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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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6
Demos3/AllBullet2Demos/BulletDemoEntries.h
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@@ -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

11
Demos3/AllBullet2Demos/GraphingTexture.cpp
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@@ -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(err==GL_NO_ERROR);
assert(glGetError()==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(err==GL_NO_ERROR);
assert(glGetError()==GL_NO_ERROR);
}

2
Demos3/AllBullet2Demos/GraphingTexture.h
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@@ -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)
{

2
Demos3/AllBullet2Demos/GwenParameterInterface.cpp
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@@ -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;
}

18
Demos3/AllBullet2Demos/GwenProfileWindow.cpp
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@@ -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;
bool checked = labeled->IsChecked();
// Gwen::Controls::CheckBox* labeled = (Gwen::Controls::CheckBox* )pControl;
// 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);

34
Demos3/AllBullet2Demos/main.cpp
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@@ -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::UnicodeString la = label->GetText();// node->GetButton()->GetName();// GetText();
Gwen::String laa = Gwen::Utility::UnicodeToString(la);
const char* ha = laa.c_str();
// 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();
// 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(err==GL_NO_ERROR);
assert(glGetError()==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];
int curDemo = 0;
//char nodeText[1024];
//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(err==GL_NO_ERROR);
assert(glGetError()==GL_NO_ERROR);
app->m_instancingRenderer->init();
DrawGridData dg;
dg.upAxis = app->getUpAxis();

2
Demos3/GpuDemos/gwenUserInterface.cpp
View File

@@ -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);

7
Demos3/ImportObjDemo/ImportObjSetup.cpp
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@@ -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);
/*

5
Demos3/ImportSTLDemo/ImportSTLSetup.cpp
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@@ -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);
/*

23
Demos3/bullet2/FeatherstoneMultiBodyDemo/BulletMultiBodyDemos.cpp
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@@ -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 orn[]={0,0,0,1};
//float pos[]={0,0,0};
//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);
RagDoll2* doll = new RagDoll2(m_dynamicsWorld,offset,m_glApp);
// btVector3 offset(0,2,0);
//RagDoll2* doll = new RagDoll2(m_dynamicsWorld,offset,m_glApp);
m_glApp->m_instancingRenderer->writeTransforms();

4
Demos3/bullet2/FeatherstoneMultiBodyDemo/MultiDofDemo.cpp
View File

@@ -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()};

2
btgui/Gwen/Controls/CrossSplitter.cpp
View File

@@ -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() );
}
}

2
btgui/Gwen/Controls/Resizer.cpp
View File

@@ -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();

40
btgui/Gwen/Controls/TreeControl.cpp
View File

@@ -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 maxCoordViewableWindow = minCoordViewableWindow+viewSize;
// float minCoordViewableWindow = curAmount*contSize;
//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 maxCoordViewableWindow = minCoordViewableWindow+viewSize;
// float minCoordViewableWindow = curAmount*contSize;
//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 maxCoordViewableWindow = minCoordViewableWindow+viewSize;
// float minCoordViewableWindow = curAmount*contSize;
// 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 maxCoordViewableWindow = minCoordViewableWindow+viewSize;
// float minCoordViewableWindow = curAmount*contSize;
// 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);

4
btgui/Gwen/Controls/TreeNode.cpp
View File

@@ -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)

12
btgui/Gwen/Renderers/OpenGL_DebugFont.cpp
View File

@@ -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];

4
btgui/Gwen/Skins/Simple.h
View File

@@ -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 )
{

8
btgui/OpenGLTrueTypeFont/fontstash.cpp
View File

@@ -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;

