fix padding in btSolverConstraint, see Issue 650

fix some warnings

Demos/AllBulletDemos/Main.cpp

@@ -47,7 +47,7 @@ namespace
 	int framePeriod;//todo: test if this value should be 0
 	int mainWindow;
 	GLUI *glui;
-	float hz;
+	//float hz;
 	float viewZoom=20.f;
 	float viewX;
 	float viewY;

Demos/Box2dDemo/Box2dDemo.cpp

@@ -114,7 +114,7 @@ void	Box2dDemo::initPhysics()
 	toggle = m_dialogDynamicsWorld->createToggle(settings,"Toggle 2");
 	toggle ->m_active = true;
 	toggle = m_dialogDynamicsWorld->createToggle(settings,"Toggle 3");
-	GL_SliderControl* slider = m_dialogDynamicsWorld->createSlider(settings,"Slider");
+	//GL_SliderControl* slider = m_dialogDynamicsWorld->createSlider(settings,"Slider");
 
 	GL_DialogWindow* dialog = m_dialogDynamicsWorld->createDialog(0,200,420,300,"Help");
 	GL_TextControl* txt = new GL_TextControl;

Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp

@@ -49,7 +49,7 @@ void CcdPhysicsDemo::clientMoveAndDisplay()
 	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); 
 
 	//simple dynamics world doesn't handle fixed-time-stepping
-	float ms = getDeltaTimeMicroseconds();
+	//float ms = getDeltaTimeMicroseconds();
 	
 	///step the simulation
 	if (m_dynamicsWorld)

Demos/CharacterDemo/CharacterDemo.cpp

@@ -44,11 +44,11 @@ static int gJump = 0;
 
 CharacterDemo::CharacterDemo()
 :
+m_indexVertexArrays(0),
+m_vertices(0),
 m_cameraHeight(4.f),
 m_minCameraDistance(3.f),
-m_maxCameraDistance(10.f),
+m_maxCameraDistance(10.f)
-m_indexVertexArrays(0),
-m_vertices(0)
 {
 	m_character = 0;
 	m_cameraPosition = btVector3(30,30,30);

Demos/CollisionInterfaceDemo/CollisionInterfaceDemo.cpp

@@ -246,8 +246,8 @@ void CollisionInterfaceDemo::displayCallback(void) {
 	//GL_ShapeDrawer::drawCoordSystem();
 
 
-	btQuaternion qA = objects[0].getWorldTransform().getRotation();
+//	btQuaternion qA = objects[0].getWorldTransform().getRotation();
-	btQuaternion qB = objects[1].getWorldTransform().getRotation();
+//	btQuaternion qB = objects[1].getWorldTransform().getRotation();
 
 
 	if (!m_idle)

Demos/ConcaveConvexcastDemo/ConcaveConvexcastDemo.cpp

@@ -92,7 +92,7 @@ public:
 		this->min_y = min_y;
 		this->max_y = max_y;
 		sign = 1.0;
-		btScalar dalpha = 2*SIMD_2_PI/NUMRAYS_IN_BAR;
+	//	btScalar dalpha = 2*SIMD_2_PI/NUMRAYS_IN_BAR;
 		for (int i = 0; i < NUMRAYS_IN_BAR; i++)
 		{
 			btScalar z = (max_z-min_z)/NUMRAYS_IN_BAR * i + min_z;

Demos/ConstraintDemo/ConstraintDemo.cpp

@@ -127,7 +127,7 @@ void	ConstraintDemo::initPhysics()
 		btRigidBody* body0 = localCreateRigidBody( mass,trans,shape);
 		trans.setOrigin(btVector3(2*CUBE_HALF_EXTENTS,20,0));
 		mass = 1.f;
-		btRigidBody* body1 = 0;//localCreateRigidBody( mass,trans,shape);
+	//	btRigidBody* body1 = 0;//localCreateRigidBody( mass,trans,shape);
 		btVector3 pivotInA(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,0);
 		btTypedConstraint* p2p = new btPoint2PointConstraint(*body0,pivotInA);
 		m_dynamicsWorld->addConstraint(p2p);
@@ -145,7 +145,7 @@ void	ConstraintDemo::initPhysics()
 		trans.setOrigin(btVector3(2*CUBE_HALF_EXTENTS,20,0));
 
 		mass = 1.f;
-		btRigidBody* body1 = 0;//localCreateRigidBody( mass,trans,shape);
+//		btRigidBody* body1 = 0;//localCreateRigidBody( mass,trans,shape);
 //		btRigidBody* body1 = localCreateRigidBody( 0.0,trans,0);
 		//body1->setActivationState(DISABLE_DEACTIVATION);
 		//body1->setDamping(0.3,0.3);
@@ -153,9 +153,9 @@ void	ConstraintDemo::initPhysics()
 		btVector3 pivotInA(CUBE_HALF_EXTENTS,-CUBE_HALF_EXTENTS,-CUBE_HALF_EXTENTS);
 		btVector3 axisInA(0,0,1);
 
