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fix padding in btSolverConstraint, see Issue 650

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fix some warnings
This commit is contained in:
erwin.coumans
2012-09-08 19:21:14 +00:00
parent 9065f59229
commit b69c6ac3f5
47 changed files with 127 additions and 118 deletions
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14
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@@ -677,8 +677,8 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
int solverBodyIdA = getOrInitSolverBody(*colObj0);
int solverBodyIdB = getOrInitSolverBody(*colObj1);
btRigidBody* bodyA = btRigidBody::upcast(colObj0);
btRigidBody* bodyB = btRigidBody::upcast(colObj1);
// btRigidBody* bodyA = btRigidBody::upcast(colObj0);
// btRigidBody* bodyB = btRigidBody::upcast(colObj1);
btSolverBody* solverBodyA = &m_tmpSolverBodyPool[solverBodyIdA];
btSolverBody* solverBodyB = &m_tmpSolverBodyPool[solverBodyIdB];
@@ -686,7 +686,7 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
///avoid collision response between two static objects
if (!solverBodyA || !solverBodyA->m_originalBody && (!solverBodyB || !solverBodyB->m_originalBody))
if (!solverBodyA || (!solverBodyA->m_originalBody && (!solverBodyB || !solverBodyB->m_originalBody)))
return;
for (int j=0;j<manifold->getNumContacts();j++)
@@ -704,8 +704,8 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
int frictionIndex = m_tmpSolverContactConstraintPool.size();
btSolverConstraint& solverConstraint = m_tmpSolverContactConstraintPool.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;
@@ -908,7 +908,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
info2.m_J2angularAxis = currentConstraintRow->m_relpos2CrossNormal;
info2.rowskip = sizeof(btSolverConstraint)/sizeof(btScalar);//check this
///the size of btSolverConstraint needs be a multiple of btScalar
btAssert(info2.rowskip*sizeof(btScalar)== sizeof(btSolverConstraint));
btAssert(info2.rowskip*sizeof(btScalar)== sizeof(btSolverConstraint));
info2.m_constraintError = &currentConstraintRow->m_rhs;
currentConstraintRow->m_cfm = infoGlobal.m_globalCfm;
info2.m_damping = infoGlobal.m_damping;
@@ -997,7 +997,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
}
}
btContactSolverInfo info = infoGlobal;
// btContactSolverInfo info = infoGlobal;
int numNonContactPool = m_tmpSolverNonContactConstraintPool.size();