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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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2
Demos/AllBulletDemos/Main.cpp
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@@ -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;

2
Demos/Box2dDemo/Box2dDemo.cpp
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@@ -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;

2
Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp
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@@ -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)

6
Demos/CharacterDemo/CharacterDemo.cpp
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@@ -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_indexVertexArrays(0),
m_vertices(0)
m_maxCameraDistance(10.f)
{
m_character = 0;
m_cameraPosition = btVector3(30,30,30);

4
Demos/CollisionInterfaceDemo/CollisionInterfaceDemo.cpp
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@@ -246,8 +246,8 @@ void CollisionInterfaceDemo::displayCallback(void) {
//GL_ShapeDrawer::drawCoordSystem();
btQuaternion qA = objects[0].getWorldTransform().getRotation();
btQuaternion qB = objects[1].getWorldTransform().getRotation();
// btQuaternion qA = objects[0].getWorldTransform().getRotation();
// btQuaternion qB = objects[1].getWorldTransform().getRotation();
if (!m_idle)

2
Demos/ConcaveConvexcastDemo/ConcaveConvexcastDemo.cpp
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@@ -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;

10
Demos/ConstraintDemo/ConstraintDemo.cpp
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@@ -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 axisInB = body1?
(body1->getCenterOfMassTransform().getBasis().inverse()*(body1->getCenterOfMassTransform().getBasis() * axisInA)) :
// btVector3 pivotInB = body1 ? body1->getCenterOfMassTransform().inverse()(body0->getCenterOfMassTransform()(pivotInA)) : pivotInA;
// btVector3 axisInB = body1?
// (body1->getCenterOfMassTransform().getBasis().inverse()*(body1->getCenterOfMassTransform().getBasis() * axisInA)) :
body0->getCenterOfMassTransform().getBasis() * axisInA;
#define P2P

10
Demos/FractureDemo/btFractureDynamicsWorld.cpp
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@@ -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* body1 = btRigidBody::upcast(colObj1);
//btRigidBody* body0 = btRigidBody::upcast(colObj0);
//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++;

4
Demos/MultiMaterialDemo/MultiMaterialDemo.cpp
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@@ -160,8 +160,8 @@ void MultiMaterialDemo::initPhysics()
int vertStride = sizeof(btVector3);
int indexStride = 3*sizeof(int);
int materialStride = sizeof(CustomMaterial);
int triangleMaterialStride = sizeof(int);
// int materialStride = sizeof(CustomMaterial);
// int triangleMaterialStride = sizeof(int);
gVertices = new btVector3[totalVerts];
gIndices = new int[totalTriangles*3];

2
Demos/MultiThreadedDemo/MultiThreadedDemo.cpp
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@@ -176,7 +176,7 @@ void MultiThreadedDemo::clientMoveAndDisplay()
float dt = getDeltaTimeMicroseconds() * 0.000001f;
// float dt = getDeltaTimeMicroseconds() * 0.000001f;
// printf("dt = %f: ",dt);

4
Demos/OpenGL/GLDebugDrawer.cpp
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@@ -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);

2
Demos/OpenGL/GLDebugDrawer.h
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@@ -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);

4
Demos/OpenGL/GL_Simplex1to4.cpp
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@@ -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
///

1
Demos/OpenGL/GL_Simplex1to4.h
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@@ -28,6 +28,7 @@ class GL_Simplex1to4 : public btBU_Simplex1to4
public:
GL_Simplex1to4();
virtual ~GL_Simplex1to4();
void calcClosest(btScalar* m);

1
Demos/OpenGL/stb_image.cpp
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@@ -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];

4
Demos/ParticlesOpenCL/btParticlesDemoDynamicsWorld.cpp
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@@ -631,8 +631,8 @@ void btParticlesDynamicsWorld::runCollideParticlesKernel()
{
btAlignedObjectArray<int> pairs;
float particleRad = m_simParams.m_particleRad;
float collideDist2 = (particleRad + particleRad)*(particleRad + particleRad);
// float particleRad = m_simParams.m_particleRad;
// float collideDist2 = (particleRad + particleRad)*(particleRad + particleRad);
cl_int ciErrNum;
if(m_useCpuControls[SIMSTAGE_COLLIDE_PARTICLES]->m_active)
{ // CPU version

6
Demos/Raytracer/Raytracer.cpp
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@@ -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));

4
Demos/SerializeDemo/SerializeDemo.cpp
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@@ -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 tag1 = (colObj1)->getIslandTag();
// int tag0 = (colObj0)->getIslandTag();
// int tag1 = (colObj1)->getIslandTag();
btRigidBody* body0 = btRigidBody::upcast(colObj0);
btRigidBody* body1 = btRigidBody::upcast(colObj1);
if (bodies.findLinearSearch(body0)==bodies.size())

2
Demos/SharedOpenCL/btOpenCLUtils.cpp
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@@ -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;

2
Demos/SliderConstraintDemo/SliderConstraintDemo.cpp
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@@ -55,7 +55,7 @@ April 24, 2008
#endif
static btPoint2PointConstraint* spP2PConst;
static btHingeConstraint* spHingeConst;
//static btHingeConstraint* spHingeConst;