-		btVector3 pivotInB = body1 ? body1->getCenterOfMassTransform().inverse()(body0->getCenterOfMassTransform()(pivotInA)) : pivotInA;
+	//	btVector3 pivotInB = body1 ? body1->getCenterOfMassTransform().inverse()(body0->getCenterOfMassTransform()(pivotInA)) : pivotInA;
-		btVector3 axisInB = body1? 
+//		btVector3 axisInB = body1?
-			(body1->getCenterOfMassTransform().getBasis().inverse()*(body1->getCenterOfMassTransform().getBasis() * axisInA)) : 
+//			(body1->getCenterOfMassTransform().getBasis().inverse()*(body1->getCenterOfMassTransform().getBasis() * axisInA)) :
 		body0->getCenterOfMassTransform().getBasis() * axisInA;
 
 #define P2P

Demos/FractureDemo/btFractureDynamicsWorld.cpp

@@ -29,7 +29,7 @@ void btFractureDynamicsWorld::glueCallback()
 		for (i=0;i<getCollisionObjectArray().size(); i++)
 		{
 			btCollisionObject*   collisionObject= getCollisionObjectArray()[i];
-			btRigidBody* body = btRigidBody::upcast(collisionObject);
+		//	btRigidBody* body = btRigidBody::upcast(collisionObject);
 			//Adding filtering here
 #ifdef STATIC_SIMULATION_ISLAND_OPTIMIZATION
 			if (!collisionObject->isStaticOrKinematicObject())
@@ -68,8 +68,8 @@ void btFractureDynamicsWorld::glueCallback()
 		btCollisionObject* colObj1 = (btCollisionObject*)manifold->getBody1();
 		int tag0 = (colObj0)->getIslandTag();
 		int tag1 = (colObj1)->getIslandTag();
-		btRigidBody* body0 = btRigidBody::upcast(colObj0);
+		//btRigidBody* body0 = btRigidBody::upcast(colObj0);
-		btRigidBody* body1 = btRigidBody::upcast(colObj1);
+		//btRigidBody* body1 = btRigidBody::upcast(colObj1);
 
 
 		if (!colObj0->isStaticOrKinematicObject() && !colObj1->isStaticOrKinematicObject())
@@ -410,7 +410,7 @@ void	btFractureDynamicsWorld::breakDisconnectedParts( btFractureBody* fracObj)
 		{
 		}
 
-		int fractureObjectIndex = -1;
+	//	int fractureObjectIndex = -1;
 
 		int numShapes=0;
 
@@ -422,7 +422,7 @@ void	btFractureDynamicsWorld::breakDisconnectedParts( btFractureBody* fracObj)
 		for (idx=startIslandIndex;idx<endIslandIndex;idx++)
 		{
 			int i = unionFind.getElement(idx).m_sz;
-			btCollisionShape* shape = compound->getChildShape(i);
+	//		btCollisionShape* shape = compound->getChildShape(i);
 			newCompound->addChildShape(compound->getChildTransform(i),compound->getChildShape(i));
 			masses.push_back(fracObj->m_masses[i]);
 			numShapes++;

Demos/MultiMaterialDemo/MultiMaterialDemo.cpp

@@ -160,8 +160,8 @@ void	MultiMaterialDemo::initPhysics()
 
     int vertStride = sizeof(btVector3);
     int indexStride = 3*sizeof(int);
-    int materialStride = sizeof(CustomMaterial);
+ //   int materialStride = sizeof(CustomMaterial);
-    int triangleMaterialStride = sizeof(int);
+   // int triangleMaterialStride = sizeof(int);
 
     gVertices = new btVector3[totalVerts];
     gIndices = new int[totalTriangles*3];

Demos/MultiThreadedDemo/MultiThreadedDemo.cpp

@@ -176,7 +176,7 @@ void MultiThreadedDemo::clientMoveAndDisplay()
 
 
 
-	float dt = getDeltaTimeMicroseconds() * 0.000001f;
+//	float dt = getDeltaTimeMicroseconds() * 0.000001f;
 	
 //	printf("dt = %f: ",dt);
 	

Demos/OpenGL/GLDebugDrawer.cpp

@@ -12,6 +12,10 @@ GLDebugDrawer::GLDebugDrawer()
 
