Merge pull request #917 from erwincoumans/master

add --disable_desktop_gl for Virtual Reality server (App_SharedMemory…

Extras/ConvexDecomposition/concavity.cpp

@@ -705,6 +705,7 @@ float computeConcavity(unsigned int vcount,
 			}
 		}
 
+#if 0
 	  if ( ftris.size()  && 0 )
 	  {
 
@@ -759,6 +760,7 @@ float computeConcavity(unsigned int vcount,
             }
           }
         }
+		  
       }
 
       unsigned int color = getDebugColor();
@@ -786,7 +788,7 @@ float computeConcavity(unsigned int vcount,
 
 	  hl.ReleaseResult(result);
   }
-
+#endif
 
 	return cret;
 }

Extras/Serialize/BulletFileLoader/bDNA.cpp

@@ -349,7 +349,8 @@ static int name_is_array(char* name, int* dim1, int* dim2) {
 void bDNA::init(char *data, int len, bool swap)
 {
 	int *intPtr=0;short *shtPtr=0;
-	char *cp = 0;int dataLen =0;long nr=0;
+	char *cp = 0;int dataLen =0;
+	//long nr=0;
 	intPtr = (int*)data;
 
 	/*

Extras/Serialize/BulletFileLoader/bFile.cpp

@@ -411,7 +411,7 @@ void bFile::swapDNA(char* ptr)
 
 //	void bDNA::init(char *data, int len, bool swap)
 	int *intPtr=0;short *shtPtr=0;
-	char *cp = 0;int dataLen =0;long nr=0;
+	char *cp = 0;int dataLen =0;
 	intPtr = (int*)data;
 
 	/*
@@ -573,7 +573,7 @@ void bFile::writeFile(const char* fileName)
 void bFile::preSwap()
 {
 
-	const bool brokenDNA = (mFlags&FD_BROKEN_DNA)!=0;
+	//const bool brokenDNA = (mFlags&FD_BROKEN_DNA)!=0;
 	//FD_ENDIAN_SWAP
 	//byte 8 determines the endianness of the file, little (v) versus big (V)
 	int littleEndian= 1;
@@ -1285,7 +1285,7 @@ int bFile::resolvePointersStructRecursive(char *strcPtr, int dna_nr, int verbose
 						}
 						//skip the *
 						printf("<%s type=\"pointer\"> ",&memName[1]);
-						printf("%d ", array[a]);
+						printf("%p ", array[a]);
 						printf("</%s>\n",&memName[1]);
 					}
 
@@ -1303,7 +1303,7 @@ int bFile::resolvePointersStructRecursive(char *strcPtr, int dna_nr, int verbose
 						printf("  ");
 					}
 					printf("<%s type=\"pointer\"> ",&memName[1]);
-					printf("%d ", ptr);
+					printf("%p ", ptr);
 					printf("</%s>\n",&memName[1]);
 				}
 				ptr = findLibPointer(ptr);
@@ -1484,7 +1484,7 @@ void bFile::resolvePointers(int verboseMode)
 				char* oldType = fileDna->getType(oldStruct[0]);
 				
 				if (verboseMode & FD_VERBOSE_EXPORT_XML)
-					printf(" <%s pointer=%d>\n",oldType,dataChunk.oldPtr);
+					printf(" <%s pointer=%p>\n",oldType,dataChunk.oldPtr);
 
 				resolvePointersChunk(dataChunk, verboseMode);
 

Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.cpp

@@ -307,8 +307,6 @@ bool	btBulletWorldImporter::convertAllObjects(  bParse::btBulletFile* bulletFile
 	for (i=0;i<bulletFile2->m_constraints.size();i++)
 	{
 		btTypedConstraintData2* constraintData = (btTypedConstraintData2*)bulletFile2->m_constraints[i];
-		btTypedConstraintFloatData* singleC = (btTypedConstraintFloatData*)bulletFile2->m_constraints[i];
-		btTypedConstraintDoubleData* doubleC = (btTypedConstraintDoubleData*)bulletFile2->m_constraints[i];
 
 		btCollisionObject** colAptr = m_bodyMap.find(constraintData->m_rbA);
 		btCollisionObject** colBptr = m_bodyMap.find(constraintData->m_rbB);

Extras/Serialize/BulletWorldImporter/btWorldImporter.cpp

@@ -468,13 +468,10 @@ btCollisionShape* btWorldImporter::convertCollisionShape(  btCollisionShapeData*
 				btCompoundShapeData* compoundData = (btCompoundShapeData*)shapeData;
 				btCompoundShape* compoundShape = createCompoundShape();
 
-				btCompoundShapeChildData* childShapeDataArray = &compoundData->m_childShapePtr[0];
-				
 			
 				btAlignedObjectArray<btCollisionShape*> childShapes;
 				for (int i=0;i<compoundData->m_numChildShapes;i++)
 				{
-					btCompoundShapeChildData* ptr = &compoundData->m_childShapePtr[i];
 					
 					btCollisionShapeData* cd = compoundData->m_childShapePtr[i].m_childShape;
 
@@ -997,11 +994,11 @@ void	btWorldImporter::convertConstraintFloat(btTypedConstraintFloatData* constra
 						dof->setStiffness(i,dofData->m_linearSpringStiffness.m_floats[i],dofData->m_linearSpringStiffnessLimited[i]!=0);
 						dof->setEquilibriumPoint(i,dofData->m_linearEquilibriumPoint.m_floats[i]);
 						dof->enableSpring(i,dofData->m_linearEnableSpring[i]!=0);
-						dof->setDamping(i,dofData->m_linearSpringDamping.m_floats[i],dofData->m_linearSpringDampingLimited[i]);
+						dof->setDamping(i,dofData->m_linearSpringDamping.m_floats[i],(dofData->m_linearSpringDampingLimited[i]!=0));
 					}
 					for (i=0;i<3;i++)
 					{
-						dof->setStiffness(i+3,dofData->m_angularSpringStiffness.m_floats[i],dofData->m_angularSpringStiffnessLimited[i]);
+						dof->setStiffness(i+3,dofData->m_angularSpringStiffness.m_floats[i],(dofData->m_angularSpringStiffnessLimited[i]!=0));
 						dof->setEquilibriumPoint(i+3,dofData->m_angularEquilibriumPoint.m_floats[i]);
 						dof->enableSpring(i+3,dofData->m_angularEnableSpring[i]!=0);
 						dof->setDamping(i+3,dofData->m_angularSpringDamping.m_floats[i],dofData->m_angularSpringDampingLimited[i]);
@@ -1327,14 +1324,14 @@ void	btWorldImporter::convertConstraintDouble(btTypedConstraintDoubleData* const
 						dof->setStiffness(i,dofData->m_linearSpringStiffness.m_floats[i],dofData->m_linearSpringStiffnessLimited[i]);
 						dof->setEquilibriumPoint(i,dofData->m_linearEquilibriumPoint.m_floats[i]);
 						dof->enableSpring(i,dofData->m_linearEnableSpring[i]!=0);
-						dof->setDamping(i,dofData->m_linearSpringDamping.m_floats[i],dofData->m_linearSpringDampingLimited[i]);
+						dof->setDamping(i,dofData->m_linearSpringDamping.m_floats[i],(dofData->m_linearSpringDampingLimited[i]!=0));
 					}
 					for (i=0;i<3;i++)
 					{
-						dof->setStiffness(i+3,dofData->m_angularSpringStiffness.m_floats[i],dofData->m_angularSpringStiffnessLimited[i]);
+						dof->setStiffness(i+3,dofData->m_angularSpringStiffness.m_floats[i],(dofData->m_angularSpringStiffnessLimited[i]!=0));
 						dof->setEquilibriumPoint(i+3,dofData->m_angularEquilibriumPoint.m_floats[i]);
 						dof->enableSpring(i+3,dofData->m_angularEnableSpring[i]!=0);
-						dof->setDamping(i+3,dofData->m_angularSpringDamping.m_floats[i],dofData->m_angularSpringDampingLimited[i]);
+						dof->setDamping(i+3,dofData->m_angularSpringDamping.m_floats[i],(dofData->m_angularSpringDampingLimited[i]!=0));
 					}
 
 				}

Extras/Serialize/BulletXmlWorldImporter/btBulletXmlWorldImporter.cpp

@@ -18,6 +18,16 @@ subject to the following restrictions:
 #include "btBulletDynamicsCommon.h"
 #include "string_split.h"
 
+struct MyLocalCaster
+{
+	void* m_ptr;
+	int m_int;
+	MyLocalCaster()
+	:m_ptr(0)
+	{
+	}
+};
+
 
 btBulletXmlWorldImporter::btBulletXmlWorldImporter(btDynamicsWorld* world)
 	:btWorldImporter(world),
@@ -32,7 +42,7 @@ btBulletXmlWorldImporter::~btBulletXmlWorldImporter()
 
 }
 
-
+#if 0
 static int get_double_attribute_by_name(const TiXmlElement* pElement, const char* attribName,double* value)
 {
 	if ( !pElement ) 
@@ -48,7 +58,7 @@ static int get_double_attribute_by_name(const TiXmlElement* pElement, const char
 	}
 	return 0;
 }
-
+#endif
 
 static int get_int_attribute_by_name(const TiXmlElement* pElement, const char* attribName,int* value)
 {
@@ -130,7 +140,9 @@ void btBulletXmlWorldImporter::deSerializeVector3FloatData(TiXmlNode* pParent,bt
 		if (node)\
 		{\
 			const char* txt = (node)->ToElement()->GetText();\
-			(targetdata).argname= (pointertype) (int) atof(txt);\
+			MyLocalCaster cast;\
+			cast.m_int = (int) atof(txt);\
+			(targetdata).argname= (pointertype)cast.m_ptr;\
 		}\
 	}
 
@@ -216,8 +228,8 @@ void btBulletXmlWorldImporter::deSerializeCollisionShapeData(TiXmlNode* pParent,
 
 void btBulletXmlWorldImporter::deSerializeConvexHullShapeData(TiXmlNode* pParent)
 {
-	int ptr;
+	MyLocalCaster cast;
-	get_int_attribute_by_name(pParent->ToElement(),"pointer",&ptr);
+	get_int_attribute_by_name(pParent->ToElement(),"pointer",&cast.m_int);
 	
 	btConvexHullShapeData* convexHullData = (btConvexHullShapeData*)btAlignedAlloc(sizeof(btConvexHullShapeData), 16);
 
@@ -233,18 +245,33 @@ void btBulletXmlWorldImporter::deSerializeConvexHullShapeData(TiXmlNode* pParent
 	SET_VECTOR4_VALUE(xmlConvexInt,&convexHullData->m_convexInternalShapeData,m_localScaling)
 	SET_VECTOR4_VALUE(xmlConvexInt,&convexHullData->m_convexInternalShapeData,m_implicitShapeDimensions)
 
+	//convexHullData->m_unscaledPointsFloatPtr
+	//#define SET_POINTER_VALUE(xmlnode, targetdata, argname, pointertype)
+
+	{
+		TiXmlNode* node = pParent->FirstChild("m_unscaledPointsFloatPtr");
+		btAssert(node);
+		if (node)
+		{
+			const char* txt = (node)->ToElement()->GetText();
+			MyLocalCaster cast;
+			cast.m_int = (int) atof(txt);
+			(*convexHullData).m_unscaledPointsFloatPtr= (btVector3FloatData*) cast.m_ptr;
+		}
+	}
+	
 	SET_POINTER_VALUE(pParent,*convexHullData,m_unscaledPointsFloatPtr,btVector3FloatData*);
 	SET_POINTER_VALUE(pParent,*convexHullData,m_unscaledPointsDoublePtr,btVector3DoubleData*);
 	SET_INT_VALUE(pParent,convexHullData,m_numUnscaledPoints);
 
 	m_collisionShapeData.push_back((btCollisionShapeData*)convexHullData);
-	m_pointerLookup.insert((void*)ptr,convexHullData);
+	m_pointerLookup.insert(cast.m_ptr,convexHullData);
 }
 
 void btBulletXmlWorldImporter::deSerializeCompoundShapeChildData(TiXmlNode* pParent)
 {
-	int ptr;
+	MyLocalCaster cast;
-	get_int_attribute_by_name(pParent->ToElement(),"pointer",&ptr);
+	get_int_attribute_by_name(pParent->ToElement(),"pointer",&cast.m_int);
 
 	int numChildren = 0;
 	btAlignedObjectArray<btCompoundShapeChildData>* compoundChildArrayPtr = new btAlignedObjectArray<btCompoundShapeChildData>;
@@ -262,7 +289,9 @@ void btBulletXmlWorldImporter::deSerializeCompoundShapeChildData(TiXmlNode* pPar
 			SET_MATRIX33_VALUE(transNode,&compoundChildArrayPtr->at(i).m_transform,m_basis)
 
 			const char* txt = (colShapeNode)->ToElement()->GetText();
-			compoundChildArrayPtr->at(i).m_childShape = (btCollisionShapeData*) (int) atof(txt);
+			MyLocalCaster cast;
+			cast.m_int = (int) atof(txt);
+			compoundChildArrayPtr->at(i).m_childShape = (btCollisionShapeData*) cast.m_ptr;
 			
 			btAssert(childTypeNode->ToElement());
 			if (childTypeNode->ToElement())
@@ -292,15 +321,15 @@ void btBulletXmlWorldImporter::deSerializeCompoundShapeChildData(TiXmlNode* pPar
 	{
 		m_compoundShapeChildDataArrays.push_back(compoundChildArrayPtr);
 		btCompoundShapeChildData* cd = &compoundChildArrayPtr->at(0);
-		m_pointerLookup.insert((void*)ptr,cd);
+		m_pointerLookup.insert(cast.m_ptr,cd);
 	}
 	
 }
 
 void btBulletXmlWorldImporter::deSerializeCompoundShapeData(TiXmlNode* pParent)
 {
-	int ptr;
+	MyLocalCaster cast;
-	get_int_attribute_by_name(pParent->ToElement(),"pointer",&ptr);
+	get_int_attribute_by_name(pParent->ToElement(),"pointer",&cast.m_int);
 
 	btCompoundShapeData* compoundData = (btCompoundShapeData*) btAlignedAlloc(sizeof(btCompoundShapeData),16); 
 