65
btgui/OpenGLTrueTypeFont/opengl_fontstashcallbacks.cpp
View File

@@ -37,8 +37,7 @@ InternalOpenGL2RenderCallbacks::~InternalOpenGL2RenderCallbacks()
void InternalOpenGL2RenderCallbacks::display2()
{
GLint err = glGetError();
assert(err==GL_NO_ERROR);
assert(glGetError()==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(err==GL_NO_ERROR);
assert(glGetError()==GL_NO_ERROR);
// glBindTexture(GL_TEXTURE_2D,m_texturehandle);
err = glGetError();
assert(err==GL_NO_ERROR);
assert(glGetError()==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(err==GL_NO_ERROR);
err = glGetError();
assert(err==GL_NO_ERROR);
assert(glGetError()==GL_NO_ERROR);
glEnableVertexAttribArray(data->m_positionAttribute);
err = glGetError();
assert(err==GL_NO_ERROR);
assert(glGetError()==GL_NO_ERROR);
glEnableVertexAttribArray(data->m_colourAttribute);
err = glGetError();
assert(err==GL_NO_ERROR);
assert(glGetError()==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(err==GL_NO_ERROR);
assert(glGetError()==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;
err = glGetError();
assert(err==GL_NO_ERROR);
assert(glGetError()==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(err==GL_NO_ERROR);
assert(glGetError()==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(err==GL_NO_ERROR);
assert(glGetError()==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(err==GL_NO_ERROR);
assert(glGetError()==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(err==GL_NO_ERROR);
assert(glGetError()==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(err==GL_NO_ERROR);
assert(glGetError()==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(err==GL_NO_ERROR);
assert(glGetError()==GL_NO_ERROR);
}
} else
{
@@ -196,13 +178,10 @@ void InternalOpenGL2RenderCallbacks::render(sth_texture* texture)
GLuint* texId = (GLuint*) texture->m_userData;
GLint err;
err = glGetError();
assert(err==GL_NO_ERROR);
assert(glGetError()==GL_NO_ERROR);
glActiveTexture(GL_TEXTURE0);
err = glGetError();
assert(err==GL_NO_ERROR);
assert(glGetError()==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(err==GL_NO_ERROR);
assert(glGetError()==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(err==GL_NO_ERROR);
assert(glGetError()==GL_NO_ERROR);
glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, s_indexBuffer);
//glDrawArrays(GL_TRIANGLE_FAN, 0, 4);
int indexCount = texture->nverts;
err = glGetError();
assert(err==GL_NO_ERROR);
assert(glGetError()==GL_NO_ERROR);
glDrawElements(GL_TRIANGLES, indexCount, GL_UNSIGNED_INT, 0);
err = glGetError();
assert(err==GL_NO_ERROR);
assert(glGetError()==GL_NO_ERROR);
glBindVertexArray(0);

75
btgui/OpenGLWindow/GLPrimitiveRenderer.cpp
View File

@@ -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(err==GL_NO_ERROR);
assert(glGetError()==GL_NO_ERROR);
@@ -143,16 +142,14 @@ void GLPrimitiveRenderer::loadBufferData()
glEnableVertexAttribArray(m_data->m_positionAttribute);
glEnableVertexAttribArray(m_data->m_colourAttribute);
err = glGetError();
assert(err==GL_NO_ERROR);
assert(glGetError()==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(err==GL_NO_ERROR);
assert(glGetError()==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(err==GL_NO_ERROR);
assert(glGetError()==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;
err = glGetError();
assert(err==GL_NO_ERROR);
assert(glGetError()==GL_NO_ERROR);
glActiveTexture(GL_TEXTURE0);
err = glGetError();
assert(err==GL_NO_ERROR);
assert(glGetError()==GL_NO_ERROR);
glBindTexture(GL_TEXTURE_2D,m_data->m_texturehandle);
err = glGetError();
assert(err==GL_NO_ERROR);
assert(glGetError()==GL_NO_ERROR);
drawTexturedRect(x0,y0,x1,y1,color,0,0,1,1);
err = glGetError();
assert(err==GL_NO_ERROR);
assert(glGetError()==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;
err = glGetError();
assert(err==GL_NO_ERROR);
assert(glGetError()==GL_NO_ERROR);
glUseProgram(m_data->m_shaderProg);
err = glGetError();
assert(err==GL_NO_ERROR);
assert(glGetError()==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(err==GL_NO_ERROR);
assert(glGetError()==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(err==GL_NO_ERROR);
err = glGetError();
assert(err==GL_NO_ERROR);
assert(glGetError()==GL_NO_ERROR);
glEnableVertexAttribArray(m_data->m_positionAttribute);
err = glGetError();
assert(err==GL_NO_ERROR);
assert(glGetError()==GL_NO_ERROR);
glEnableVertexAttribArray(m_data->m_colourAttribute);
err = glGetError();
assert(err==GL_NO_ERROR);
assert(glGetError()==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(err==GL_NO_ERROR);
assert(glGetError()==GL_NO_ERROR);
glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, m_data->m_indexBuffer);
//glDrawArrays(GL_TRIANGLE_FAN, 0, 4);
int indexCount = 6;
err = glGetError();
assert(err==GL_NO_ERROR);
assert(glGetError()==GL_NO_ERROR);
glDrawElements(GL_TRIANGLES, indexCount, GL_UNSIGNED_INT, 0);
err = glGetError();
assert(err==GL_NO_ERROR);
assert(glGetError()==GL_NO_ERROR);
glBindVertexArray(0);
err = glGetError();
assert(err==GL_NO_ERROR);
assert(glGetError()==GL_NO_ERROR);
glBindBuffer(GL_ARRAY_BUFFER, 0);
err = glGetError();
assert(err==GL_NO_ERROR);
assert(glGetError()==GL_NO_ERROR);
glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
err = glGetError();
assert(err==GL_NO_ERROR);
assert(glGetError()==GL_NO_ERROR);
//glDisableVertexAttribArray(m_data->m_textureAttribute);
err = glGetError();
assert(err==GL_NO_ERROR);
assert(glGetError()==GL_NO_ERROR);
glUseProgram(0);
err = glGetError();
assert(err==GL_NO_ERROR);
assert(glGetError()==GL_NO_ERROR);
}

