColl
 			//resolveSingleConstraintRowGenericMultiBody(constraint);
 		resolveSingleConstraintRowGeneric(constraint);
 		if(constraint.m_multiBodyA) 
-			constraint.m_multiBodyA->__posUpdated = false;
+			constraint.m_multiBodyA->setPosUpdated(false);
 		if(constraint.m_multiBodyB) 
-			constraint.m_multiBodyB->__posUpdated = false;
+			constraint.m_multiBodyB->setPosUpdated(false);
 	}
 
 	//solve featherstone normal contact
@@ -50,9 +50,9 @@ btScalar btMultiBodyConstraintSolver::solveSingleIteration(int iteration, btColl
 			resolveSingleConstraintRowGeneric(constraint);
 
 		if(constraint.m_multiBodyA) 
-			constraint.m_multiBodyA->__posUpdated = false;
+			constraint.m_multiBodyA->setPosUpdated(false);
 		if(constraint.m_multiBodyB) 
-			constraint.m_multiBodyB->__posUpdated = false;
+			constraint.m_multiBodyB->setPosUpdated(false);
 	}
 	
 	//solve featherstone frictional contact
@@ -71,9 +71,9 @@ btScalar btMultiBodyConstraintSolver::solveSingleIteration(int iteration, btColl
 				resolveSingleConstraintRowGeneric(frictionConstraint);
 
 				if(frictionConstraint.m_multiBodyA) 
-					frictionConstraint.m_multiBodyA->__posUpdated = false;
+					frictionConstraint.m_multiBodyA->setPosUpdated(false);
 				if(frictionConstraint.m_multiBodyB) 
-					frictionConstraint.m_multiBodyB->__posUpdated = false;
+					frictionConstraint.m_multiBodyB->setPosUpdated(false);
 			}
 		}
 	}
@@ -629,15 +629,15 @@ void	btMultiBodyConstraintSolver::convertMultiBodyContact(btPersistentManifold*
 	int solverBodyIdA = mbA? -1 : getOrInitSolverBody(*colObj0,infoGlobal.m_timeStep);
 	int solverBodyIdB = mbB ? -1 : getOrInitSolverBody(*colObj1,infoGlobal.m_timeStep);
 
-	btSolverBody* solverBodyA = mbA ? 0 : &m_tmpSolverBodyPool[solverBodyIdA];
+//	btSolverBody* solverBodyA = mbA ? 0 : &m_tmpSolverBodyPool[solverBodyIdA];
-	btSolverBody* solverBodyB = mbB ? 0 : &m_tmpSolverBodyPool[solverBodyIdB];
+//	btSolverBody* solverBodyB = mbB ? 0 : &m_tmpSolverBodyPool[solverBodyIdB];
 
 
 	///avoid collision response between two static objects
 //	if (!solverBodyA || (solverBodyA->m_invMass.isZero() && (!solverBodyB || solverBodyB->m_invMass.isZero())))
 	//	return;
 
-	int rollingFriction=1;
+
 
 	for (int j=0;j<manifold->getNumContacts();j++)
 	{
@@ -653,8 +653,8 @@ void	btMultiBodyConstraintSolver::convertMultiBodyContact(btPersistentManifold*
 
 			btMultiBodySolverConstraint& solverConstraint = m_multiBodyNormalContactConstraints.expandNonInitializing();
 
-			btRigidBody* rb0 = btRigidBody::upcast(colObj0);
+	//		btRigidBody* rb0 = btRigidBody::upcast(colObj0);
-			btRigidBody* rb1 = btRigidBody::upcast(colObj1);
+	//		btRigidBody* rb1 = btRigidBody::upcast(colObj1);
 			solverConstraint.m_solverBodyIdA = solverBodyIdA;
 			solverConstraint.m_solverBodyIdB = solverBodyIdB;
 			solverConstraint.m_multiBodyA = mbA;
@@ -678,6 +678,7 @@ void	btMultiBodyConstraintSolver::convertMultiBodyContact(btPersistentManifold*
 #ifdef ENABLE_FRICTION
 			solverConstraint.m_frictionIndex = frictionIndex;
 #if ROLLING_FRICTION
+	int rollingFriction=1;
 			btVector3 angVelA(0,0,0),angVelB(0,0,0);
 			if (rb0)
 				angVelA = rb0->getAngularVelocity();
@@ -795,7 +796,7 @@ void	btMultiBodyConstraintSolver::convertMultiBodyContact(btPersistentManifold*
 