@@ -319,7 +348,9 @@ void btBulletXmlWorldImporter::deSerializeCompoundShapeData(TiXmlNode* pParent)
 		while (node)
 		{
 			const char* txt = (node)->ToElement()->GetText();
-			compoundData->m_childShapePtr = (btCompoundShapeChildData*) (int) atof(txt);
+			MyLocalCaster cast;
+			cast.m_int = (int) atof(txt);
+			compoundData->m_childShapePtr = (btCompoundShapeChildData*) cast.m_ptr;
 			node = node->NextSibling("m_childShapePtr");
 		}
 		//SET_POINTER_VALUE(xmlColShape, *compoundData,m_childShapePtr,btCompoundShapeChildData*);
@@ -328,14 +359,14 @@ void btBulletXmlWorldImporter::deSerializeCompoundShapeData(TiXmlNode* pParent)
 	SET_FLOAT_VALUE(pParent, compoundData,m_collisionMargin);
 
 	m_collisionShapeData.push_back((btCollisionShapeData*)compoundData);
-	m_pointerLookup.insert((void*)ptr,compoundData);
+	m_pointerLookup.insert(cast.m_ptr,compoundData);
 
 }
 
 void btBulletXmlWorldImporter::deSerializeStaticPlaneShapeData(TiXmlNode* pParent)
 {
-	int ptr;
+	MyLocalCaster cast;
-	get_int_attribute_by_name(pParent->ToElement(),"pointer",&ptr);
+	get_int_attribute_by_name(pParent->ToElement(),"pointer",&cast.m_int);
 
 	btStaticPlaneShapeData* planeData = (btStaticPlaneShapeData*) btAlignedAlloc(sizeof(btStaticPlaneShapeData),16);
 
@@ -348,7 +379,7 @@ void btBulletXmlWorldImporter::deSerializeStaticPlaneShapeData(TiXmlNode* pParen
 	SET_FLOAT_VALUE(pParent, planeData,m_planeConstant);
 
 	m_collisionShapeData.push_back((btCollisionShapeData*)planeData);
-	m_pointerLookup.insert((void*)ptr,planeData);
+	m_pointerLookup.insert(cast.m_ptr,planeData);
 
 }
 
@@ -364,8 +395,8 @@ void btBulletXmlWorldImporter::deSerializeDynamicsWorldData(TiXmlNode* pParent)
 
 void btBulletXmlWorldImporter::deSerializeConvexInternalShapeData(TiXmlNode* pParent)
 {
-	int ptr=0;
+	MyLocalCaster cast;
-	get_int_attribute_by_name(pParent->ToElement(),"pointer",&ptr);
+	get_int_attribute_by_name(pParent->ToElement(),"pointer",&cast.m_int);
 	
 
 	btConvexInternalShapeData* convexShape = (btConvexInternalShapeData*) btAlignedAlloc(sizeof(btConvexInternalShapeData),16);
@@ -382,7 +413,7 @@ void btBulletXmlWorldImporter::deSerializeConvexInternalShapeData(TiXmlNode* pPa
 	SET_VECTOR4_VALUE(pParent,convexShape,m_implicitShapeDimensions)
 
 	m_collisionShapeData.push_back((btCollisionShapeData*)convexShape);
-	m_pointerLookup.insert((void*)ptr,convexShape);
+	m_pointerLookup.insert(cast.m_ptr,convexShape);
 
 }
 
@@ -404,8 +435,8 @@ enum btTypedConstraintType
 
 void btBulletXmlWorldImporter::deSerializeGeneric6DofConstraintData(TiXmlNode* pParent)
 {
-	int ptr=0;
+	MyLocalCaster cast;
-	get_int_attribute_by_name(pParent->ToElement(),"pointer",&ptr);
+	get_int_attribute_by_name(pParent->ToElement(),"pointer",&cast.m_int);
 	
 	btGeneric6DofConstraintData2* dof6Data = (btGeneric6DofConstraintData2*)btAlignedAlloc(sizeof(btGeneric6DofConstraintData2),16);
 
@@ -439,13 +470,14 @@ void btBulletXmlWorldImporter::deSerializeGeneric6DofConstraintData(TiXmlNode* p
 	SET_INT_VALUE(pParent, dof6Data,m_useOffsetForConstraintFrame);
 	
 	m_constraintData.push_back((btTypedConstraintData2*)dof6Data);
-	m_pointerLookup.insert((void*)ptr,dof6Data);
+	m_pointerLookup.insert(cast.m_ptr,dof6Data);
 }
 
 void btBulletXmlWorldImporter::deSerializeRigidBodyFloatData(TiXmlNode* pParent)
 {
-	int ptr=0;
+	MyLocalCaster cast;
-	if (!get_int_attribute_by_name(pParent->ToElement(),"pointer",&ptr))
+	
+	if (!get_int_attribute_by_name(pParent->ToElement(),"pointer",&cast.m_int))
 	{
 		m_fileOk = false;
 		return;
@@ -506,7 +538,7 @@ void btBulletXmlWorldImporter::deSerializeRigidBodyFloatData(TiXmlNode* pParent)
 
 
 	m_rigidBodyData.push_back(rbData);
-	m_pointerLookup.insert((void*)ptr,rbData);
+	m_pointerLookup.insert(cast.m_ptr,rbData);
 	
 //	rbData->m_collisionObjectData.m_collisionShape = (void*) (int)atof(txt);
 }
@@ -641,8 +673,8 @@ void btBulletXmlWorldImporter::auto_serialize_root_level_children(TiXmlNode* pPa
 //			printf("child Name=%s\n", pChild->Value());
 			if (!strcmp(pChild->Value(),"btVector3FloatData"))
 			{
-				int ptr;
+				MyLocalCaster cast;
-				get_int_attribute_by_name(pChild->ToElement(),"pointer",&ptr);
+				get_int_attribute_by_name(pChild->ToElement(),"pointer",&cast.m_int);
 				
 				btAlignedObjectArray<btVector3FloatData> v;
 				deSerializeVector3FloatData(pChild,v);
@@ -651,7 +683,7 @@ void btBulletXmlWorldImporter::auto_serialize_root_level_children(TiXmlNode* pPa
 				for (int i=0;i<numVectors;i++)
 					vectors[i] = v[i];
 				m_floatVertexArrays.push_back(vectors);
-				m_pointerLookup.insert((void*)ptr,vectors);
+				m_pointerLookup.insert(cast.m_ptr,vectors);
 				continue;
 			}
 
@@ -790,7 +822,7 @@ void btBulletXmlWorldImporter::auto_serialize_root_level_children(TiXmlNode* pPa
 	for (int i=0;i<m_constraintData.size();i++)
 	{
 		btTypedConstraintData2* tcd = m_constraintData[i];
-		bool isDoublePrecision = false;
+//		bool isDoublePrecision = false;
 		btRigidBody* rbA = 0;
 		btRigidBody* rbB = 0;
 		{

build_and_run_cmake_pybullet_double.sh

@@ -2,5 +2,9 @@
 rm CMakeCache.txt
 mkdir build_cmake
 cd build_cmake
-cmake -DBUILD_PYBULLET=ON -DBUILD_PYBULLET_NUMPY=ON -DUSE_DOUBLE_PRECISION=ON -DCMAKE_BUILD_TYPE=Release ..
+cmake -DBUILD_PYBULLET=ON -DBUILD_PYBULLET_NUMPY=OFF -DUSE_DOUBLE_PRECISION=ON -DCMAKE_BUILD_TYPE=Release ..
 make -j12
+cd examples
+cd pybullet
+ln -s pybullet.dylib pybullet.so
+

data/kuka_iiwa/model.sdf

@@ -21,7 +21,7 @@
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
-            <uri>meshes/coarse/link_0.stl</uri>
+            <uri>meshes/link_0.stl</uri>
           </mesh>
         </geometry>
       </collision>
@@ -60,7 +60,7 @@
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
-            <uri>meshes/coarse/link_1.stl</uri>
+            <uri>meshes/link_1.stl</uri>
           </mesh>
         </geometry>
       </collision>
@@ -119,7 +119,7 @@
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
-            <uri>meshes/coarse/link_2.stl</uri>
+            <uri>meshes/link_2.stl</uri>
           </mesh>
         </geometry>
       </collision>
@@ -178,7 +178,7 @@
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
-            <uri>meshes/coarse/link_3.stl</uri>
+            <uri>meshes/link_3.stl</uri>
           </mesh>
         </geometry>
       </collision>
@@ -237,7 +237,7 @@
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
-            <uri>meshes/coarse/link_4.stl</uri>
+            <uri>meshes/link_4.stl</uri>
           </mesh>
         </geometry>
       </collision>
@@ -296,7 +296,7 @@
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
-            <uri>meshes/coarse/link_5.stl</uri>
+            <uri>meshes/link_5.stl</uri>
           </mesh>
         </geometry>
       </collision>
@@ -355,7 +355,7 @@
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
-            <uri>meshes/coarse/link_6.stl</uri>
+            <uri>meshes/link_6.stl</uri>
           </mesh>
         </geometry>
       </collision>
@@ -414,7 +414,7 @@
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
-            <uri>meshes/coarse/link_7.stl</uri>
+            <uri>meshes/link_7.stl</uri>
           </mesh>
         </geometry>
       </collision>

data/mjcf/inverted_double_pendulum.xml

@@ -0,0 +1,47 @@
+<!-- Cartpole Model
+
+    The state space is populated with joints in the order that they are
+    defined in this file. The actuators also operate on joints.
+
+    State-Space (name/joint/parameter):
+        - cart      slider      position (m)
+        - pole      hinge       angle (rad)
+        - cart      slider      velocity (m/s)
+        - pole      hinge       angular velocity (rad/s)
+
+    Actuators (name/actuator/parameter):
+        - cart      motor       force x (N)
+
+-->
+<mujoco model="cartpole">
+  <compiler coordinate="local" inertiafromgeom="true"/>
+  <custom>
+    <numeric data="2" name="frame_skip"/>
+  </custom>
+  <default>
+    <joint damping="0.05"/>
+    <geom contype="0" friction="1 0.1 0.1" rgba="0.7 0.7 0 1"/>
+  </default>
+  <option gravity="1e-5 0 -9.81" integrator="RK4" timestep="0.01"/>
+  <size nstack="3000"/>
+  <worldbody>
+    <geom name="floor" pos="0 0 -3.0" rgba="0.8 0.9 0.8 1" size="40 40 40" type="plane"/>
+    <geom name="rail" pos="0 0 0" quat="0.707 0 0.707 0" rgba="0.3 0.3 0.7 1" size="0.02 1" type="capsule"/>
+    <body name="cart" pos="0 0 0">
+      <joint axis="1 0 0" limited="true" margin="0.01" name="slider" pos="0 0 0" range="-1 1" type="slide"/>
+      <geom name="cart" pos="0 0 0" quat="0.707 0 0.707 0" size="0.1 0.1" type="capsule"/>
+      <body name="pole" pos="0 0 0">
+        <joint axis="0 1 0" name="hinge" pos="0 0 0" type="hinge"/>
+        <geom fromto="0 0 0 0 0 0.6" name="cpole" rgba="0 0.7 0.7 1" size="0.045 0.3" type="capsule"/>
+        <body name="pole2" pos="0 0 0.6">
+          <joint axis="0 1 0" name="hinge2" pos="0 0 0" type="hinge"/>
+          <geom fromto="0 0 0 0 0 0.6" name="cpole2" rgba="0 0.7 0.7 1" size="0.045 0.3" type="capsule"/>
+          <site name="tip" pos="0 0 .6" size="0.01 0.01"/>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+  <actuator>
+    <motor ctrllimited="true" ctrlrange="-1 1" gear="500" joint="slider" name="slide"/>
+  </actuator>
+</mujoco>

data/mjcf/inverted_pendulum.xml

@@ -0,0 +1,27 @@
+<mujoco model="inverted pendulum">
+	<compiler inertiafromgeom="true"/>
+	<default>
+		<joint armature="0" damping="1" limited="true"/>
+		<geom contype="0" friction="1 0.1 0.1" rgba="0.7 0.7 0 1"/>
+		<tendon/>
+		<motor ctrlrange="-3 3"/>
+	</default>
+	<option gravity="0 0 -9.81" integrator="RK4" timestep="0.02"/>
+	<size nstack="3000"/>
+	<worldbody>
+		<!--geom name="ground" type="plane" pos="0 0 0" /-->
+		<!-- <geom name="rail" pos="0 0 0" quat="0.707 0 0.707 0" rgba="0.3 0.3 0.7 1" size="0.02 1" type="capsule"/> /-->
+		<body name="cart1" pos="0 0 0">
+			<joint axis="1 0 0" limited="true" name="slider" pos="0 0 0" range="-1 1" type="slide"/>
+			<geom name="cart" pos="0 0 0" quat="0.707 0 0.707 0" size="0.1 0.1" type="capsule"/>
+			<body name="pole" pos="0 0 0">
+				<joint axis="0 1 0" name="hinge" pos="0 0 0" range="-90 90" type="hinge"/>
+				<geom fromto="0 0 0 0.001 0 0.6" name="cpole" rgba="0 0.7 0.7 1" size="0.049 0.3" type="capsule"/>
+				<!--                 <body name="pole2" pos="0.001 0 0.6"><joint name="hinge2" type="hinge" pos="0 0 0" axis="0 1 0"/><geom name="cpole2" type="capsule" fromto="0 0 0 0 0 0.6" size="0.05 0.3" rgba="0.7 0 0.7 1"/><site name="tip2" pos="0 0 .6"/></body>-->
+			</body>
+		</body>
+	</worldbody>
+	<actuator>
+		<motor gear="100" joint="slider" name="slide"/>
+	</actuator>
+</mujoco>

examples/BasicDemo/CMakeLists.txt

@@ -74,7 +74,7 @@ ELSE(WIN32)
         IF(APPLE)
                 find_library(COCOA NAMES Cocoa)
                 MESSAGE(${COCOA})
-                link_libraries(${COCOA})
+                link_libraries(${COCOA} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY})
 