 }
 
+GLDebugDrawer::~GLDebugDrawer()
+{
+}
+
 void	GLDebugDrawer::drawLine(const btVector3& from,const btVector3& to,const btVector3& fromColor, const btVector3& toColor)
 {
 	glBegin(GL_LINES);

Demos/OpenGL/GLDebugDrawer.h

@@ -12,7 +12,7 @@ class GLDebugDrawer : public btIDebugDraw
 public:
 
 	GLDebugDrawer();
-
+	virtual ~GLDebugDrawer(); 
 
 	virtual void	drawLine(const btVector3& from,const btVector3& to,const btVector3& fromColor, const btVector3& toColor);
 

Demos/OpenGL/GL_Simplex1to4.cpp

@@ -34,6 +34,10 @@ GL_Simplex1to4::GL_Simplex1to4()
 {
 }
 
+GL_Simplex1to4::~GL_Simplex1to4()
+{
+}
+
 ///
 /// Debugging method calcClosest calculates the closest point to the origin, using m_simplexSolver
 ///

Demos/OpenGL/GL_Simplex1to4.h

@@ -28,6 +28,7 @@ class GL_Simplex1to4 : public btBU_Simplex1to4
 	public:
 
 	GL_Simplex1to4();
+	virtual ~GL_Simplex1to4();
 
 	void	calcClosest(btScalar* m);
 

Demos/OpenGL/stb_image.cpp

@@ -1402,7 +1402,6 @@ static uint8 *resample_row_generic(uint8 *out, uint8 *in_near, uint8 *in_far, in
 {
    // resample with nearest-neighbor
    int i,j;
-   in_far = in_far;
    for (i=0; i < w; ++i)
       for (j=0; j < hs; ++j)
          out[i*hs+j] = in_near[i];

Demos/ParticlesOpenCL/btParticlesDemoDynamicsWorld.cpp

@@ -631,8 +631,8 @@ void btParticlesDynamicsWorld::runCollideParticlesKernel()
 {
 	btAlignedObjectArray<int>	pairs;
 
-	float particleRad = m_simParams.m_particleRad;
+//	float particleRad = m_simParams.m_particleRad;
-	float collideDist2 = (particleRad + particleRad)*(particleRad + particleRad);
+//	float collideDist2 = (particleRad + particleRad)*(particleRad + particleRad);
 	cl_int ciErrNum;
 	if(m_useCpuControls[SIMSTAGE_COLLIDE_PARTICLES]->m_active)
 	{	// CPU version

Demos/Raytracer/Raytracer.cpp

@@ -227,7 +227,7 @@ bool	Raytracer::worldRaytest(const btVector3& rayFrom,const btVector3& rayTo,btV
 bool	Raytracer::singleObjectRaytest(const btVector3& rayFrom,const btVector3& rayTo,btVector3& worldNormal,btVector3& worldHitPoint)
 {
 
-	btScalar closestHitResults = 1.f;
+//	btScalar closestHitResults = 1.f;
 
 	btCollisionWorld::ClosestRayResultCallback resultCallback(rayFrom,rayTo);
 
@@ -478,7 +478,9 @@ void Raytracer::displayCallback()
 				rgba[3] = 1.f;
 				raytracePicture->setPixel(x,y,rgba);
 			} else
-				btVector4 rgba = raytracePicture->getPixel(x,y);
+            {
+			//	btVector4 rgba = raytracePicture->getPixel(x,y);
+            }
 			if (!rgba.length2())
 			{
 				raytracePicture->setPixel(x,y,btVector4(1,1,1,1));

Demos/SerializeDemo/SerializeDemo.cpp

@@ -98,8 +98,8 @@ void SerializeDemo::keyboardCallback(unsigned char key, int x, int y)
 		
 			btCollisionObject* colObj0 = (btCollisionObject*)manifold->getBody0();
 			btCollisionObject* colObj1 = (btCollisionObject*)manifold->getBody1();
-			int tag0 = (colObj0)->getIslandTag();
+		//	int tag0 = (colObj0)->getIslandTag();
-			int tag1 = (colObj1)->getIslandTag();
+		//	int tag1 = (colObj1)->getIslandTag();
 			btRigidBody* body0 = btRigidBody::upcast(colObj0);
 			btRigidBody* body1 = btRigidBody::upcast(colObj1);
 			if (bodies.findLinearSearch(body0)==bodies.size())

Demos/SharedOpenCL/btOpenCLUtils.cpp

@@ -755,7 +755,7 @@ cl_kernel btOpenCLUtils::compileCLKernelFromString(cl_context clContext, cl_devi
 	printf("compiling kernel %s ",kernelName);
 	cl_kernel kernel;
 	cl_int localErrNum;
-	size_t program_length = strlen(kernelSource);
+	//size_t program_length = strlen(kernelSource);
 
 
 	cl_program m_cpProgram = prog;