 void btMultiBodyConstraintSolver::convertContacts(btPersistentManifold** manifoldPtr,int numManifolds, const btContactSolverInfo& infoGlobal)
 {
-	btPersistentManifold* manifold = 0;
+	//btPersistentManifold* manifold = 0;
 
 	for (int i=0;i<numManifolds;i++)
 	{
@@ -836,7 +837,7 @@ btScalar btMultiBodyConstraintSolver::solveGroup(btCollisionObject** bodies,int
 btScalar btMultiBodyConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionObject** bodies,int numBodies,const btContactSolverInfo& infoGlobal)
 {
 	int numPoolConstraints = m_multiBodyNormalContactConstraints.size();
-	int i,j;
+	int j;
 
 	if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
 	{

src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp

@@ -613,7 +613,7 @@ void	btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
 								pRealBuf[i] = delta_q[i];
 
 							//bod->stepPositionsMultiDof(1, 0, &delta_q[0]);
-							bod->__posUpdated = true;							
+							bod->setPosUpdated(true);							
 						}
 
 						//ugly hack which resets the cached data to t0 (needed for constraint solver)
@@ -672,7 +672,7 @@ void	btMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep)
 
 				if(bod->isMultiDof())
 				{
-					if(!bod->__posUpdated)
+					if(!bod->isPosUpdated())
 						bod->stepPositionsMultiDof(timeStep);
 					else
 					{
@@ -680,7 +680,7 @@ void	btMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep)
 						pRealBuf += 6 + bod->getNumDofs() + bod->getNumDofs()*bod->getNumDofs();
 
 						bod->stepPositionsMultiDof(1, 0, pRealBuf);
-						bod->__posUpdated = false;
+						bod->setPosUpdated(false);
 					}
 				}
 				else
@@ -692,7 +692,7 @@ void	btMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep)
 				if (bod->getBaseCollider())
 				{
 					btVector3 posr = local_origin[0];
-					float pos[4]={posr.x(),posr.y(),posr.z(),1};
+				//	float pos[4]={posr.x(),posr.y(),posr.z(),1};
 					float quat[4]={-world_to_local[0].x(),-world_to_local[0].y(),-world_to_local[0].z(),world_to_local[0].w()};
 					btTransform tr;
 					tr.setIdentity();
@@ -722,7 +722,7 @@ void	btMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep)
 						int index = link+1;
 
 						btVector3 posr = local_origin[index];
-						float pos[4]={posr.x(),posr.y(),posr.z(),1};
+			//			float pos[4]={posr.x(),posr.y(),posr.z(),1};
 						float quat[4]={-world_to_local[index].x(),-world_to_local[index].y(),-world_to_local[index].z(),world_to_local[index].w()};
 						btTransform tr;
 						tr.setIdentity();

src/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp

@@ -110,7 +110,7 @@ void btMultiBodyJointMotor::createConstraintRows(btMultiBodyConstraintArray& con
 	{
 		btMultiBodySolverConstraint& constraintRow = constraintRows.expandNonInitializing();
 		
-		btScalar penetration = 0;
+		
 		fillMultiBodyConstraint(constraintRow,data,jacobianA(row),jacobianB(row),dummy,dummy,dummy,posError,infoGlobal,-m_maxAppliedImpulse,m_maxAppliedImpulse,1,false,m_desiredVelocity);
 	}
 

src/BulletDynamics/Featherstone/btMultiBodyLink.h

@@ -381,8 +381,7 @@ struct btMultibodyLink
 		eInvalid
 	};
 
-	eFeatherstoneJointType m_jointType;
+	
-	int m_dofCount, m_posVarCount;				//redundant but handy
 