         ELSE(APPLE)
                 INCLUDE_DIRECTORIES(

examples/Benchmarks/BenchmarkDemo.cpp

@@ -228,8 +228,9 @@ public:
 
     struct CastRaysLoopBody
     {
-        btRaycastBar2* mRaycasts;
         btCollisionWorld* mWorld;
+		btRaycastBar2* mRaycasts;
+
 		CastRaysLoopBody(btCollisionWorld* cw, btRaycastBar2* rb) : mWorld(cw), mRaycasts(rb) {}
 
         void forLoop( int iBegin, int iEnd ) const

examples/CMakeLists.txt

@@ -1,6 +1,6 @@
 SUBDIRS( HelloWorld BasicDemo )
 IF(BUILD_BULLET3)
-	SUBDIRS( ExampleBrowser ThirdPartyLibs/Gwen ThirdPartyLibs/BussIK OpenGLWindow )
+	SUBDIRS( ExampleBrowser SharedMemory ThirdPartyLibs/Gwen ThirdPartyLibs/BussIK OpenGLWindow )
 ENDIF()
 IF(BUILD_PYBULLET)
 	SUBDIRS(pybullet)

examples/Collision/CollisionTutorialBullet2.cpp

@@ -61,8 +61,8 @@ class CollisionTutorialBullet2 : public CommonExampleInterface
 	plCollisionSdkHandle m_collisionSdkHandle;
 	plCollisionWorldHandle m_collisionWorldHandle;
 	
-	int m_stage;
+//	int m_stage;
-	int m_counter;
+//	int m_counter;
 	
 public:
     
@@ -70,11 +70,11 @@ public:
     :m_app(guiHelper->getAppInterface()),
 	m_guiHelper(guiHelper),
 	m_tutorialIndex(tutorialIndex),
+	m_timeSeriesCanvas0(0),
 	m_collisionSdkHandle(0),
-	m_collisionWorldHandle(0),
+	m_collisionWorldHandle(0)
-	m_stage(0),
+//	m_stage(0),
-	m_counter(0),
+//	m_counter(0)
-	m_timeSeriesCanvas0(0)
     {
 		
 		gTotalPoints = 0;

examples/Collision/Internal/Bullet2CollisionSdk.cpp

@@ -6,12 +6,13 @@ struct Bullet2CollisionSdkInternalData
 	btCollisionConfiguration* m_collisionConfig;
 	btCollisionDispatcher* m_dispatcher;
 	btBroadphaseInterface* m_aabbBroadphase;
-
 	btCollisionWorld* m_collisionWorld;
 	
 	Bullet2CollisionSdkInternalData()
-		:m_aabbBroadphase(0),
+		:
+	m_collisionConfig(0),
 	m_dispatcher(0),
+	m_aabbBroadphase(0),
 	m_collisionWorld(0)
 	{
 	}

examples/Collision/Internal/RealTimeBullet3CollisionSdk.cpp

@@ -53,13 +53,19 @@ struct RTB3CollisionWorld
 	b3AlignedObjectArray<b3Aabb>	m_worldSpaceAabbs;
 	b3AlignedObjectArray<b3GpuFace> m_planeFaces;
 	b3AlignedObjectArray<b3CompoundOverlappingPair> m_compoundOverlappingPairs;
+	
+	union
+	{
 		int m_nextFreeShapeIndex;
+		void* m_nextFreeShapePtr;
+	};
 	int m_nextFreeCollidableIndex;
 	int m_nextFreePlaneFaceIndex;
 
 	RTB3CollisionWorld()
-	:m_nextFreeCollidableIndex(START_COLLIDABLE_INDEX),
+	:
 	m_nextFreeShapeIndex(START_SHAPE_INDEX),
+	m_nextFreeCollidableIndex(START_COLLIDABLE_INDEX),
 	m_nextFreePlaneFaceIndex(0)//this value is never exposed to the user, so we can start from 0
 	{
 	}
@@ -125,7 +131,8 @@ plCollisionShapeHandle RealTimeBullet3CollisionSdk::createSphereShape(plCollisio
 		shape.m_childOrientation.setValue(0,0,0,1);
 		shape.m_radius = radius;
 		shape.m_shapeType = RTB3_SHAPE_SPHERE;
-		return (plCollisionShapeHandle) world->m_nextFreeShapeIndex++;
+		world->m_nextFreeShapeIndex++;
+		return (plCollisionShapeHandle) world->m_nextFreeShapePtr;
 	}
 	return 0;
 }
@@ -147,7 +154,8 @@ plCollisionShapeHandle RealTimeBullet3CollisionSdk::createPlaneShape(plCollision
 		world->m_planeFaces[world->m_nextFreePlaneFaceIndex].m_plane = b3MakeVector4(planeNormalX,planeNormalY,planeNormalZ,planeConstant);
 		shape.m_shapeIndex = world->m_nextFreePlaneFaceIndex++;
 		shape.m_shapeType = RTB3_SHAPE_PLANE;
-		return (plCollisionShapeHandle) world->m_nextFreeShapeIndex++;
+		world->m_nextFreeShapeIndex++;
+		return (plCollisionShapeHandle)world->m_nextFreeShapePtr ;
 	}
 	return 0;
 }
@@ -169,7 +177,8 @@ plCollisionShapeHandle RealTimeBullet3CollisionSdk::createCapsuleShape(plCollisi
 		shape.m_height = height;
 		shape.m_shapeIndex = capsuleAxis;
 		shape.m_shapeType = RTB3_SHAPE_CAPSULE;
-		return (plCollisionShapeHandle) world->m_nextFreeShapeIndex++;
+		world->m_nextFreeShapeIndex++;
+		return (plCollisionShapeHandle) world->m_nextFreeShapePtr;
 	}
 	return 0;
 }
@@ -186,7 +195,8 @@ plCollisionShapeHandle RealTimeBullet3CollisionSdk::createCompoundShape(plCollis
 		shape.m_childOrientation.setValue(0,0,0,1);
 		shape.m_numChildShapes = 0;
 		shape.m_shapeType = RTB3_SHAPE_COMPOUND_INTERNAL;
-		return (plCollisionShapeHandle) world->m_nextFreeShapeIndex++;
+		world->m_nextFreeShapeIndex++;
+		return (plCollisionShapeHandle) world->m_nextFreeShapePtr;
 	}
 	return 0;
 }
@@ -265,7 +275,8 @@ plCollisionObjectHandle RealTimeBullet3CollisionSdk::createCollisionObject(  plC
 				collidable.m_shapeIndex = shape.m_shapeIndex;
 				break;
 		*/
-		return (plCollisionObjectHandle)world->m_nextFreeCollidableIndex++;
+		world->m_nextFreeCollidableIndex++;
+		return (plCollisionObjectHandle)world->m_nextFreeShapePtr;
 	}
 	return 0;
 }

examples/CommonInterfaces/CommonMultiBodyBase.h

@@ -18,10 +18,49 @@
 #include "CommonWindowInterface.h"
 #include "CommonCameraInterface.h"
 
+enum MyFilterModes
+{
+	FILTER_GROUPAMASKB_AND_GROUPBMASKA2=0,
+	FILTER_GROUPAMASKB_OR_GROUPBMASKA2
+};
+
+struct MyOverlapFilterCallback2 : public btOverlapFilterCallback
+{
+	int m_filterMode;
+	
+	MyOverlapFilterCallback2()
+	:m_filterMode(FILTER_GROUPAMASKB_AND_GROUPBMASKA2)
+	{
+	}
+	
+	virtual ~MyOverlapFilterCallback2()
+	{}
+	// return true when pairs need collision
+	virtual bool	needBroadphaseCollision(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) const
+	{
+		if (m_filterMode==FILTER_GROUPAMASKB_AND_GROUPBMASKA2)
+		{
+			bool collides = (proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0;
+			collides = collides && (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
+			return collides;
+		}
+		
+		if (m_filterMode==FILTER_GROUPAMASKB_OR_GROUPBMASKA2)
+		{
+			bool collides = (proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0;
+			collides = collides || (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
+			return collides;
+		}
+		return false;
+	}
+};
+
 struct CommonMultiBodyBase : public CommonExampleInterface
 {
 		//keep the collision shapes, for deletion/cleanup
 	btAlignedObjectArray<btCollisionShape*>	m_collisionShapes;
+	MyOverlapFilterCallback2* m_filterCallback;
+	btOverlappingPairCache* m_pairCache;
 	btBroadphaseInterface*	m_broadphase;
 	btCollisionDispatcher*	m_dispatcher;
 	btMultiBodyConstraintSolver*	m_solver;
@@ -41,7 +80,9 @@ struct CommonMultiBodyBase : public CommonExampleInterface
 	struct GUIHelperInterface* m_guiHelper;
 
 	CommonMultiBodyBase(GUIHelperInterface* helper)
-	:m_broadphase(0),
+	:m_filterCallback(0),
+		m_pairCache(0),
+		m_broadphase(0),
 		m_dispatcher(0),
 		m_solver(0),
 		m_collisionConfiguration(0),
@@ -59,11 +100,16 @@ struct CommonMultiBodyBase : public CommonExampleInterface
 		///collision configuration contains default setup for memory, collision setup
 		m_collisionConfiguration = new btDefaultCollisionConfiguration();
 		//m_collisionConfiguration->setConvexConvexMultipointIterations();
+		m_filterCallback = new MyOverlapFilterCallback2();
 		
 		///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
 		m_dispatcher = new	btCollisionDispatcher(m_collisionConfiguration);
 
-		m_broadphase = new btDbvtBroadphase();//btSimpleBroadphase();
+		m_pairCache = new btHashedOverlappingPairCache();
+
+		m_pairCache->setOverlapFilterCallback(m_filterCallback);
+		
+		m_broadphase = new btDbvtBroadphase(m_pairCache);//btSimpleBroadphase();
 
 		m_solver = new btMultiBodyConstraintSolver;
 
@@ -143,6 +189,12 @@ struct CommonMultiBodyBase : public CommonExampleInterface
 		delete m_dispatcher;
 		m_dispatcher=0;
 		
+		delete m_pairCache;
+		m_pairCache = 0;
+
+		delete m_filterCallback;
+		m_filterCallback = 0;
+		
 		delete m_collisionConfiguration;
 		m_collisionConfiguration=0;
 	}

examples/Constraints/ConstraintDemo.cpp

@@ -56,7 +56,7 @@ class AllConstraintDemo : public  CommonRigidBodyBase
 		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
 	}
 
-	virtual void keyboardCallback(unsigned char key, int x, int y);
+	virtual bool	keyboardCallback(int key, int state);
 
 	// for cone-twist motor driving
 	float m_Time;
@@ -66,7 +66,6 @@ class AllConstraintDemo : public  CommonRigidBodyBase
 
 
 
-const int numObjects = 3;
 
 #define ENABLE_ALL_DEMOS 1
 
@@ -839,10 +838,11 @@ void AllConstraintDemo::displayCallback(void) {
 }
 #endif
 
-void AllConstraintDemo::keyboardCallback(unsigned char key, int x, int y)
+bool	AllConstraintDemo::keyboardCallback(int key, int state)
 {
-	(void)x;
+	
-	(void)y;
+	bool handled = false;
+	
 	switch (key) 
 	{
 		case 'O' :
@@ -870,6 +870,7 @@ void AllConstraintDemo::keyboardCallback(unsigned char key, int x, int y)
 					printf("Slider6Dof %s frame offset\n", offectOnOff ? "uses" : "does not use");
 				}
 			}
+			handled = true;
 			break;
 		default : 
 			{
@@ -877,6 +878,8 @@ void AllConstraintDemo::keyboardCallback(unsigned char key, int x, int y)
 			}
 			break;
 	}
+	return handled;
+	
 }
 
 class CommonExampleInterface*    AllConstraintCreateFunc(struct CommonExampleOptions& options)

examples/Constraints/Dof6Spring2Setup.cpp

@@ -443,8 +443,6 @@ void Dof6Spring2Setup::animate()
 /////// servo motor: flip its target periodically
 #ifdef USE_6DOF2
 		static float servoNextFrame = -1;
-		btScalar pos = m_data->m_ServoMotorConstraint->getRotationalLimitMotor(2)->m_currentPosition;
-		btScalar target = m_data->m_ServoMotorConstraint->getRotationalLimitMotor(2)->m_servoTarget;
 		if(servoNextFrame < 0)
 		{
 			m_data->m_ServoMotorConstraint->getRotationalLimitMotor(2)->m_servoTarget *= -1;

examples/Constraints/TestHingeTorque.cpp

@@ -4,8 +4,8 @@
 #include "../CommonInterfaces/CommonRigidBodyBase.h"
 #include "../CommonInterfaces/CommonParameterInterface.h"
 
-short collisionFilterGroup = short(btBroadphaseProxy::CharacterFilter);
+int collisionFilterGroup = int(btBroadphaseProxy::CharacterFilter);
-short collisionFilterMask = short(btBroadphaseProxy::AllFilter ^ (btBroadphaseProxy::CharacterFilter));
+int collisionFilterMask = int(btBroadphaseProxy::AllFilter ^ (btBroadphaseProxy::CharacterFilter));
 static btScalar radius(0.2);
 
 struct TestHingeTorque : public CommonRigidBodyBase
@@ -123,9 +123,7 @@ void TestHingeTorque::initPhysics()
 	{ // create a door using hinge constraint attached to the world
         
         int numLinks = 2;
-        bool spherical = false;					//set it ot false -to use 1DoF hinges instead of 3DoF sphericals
+    //    bool selfCollide = false;
-        bool canSleep = false;
-        bool selfCollide = false;
         btVector3 linkHalfExtents(0.05, 0.37, 0.1);
         btVector3 baseHalfExtents(0.05, 0.37, 0.1);
 