43
btgui/OpenGLWindow/GwenOpenGL3CoreRenderer.h
View File

@@ -119,55 +119,37 @@ public:
{
m_yOffset=0;
glEnable(GL_BLEND);
GLint err = glGetError();
assert(err==GL_NO_ERROR);
assert(glGetError()==GL_NO_ERROR);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
err = glGetError();
assert(err==GL_NO_ERROR);
assert(glGetError()==GL_NO_ERROR);
err = glGetError();
assert(err==GL_NO_ERROR);
assert(glGetError()==GL_NO_ERROR);
glDisable(GL_DEPTH_TEST);
err = glGetError();
assert(err==GL_NO_ERROR);
assert(glGetError()==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(err==GL_NO_ERROR);
assert(glGetError()==GL_NO_ERROR);
err = glGetError();
assert(err==GL_NO_ERROR);
glDisable(GL_CULL_FACE);
glDisable(GL_DEPTH_TEST);
err = glGetError();
assert(err==GL_NO_ERROR);
assert(glGetError()==GL_NO_ERROR);
err = glGetError();
assert(err==GL_NO_ERROR);
glEnable(GL_BLEND);
err = glGetError();
assert(err==GL_NO_ERROR);
assert(glGetError()==GL_NO_ERROR);
}
virtual void End()
{
@@ -375,10 +357,7 @@ public:
glBindTexture(GL_TEXTURE_2D,texHandle);
// glDisable(GL_DEPTH_TEST);
GLint err;
err = glGetError();
assert(err==GL_NO_ERROR);
assert(glGetError()==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(err==GL_NO_ERROR);
assert(glGetError()==GL_NO_ERROR);
}

12
btgui/OpenGLWindow/LoadShader.cpp
View File

@@ -18,9 +18,7 @@ void gltLoadShaderSrc(const char *szShaderSrc, GLuint shader)
GLuint gltLoadShaderPair(const char *szVertexProg, const char *szFragmentProg)
{
GLuint err;
err = glGetError();
assert(err==GL_NO_ERROR);
assert(glGetError()==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

10
btgui/OpenGLWindow/SimpleOpenGL3App.cpp
View File

@@ -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(err==GL_NO_ERROR);
assert(glGetError()==GL_NO_ERROR);
for (int j=0;j<textureHeight;j++)
{