 	// "axis" = spatial joint axis (Mirtich Defn 9 p104). (expressed in local frame.) constant.
     // for prismatic: m_axesTop[0] = zero;
@@ -430,6 +429,10 @@ struct btMultibodyLink
 	class btMultiBodyLinkCollider* m_collider;
 	int m_flags;
 	
+	
+	int m_dofCount, m_posVarCount;				//redundant but handy
+	eFeatherstoneJointType m_jointType;
+
     // ctor: set some sensible defaults
 	btMultibodyLink()
 		: 	m_mass(1),

src/BulletDynamics/Featherstone/btMultiBodyPoint2Point.cpp

@@ -119,7 +119,6 @@ int numDim = BTMBP2PCONSTRAINT_DIM;
 		contactNormalOnB[i%3] = -1;
 #endif
 
-		btScalar penetration = 0;
 
 		 // Convert local points back to world
 		btVector3 pivotAworld = m_pivotInA;

src/BulletDynamics/Featherstone/btMultiBodySolverConstraint.h

@@ -28,7 +28,7 @@ ATTRIBUTE_ALIGNED16 (struct)	btMultiBodySolverConstraint
 {
 	BT_DECLARE_ALIGNED_ALLOCATOR();
 
-	btMultiBodySolverConstraint() : m_solverBodyIdA(-1), m_solverBodyIdB(-1), m_multiBodyA(0), m_multiBodyB(0), m_linkA(-1), m_linkB(-1)
+	btMultiBodySolverConstraint() : m_solverBodyIdA(-1), m_multiBodyA(0), m_linkA(-1), m_solverBodyIdB(-1), m_multiBodyB(0), m_linkB(-1)
 	{}
 
 	int				m_deltaVelAindex;//more generic version of m_relpos1CrossNormal/m_contactNormal1

src/BulletDynamics/MLCPSolvers/btDantzigLCP.cpp

@@ -821,14 +821,15 @@ void btSolveL1T (const btScalar *L, btScalar *B, int n, int lskip1)
   /* declare variables - Z matrix, p and q vectors, etc */
   btScalar Z11,m11,Z21,m21,Z31,m31,Z41,m41,p1,q1,p2,p3,p4,*ex;
   const btScalar *ell;
-  int lskip2,lskip3,i,j;
+  int lskip2,i,j;
+//  int lskip3;
   /* special handling for L and B because we're solving L1 *transpose* */
   L = L + (n-1)*(lskip1+1);
   B = B + n-1;
   lskip1 = -lskip1;
   /* compute lskip values */
   lskip2 = 2*lskip1;
-  lskip3 = 3*lskip1;
+  //lskip3 = 3*lskip1;
   /* compute all 4 x 1 blocks of X */
   for (i=0; i <= n-4; i+=4) {
     /* compute all 4 x 1 block of X, from rows i..i+4-1 */

src/BulletDynamics/MLCPSolvers/btMLCPSolver.cpp

@@ -44,7 +44,7 @@ btScalar btMLCPSolver::solveGroupCacheFriendlySetup(btCollisionObject** bodies,
 		int numFrictionPerContact = m_tmpSolverContactConstraintPool.size()==m_tmpSolverContactFrictionConstraintPool.size()? 1 : 2;
 
 
-		int numBodies = m_tmpSolverBodyPool.size();
+	//	int numBodies = m_tmpSolverBodyPool.size();
 		m_allConstraintPtrArray.resize(0);
 		m_limitDependencies.resize(m_tmpSolverNonContactConstraintPool.size()+m_tmpSolverContactConstraintPool.size()+m_tmpSolverContactFrictionConstraintPool.size());
 		btAssert(m_limitDependencies.size() == m_tmpSolverNonContactConstraintPool.size()+m_tmpSolverContactConstraintPool.size()+m_tmpSolverContactFrictionConstraintPool.size());
@@ -178,8 +178,8 @@ void btMLCPSolver::createMLCPFast(const btContactSolverInfo& infoGlobal)
 		}
 	}
 