@@ -223,7 +221,7 @@ void TestHingeTorque::initPhysics()
 		
 		btTransform start; start.setIdentity();
 		btVector3 groundOrigin(-0.4f, 3.f, 0.f);
-		btVector3 basePosition = btVector3(-0.4f, 3.f, 0.f);
+	//	btVector3 basePosition = btVector3(-0.4f, 3.f, 0.f);
 		btQuaternion groundOrn(btVector3(0,1,0),0.25*SIMD_PI);
 		
 		groundOrigin[upAxis] -=.5;

examples/Evolution/NN3DWalkers.cpp

@@ -118,9 +118,9 @@ public:
 	:NN3DWalkersTimeWarpBase(helper),
 	 m_Time(0),
 	 m_SpeedupTimestamp(0),
-	 m_motorStrength(0.5f),
-	 m_targetFrequency(3),
 	 m_targetAccumulator(0),
+	m_targetFrequency(3),
+	m_motorStrength(0.5f),
 	m_evaluationsQty(0),
 	 m_nextReaped(0),
 	 m_timeSeriesCanvas(0)
@@ -729,9 +729,9 @@ bool NN3DWalkersExample::detectCollisions()
 				btManifoldPoint& pt = contactManifold->getContactPoint(j);
 				if (pt.getDistance()<0.f)
 				{
-					const btVector3& ptA = pt.getPositionWorldOnA();
+					//const btVector3& ptA = pt.getPositionWorldOnA();
-					const btVector3& ptB = pt.getPositionWorldOnB();
+					//const btVector3& ptB = pt.getPositionWorldOnB();
-					const btVector3& normalOnB = pt.m_normalWorldOnB;
+					//const btVector3& normalOnB = pt.m_normalWorldOnB;
 
 					if(!DRAW_INTERPENETRATIONS){
 						return collisionDetected;

examples/Evolution/NN3DWalkersTimeWarpBase.h

@@ -593,7 +593,7 @@ struct NN3DWalkersTimeWarpBase: public CommonRigidBodyBase {
 			timeWarpSimulation(deltaTime);
 			if(mLoopTimer.getTimeSeconds() - speedUpPrintTimeStamp > 1){
 				// on reset, we calculate the performed speed up
-				double speedUp = ((double)performedTime*1000.0)/((double)(mLoopTimer.getTimeMilliseconds()-performanceTimestamp));
+				//double speedUp = ((double)performedTime*1000.0)/((double)(mLoopTimer.getTimeMilliseconds()-performanceTimestamp));
 //				b3Printf("Avg Effective speedup: %f",speedUp);
 				performedTime = 0;
 				performanceTimestamp = mLoopTimer.getTimeMilliseconds();

examples/ExampleBrowser/GwenGUISupport/GwenParameterInterface.cpp

@@ -36,12 +36,13 @@ struct MySliderEventHandler : public Gwen::Event::Handler
     bool m_showValue;
 
 	MySliderEventHandler(const char* varName, Gwen::Controls::TextBox* label, Gwen::Controls::Slider* pSlider,T* target, SliderParamChangedCallback callback, void* userPtr)
-		:m_label(label),
+	:	m_callback(callback),
+		m_userPointer(userPtr),
+		m_label(label),
 		m_pSlider(pSlider),
 	m_targetValue(target),
-        m_showValue(true),
+	m_showValue(true)
-		m_callback(callback),
+
-        m_userPointer(userPtr)
 	{
 		memcpy(m_variableName,varName,strlen(varName)+1);
 	}

examples/ExampleBrowser/InProcessExampleBrowser.cpp

@@ -233,7 +233,7 @@ void	ExampleBrowserThreadFunc(void* userPtr,void* lsMemory)
 	ExampleBrowserThreadLocalStorage* localStorage = (ExampleBrowserThreadLocalStorage*) lsMemory;
 
 	ExampleBrowserArgs* args = (ExampleBrowserArgs*) userPtr;
-	int workLeft = true;
+	//int workLeft = true;
   b3CommandLineArgs args2(args->m_argc,args->m_argv);
 	b3Clock clock;
 
@@ -411,7 +411,8 @@ btInProcessExampleBrowserMainThreadInternalData* btCreateInProcessExampleBrowser
     data->m_exampleBrowser = new DefaultBrowser(&data->m_examples);
     data->m_sharedMem = new InProcessMemory;
     data->m_exampleBrowser->setSharedMemoryInterface(data->m_sharedMem );
-    bool init = data->m_exampleBrowser->init(argc,argv);
+	bool init;
+	init = data->m_exampleBrowser->init(argc,argv);
     data->m_clock.reset();
     return data;
 }

examples/ExampleBrowser/OpenGLExampleBrowser.cpp

@@ -721,7 +721,7 @@ static void saveCurrentSettings(int currentEntry,const char* startFileName)
 
 static void loadCurrentSettings(const char* startFileName, b3CommandLineArgs& args)
 {
-	int currentEntry= 0;
+	//int currentEntry= 0;
 	FILE* f = fopen(startFileName,"r");
 	if (f)
 	{

examples/ExampleBrowser/OpenGLGuiHelper.cpp

@@ -29,7 +29,8 @@ struct MyDebugVec3
 	float y;
 	float z;
 };
-class MyDebugDrawer : public btIDebugDraw
+
+ATTRIBUTE_ALIGNED16( class )MyDebugDrawer : public btIDebugDraw
 {
 	CommonGraphicsApp* m_glApp;
 	int m_debugMode;
@@ -40,6 +41,7 @@ class MyDebugDrawer : public btIDebugDraw
 	DefaultColors m_ourColors;
 
 public:
+	BT_DECLARE_ALIGNED_ALLOCATOR();
 
 	MyDebugDrawer(CommonGraphicsApp* app)
 		: m_glApp(app)

examples/ForkLift/ForkLiftDemo.cpp

@@ -46,6 +46,7 @@ class btCollisionShape;
 class ForkLiftDemo  : public CommonExampleInterface
 {
 	public:
+	GUIHelperInterface* m_guiHelper;
 
 		/* extra stuff*/
 	btVector3 m_cameraPosition;
@@ -57,7 +58,6 @@ class ForkLiftDemo  : public CommonExampleInterface
 	btRigidBody* m_carChassis;
 	btRigidBody* localCreateRigidBody(btScalar mass, const btTransform& worldTransform, btCollisionShape* colSape);
 
-	GUIHelperInterface* m_guiHelper;
 	int m_wheelInstances[4];
 
 //----------------------------
@@ -195,8 +195,6 @@ bool useMCLPSolver = true;
 #include "ForkLiftDemo.h"
 
 
-const int maxProxies = 32766;
-const int maxOverlap = 65535;
 
 ///btRaycastVehicle is the interface for the constraint that implements the raycast vehicle
 ///notice that for higher-quality slow-moving vehicles, another approach might be better

examples/FractureDemo/btFractureDynamicsWorld.cpp

@@ -529,7 +529,7 @@ void btFractureDynamicsWorld::fractureCallback( )
 		{
 			int j=f0;
 
-			btCollisionObject* colOb = (btCollisionObject*)manifold->getBody1();
+	//		btCollisionObject* colOb = (btCollisionObject*)manifold->getBody1();
 	//		btRigidBody* otherOb = btRigidBody::upcast(colOb);
 			//	if (!otherOb->getInvMass())
 			//		continue;
@@ -562,8 +562,8 @@ void btFractureDynamicsWorld::fractureCallback( )
 		{
 			int j=f1;
 			{
-				btCollisionObject* colOb = (btCollisionObject*)manifold->getBody0();
+				//btCollisionObject* colOb = (btCollisionObject*)manifold->getBody0();
-				btRigidBody* otherOb = btRigidBody::upcast(colOb);
+				//btRigidBody* otherOb = btRigidBody::upcast(colOb);
 				//	if (!otherOb->getInvMass())
 				//		continue;
 

examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp

@@ -336,7 +336,7 @@ void readLibraryGeometries(TiXmlDocument& doc, btAlignedObjectArray<GLInstanceGr
 
 void readNodeHierarchy(TiXmlElement* node,btHashMap<btHashString,int>& name2Shape, btAlignedObjectArray<ColladaGraphicsInstance>& visualShapeInstances,  const btMatrix4x4& parentTransMat)
 {
-	const char* nodeName = node->Attribute("id");
+	//const char* nodeName = node->Attribute("id");
 	//printf("processing node %s\n", nodeName);
 
 	

examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp

@@ -21,10 +21,12 @@
 
 enum ePARENT_LINK_ENUMS
 {
+	BASE_LINK_INDEX=-1,
+
 	INVALID_LINK_INDEX=-2
 };
 
-
+static int gUid=0;
 
 static bool parseVector4(btVector4& vec4, const std::string& vector_str)
 {
@@ -120,12 +122,17 @@ struct BulletMJCFImporterInternalData
 
 	btAlignedObjectArray<UrdfModel*>	m_models;
 	int m_activeModel;
+	//todo: for full MJCF compatibility, we would need a stack of default values
+	int m_defaultCollisionGroup;
+	int m_defaultCollisionMask;
 
 	//those collision shapes are deleted by caller (todo: make sure this happens!)
 	btAlignedObjectArray<btCollisionShape*> m_allocatedCollisionShapes;
 
 	BulletMJCFImporterInternalData()
-		:m_activeModel(-1)
+		:m_activeModel(-1),
+		m_defaultCollisionGroup(1),
+		m_defaultCollisionMask(1)
 	{
 		m_pathPrefix[0] = 0;
 	}
@@ -144,18 +151,48 @@ struct BulletMJCFImporterInternalData
 		return 0;
 	}
 
+	bool parseDefaults(TiXmlElement* root_xml, MJCFErrorLogger* logger)
+	{
+		bool handled= false;
+		//rudimentary 'default' support, would need more work for better feature coverage
+		for (TiXmlElement* child_xml = root_xml->FirstChildElement() ; child_xml ; child_xml = child_xml->NextSiblingElement())
+		{
+			std::string n = child_xml->Value();
+			if (n=="inertial")
+			{
+			}
+			if (n=="geom")
+			{
+				//contype, conaffinity 
+				const char* conTypeStr = child_xml->Attribute("contype");
+				if (conTypeStr)
+				{
+					m_defaultCollisionGroup = urdfLexicalCast<int>(conTypeStr);
+				}
+				const char* conAffinityStr = child_xml->Attribute("conaffinity");
+				if (conAffinityStr)
+				{
+					m_defaultCollisionMask = urdfLexicalCast<int>(conAffinityStr);
+				}
+			}
+		}
+		handled=true;
+		return handled;
+	}
 	bool parseRootLevel(TiXmlElement* root_xml,MJCFErrorLogger* logger)
 	{
-		for (TiXmlElement* xml = root_xml->FirstChildElement() ; xml ; xml = xml->NextSiblingElement())
+		for (TiXmlElement* rootxml = root_xml->FirstChildElement() ; rootxml ; rootxml = rootxml->NextSiblingElement())
 		{
 			bool handled = false;
-			std::string n = xml->Value();
+			std::string n = rootxml->Value();
+
+			
 			if (n=="body")
 			{
 				int modelIndex = m_models.size();
 				UrdfModel* model = new UrdfModel();
 				m_models.push_back(model);
-				parseBody(xml,modelIndex, INVALID_LINK_INDEX,logger);
+				parseBody(rootxml,modelIndex, INVALID_LINK_INDEX,logger);
 				initTreeAndRoot(*model,logger);
 				handled = true;
 			}
@@ -168,7 +205,7 @@ struct BulletMJCFImporterInternalData
 
 				UrdfLink* linkPtr = new UrdfLink();
 				linkPtr->m_name = "anonymous";
-				const char* namePtr = xml->Attribute("name");
+				const char* namePtr = rootxml->Attribute("name");
 				if (namePtr)
 				{
 					linkPtr->m_name = namePtr;
@@ -177,12 +214,12 @@ struct BulletMJCFImporterInternalData
 				linkPtr->m_linkIndex = linkIndex;
 				modelPtr->m_links.insert(linkPtr->m_name.c_str(),linkPtr);
 
-				btTransform linkTransform = parseTransform(xml,logger);
+				//don't parse geom transform here, it will be inside 'parseGeom'
-				linkPtr->m_linkTransformInWorld = linkTransform;
+				linkPtr->m_linkTransformInWorld.setIdentity();
 				
 //				modelPtr->m_rootLinks.push_back(linkPtr);
 
-				parseGeom(xml,modelIndex, linkIndex,logger);
+				parseGeom(rootxml,modelIndex, linkIndex,logger);
 				initTreeAndRoot(*modelPtr,logger);
 
 				handled = true;
@@ -202,7 +239,7 @@ struct BulletMJCFImporterInternalData
 		return true;
 	}
 
-	bool parseJoint(TiXmlElement* link_xml, int modelIndex, int parentLinkIndex, int linkIndex, MJCFErrorLogger* logger, btTransform& jointTransOut)
+	bool parseJoint(TiXmlElement* link_xml, int modelIndex, int parentLinkIndex, int linkIndex, MJCFErrorLogger* logger, const btTransform& parentToLinkTrans, btTransform& jointTransOut)
 	{
 		const char* jType = link_xml->Attribute("type");
 		const char* limitedStr = link_xml->Attribute("limited");
@@ -210,6 +247,8 @@ struct BulletMJCFImporterInternalData
 		const char* posStr = link_xml->Attribute("pos");
 		const char* ornStr = link_xml->Attribute("quat");
 		const char* nameStr = link_xml->Attribute("name");
+		const char* rangeStr = link_xml->Attribute("range");
+
 		btTransform jointTrans;
 		jointTrans.setIdentity();
 		if (posStr)
@@ -242,12 +281,36 @@ struct BulletMJCFImporterInternalData
 			logger->reportWarning("joint without axis attribute");
 		}
 		bool isLimited = false;
+		double range[2] = {1,0};
+
 		if (limitedStr)
 		{
 			std::string lim = limitedStr;
 			if (lim=="true")
 			{
 				isLimited = true;
+				//parse the 'range' field
+				btArray<std::string> pieces;
+				btArray<float> sizes;
+				btAlignedObjectArray<std::string> strArray;
+				urdfIsAnyOf(" ", strArray);
+				urdfStringSplit(pieces, rangeStr, strArray);
+				for (int i = 0; i < pieces.size(); ++i)
+				{
+					if (!pieces[i].empty())
+					{
+						sizes.push_back(urdfLexicalCast<double>(pieces[i].c_str()));
+					}
+				}
+				if (sizes.size()==2)
+				{
+					range[0] = sizes[0];
+					range[1] = sizes[1];
+				} else
+				{
+					logger->reportWarning("Expected range[2] in joint with limits");
+				}
+
 			}
 		} else
 		{
@@ -259,7 +322,8 @@ struct BulletMJCFImporterInternalData
 		