8
Demos/SoftDemo/SoftDemo.cpp
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@@ -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++)

2
Demos/VectorAdd_OpenCL/MiniCL_VectorAdd.cpp
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@@ -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

4
Demos/VoronoiFractureDemo/VoronoiFractureDemo.cpp
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@@ -65,8 +65,8 @@ void VoronoiFractureDemo::attachFixedConstraints()
btCollisionObject* colObj0 = (btCollisionObject*)manifold->getBody0();
btCollisionObject* colObj1 = (btCollisionObject*)manifold->getBody1();
int tag0 = (colObj0)->getIslandTag();
int tag1 = (colObj1)->getIslandTag();
// int tag0 = (colObj0)->getIslandTag();
// int tag1 = (colObj1)->getIslandTag();
btRigidBody* body0 = btRigidBody::upcast(colObj0);
btRigidBody* body1 = btRigidBody::upcast(colObj1);
if (bodies.findLinearSearch(body0)==bodies.size())

2
Extras/ConvexDecomposition/cd_hull.cpp
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@@ -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;

8
Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.cpp
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@@ -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()
{

2
Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.h
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@@ -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

2
Extras/glui/GL/glui.h
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@@ -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;

6
build/premake4.lua
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@@ -9,8 +9,8 @@ solution "0BulletSolution"
}
newoption {
trigger = "with-demos",
description = "Enable demos and extras"
trigger = "without-demos",
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

2
src/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp
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@@ -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);

4
src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
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@@ -314,8 +314,8 @@ void btConvexConvexAlgorithm ::processCollision (const btCollisionObjectWrapper*
{
btCapsuleShape* capsuleA = (btCapsuleShape*) min0;
btCapsuleShape* capsuleB = (btCapsuleShape*) min1;
btVector3 localScalingA = capsuleA->getLocalScaling();
btVector3 localScalingB = capsuleB->getLocalScaling();
// btVector3 localScalingA = capsuleA->getLocalScaling();
// btVector3 localScalingB = capsuleB->getLocalScaling();
btScalar threshold = m_manifoldPtr->getContactBreakingThreshold();

2
src/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp
View File

@@ -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;

2
src/BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp
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@@ -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);
}

2
src/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp
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@@ -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++)

4
src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h
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@@ -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),

6
src/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.cpp
View File

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

25
src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp
View File

@@ -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;
btQuaternion qABCur = trABCur.getRotation();
btTransform trConstraintCur = (trBCur * m_rbBFrame).inverse() * (trACur * m_rbAFrame);
btQuaternion qConstraintCur = trConstraintCur.getRotation();
// btTransform trABCur = trBCur.inverse() * trACur;
// btQuaternion qABCur = trABCur.getRotation();
// btTransform trConstraintCur = (trBCur * m_rbBFrame).inverse() * (trACur * m_rbAFrame);
//btQuaternion qConstraintCur = trConstraintCur.getRotation();
btQuaternion qConstraint = m_rbBFrame.getRotation().inverse() * q * m_rbAFrame.getRotation();
setMotorTargetInConstraintSpace(qConstraint);

1
src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h
View File

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

2
src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp
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@@ -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])

4
src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp
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@@ -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 pivotBInW = trB.getOrigin();
// btVector3 pivotAInW = trA.getOrigin();
// btVector3 pivotBInW = trB.getOrigin();
#if 1
// difference between frames in WCS
btVector3 ofs = trB.getOrigin() - trA.getOrigin();

2
src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp
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@@ -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);

12
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;
@@ -997,7 +997,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
}
}
btContactSolverInfo info = infoGlobal;
// btContactSolverInfo info = infoGlobal;
int numNonContactPool = m_tmpSolverNonContactConstraintPool.size();

2
src/BulletDynamics/ConstraintSolver/btSolverBody.h
View File

@@ -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;
}

34
src/BulletDynamics/ConstraintSolver/btSolverConstraint.h
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@@ -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
{
int m_numConsecutiveRowsPerKernel;
btScalar m_unusedPadding0;
};
int m_overrideNumSolverIterations;
union
{
int m_frictionIndex;
btScalar m_unusedPadding1;
};
int m_solverBodyIdA;
int m_solverBodyIdB;
btScalar m_rhs;
btScalar m_cfm;
btScalar m_lowerLimit;
btScalar m_upperLimit;
btScalar m_rhsPenetration;
union
{
void* m_originalContactPoint;
btScalar m_unusedPadding4;
};
btScalar m_rhs;
btScalar m_cfm;
btScalar m_lowerLimit;
btScalar m_upperLimit;
int m_overrideNumSolverIterations;
int m_frictionIndex;
int m_solverBodyIdA;
int m_solverBodyIdB;
btScalar m_rhsPenetration;
enum btSolverConstraintType
{

7
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
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@@ -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_sortedConstraints (),
m_solverIslandCallback ( NULL )
m_profileTimings(0)
{
if (!m_constraintSolver)
{

2
src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolver_OpenCL.cpp
View File

@@ -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 );

4
src/BulletSoftBody/btSoftBody.cpp
View File

@@ -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 kVC = m_cfg.kVC;
//const btScalar kPR = m_cfg.kPR;
//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;

2
src/LinearMath/btConvexHull.cpp
View File

@@ -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