Demos/SliderConstraintDemo/SliderConstraintDemo.cpp

@@ -55,7 +55,7 @@ April 24, 2008
 #endif
 
 static btPoint2PointConstraint* spP2PConst;
-static btHingeConstraint* spHingeConst;
+//static btHingeConstraint* spHingeConst;
 
 
 

Demos/SoftDemo/SoftDemo.cpp

@@ -52,7 +52,7 @@ static btRigidBody* staticBody = 0;
 static float waveheight = 5.f;
 
 const float TRIANGLE_SIZE=8.f;
-unsigned int		current_demo=20;
+int		current_demo=20;
 #define DEMO_MODE_TIMEOUT 15.f //15 seconds for each demo
 
 
@@ -1663,7 +1663,7 @@ void SoftDemo::clientMoveAndDisplay()
 
 #else
 		//during idle mode, just run 1 simulation step maximum, otherwise 4 at max
-		int maxSimSubSteps = m_idle ? 1 : 4;
+	//	int maxSimSubSteps = m_idle ? 1 : 4;
 		//if (m_idle)
 		//	dt = 1.0/420.f;
 
@@ -1743,10 +1743,10 @@ void	SoftDemo::renderme()
 	glDisable(GL_LIGHTING);
 	m_dynamicsWorld->debugDrawWorld();
 
-	int debugMode = m_dynamicsWorld->getDebugDrawer()? m_dynamicsWorld->getDebugDrawer()->getDebugMode() : -1;
+	//int debugMode = m_dynamicsWorld->getDebugDrawer()? m_dynamicsWorld->getDebugDrawer()->getDebugMode() : -1;
 
 	btSoftRigidDynamicsWorld* softWorld = (btSoftRigidDynamicsWorld*)m_dynamicsWorld;
-	btIDebugDraw*	sdraw = softWorld ->getDebugDrawer();
+	//btIDebugDraw*	sdraw = softWorld ->getDebugDrawer();
 
 
 	for (  int i=0;i<softWorld->getSoftBodyArray().size();i++)

Demos/VectorAdd_OpenCL/MiniCL_VectorAdd.cpp

@@ -223,8 +223,8 @@ int main(int argc, char **argv)
 	const char* cSourceFile = "VectorAddKernels.cl";
 	
     printf("loadProgSource (%s)...\n", cSourceFile); 
-    const char* cPathAndName = cSourceFile;
 #ifdef LOAD_FROM_FILE
+    const char* cPathAndName = cSourceFile;
 	size_t szKernelLength;
     const char* cSourceCL = loadProgSource(cPathAndName, "", &szKernelLength);
 #else

Demos/VoronoiFractureDemo/VoronoiFractureDemo.cpp

@@ -65,8 +65,8 @@ void VoronoiFractureDemo::attachFixedConstraints()
 		
 		btCollisionObject* colObj0 = (btCollisionObject*)manifold->getBody0();
 		btCollisionObject* colObj1 = (btCollisionObject*)manifold->getBody1();
-		int tag0 = (colObj0)->getIslandTag();
+	//	int tag0 = (colObj0)->getIslandTag();
-		int tag1 = (colObj1)->getIslandTag();
+//		int tag1 = (colObj1)->getIslandTag();
 		btRigidBody* body0 = btRigidBody::upcast(colObj0);
 		btRigidBody* body1 = btRigidBody::upcast(colObj1);
 		if (bodies.findLinearSearch(body0)==bodies.size())

Extras/ConvexDecomposition/cd_hull.cpp

@@ -2534,7 +2534,7 @@ int calchullgen(float3 *verts,int verts_count, int vlimit,Array<btHullTriangle*>
 	vlimit-=4;
 	while(vlimit >0 && (te=extrudable(epsilon, tris)))
 	{
-		int3 ti=*te;
+	//	int3 ti=*te;
 		int v=te->vmax;
 		assert(!isextreme[v]);  // wtf we've already done this vertex
 		isextreme[v]=1;

Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.cpp

@@ -539,7 +539,7 @@ btCollisionShape* btBulletWorldImporter::convertCollisionShape(  btCollisionShap
 								tmpPos[i].deSerializeFloat(mss->m_localPositionArrayPtr[i].m_pos);
 								radii[i] = mss->m_localPositionArrayPtr[i].m_radius;
 							}
-							shape = new btMultiSphereShape(&tmpPos[0],&radii[0],numSpheres);
+							shape = createMultiSphereShape(&tmpPos[0],&radii[0],numSpheres);
 							break;
 						}
 					case CONVEX_HULL_SHAPE_PROXYTYPE:
@@ -1393,6 +1393,12 @@ btScaledBvhTriangleMeshShape* btBulletWorldImporter::createScaledTrangleMeshShap
 	return shape;
 }
 