 		btTransform parentLinkToJointTransform;
 		parentLinkToJointTransform.setIdentity();
-		parentLinkToJointTransform = jointTrans*linkPtr->m_linkTransformInWorld;
+		parentLinkToJointTransform = parentToLinkTrans*jointTrans;
+
 		jointTransOut = jointTrans;
 		UrdfJointTypes ejtype;
 		if (jType)
@@ -270,6 +334,11 @@ struct BulletMJCFImporterInternalData
 				ejtype = URDFFixedJoint;
 				jointHandled = true;
 			}
+			if (jointType == "slide")
+			{
+				ejtype = URDFPrismaticJoint;
+				jointHandled = true;
+			}
 			if (jointType == "hinge")
 			{
 				if (isLimited)
@@ -288,7 +357,6 @@ struct BulletMJCFImporterInternalData
 
 		if (jointHandled)
 		{
-			//default to 'fixed' joint
 			UrdfJoint* jointPtr = new UrdfJoint();
 			jointPtr->m_childLinkName=linkPtr->m_name;
 			const UrdfLink* parentLink = getLink(modelIndex,parentLinkIndex);
@@ -297,13 +365,18 @@ struct BulletMJCFImporterInternalData
 			jointPtr->m_parentLinkToJointTransform = parentLinkToJointTransform;
 			jointPtr->m_type = ejtype;
 			int numJoints = m_models[modelIndex]->m_joints.size();
+			
+			//range
+			jointPtr->m_lowerLimit = range[0];
+			jointPtr->m_upperLimit = range[1];
+			
 			if (nameStr)
 			{
 				jointPtr->m_name =nameStr; 
 			} else
 			{
 				char jointName[1024];
-				sprintf(jointName,"joint%d_%d",linkIndex,numJoints);
+				sprintf(jointName,"joint%d_%d_%d",gUid++,linkIndex,numJoints);
 				jointPtr->m_name =jointName; 
 			}
 			m_models[modelIndex]->m_joints.insert(jointPtr->m_name.c_str(),jointPtr);
@@ -335,7 +408,10 @@ struct BulletMJCFImporterInternalData
 
 		bool handledGeomType = false;
 		UrdfGeometry geom;
-		const char* rgba = link_xml->Attribute("rgba");
+
+		
+
+//		const char* rgba = link_xml->Attribute("rgba");
 		const char* gType = link_xml->Attribute("type");
 		const char* sz = link_xml->Attribute("size");
 		const char* posS = link_xml->Attribute("pos");
@@ -356,7 +432,7 @@ struct BulletMJCFImporterInternalData
 			btVector4 o4;
 			if (parseVector4(o4,ornStr))
 			{
-				orn.setValue(o4[3],o4[0],o4[1],o4[2]);
+				orn.setValue(o4[1],o4[2],o4[3],o4[0]);
 				linkLocalFrame.setRotation(orn);
 			}
 		}
@@ -410,16 +486,52 @@ struct BulletMJCFImporterInternalData
 			if (geomType == "capsule")
 			{
 				geom.m_type = URDF_GEOM_CAPSULE;
-				geom.m_capsuleRadius = urdfLexicalCast<double>(sz);
+
+				btArray<std::string> pieces;
+				btArray<float> sizes;
+				btAlignedObjectArray<std::string> strArray;
+				urdfIsAnyOf(" ", strArray);
+				urdfStringSplit(pieces, sz, strArray);
+				for (int i = 0; i < pieces.size(); ++i)
+				{
+					if (!pieces[i].empty())
+					{
+						sizes.push_back(urdfLexicalCast<double>(pieces[i].c_str()));
+					}
+				}
+
+				geom.m_capsuleRadius = 0;
+				geom.m_capsuleHalfHeight = 0.f;
+
+				if (sizes.size()>0)
+				{
+					geom.m_capsuleRadius = sizes[0];
+					if (sizes.size()>1)
+					{
+						geom.m_capsuleHalfHeight = sizes[1];
+					}
+				} else
+				{
+					logger->reportWarning("couldn't convert 'size' attribute of capsule geom");
+				}
 				const char* fromtoStr = link_xml->Attribute("fromto");
+				geom.m_hasFromTo = false;
+
 				if (fromtoStr)
 				{
+					geom.m_hasFromTo = true;
 					std::string fromto = fromtoStr;
 					parseVector6(geom.m_capsuleFrom,geom.m_capsuleTo,fromto,logger);
 					handledGeomType = true;
 				} else
 				{
-					logger->reportWarning("capsule without fromto attribute");
+					if (sizes.size()<2)
+					{
+						logger->reportWarning("capsule without fromto attribute requires 2 sizes (radius and halfheight)");
+					} else
+					{
+						handledGeomType = true;
+					}
 				}
 			}
 			#if 0
@@ -433,6 +545,26 @@ struct BulletMJCFImporterInternalData
 			{
 						
 				UrdfCollision col;
+				col.m_flags |= URDF_HAS_COLLISION_GROUP;
+				col.m_collisionGroup = m_defaultCollisionGroup;
+				
+				col.m_flags |= URDF_HAS_COLLISION_MASK;
+				col.m_collisionMask = m_defaultCollisionMask;
+				
+				//contype, conaffinity 
+				const char* conTypeStr = link_xml->Attribute("contype");
+				if (conTypeStr)
+				{
+					col.m_flags |= URDF_HAS_COLLISION_GROUP;
+					col.m_collisionGroup = urdfLexicalCast<int>(conTypeStr);
+				}
+				const char* conAffinityStr = link_xml->Attribute("conaffinity");
+				if (conAffinityStr)
+				{
+					col.m_flags |= URDF_HAS_COLLISION_MASK;
+					col.m_collisionMask = urdfLexicalCast<int>(conAffinityStr);
+				}
+
 				col.m_geometry = geom;
 				col.m_linkLocalFrame = linkLocalFrame;
 				linkPtr->m_collisionArray.push_back(col);
@@ -478,7 +610,7 @@ struct BulletMJCFImporterInternalData
 			btQuaternion orn(0,0,0,1);
 			if (parseVector4(o4,ornstr))
 			{
-				orn.setValue(o4[3],o4[0],o4[1],o4[2]);//MuJoCo quats are [w,x,y,z], Bullet uses [x,y,z,w]
+				orn.setValue(o4[1],o4[2],o4[3],o4[0]);//MuJoCo quats are [w,x,y,z], Bullet uses [x,y,z,w]
 				tr.setRotation(orn);
 			}
 		} else
@@ -545,43 +677,72 @@ struct BulletMJCFImporterInternalData
 
 		return totalVolume;
 	}
+	UrdfLink* getLink(int modelIndex, int linkIndex)
+	{
+		UrdfLink** linkPtrPtr = m_models[modelIndex]->m_links.getAtIndex(linkIndex);
+		if (linkPtrPtr && *linkPtrPtr)
+		{
+			return *linkPtrPtr;
+		}
+		btAssert(0);
+		return 0;
+	}
 
-	bool parseBody(TiXmlElement* link_xml, int modelIndex, int parentLinkIndex, MJCFErrorLogger* logger)
+	int createBody(int modelIndex, const char* namePtr)
 	{
 		UrdfModel* modelPtr = m_models[modelIndex];
-		int linkIndex = modelPtr->m_links.size();
+		int orgChildLinkIndex = modelPtr->m_links.size();
 		UrdfLink* linkPtr = new UrdfLink();
 		char uniqueLinkName[1024];
-		sprintf(uniqueLinkName,"link%d",linkIndex);
+		sprintf(uniqueLinkName,"link%d",orgChildLinkIndex );
 		linkPtr->m_name = uniqueLinkName;
-		const char* namePtr = link_xml->Attribute("name");
 		if (namePtr)
 		{
 			linkPtr->m_name = namePtr;
 		}
-		
+		linkPtr->m_linkIndex = orgChildLinkIndex ;
-		linkPtr->m_linkIndex = linkIndex;
 		modelPtr->m_links.insert(linkPtr->m_name.c_str(),linkPtr);
 
+		return orgChildLinkIndex;
+	}
+	bool parseBody(TiXmlElement* link_xml, int modelIndex, int orgParentLinkIndex, MJCFErrorLogger* logger)
+	{
+		int newParentLinkIndex = orgParentLinkIndex;
+
+		const char* bodyName = link_xml->Attribute("name");
+		int orgChildLinkIndex = createBody(modelIndex,bodyName);
+		
+//		int curChildLinkIndex = orgChildLinkIndex;
+		std::string bodyN;
+		
+		if (bodyName)
+		{
+			bodyN = bodyName;
+		} else
+		{
+			char anon[1024];
+			sprintf(anon,"anon%d",gUid++);
+			bodyN = anon;		
+		}
+		
+
+//		btTransform orgLinkTransform = parseTransform(link_xml,logger);
 
 		btTransform linkTransform = parseTransform(link_xml,logger);
+		UrdfLink* linkPtr = getLink(modelIndex,orgChildLinkIndex);
+
 		
-		linkPtr->m_linkTransformInWorld = linkTransform;
-		//body/geom links with no parent are root links
-		if (parentLinkIndex==INVALID_LINK_INDEX)
-		{
-//			modelPtr->m_rootLinks.push_back(linkPtr);
-		}
 
 		bool massDefined = false;
 		btVector3 inertialPos(0,0,0);
 		btQuaternion inertialOrn(0,0,0,1);
 		btScalar mass = 0.f;
 		btVector3 localInertiaDiag(0,0,0);
-		int thisLinkIndex = -2;
+	//	int thisLinkIndex = -2;
 		bool hasJoint = false;
 		btTransform jointTrans;
 		jointTrans.setIdentity();
+		bool skipFixedJoint = false;
 
 		for (TiXmlElement* xml = link_xml->FirstChildElement() ; xml ; xml = xml->NextSiblingElement())
 		{
@@ -616,31 +777,56 @@ struct BulletMJCFImporterInternalData
 
 			if (n=="joint")
 			{
-				//skip joints at the root for now 
-				//MuJoCo supports more than just 'free' or 'fixed',
-				//so we will need to emulate this with extra root links+joints
-
-				//for now, only convert 1st joint
 				if (!hasJoint)
 				{
-					if (parentLinkIndex!=INVALID_LINK_INDEX)
+					const char* jType = xml->Attribute("type");
+					std::string jointType = jType? jType:"";
+
+					if (newParentLinkIndex!=INVALID_LINK_INDEX || jointType!="free")
 					{
-						parseJoint(xml,modelIndex,parentLinkIndex, linkIndex,logger,jointTrans);
+						if (newParentLinkIndex==INVALID_LINK_INDEX)
-					}
+						{
+							int newRootLinkIndex = createBody(modelIndex,0);
+							UrdfLink* rootLink = getLink(modelIndex,newRootLinkIndex);
+							rootLink->m_inertia.m_mass = 0;
+							rootLink->m_linkTransformInWorld.setIdentity();
+							newParentLinkIndex = newRootLinkIndex;
 						}
+
+						int newLinkIndex = createBody(modelIndex,0);
+						parseJoint(xml,modelIndex,newParentLinkIndex, newLinkIndex,logger,linkTransform,jointTrans);
+						
+						//getLink(modelIndex,newLinkIndex)->m_linkTransformInWorld = jointTrans*linkTransform;
+						
+						linkTransform = jointTrans.inverse();
+						newParentLinkIndex = newLinkIndex;
+						//newParentLinkIndex, curChildLinkIndex
 						hasJoint = true;
 						handled = true;
 					}
+				} else
+				{
+					int newLinkIndex = createBody(modelIndex,0);
+					btTransform joint2nextjoint =  jointTrans.inverse();
+					btTransform unused;
+					parseJoint(xml,modelIndex,newParentLinkIndex, newLinkIndex,logger,joint2nextjoint,unused);
+					newParentLinkIndex = newLinkIndex;
+					//todo: compute relative joint transforms (if any) and append to linkTransform
+					hasJoint = true;
+					handled = true;
+				}
+				
+			}
 			if (n == "geom")
 			{
-				parseGeom(xml,modelIndex, linkIndex, logger);
+				parseGeom(xml,modelIndex, orgChildLinkIndex , logger);
 				handled = true;
 			}
 
 			//recursive
 			if (n=="body")
 			{
-				parseBody(xml,modelIndex,linkIndex,logger);
+				parseBody(xml,modelIndex,orgChildLinkIndex,logger);
 				handled = true;
 			}
 
@@ -657,18 +843,24 @@ struct BulletMJCFImporterInternalData
 			}
 		}
 
-		if ((!hasJoint) && (parentLinkIndex != INVALID_LINK_INDEX))
+		linkPtr->m_linkTransformInWorld = linkTransform;
+		if (bodyN == "cart1")//front_left_leg")
 		{
+			printf("found!\n");
+		}
+		if ((newParentLinkIndex != INVALID_LINK_INDEX) && !skipFixedJoint)
+		{
+			//linkPtr->m_linkTransformInWorld.setIdentity();
 			//default to 'fixed' joint
 			UrdfJoint* jointPtr = new UrdfJoint();
 			jointPtr->m_childLinkName=linkPtr->m_name;
-			const UrdfLink* parentLink = getLink(modelIndex,parentLinkIndex);
+			const UrdfLink* parentLink = getLink(modelIndex,newParentLinkIndex);
 			jointPtr->m_parentLinkName =parentLink->m_name;
 			jointPtr->m_localJointAxis.setValue(1,0,0);
 			jointPtr->m_parentLinkToJointTransform = linkTransform;
 			jointPtr->m_type = URDFFixedJoint;
 			char jointName[1024];
-			sprintf(jointName,"joint%d",linkIndex);
+			sprintf(jointName,"jointfix_%d_%d",gUid++,newParentLinkIndex);
 			jointPtr->m_name =jointName; 
 			m_models[modelIndex]->m_joints.insert(jointPtr->m_name.c_str(),jointPtr);
 		}
@@ -680,11 +872,26 @@ struct BulletMJCFImporterInternalData
 			double volume = computeVolume(linkPtr,logger);
 			mass = density * volume;
 		}
-		linkPtr->m_inertia.m_linkLocalFrame = jointTrans.inverse();
+		linkPtr->m_inertia.m_linkLocalFrame.setIdentity();// = jointTrans.inverse();
 		linkPtr->m_inertia.m_mass = mass;
 		return true;
 	}
 