4
src/BulletDynamics/Character/btKinematicCharacterController.cpp
View File

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

8
src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp
View File

@@ -540,8 +540,8 @@ void btConeTwistConstraint::calcAngleInfo()
m_solveTwistLimit = false;
m_solveSwingLimit = false;
btVector3 b1Axis1,b1Axis2,b1Axis3;
btVector3 b2Axis1,b2Axis2;
btVector3 b1Axis1(0,0,0),b1Axis2(0,0,0),b1Axis3(0,0,0);
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 trBCur = m_rbB.getCenterOfMassTransform();
//btTransform trACur = m_rbA.getCenterOfMassTransform();
//btTransform trBCur = m_rbB.getCenterOfMassTransform();
// btTransform trABCur = trBCur.inverse() * trACur;
// btQuaternion qABCur = trABCur.getRotation();
// btTransform trConstraintCur = (trBCur * m_rbBFrame).inverse() * (trACur * m_rbAFrame);

3
src/BulletDynamics/ConstraintSolver/btContactConstraint.cpp
View File

@@ -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);

2
src/BulletDynamics/ConstraintSolver/btFixedConstraint.cpp
View File

@@ -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);

6
src/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp
View File

@@ -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();

8
src/BulletDynamics/ConstraintSolver/btHingeConstraint.h
View File

@@ -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_

10
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
View File

@@ -364,9 +364,9 @@ void btSequentialImpulseConstraintSolver::resolveSplitPenetrationImpulseCacheFri
btSequentialImpulseConstraintSolver::btSequentialImpulseConstraintSolver()
:m_btSeed2(0),
m_resolveSingleConstraintRowGeneric(gResolveSingleConstraintRowGeneric_scalar_reference),
m_resolveSingleConstraintRowLowerLimit(gResolveSingleConstraintRowLowerLimit_scalar_reference)
: m_resolveSingleConstraintRowGeneric(gResolveSingleConstraintRowGeneric_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& pos2 = cp.getPositionWorldOnB();
// const btVector3& pos1 = cp.getPositionWorldOnA();
// const btVector3& pos2 = cp.getPositionWorldOnB();
btSolverBody* bodyA = &m_tmpSolverBodyPool[solverBodyIdA];
btSolverBody* bodyB = &m_tmpSolverBodyPool[solverBodyIdB];

4
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
View File

@@ -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;

24
src/BulletDynamics/Featherstone/btMultiBody.cpp
View File

@@ -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)

15
src/BulletDynamics/Featherstone/btMultiBody.h
View File

@@ -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

8
src/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp
View File

@@ -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)

27
src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp
View File

@@ -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* solverBodyB = mbB ? 0 : &m_tmpSolverBodyPool[solverBodyIdB];
// btSolverBody* solverBodyA = mbA ? 0 : &m_tmpSolverBodyPool[solverBodyIdA];
// 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* rb1 = btRigidBody::upcast(colObj1);
// btRigidBody* rb0 = btRigidBody::upcast(colObj0);
// 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)
{

10
src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
View File

@@ -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();

2
src/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp
View File

@@ -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);
}

7
src/BulletDynamics/Featherstone/btMultiBodyLink.h
View File

@@ -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),

1
src/BulletDynamics/Featherstone/btMultiBodyPoint2Point.cpp
View File

@@ -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;

2
src/BulletDynamics/Featherstone/btMultiBodySolverConstraint.h
View File

@@ -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

5
src/BulletDynamics/MLCPSolvers/btDantzigLCP.cpp
View File

@@ -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 */

18
src/BulletDynamics/MLCPSolvers/btMLCPSolver.cpp
View File

@@ -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;
int nub = 0;
// btScalar* w = 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* orgBodyB = m_tmpSolverBodyPool[sbB].m_originalBody;
// btRigidBody* orgBodyA = m_tmpSolverBodyPool[sbA].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* orgBodyB = m_tmpSolverBodyPool[sbB].m_originalBody;
//btRigidBody* orgBodyA = m_tmpSolverBodyPool[sbA].m_originalBody;
// btRigidBody* orgBodyB = m_tmpSolverBodyPool[sbB].m_originalBody;
btSolverBody& solverBodyA = m_tmpSolverBodyPool[sbA];
btSolverBody& solverBodyB = m_tmpSolverBodyPool[sbB];

2
src/BulletDynamics/MLCPSolvers/btSolveProjectedGaussSeidel.h
View File

@@ -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)

5
src/BulletDynamics/Vehicle/btRaycastVehicle.cpp
View File

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

6
src/LinearMath/btMatrixX.h
View File

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