+btMultiSphereShape* btBulletWorldImporter::createMultiSphereShape(const btVector3* positions,const btScalar* radi,int numSpheres)
+{
+	btMultiSphereShape* shape = new btMultiSphereShape(positions, radi, numSpheres);
+	m_allocatedCollisionShapes.push_back(shape);
+	return shape;
+}
 
 btRigidBody& btBulletWorldImporter::getFixedBody()
 {

Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.h

@@ -183,6 +183,8 @@ public:
 	virtual class btCompoundShape* createCompoundShape();
 	virtual class btScaledBvhTriangleMeshShape* createScaledTrangleMeshShape(btBvhTriangleMeshShape* meshShape,const btVector3& localScalingbtBvhTriangleMeshShape);
 
+	virtual class btMultiSphereShape* createMultiSphereShape(const btVector3* positions,const btScalar* radi,int numSpheres);
+
 	virtual btTriangleIndexVertexArray* createMeshInterface(btStridingMeshInterfaceData& meshData);
 
 	///acceleration and connectivity structures

Extras/glui/GL/glui.h

@@ -1017,7 +1017,7 @@ public:
         spacebar_mouse_click = true;    /* Does spacebar simulate a mouse click? */
         live_type      = GLUI_LIVE_NONE;
         text = "";
-        last_live_text == "";
+       // last_live_text == "";
         live_inited    = false;
         collapsible    = false;
         is_open        = true;

build/premake4.lua

@@ -9,8 +9,8 @@ solution "0BulletSolution"
   }
   
 	newoption {
-		trigger = "with-demos",
+		trigger = "without-demos",
-	  description = "Enable demos and extras"	
+	  description = "Disable demos and extras"	
 	}
 
 	newoption {
@@ -165,7 +165,7 @@ end
 		include "../src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/NVidia"
 	end
 
-	if _OPTIONS["with-demos"] then
+	if not _OPTIONS["without-demos"] then
 		include "../Demos"
   	include "../Extras"
   end

src/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp

@@ -354,7 +354,7 @@ void b2CollidePolygons(btManifoldResult* manifold,
 	btVector3 v11 = vertices1[edge1];
 	btVector3 v12 = edge1 + 1 < count1 ? vertices1[edge1+1] : vertices1[0];
 
-	btVector3 dv = v12 - v11;
+	//btVector3 dv = v12 - v11;
 	btVector3 sideNormal = b2Mul(xf1.getBasis(), v12 - v11);
 	sideNormal.normalize();
 	btVector3 frontNormal = btCrossS(sideNormal, 1.0f);

src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp

@@ -314,8 +314,8 @@ void btConvexConvexAlgorithm ::processCollision (const btCollisionObjectWrapper*
 	{
 		btCapsuleShape* capsuleA = (btCapsuleShape*) min0;
 		btCapsuleShape* capsuleB = (btCapsuleShape*) min1;
-		btVector3 localScalingA = capsuleA->getLocalScaling();
+	//	btVector3 localScalingA = capsuleA->getLocalScaling();
-		btVector3 localScalingB = capsuleB->getLocalScaling();
+	//	btVector3 localScalingB = capsuleB->getLocalScaling();
 		
 		btScalar threshold = m_manifoldPtr->getContactBreakingThreshold();
 

src/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp

@@ -482,7 +482,7 @@ void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObjectWr
 	tri_shape->getVertex(1,v1);
 	tri_shape->getVertex(2,v2);
 
-	btVector3 center = (v0+v1+v2)*btScalar(1./3.);
+	//btVector3 center = (v0+v1+v2)*btScalar(1./3.);
 
 	btVector3 red(1,0,0), green(0,1,0),blue(0,0,1),white(1,1,1),black(0,0,0);
 	btVector3 tri_normal;

src/BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp

@@ -44,7 +44,7 @@ btVector3	btConvexPointCloudShape::localGetSupportingVertexWithoutMargin(const b
     if( m_numPoints > 0 )
     {
         // Here we take advantage of dot(a*b, c) = dot( a, b*c) to do less work. Note this transformation is true mathematically, not numerically.
-        btVector3 scaled = vec * m_localScaling;
+    //    btVector3 scaled = vec * m_localScaling;
         int index = (int) vec.maxDot( &m_unscaledPoints[0], m_numPoints, maxDot);   //FIXME: may violate encapsulation of m_unscaledPoints
         return getScaledPoint(index);
     }

src/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp

@@ -242,7 +242,7 @@ const char*	btStridingMeshInterface::serialize(void* dataBuffer, btSerializer* s
 		int gfxindex;
 	//	btVector3 triangle[3];
 