+	void recurseAddChildLinks(UrdfModel* model, UrdfLink* link)
+	{
+		for (int i=0;i<link->m_childLinks.size();i++)
+		{
+			int linkIndex = model->m_links.size();
+			link->m_childLinks[i]->m_linkIndex = linkIndex;
+			const char* linkName = link->m_childLinks[i]->m_name.c_str();
+			model->m_links.insert(linkName,link->m_childLinks[i]);
+		}
+		for (int i=0;i<link->m_childLinks.size();i++)
+		{
+			recurseAddChildLinks(model,link->m_childLinks[i]);
+		}
+	}
+
 	bool initTreeAndRoot(UrdfModel& model, MJCFErrorLogger* logger)
 	{
 		// every link has children links and joints, but no parents, so we create a
@@ -763,6 +970,23 @@ struct BulletMJCFImporterInternalData
 			logger->reportError("URDF without root link found");
 			return false;
 		}
+
+		//re-index the link indices so parent indices are always smaller than child indices
+		btAlignedObjectArray<UrdfLink*> links;
+		links.resize(model.m_links.size());
+		for (int i=0;i<model.m_links.size();i++)
+		{
+			links[i] = *model.m_links.getAtIndex(i);
+		}
+		model.m_links.clear();
+		for (int i=0;i<model.m_rootLinks.size();i++)
+		{
+			UrdfLink* rootLink = model.m_rootLinks[i];
+			int linkIndex = model.m_links.size();
+			rootLink->m_linkIndex = linkIndex;
+			model.m_links.insert(rootLink->m_name.c_str(),rootLink);
+			recurseAddChildLinks(&model, rootLink);
+		}
 		return true;
 	
 	}
@@ -791,7 +1015,7 @@ bool BulletMJCFImporter::loadMJCF(const char* fileName, MJCFErrorLogger* logger,
 	b3FileUtils fu;
 	
 	//bool fileFound = fu.findFile(fileName, relativeFileName, 1024);
-  	bool fileFound = b3ResourcePath::findResourcePath(fileName,relativeFileName,1024);
+  	bool fileFound = (b3ResourcePath::findResourcePath(fileName,relativeFileName,1024)>0);
 	
 	std::string xml_string;
 	m_data->m_pathPrefix[0] = 0;
@@ -850,6 +1074,13 @@ bool BulletMJCFImporter::parseMJCFString(const char* xmlText, MJCFErrorLogger* l
 		m_data->m_fileModelName = modelName;
 	}
 
+	//<compiler>,<option>,<size>,<default>,<body>,<keyframe>,<contactpair>,
+	//<light>, <camera>,<constraint>,<tendon>,<actuator>,<customfield>,<textfield>
+
+	for (TiXmlElement* link_xml = mujoco_xml->FirstChildElement("default"); link_xml; link_xml = link_xml->NextSiblingElement("default"))
+	{
+		m_data->parseDefaults(link_xml,logger);
+	}
 	
 	for (TiXmlElement* link_xml = mujoco_xml->FirstChildElement("body"); link_xml; link_xml = link_xml->NextSiblingElement("body"))
 	{
@@ -861,8 +1092,7 @@ bool BulletMJCFImporter::parseMJCFString(const char* xmlText, MJCFErrorLogger* l
 		m_data->parseRootLevel(link_xml,logger);
 	}
 
-	//<compiler>,<option>,<size>,<default>,<body>,<keyframe>,<contactpair>,
+
-	//<light>, <camera>,<constraint>,<tendon>,<actuator>,<customfield>,<textfield>
 
 	return true;
 }
@@ -901,10 +1131,43 @@ bool BulletMJCFImporter::getLinkColor(int linkIndex, btVector4& colorRGBA) const
 	return false;
 }
 
+//todo: placeholder implementation
+//MuJoCo type/affinity is different from Bullet group/mask, so we should implement a custom collision filter instead
+//(contype1 & conaffinity2) || (contype2 & conaffinity1)
+int BulletMJCFImporter::getCollisionGroupAndMask(int linkIndex, int& colGroup, int& colMask) const 
+{
+	int flags = 0;
+	
+	const UrdfLink* link = m_data->getLink(m_data->m_activeModel,linkIndex);
+	if (link)
+	{
+		for (int i=0;i<link->m_collisionArray.size();i++)
+		{
+			const UrdfCollision& col = link->m_collisionArray[i];
+			colGroup = col.m_collisionGroup;
+			flags |= URDF_HAS_COLLISION_GROUP;
+			colMask = col.m_collisionMask;
+			flags |= URDF_HAS_COLLISION_MASK;
+
+		}
+	}
+	
+	return flags;
+}
+	
+
 std::string BulletMJCFImporter::getJointName(int linkIndex) const
 {
 	const UrdfLink* link = m_data->getLink(m_data->m_activeModel,linkIndex);
+	if (link)
+	{
+		if (link->m_parentJoint)
+		{
+			return link->m_parentJoint->m_name;
+		}
 		return link->m_name;
+	}
+	return "";
 }
 
     //fill mass and inertial data. If inertial data is missing, please initialize mass, inertia to sensitive values, and inertialFrame to identity.
@@ -935,7 +1198,8 @@ void BulletMJCFImporter::getLinkChildIndices(int urdfLinkIndex, btAlignedObjectA
 	{
 		for (int i=0;i<link->m_childLinks.size();i++)
 		{
-			childLinkIndices.push_back(link->m_childLinks[i]->m_linkIndex);
+			int childIndex = link->m_childLinks[i]->m_linkIndex;
+			childLinkIndices.push_back(childIndex);
 		}
 	}
 }
@@ -978,12 +1242,13 @@ bool BulletMJCFImporter::getJointInfo(int urdfLinkIndex, btTransform& parent2joi
 bool BulletMJCFImporter::getRootTransformInWorld(btTransform& rootTransformInWorld) const
 {
 	rootTransformInWorld.setIdentity();
-
+	/*
 	const UrdfLink* link = m_data->getLink(m_data->m_activeModel,0);
 	if (link)
 	{
 		rootTransformInWorld = link->m_linkTransformInWorld;
 	}
+	*/
 	return true;
 }
 
@@ -1060,18 +1325,26 @@ class btCompoundShape* BulletMJCFImporter::convertLinkCollisionShapes(int linkIn
 			case URDF_GEOM_CAPSULE:
 			{
 				//todo: convert fromto to btCapsuleShape + local btTransform
-				
+				if (col->m_geometry.m_hasFromTo)
+				{
 					btVector3 f = col->m_geometry.m_capsuleFrom;
 					btVector3 t = col->m_geometry.m_capsuleTo;
 					//MuJoCo seems to take the average of the spheres as center?
-				btVector3 c = (f+t)*0.5;
+					//btVector3 c = (f+t)*0.5;
 					//f-=c;
 					//t-=c;
 					btVector3 fromto[2] = {f,t};
-				btScalar radii[2] = {col->m_geometry.m_capsuleRadius,col->m_geometry.m_capsuleRadius};
+					btScalar radii[2] = {btScalar(col->m_geometry.m_capsuleRadius)
+										,btScalar(col->m_geometry.m_capsuleRadius)};
 			
 					btMultiSphereShape* ms = new btMultiSphereShape(fromto,radii,2);
 					childShape = ms;
+				} else
+				{
+					btCapsuleShapeZ* cap = new btCapsuleShapeZ(col->m_geometry.m_capsuleRadius,
+						2.*col->m_geometry.m_capsuleHalfHeight);
+					childShape = cap;
+				}
 				break;
 			}
 			default:

examples/Importers/ImportMJCFDemo/BulletMJCFImporter.h

@@ -46,6 +46,9 @@ public:
 	/// optional method to provide the link color. return true if the color is available and copied into colorRGBA, return false otherwise
 	virtual bool getLinkColor(int linkIndex, btVector4& colorRGBA) const;
 
+	//optional method to get collision group (type) and mask (affinity)
+	virtual int getCollisionGroupAndMask(int linkIndex, int& colGroup, int& colMask) const ;
+	
 	///this API will likely change, don't override it!
 	virtual bool getLinkContactInfo(int linkIndex, URDFLinkContactInfo& contactInfo ) const;
     

examples/Importers/ImportMJCFDemo/ImportMJCFSetup.cpp

@@ -51,6 +51,8 @@ static btAlignedObjectArray<std::string> gMCFJFileNameArray;
 
 #define MAX_NUM_MOTORS 1024
 
+
+
 struct ImportMJCFInternalData
 {
     ImportMJCFInternalData()
@@ -77,7 +79,7 @@ struct ImportMJCFInternalData
 
 ImportMJCFSetup::ImportMJCFSetup(struct GUIHelperInterface* helper, int option, const char* fileName)
 	:CommonMultiBodyBase(helper),
-	m_grav(0),
+	m_grav(-10),
 	m_upAxis(2)
 {
 	m_data = new ImportMJCFInternalData;
@@ -118,9 +120,10 @@ ImportMJCFSetup::ImportMJCFSetup(struct GUIHelperInterface* helper, int option,
 		if (gMCFJFileNameArray.size()==0)
 		{
 			gMCFJFileNameArray.push_back("mjcf/humanoid.xml");
+			gMCFJFileNameArray.push_back("mjcf/inverted_pendulum.xml");
+			gMCFJFileNameArray.push_back("mjcf/ant.xml");
 			gMCFJFileNameArray.push_back("mjcf/hello_mjcf2.xml");
 			gMCFJFileNameArray.push_back("mjcf/capsule.xml");
-			gMCFJFileNameArray.push_back("mjcf/ant.xml");
 //			gMCFJFileNameArray.push_back("mjcf/hopper.xml");
 //			gMCFJFileNameArray.push_back("mjcf/swimmer.xml");
 //			gMCFJFileNameArray.push_back("mjcf/reacher.xml");
@@ -146,25 +149,8 @@ ImportMJCFSetup::~ImportMJCFSetup()
     delete m_data;
 }
 
-static btVector4 colors[4] =
-{
-	btVector4(1,0,0,1),
-	btVector4(0,1,0,1),
-	btVector4(0,1,1,1),
-	btVector4(1,1,0,1),
-};
 
 
-static btVector3 selectColor()
-{
-
-	static int curColor = 0;
-	btVector4 color = colors[curColor];
-	curColor++;
-	curColor&=3;
-	return color;
-}
-
 void ImportMJCFSetup::setFileName(const char* mjcfFileName)
 {
     memcpy(m_fileName,mjcfFileName,strlen(mjcfFileName)+1);
@@ -187,13 +173,19 @@ struct MyMJCFLogger : public MJCFErrorLogger
 	}
 };
 
+
 void ImportMJCFSetup::initPhysics()
 {
 
 	
 	m_guiHelper->setUpAxis(m_upAxis);
 	
-	this->createEmptyDynamicsWorld();
+	createEmptyDynamicsWorld();
+	
+	//MuJoCo uses a slightly different collision filter mode, use the FILTER_GROUPAMASKB_OR_GROUPBMASKA2
+	//@todo also use the modified collision filter for raycast and other collision related queries
+	m_filterCallback->m_filterMode = FILTER_GROUPAMASKB_OR_GROUPBMASKA2;
+	
 	//m_dynamicsWorld->getSolverInfo().m_numIterations = 100;
     m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
     m_dynamicsWorld->getDebugDrawer()->setDebugMode(
@@ -228,7 +220,7 @@ void ImportMJCFSetup::initPhysics()
 
 
 			//todo: move these internal API called inside the 'ConvertURDF2Bullet' call, hidden from the user
-			int rootLinkIndex = importer.getRootLinkIndex();
+			//int rootLinkIndex = importer.getRootLinkIndex();
 			//b3Printf("urdf root link index = %d\n",rootLinkIndex);
 			MyMultiBodyCreator creation(m_guiHelper);
 
@@ -238,7 +230,7 @@ void ImportMJCFSetup::initPhysics()
 			ConvertURDF2Bullet(importer,creation, rootTrans,m_dynamicsWorld,m_useMultiBody,importer.getPathPrefix(),CUF_USE_MJCF);
 
 			mb = creation.getBulletMultiBody();
-                        if (/* DISABLES CODE */ (0))  // mb)
+                        if (mb)
                         {
                           printf("first MJCF file converted!\n");
                           std::string* name =

examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp

@@ -30,7 +30,7 @@ bool b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(const std::string&
 		
 		GLInstanceGraphicsShape* gfxShape = btgCreateGraphicsShapeFromWavefrontObj(shapes);
 		
-		int textureIndex = -1;
+		//int textureIndex = -1;
 		//try to load some texture
 		for (int i=0;i<shapes.size();i++)
 		{

examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp

@@ -33,7 +33,7 @@ GLInstanceGraphicsShape* btgCreateGraphicsShapeFromWavefrontObj(std::vector<tiny
 					int vtxBaseIndex = vertices->size();
 					
 					
-					if (f<0 && f>=shape.mesh.indices.size())
+					if (f<0 && f>=int(shape.mesh.indices.size()))
 					{
 						continue;
 					}
@@ -49,7 +49,7 @@ GLInstanceGraphicsShape* btgCreateGraphicsShapeFromWavefrontObj(std::vector<tiny
 					{
 						int uv0Index = shape.mesh.indices[f]*2+0;
 						int uv1Index = shape.mesh.indices[f]*2+1;
-						if (uv0Index>=0 && uv1Index>=0 && (uv0Index < shape.mesh.texcoords.size()) && (uv1Index < shape.mesh.texcoords.size()))
+						if (uv0Index>=0 && uv1Index>=0 && (uv0Index < int(shape.mesh.texcoords.size()) && (uv1Index < shape.mesh.texcoords.size())))
 						{
 							vtx0.uv[0] = shape.mesh.texcoords[uv0Index];
 							vtx0.uv[1] = shape.mesh.texcoords[uv1Index];

examples/Importers/ImportSDFDemo/ImportSDFSetup.cpp

@@ -155,25 +155,8 @@ ImportSDFSetup::~ImportSDFSetup()
     delete m_data;
 }
 
-static btVector4 colors[4] =
-{
-	btVector4(1,0,0,1),
-	btVector4(0,1,0,1),
-	btVector4(0,1,1,1),
-	btVector4(1,1,0,1),
-};
 