-	btScalar* w = 0;
+//	btScalar* w = 0;
-	int nub = 0;
+//	int nub = 0;
 
 	m_lo.resize(numConstraintRows);
 	m_hi.resize(numConstraintRows);
@@ -354,8 +354,8 @@ void btMLCPSolver::createMLCPFast(const btContactSolverInfo& infoGlobal)
 			int row__ = ofs[c];
 			int sbA = m_allConstraintPtrArray[i]->m_solverBodyIdA;
 			int sbB = m_allConstraintPtrArray[i]->m_solverBodyIdB;
-			btRigidBody* orgBodyA = m_tmpSolverBodyPool[sbA].m_originalBody;
+		//	btRigidBody* orgBodyA = m_tmpSolverBodyPool[sbA].m_originalBody;
-			btRigidBody* orgBodyB = m_tmpSolverBodyPool[sbB].m_originalBody;
+		//	btRigidBody* orgBodyB = m_tmpSolverBodyPool[sbB].m_originalBody;
 
 			numRows = i<m_tmpSolverNonContactConstraintPool.size() ? m_tmpConstraintSizesPool[c].m_numConstraintRows : numContactRows ;
 					
@@ -410,9 +410,9 @@ void btMLCPSolver::createMLCPFast(const btContactSolverInfo& infoGlobal)
 			for (;row__<numJointRows;)
 			{
 
-				int sbA = m_allConstraintPtrArray[row__]->m_solverBodyIdA;
+				//int sbA = m_allConstraintPtrArray[row__]->m_solverBodyIdA;
 				int sbB = m_allConstraintPtrArray[row__]->m_solverBodyIdB;
-				btRigidBody* orgBodyA = m_tmpSolverBodyPool[sbA].m_originalBody;
+			//	btRigidBody* orgBodyA = m_tmpSolverBodyPool[sbA].m_originalBody;
 				btRigidBody* orgBodyB = m_tmpSolverBodyPool[sbB].m_originalBody;
 
 
@@ -603,8 +603,8 @@ btScalar btMLCPSolver::solveGroupCacheFriendlyIterations(btCollisionObject** bod
 				btSolverConstraint& c = *m_allConstraintPtrArray[i];
 				int sbA = c.m_solverBodyIdA;
 				int sbB = c.m_solverBodyIdB;
-				btRigidBody* orgBodyA = m_tmpSolverBodyPool[sbA].m_originalBody;
+				//btRigidBody* orgBodyA = m_tmpSolverBodyPool[sbA].m_originalBody;
-				btRigidBody* orgBodyB = m_tmpSolverBodyPool[sbB].m_originalBody;
+			//	btRigidBody* orgBodyB = m_tmpSolverBodyPool[sbB].m_originalBody;
 
 				btSolverBody& solverBodyA = m_tmpSolverBodyPool[sbA];
 				btSolverBody& solverBodyB = m_tmpSolverBodyPool[sbB];

src/BulletDynamics/MLCPSolvers/btSolveProjectedGaussSeidel.h

@@ -62,7 +62,7 @@ public:
 				}
 
 				float aDiag = A(i,i);
-				x [i] = (b [i] - delta) / A(i,i);
+				x [i] = (b [i] - delta) / aDiag;
 				float s = 1.f;
 
 				if (limitDependency[i]>=0)

src/BulletDynamics/Vehicle/btRaycastVehicle.cpp

@@ -296,8 +296,9 @@ void btRaycastVehicle::updateVehicle( btScalar step )
 	int i=0;
 	for (i=0;i<m_wheelInfo.size();i++)
 	{
-		btScalar depth; 
+		//btScalar depth; 
-		depth = rayCast( m_wheelInfo[i]);
+		//depth = 
+		rayCast( m_wheelInfo[i]);
 	}
 
 	updateSuspension(step);

src/LinearMath/btMatrixX.h

@@ -354,11 +354,11 @@ struct btMatrixX
 				for (int i=0; i < res.rows(); ++i)
 				{
 					T dotProd=0;
-					T dotProd2=0;
+//					T dotProd2=0;
-					int waste=0,waste2=0;
+					//int waste=0,waste2=0;
 
 					{
-						bool useOtherCol = true;
+//						bool useOtherCol = true;
 						{
 							for (int v=0;v<rows();v++)
 							{