-		btVector3 meshScaling = getScaling();
+	//	btVector3 meshScaling = getScaling();
 
 		///if the number of parts is big, the performance might drop due to the innerloop switch on indextype
 		for (part=0;part<graphicssubparts ;part++,memPtr++)

src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h

@@ -44,8 +44,8 @@ class btManifoldPoint
 		public:
 			btManifoldPoint()
 				:m_userPersistentData(0),
-				m_appliedImpulse(0.f),
 				m_lateralFrictionInitialized(false),
+                m_appliedImpulse(0.f),
                 m_appliedImpulseLateral1(0.f),
 				m_appliedImpulseLateral2(0.f),
 				m_contactMotion1(0.f),
@@ -66,8 +66,8 @@ class btManifoldPoint
 					m_combinedFriction(btScalar(0.)),
 					m_combinedRestitution(btScalar(0.)),
 					m_userPersistentData(0),
-					m_appliedImpulse(0.f),
 					m_lateralFrictionInitialized(false),
+                    m_appliedImpulse(0.f),
                     m_appliedImpulseLateral1(0.f),
 					m_appliedImpulseLateral2(0.f),
 					m_contactMotion1(0.f),

src/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.cpp

@@ -400,9 +400,9 @@ void	btPolyhedralContactClipping::clipHullAgainstHull(const btVector3& separatin
 {
 
 	btVector3 separatingNormal = separatingNormal1.normalized();
-	const btVector3 c0 = transA * hullA.m_localCenter;
+//	const btVector3 c0 = transA * hullA.m_localCenter;
-	const btVector3 c1 = transB * hullB.m_localCenter;
+//	const btVector3 c1 = transB * hullB.m_localCenter;
-	const btVector3 DeltaC2 = c0 - c1;
+	//const btVector3 DeltaC2 = c0 - c1;
 
 
 	int closestFaceB=-1;

src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp

@@ -506,7 +506,7 @@ void	btConeTwistConstraint::solveConstraintObsolete(btSolverBody& bodyA,btSolver
 				m_accTwistLimitImpulse = btMax(m_accTwistLimitImpulse + impulseMag, btScalar(0.0) );
 				impulseMag = m_accTwistLimitImpulse - temp;
 
-				btVector3 impulse = m_twistAxis * impulseMag;
+		//		btVector3 impulse = m_twistAxis * impulseMag;
 
 				bodyA.internalApplyImpulse(btVector3(0,0,0), m_rbA.getInvInertiaTensorWorld()*m_twistAxis,impulseMag);
 				bodyB.internalApplyImpulse(btVector3(0,0,0), m_rbB.getInvInertiaTensorWorld()*m_twistAxis,-impulseMag);
@@ -828,11 +828,10 @@ void btConeTwistConstraint::computeConeLimitInfo(const btQuaternion& qCone,
 	{
 		vSwingAxis = btVector3(qCone.x(), qCone.y(), qCone.z());
 		vSwingAxis.normalize();
-		if (fabs(vSwingAxis.x()) > SIMD_EPSILON)
+#if 0
-		{
         // non-zero twist?! this should never happen.
-			int wtf = 0; wtf = wtf;
+       btAssert(fabs(vSwingAxis.x()) <= SIMD_EPSILON));
-		}
+#endif
         
 		// Compute limit for given swing. tricky:
 		// Given a swing axis, we're looking for the intersection with the bounding cone ellipse.
@@ -877,7 +876,9 @@ void btConeTwistConstraint::computeConeLimitInfo(const btQuaternion& qCone,
 	else if (swingAngle < 0)
 	{
 		// this should never happen!
-		int wtf = 0; wtf = wtf;
+#if 0
+        btAssert(0);
+#endif
  	}
 }
 