 
-static btVector3 selectColor()
-{
-
-	static int curColor = 0;
-	btVector4 color = colors[curColor];
-	curColor++;
-	curColor&=3;
-	return color;
-}
-
 void ImportSDFSetup::setFileName(const char* urdfFileName)
 {
     memcpy(m_fileName,urdfFileName,strlen(urdfFileName)+1);
@@ -227,7 +210,7 @@ void ImportSDFSetup::initPhysics()
 
 
 			//todo: move these internal API called inside the 'ConvertURDF2Bullet' call, hidden from the user
-			int rootLinkIndex = u2b.getRootLinkIndex();
+			//int rootLinkIndex = u2b.getRootLinkIndex();
 			//b3Printf("urdf root link index = %d\n",rootLinkIndex);
 			MyMultiBodyCreator creation(m_guiHelper);
 

examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp

@@ -41,8 +41,10 @@ struct MyTexture
 	unsigned char* textureData;
 };
 
-struct BulletURDFInternalData
+ATTRIBUTE_ALIGNED16(struct) BulletURDFInternalData
 {
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+
 	UrdfParser m_urdfParser;
 	struct GUIHelperInterface* m_guiHelper;
 	char m_pathPrefix[1024];
@@ -119,7 +121,7 @@ bool BulletURDFImporter::loadURDF(const char* fileName, bool forceFixedBase)
 	b3FileUtils fu;
 	
 	//bool fileFound = fu.findFile(fileName, relativeFileName, 1024);
-  	bool fileFound = b3ResourcePath::findResourcePath(fileName,relativeFileName,1024);
+  	bool fileFound = (b3ResourcePath::findResourcePath(fileName,relativeFileName,1024))>0;
 	
 	std::string xml_string;
 	m_data->m_pathPrefix[0] = 0;
@@ -171,7 +173,7 @@ bool BulletURDFImporter::loadSDF(const char* fileName, bool forceFixedBase)
     b3FileUtils fu;
     
     //bool fileFound = fu.findFile(fileName, relativeFileName, 1024);
-    bool fileFound = b3ResourcePath::findResourcePath(fileName,relativeFileName,1024);
+    bool fileFound = (b3ResourcePath::findResourcePath(fileName,relativeFileName,1024))>0;
     
     std::string xml_string;
     m_data->m_pathPrefix[0] = 0;

examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp

@@ -159,25 +159,8 @@ ImportUrdfSetup::~ImportUrdfSetup()
     delete m_data;
 }
 
-static btVector4 colors[4] =
-{
-	btVector4(1,0,0,1),
-	btVector4(0,1,0,1),
-	btVector4(0,1,1,1),
-	btVector4(1,1,0,1),
-};
 
 
-static btVector3 selectColor()
-{
-
-	static int curColor = 0;
-	btVector4 color = colors[curColor];
-	curColor++;
-	curColor&=3;
-	return color;
-}
-
 void ImportUrdfSetup::setFileName(const char* urdfFileName)
 {
     memcpy(m_fileName,urdfFileName,strlen(urdfFileName)+1);
@@ -237,7 +220,7 @@ void ImportUrdfSetup::initPhysics()
 
 
 			//todo: move these internal API called inside the 'ConvertURDF2Bullet' call, hidden from the user
-			int rootLinkIndex = u2b.getRootLinkIndex();
+			//int rootLinkIndex = u2b.getRootLinkIndex();
 			//b3Printf("urdf root link index = %d\n",rootLinkIndex);
 			MyMultiBodyCreator creation(m_guiHelper);
 

examples/Importers/ImportURDFDemo/URDF2Bullet.cpp

@@ -11,8 +11,8 @@
 #include "MultiBodyCreationInterface.h"
 #include <string>
 
-static int bodyCollisionFilterGroup=btBroadphaseProxy::CharacterFilter;
+//static int bodyCollisionFilterGroup=btBroadphaseProxy::CharacterFilter;
-static int bodyCollisionFilterMask=btBroadphaseProxy::AllFilter&(~btBroadphaseProxy::CharacterFilter);
+//static int bodyCollisionFilterMask=btBroadphaseProxy::AllFilter&(~btBroadphaseProxy::CharacterFilter);
 static bool enableConstraints = true;
 
 static btVector4 colors[4] =
@@ -231,6 +231,8 @@ void ConvertURDF2BulletInternal(
 
 
     bool hasParentJoint = u2b.getJointInfo(urdfLinkIndex, parent2joint, linkTransformInWorldSpace, jointAxisInJointSpace, jointType,jointLowerLimit,jointUpperLimit, jointDamping, jointFriction);
+	std::string linkName = u2b.getLinkName(urdfLinkIndex);
+                          
     if (flags & CUF_USE_SDF)
     {
         parent2joint =parentTransformInWorldSpace.inverse()*linkTransformInWorldSpace;
@@ -314,6 +316,10 @@ void ConvertURDF2BulletInternal(
                 bool isFixedBase = (mass==0);//todo: figure out when base is fixed
                 int totalNumJoints = cache.m_totalNumJoints1;
                 cache.m_bulletMultiBody = creation.allocateMultiBody(urdfLinkIndex, totalNumJoints,mass, localInertiaDiagonal, isFixedBase, canSleep);
+				if (flags & CUF_USE_MJCF)
+				{
+					cache.m_bulletMultiBody->setBaseWorldTransform(linkTransformInWorldSpace);
+				}
 				
                 cache.registerMultiBody(urdfLinkIndex, cache.m_bulletMultiBody, inertialFrameInWorldSpace, mass, localInertiaDiagonal, compoundShape, localInertialFrame);
             }
@@ -440,9 +446,19 @@ void ConvertURDF2BulletInternal(
 				
 				//base and fixed? -> static, otherwise flag as dynamic
                 bool isDynamic = (mbLinkIndex<0 && cache.m_bulletMultiBody->hasFixedBase())? false : true;
-                short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(btBroadphaseProxy::StaticFilter);
+                int collisionFilterGroup = isDynamic? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
-                short collisionFilterMask = isDynamic? 	short(btBroadphaseProxy::AllFilter) : 	short(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
+                int collisionFilterMask = isDynamic? 	int(btBroadphaseProxy::AllFilter) : 	int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
 
+				int colGroup=0, colMask=0;
+				int flags = u2b.getCollisionGroupAndMask(urdfLinkIndex,colGroup, colMask);
+				if (flags & URDF_HAS_COLLISION_GROUP)
+				{
+					collisionFilterGroup = colGroup;
+				}
+				if (flags & URDF_HAS_COLLISION_MASK)
+				{
+					collisionFilterMask = colMask;
+				}
                 world1->addCollisionObject(col,collisionFilterGroup,collisionFilterMask);
 
                 btVector4 color = selectColor2();//(0.0,0.0,0.5);
@@ -505,7 +521,12 @@ void ConvertURDF2Bullet(
 
 		btTransform localInertialFrameRoot = cache.m_urdfLinkLocalInertialFrames[urdfLinkIndex];
 
+		if (flags & CUF_USE_MJCF)
+		{
+		} else
+		{
 			mb->setBaseWorldTransform(rootTransformInWorldSpace*localInertialFrameRoot);
+		}
 		btAlignedObjectArray<btQuaternion> scratch_q;
 		btAlignedObjectArray<btVector3> scratch_m;
 		mb->forwardKinematics(scratch_q,scratch_m);

examples/Importers/ImportURDFDemo/URDFImporterInterface.h

@@ -30,6 +30,7 @@ public:
 	/// optional method to provide the link color. return true if the color is available and copied into colorRGBA, return false otherwise
 	virtual bool getLinkColor(int linkIndex, btVector4& colorRGBA) const { return false;}
 
+	virtual int getCollisionGroupAndMask(int linkIndex, int& colGroup, int& colMask) const { return 0;}
 	///this API will likely change, don't override it!
 	virtual bool getLinkContactInfo(int linkIndex, URDFLinkContactInfo& contactInfo ) const  { return false;}
     

examples/Importers/ImportURDFDemo/URDFJointTypes.h

@@ -55,5 +55,11 @@ struct URDFLinkContactInfo
 	}
 };
 
+enum UrdfCollisionFlags
+{
+	URDF_FORCE_CONCAVE_TRIMESH=1,
+	URDF_HAS_COLLISION_GROUP=2,
+	URDF_HAS_COLLISION_MASK=4,
+};
 
 #endif //URDF_JOINT_TYPES_H

examples/Importers/ImportURDFDemo/UrdfParser.h

@@ -58,6 +58,8 @@ struct UrdfGeometry
 	btVector3 m_boxSize;
 	
 	double m_capsuleRadius;
+	double m_capsuleHalfHeight;
+	int m_hasFromTo;
 	btVector3 m_capsuleFrom;
 	btVector3 m_capsuleTo;
 
@@ -80,10 +82,7 @@ struct UrdfVisual
 	UrdfMaterial m_localMaterial;
 };
 
-enum UrdfCollisionFlags
+
-{
-	URDF_FORCE_CONCAVE_TRIMESH=1,
-};
 
 
 struct UrdfCollision
@@ -92,6 +91,8 @@ struct UrdfCollision
 	UrdfGeometry m_geometry;
 	std::string m_name;
 	int m_flags;
+	int m_collisionGroup;
+	int m_collisionMask;
 	UrdfCollision()
 		:m_flags(0)
 	{

examples/InverseDynamics/InverseDynamicsExample.cpp

@@ -225,13 +225,13 @@ void InverseDynamicsExample::initPhysics()
 			{
 				qd[dof] = 0;
 				char tmp[25];
-				sprintf(tmp,"q_desired[%u]",dof);
+				sprintf(tmp,"q_desired[%lu]",dof);
 				qd_name[dof] = tmp;
 				SliderParams slider(qd_name[dof].c_str(),&qd[dof]);
 				slider.m_minVal=-3.14;
 				slider.m_maxVal=3.14;
 				
-				sprintf(tmp,"q[%u]",dof); 
+				sprintf(tmp,"q[%lu]",dof); 
 				q_name[dof] = tmp;   
 				m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
 				btVector4 color = sJointCurveColors[dof&7];
@@ -343,6 +343,7 @@ void InverseDynamicsExample::stepSimulation(float deltaTime)
 		btAlignedObjectArray<btQuaternion> scratch_q;
 		btAlignedObjectArray<btVector3> scratch_m;
 		m_multiBody->forwardKinematics(scratch_q, scratch_m);
+#if 0
 		for (int i = 0; i < m_multiBody->getNumLinks(); i++)
 		{
 			//btVector3 pos = m_multiBody->getLink(i).m_cachedWorldTransform.getOrigin();
@@ -355,6 +356,7 @@ void InverseDynamicsExample::stepSimulation(float deltaTime)
 
 
 		}
+#endif
     }
 }
 

examples/InverseKinematics/InverseKinematicsExample.cpp

@@ -155,9 +155,6 @@ class InverseKinematicsExample : public CommonExampleInterface
 	b3AlignedObjectArray<Node*> m_ikNodes;
 	Jacobian* m_ikJacobian;
 
-    float m_x;
-    float m_y;
-    float m_z;
  	b3AlignedObjectArray<int> m_movingInstances;
 	int m_targetInstance;
 	enum
@@ -169,11 +166,8 @@ public:
     
     InverseKinematicsExample(CommonGraphicsApp* app, int option)
     :m_app(app),
-    m_x(0),
+	m_ikMethod(option),
-    m_y(0),
+	m_targetInstance(-1)
-	m_z(0),
-	m_targetInstance(-1),
-	m_ikMethod(option)
 	{
 		m_app->setUpAxis(2);
         
@@ -336,7 +330,7 @@ public:
 
 void InverseKinematicsExample::BuildKukaIIWAShape()
 {
-	const VectorR3& unitx = VectorR3::UnitX;
+	//const VectorR3& unitx = VectorR3::UnitX;
 	const VectorR3& unity = VectorR3::UnitY;
 	const VectorR3& unitz = VectorR3::UnitZ;
 	const VectorR3 unit1(sqrt(14.0) / 8.0, 1.0 / 8.0, 7.0 / 8.0);

examples/MultiBody/InvertedPendulumPDControl.cpp

@@ -211,11 +211,11 @@ btMultiBody* createInvertedPendulumMultiBody(btMultiBodyDynamicsWorld* world, GU
     local_origin.resize(pMultiBody->getNumLinks() + 1);
     world_to_local[0] = pMultiBody->getWorldToBaseRot();
     local_origin[0] = pMultiBody->getBasePos();
-    double friction = 1;
+  //  double friction = 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()};
+       // float quat[4]={-world_to_local[0].x(),-world_to_local[0].y(),-world_to_local[0].z(),world_to_local[0].w()};
 
 
         if (1)
@@ -238,8 +238,8 @@ btMultiBody* createInvertedPendulumMultiBody(btMultiBodyDynamicsWorld* world, GU
             col->setWorldTransform(tr);
 
 			bool isDynamic = (baseMass > 0 && !fixedBase);
-			short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(btBroadphaseProxy::StaticFilter);
+			int collisionFilterGroup = isDynamic? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
-			short collisionFilterMask = isDynamic? 	short(btBroadphaseProxy::AllFilter) : 	short(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
+			int collisionFilterMask = isDynamic? 	int(btBroadphaseProxy::AllFilter) : 	int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
 
 
             world->addCollisionObject(col,collisionFilterGroup,collisionFilterMask);//, 2,1+2);
@@ -291,8 +291,8 @@ btMultiBody* createInvertedPendulumMultiBody(btMultiBodyDynamicsWorld* world, GU
         col->setWorldTransform(tr);
     //       col->setFriction(friction);
 		bool isDynamic = 1;//(linkMass > 0);
-		short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(btBroadphaseProxy::StaticFilter);
+		int collisionFilterGroup = isDynamic? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
-		short collisionFilterMask = isDynamic? 	short(btBroadphaseProxy::AllFilter) : 	short(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
+		int collisionFilterMask = isDynamic? 	int(btBroadphaseProxy::AllFilter) : 	int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
 
 		//if (i==0||i>numLinks-2)
 		{
@@ -450,7 +450,7 @@ void InvertedPendulumPDControl::stepSimulation(float deltaTime)
              m_multiBody->getBaseOmega()[2]
              );
     */
-    btScalar jointVel =m_multiBody->getJointVel(0);
+ //   btScalar jointVel =m_multiBody->getJointVel(0);
     