@@ -929,7 +930,9 @@ void btConeTwistConstraint::computeTwistLimitInfo(const btQuaternion& qTwist,
 	if (twistAngle < 0)
 	{
 		// this should never happen
-		int wtf = 0; wtf = wtf;			
+#if 0
+        btAssert(0);
+#endif
 	}
 
 	vTwistAxis = btVector3(qMinTwist.x(), qMinTwist.y(), qMinTwist.z());
@@ -976,10 +979,10 @@ void btConeTwistConstraint::setMotorTarget(const btQuaternion &q)
 {
 	btTransform trACur = m_rbA.getCenterOfMassTransform();
 	btTransform trBCur = m_rbB.getCenterOfMassTransform();
-	btTransform trABCur = trBCur.inverse() * trACur;
+//	btTransform trABCur = trBCur.inverse() * trACur;
-	btQuaternion qABCur = trABCur.getRotation();
+//	btQuaternion qABCur = trABCur.getRotation();
-	btTransform trConstraintCur = (trBCur * m_rbBFrame).inverse() * (trACur * m_rbAFrame);
+//	btTransform trConstraintCur = (trBCur * m_rbBFrame).inverse() * (trACur * m_rbAFrame);
-	btQuaternion qConstraintCur = trConstraintCur.getRotation();
+	//btQuaternion qConstraintCur = trConstraintCur.getRotation();
 
 	btQuaternion qConstraint = m_rbBFrame.getRotation().inverse() * q * m_rbAFrame.getRotation();
 	setMotorTargetInConstraintSpace(qConstraint);

src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h

@@ -144,6 +144,7 @@ public:
 
 	virtual	void	solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar	timeStep);
 
+    
 	void	updateRHS(btScalar	timeStep);
 
 

src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp

@@ -118,7 +118,7 @@ void btGeneric6DofSpringConstraint::internalUpdateSprings(btConstraintInfo2* inf
 {
 	// it is assumed that calculateTransforms() have been called before this call
 	int i;
-	btVector3 relVel = m_rbB.getLinearVelocity() - m_rbA.getLinearVelocity();
+	//btVector3 relVel = m_rbB.getLinearVelocity() - m_rbA.getLinearVelocity();
 	for(i = 0; i < 3; i++)
 	{
 		if(m_springEnabled[i])

src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp

@@ -702,8 +702,8 @@ void btHingeConstraint::getInfo2InternalUsingFrameOffset(btConstraintInfo2* info
 	btTransform trA = transA*m_rbAFrame;
 	btTransform trB = transB*m_rbBFrame;
 	// pivot point
-	btVector3 pivotAInW = trA.getOrigin();
+//	btVector3 pivotAInW = trA.getOrigin();
-	btVector3 pivotBInW = trB.getOrigin();
+//	btVector3 pivotBInW = trB.getOrigin();
 #if 1
 	// difference between frames in WCS
 	btVector3 ofs = trB.getOrigin() - trA.getOrigin();

src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp

@@ -124,7 +124,7 @@ void btPoint2PointConstraint::getInfo2NonVirtual (btConstraintInfo2* info, const
 	btVector3 a2 = body1_trans.getBasis()*getPivotInB();
    
 	{
-		btVector3 a2n = -a2;
+	//	btVector3 a2n = -a2;
 		btVector3* angular0 = (btVector3*)(info->m_J2angularAxis);
 		btVector3* angular1 = (btVector3*)(info->m_J2angularAxis+info->rowskip);
 		btVector3* angular2 = (btVector3*)(info->m_J2angularAxis+2*info->rowskip);

src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp

@@ -677,8 +677,8 @@ void	btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
 	int solverBodyIdA = getOrInitSolverBody(*colObj0);
 	int solverBodyIdB = getOrInitSolverBody(*colObj1);
 
-	btRigidBody* bodyA = btRigidBody::upcast(colObj0);
+//	btRigidBody* bodyA = btRigidBody::upcast(colObj0);
-	btRigidBody* bodyB = btRigidBody::upcast(colObj1);
+//	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* rb0 = btRigidBody::upcast(colObj0);
-			btRigidBody* rb1 = btRigidBody::upcast(colObj1);
+//			btRigidBody* rb1 = btRigidBody::upcast(colObj1);
 			solverConstraint.m_solverBodyIdA = solverBodyIdA;
 			solverConstraint.m_solverBodyIdB = solverBodyIdB;
 
@@ -997,7 +997,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
 		}
 	}
 
-	btContactSolverInfo info = infoGlobal;
+//	btContactSolverInfo info = infoGlobal;
 
 
 	int numNonContactPool = m_tmpSolverNonContactConstraintPool.size();

src/BulletDynamics/ConstraintSolver/btSolverBody.h

@@ -275,7 +275,7 @@ ATTRIBUTE_ALIGNED64 (struct)	btSolverBody
 			btTransform newTransform;
 			if (m_pushVelocity[0]!=0.f || m_pushVelocity[1]!=0 || m_pushVelocity[2]!=0 || m_turnVelocity[0]!=0.f || m_turnVelocity[1]!=0 || m_turnVelocity[2]!=0)
 			{
-				btQuaternion orn = m_worldTransform.getRotation();
+			//	btQuaternion orn = m_worldTransform.getRotation();
 				btTransformUtil::integrateTransform(m_worldTransform,m_pushVelocity,m_turnVelocity*splitImpulseTurnErp,timeStep,newTransform);
 				m_worldTransform = newTransform;
 			}

src/BulletDynamics/ConstraintSolver/btSolverConstraint.h

@@ -27,7 +27,7 @@ class	btRigidBody;
 
 
 ///1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and friction constraints.
-ATTRIBUTE_ALIGNED64 (struct)	btSolverConstraint
+ATTRIBUTE_ALIGNED16 (struct)	btSolverConstraint
 {
 	BT_DECLARE_ALIGNED_ALLOCATOR();
 
@@ -43,39 +43,25 @@ ATTRIBUTE_ALIGNED64 (struct)	btSolverConstraint
 	mutable btSimdScalar	m_appliedPushImpulse;
 	mutable btSimdScalar	m_appliedImpulse;
 
-	
 	btScalar	m_friction;
 	btScalar	m_jacDiagABInv;
-	union
+	btScalar		m_rhs;
-	{
+	btScalar		m_cfm;
-		int	m_numConsecutiveRowsPerKernel;
-		btScalar	m_unusedPadding0;
-	};
-
-	int	m_overrideNumSolverIterations;
-
-	union
-	{
-		int			m_frictionIndex;
-		btScalar	m_unusedPadding1;
-	};
-	
-	int m_solverBodyIdA;
-	
-	int m_solverBodyIdB;
 	
+    btScalar		m_lowerLimit;
+	btScalar		m_upperLimit;
+	btScalar		m_rhsPenetration;
     union
 	{
 		void*		m_originalContactPoint;
 		btScalar	m_unusedPadding4;
 	};
 
-	btScalar		m_rhs;
+	int	m_overrideNumSolverIterations;
-	btScalar		m_cfm;
+    int			m_frictionIndex;
-	btScalar		m_lowerLimit;
+	int m_solverBodyIdA;
-	btScalar		m_upperLimit;
+	int m_solverBodyIdB;
 
-	btScalar		m_rhsPenetration;
     
 	enum		btSolverConstraintType
 	{

src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp

@@ -203,13 +203,14 @@ struct InplaceSolverIslandCallback : public btSimulationIslandManager::IslandCal
 
 btDiscreteDynamicsWorld::btDiscreteDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration)
 :btDynamicsWorld(dispatcher,pairCache,collisionConfiguration),
+m_sortedConstraints	(),
+m_solverIslandCallback ( NULL ),
 m_constraintSolver(constraintSolver),
 m_gravity(0,-10,0),
 m_localTime(0),
 m_synchronizeAllMotionStates(false),
-m_profileTimings(0),
+m_profileTimings(0)
-m_sortedConstraints	(),
+
-m_solverIslandCallback ( NULL )
 {
 	if (!m_constraintSolver)
 	{

src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolver_OpenCL.cpp

@@ -793,7 +793,7 @@ void btOpenCLSoftBodySolver::optimize( btAlignedObjectArray< btSoftBody * > &sof
 
 			int firstLink = getLinkData().getNumLinks();
 			int numLinks = softBody->m_links.size();
-			int maxLinks = numLinks;
+//			int maxLinks = numLinks;
 			
 			// Allocate space for the links
 			getLinkData().createLinks( numLinks );

src/BulletSoftBody/btSoftBody.cpp

@@ -460,8 +460,8 @@ void			btSoftBody::addAeroForceToNode(const btVector3& windVelocity,int nodeInde
 	const btScalar dt = m_sst.sdt;
 	const btScalar kLF = m_cfg.kLF;
 	const btScalar kDG = m_cfg.kDG;
-	const btScalar kPR = m_cfg.kPR;
+	//const btScalar kPR = m_cfg.kPR;
-	const btScalar kVC = m_cfg.kVC;
+	//const btScalar kVC = m_cfg.kVC;
 	const bool as_lift = kLF>0;
 	const bool as_drag = kDG>0;
 	const bool as_aero = as_lift || as_drag;

src/LinearMath/btConvexHull.cpp

@@ -563,7 +563,7 @@ int HullLibrary::calchullgen(btVector3 *verts,int verts_count, int vlimit)
 	vlimit-=4;
 	while(vlimit >0 && ((te=extrudable(epsilon)) != 0))
 	{
-		int3 ti=*te;
+		//int3 ti=*te;
 		int v=te->vmax;
 		btAssert(v != -1);
 		btAssert(!isextreme[v]);  // wtf we've already done this vertex