 //    b3Printf("child angvel = %f",jointVel);
     

examples/MultiBody/MultiBodyConstraintFeedback.cpp

@@ -91,7 +91,7 @@ void MultiBodyConstraintFeedbackSetup::initPhysics()
             m_guiHelper->createCollisionShapeGraphicsObject(box);
             btTransform start; start.setIdentity();
             btVector3 groundOrigin(-0.4f, 3.f, 0.f);
-			btVector3 basePosition = btVector3(-0.4f, 3.f, 0.f);
+			//btVector3 basePosition = btVector3(-0.4f, 3.f, 0.f);
             groundOrigin[upAxis] -=.5;
 			groundOrigin[2]-=0.6;
             start.setOrigin(groundOrigin);
@@ -263,11 +263,11 @@ void MultiBodyConstraintFeedbackSetup::initPhysics()
         local_origin.resize(pMultiBody->getNumLinks() + 1);
         world_to_local[0] = pMultiBody->getWorldToBaseRot();
         local_origin[0] = pMultiBody->getBasePos();
-        double friction = 1;
+      //  double friction = 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()};
+           // float quat[4]={-world_to_local[0].x(),-world_to_local[0].y(),-world_to_local[0].z(),world_to_local[0].w()};
 
 
             if (1)
@@ -290,8 +290,8 @@ void MultiBodyConstraintFeedbackSetup::initPhysics()
                 col->setWorldTransform(tr);
 
 				bool isDynamic = (baseMass > 0 && floating);
-				short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(btBroadphaseProxy::StaticFilter);
+				int collisionFilterGroup = isDynamic? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
-				short collisionFilterMask = isDynamic? 	short(btBroadphaseProxy::AllFilter) : 	short(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
+				int collisionFilterMask = isDynamic? 	int(btBroadphaseProxy::AllFilter) : 	int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
 
 
                 world->addCollisionObject(col,collisionFilterGroup,collisionFilterMask);//, 2,1+2);
@@ -343,8 +343,8 @@ void MultiBodyConstraintFeedbackSetup::initPhysics()
             col->setWorldTransform(tr);
      //       col->setFriction(friction);
 			bool isDynamic = 1;//(linkMass > 0);
-			short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(btBroadphaseProxy::StaticFilter);
+			int collisionFilterGroup = isDynamic? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
-			short collisionFilterMask = isDynamic? 	short(btBroadphaseProxy::AllFilter) : 	short(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
+			int collisionFilterMask = isDynamic? 	int(btBroadphaseProxy::AllFilter) : 	int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
 
 			//if (i==0||i>numLinks-2)
 			{
@@ -416,7 +416,7 @@ void MultiBodyConstraintFeedbackSetup::stepSimulation(float deltaTime)
              m_multiBody->getBaseOmega()[2]
              );
     */
-    btScalar jointVel =m_multiBody->getJointVel(0);
+   // btScalar jointVel =m_multiBody->getJointVel(0);
     
 //    b3Printf("child angvel = %f",jointVel);
     

examples/MultiBody/MultiBodySoftContact.cpp

@@ -7,7 +7,7 @@
 #include "../CommonInterfaces/CommonMultiBodyBase.h"
 #include "../Utils/b3ResourcePath.h"
 
-static btScalar radius(0.2);
+//static btScalar radius(0.2);
 
 struct MultiBodySoftContact : public CommonMultiBodyBase
 {
@@ -126,8 +126,8 @@ void MultiBodySoftContact::initPhysics()
 		col->setCollisionShape(childShape);
 		pMultiBody->setBaseCollider(col);
 			bool isDynamic = (mass > 0 && !isFixed);
-		short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(btBroadphaseProxy::StaticFilter);
+		int collisionFilterGroup = isDynamic? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
-		short collisionFilterMask = isDynamic? 	short(btBroadphaseProxy::AllFilter) : 	short(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
+		int collisionFilterMask = isDynamic? 	int(btBroadphaseProxy::AllFilter) : 	int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
 
         m_dynamicsWorld->addCollisionObject(col,collisionFilterGroup,collisionFilterMask);//, 2,1+2);
 

examples/MultiBody/MultiDofDemo.cpp

@@ -242,7 +242,7 @@ void	MultiDofDemo::initPhysics()
 
         if (multibodyConstraint) {
             btVector3 pointInA = -linkHalfExtents;
-            btVector3 pointInB = halfExtents;
+      //      btVector3 pointInB = halfExtents;
             btMatrix3x3 frameInA;
             btMatrix3x3 frameInB;
             frameInA.setIdentity();

examples/MultiBody/Pendulum.cpp

@@ -150,8 +150,8 @@ void Pendulum::initPhysics()
 			btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(pMultiBody, i);
 			col->setCollisionShape(shape);
 			bool isDynamic = 1;
-			short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(btBroadphaseProxy::StaticFilter);
+			int collisionFilterGroup = isDynamic? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
-			short collisionFilterMask = isDynamic? 	short(btBroadphaseProxy::AllFilter) : 	short(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
+			int collisionFilterMask = isDynamic? 	int(btBroadphaseProxy::AllFilter) : 	int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
 			world->addCollisionObject(col,collisionFilterGroup,collisionFilterMask);//,2,1+2);
 			btVector4 color(1,0,0,1);
 			m_guiHelper->createCollisionObjectGraphicsObject(col,color);

examples/MultiBody/TestJointTorqueSetup.cpp

@@ -294,8 +294,8 @@ void TestJointTorqueSetup::initPhysics()
                 col->setWorldTransform(tr);
 
 				bool isDynamic = (baseMass > 0 && floating);
-				short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(btBroadphaseProxy::StaticFilter);
+				int collisionFilterGroup = isDynamic? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
-				short collisionFilterMask = isDynamic? 	short(btBroadphaseProxy::AllFilter) : 	short(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
+				int collisionFilterMask = isDynamic? 	int(btBroadphaseProxy::AllFilter) : 	int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
 
 
                 world->addCollisionObject(col,collisionFilterGroup,collisionFilterMask);//, 2,1+2);
@@ -347,8 +347,8 @@ void TestJointTorqueSetup::initPhysics()
             col->setWorldTransform(tr);
      //       col->setFriction(friction);
 			bool isDynamic = 1;//(linkMass > 0);
-			short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(btBroadphaseProxy::StaticFilter);
+			int collisionFilterGroup = isDynamic? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
-			short collisionFilterMask = isDynamic? 	short(btBroadphaseProxy::AllFilter) : 	short(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
+			int collisionFilterMask = isDynamic? 	int(btBroadphaseProxy::AllFilter) : 	int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
 
 			//if (i==0||i>numLinks-2)
 			{

examples/MultiThreadedDemo/ParallelFor.h

@@ -224,12 +224,12 @@ private:
 extern TaskManager gTaskMgr;
 
 
-static void initTaskScheduler()
+inline static void initTaskScheduler()
 {
     gTaskMgr.init();
 }
 
-static void cleanupTaskScheduler()
+inline static void cleanupTaskScheduler()
 {
     gTaskMgr.shutdown();
 }

examples/MultiThreading/MultiThreadingExample.cpp

@@ -163,8 +163,6 @@ void*	SamplelsMemoryFunc()
 class MultiThreadingExample : public CommonExampleInterface
 {
     CommonGraphicsApp* m_app;
-	GUIHelperInterface* m_guiHelper;
-    int m_exampleIndex;
     b3ThreadSupportInterface* m_threadSupport;
     btAlignedObjectArray<SampleJob1*> m_jobs;
     int m_numThreads;
@@ -172,12 +170,10 @@ public:
     
     MultiThreadingExample(GUIHelperInterface* guiHelper, int tutorialIndex)
     :m_app(guiHelper->getAppInterface()),
-	m_guiHelper(guiHelper),
-	m_exampleIndex(tutorialIndex),
 	m_threadSupport(0),
 	m_numThreads(8)
     {
-		int numBodies = 1;
+		//int numBodies = 1;
 		
 		m_app->setUpAxis(1);
 		m_app->m_renderer->enableBlend(true);

examples/MultiThreading/b3Win32ThreadSupport.cpp

@@ -279,7 +279,9 @@ void b3Win32ThreadSupport::startThreads(const Win32ThreadConstructionInfo& threa
 
 		}
 		
-		SetThreadAffinityMask(handle, 1<<i);
+		DWORD mask = 1;
+		mask = 1<<mask;
+		SetThreadAffinityMask(handle, mask);
 
 		threadStatus.m_taskId = i;
 		threadStatus.m_commandId = 0;

examples/OpenCL/CommonOpenCL/CommonOpenCLBase.h

@@ -43,8 +43,8 @@ struct CommonOpenCLBase : public CommonExampleInterface
 	
 	virtual void initCL(int preferredDeviceIndex, int preferredPlatformIndex)
 	{
-	void* glCtx=0;
+//	void* glCtx=0;
-	void* glDC = 0;
+//	void* glDC = 0;
 	
 	
     

examples/OpenCL/broadphase/PairBench.cpp

@@ -208,9 +208,6 @@ void	PairBench::initPhysics()
 	useShadowMap = false;
 
 	
-	int startItem = 0;
-
-	
 	initCL(gPreferredOpenCLDeviceIndex,gPreferredOpenCLPlatformIndex);
 
 	if (m_clData->m_clContext)
@@ -298,7 +295,7 @@ void	PairBench::createBroadphase(int arraySizeX, int arraySizeY, int arraySizeZ)
 					char * patloc;
 
 					
-					for (oriptr = buf; patloc = strstr(oriptr, pattern); oriptr = patloc + patlen)
+					for (oriptr = buf; (patloc = strstr(oriptr, pattern)); oriptr = patloc + patlen)
 					{
 						if (patloc)
 						{
@@ -335,12 +332,14 @@ void	PairBench::createBroadphase(int arraySizeX, int arraySizeY, int arraySizeZ)
 							if (l>500)
 							{
 								b3Vector4 color=b3MakeVector4(0,1,0,0.1);
-								int id = m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId,position,orn,color,scaling);
+								int id;
+								id = m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId,position,orn,color,scaling);
 								m_data->m_broadphaseGPU->createLargeProxy(aabbMin,aabbMax,index,group,mask);
 							} else
 							{
 								b3Vector4 color=b3MakeVector4(1,0,0,1);
-								int id = m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId,position,orn,color,scaling);
+								int id;
+								id = m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId,position,orn,color,scaling);
 								m_data->m_broadphaseGPU->createProxy(aabbMin,aabbMax,index,group,mask);
 									index++;
 							}
@@ -403,7 +402,8 @@ void	PairBench::createBroadphase(int arraySizeX, int arraySizeY, int arraySizeZ)
 					}*/
 
 
-					int id = m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId,position,orn,color,scaling);
+					int id;
+					id = m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId,position,orn,color,scaling);
 					
 					
 					b3Vector3 aabbMin = position-scaling;
@@ -486,7 +486,7 @@ void PairBench::stepSimulation(float deltaTime)
 		return;
 
 
-	bool animate=true;
+	//bool animate=true;
 	int numObjects= 0;
 	{
 		B3_PROFILE("Num Objects");
@@ -503,7 +503,7 @@ void PairBench::stepSimulation(float deltaTime)
 		int arraySizeInBytes  = numObjects * (3)*sizeof(b3Vector4);
 
 		glBindBuffer(GL_ARRAY_BUFFER, vbo);
-		cl_bool blocking=  CL_TRUE;
+	//	cl_bool blocking=  CL_TRUE;
 		char* hostPtr= 0;
 		{
 			B3_PROFILE("glMapBufferRange");
@@ -583,7 +583,7 @@ void PairBench::stepSimulation(float deltaTime)
 			B3_PROFILE("updateOnCpu");
 			if (!gPairBenchFileName)
 			{
-			int allAabbs = m_data->m_broadphaseGPU->getAllAabbsCPU().size();
+		//	int allAabbs = m_data->m_broadphaseGPU->getAllAabbsCPU().size();
 			
 
 			b3AlignedObjectArray<b3Vector4> posOrnColorsCpu;
@@ -625,11 +625,12 @@ void PairBench::stepSimulation(float deltaTime)
 		b3Clock cl;
 		dt = cl.getTimeMicroseconds();
 		B3_PROFILE("calculateOverlappingPairs");
-		int sz = sizeof(b3Int4)*64*numObjects;
+		//int sz = sizeof(b3Int4)*64*numObjects;
 
 
 		m_data->m_broadphaseGPU->calculateOverlappingPairs(maxOverlap);
-		int numPairs = m_data->m_broadphaseGPU->getNumOverlap();
+		int numPairs;
+		numPairs = m_data->m_broadphaseGPU->getNumOverlap();
 		//printf("numPairs = %d\n", numPairs);
 		dt = cl.getTimeMicroseconds()-dt;
 		

examples/OpenCL/rigidbody/GpuConvexScene.cpp

@@ -223,8 +223,8 @@ int	GpuConvexScene::createDynamicsObjects2( const float* vertices, int numVertic
 	}
 
 	int shapeId = m_guiHelper->getRenderInterface()->registerShape(&vertices[0],numVertices,indices,numIndices,B3_GL_TRIANGLES,textureIndex);
-	int group=1;
+	//int group=1;
-	int mask=1;
+	//int mask=1;
 	int index=0;
 
 
@@ -237,7 +237,7 @@ int	GpuConvexScene::createDynamicsObjects2( const float* vertices, int numVertic
 		int curColor = 0;
 		float scaling[4] = {1,1,1,1};
 		int prevBody = -1;
-		int insta = 0;
+		//int insta = 0;
 
 		b3ConvexUtility* utilPtr = new b3ConvexUtility();
 
@@ -290,9 +290,11 @@ int	GpuConvexScene::createDynamicsObjects2( const float* vertices, int numVertic
 					b3Vector4 color = colors[curColor];
 					curColor++;
 					curColor&=3;
-					b3Vector4 scalin=b3MakeVector4(1,1,1,1);
+//					b3Vector4 scaling=b3MakeVector4(1,1,1,1);
-					int id = m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId,position,orn,color,scaling);
+					int id;
-					int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass,position,orn,colIndex,index,false);
+					id= m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId,position,orn,color,scaling);
+					int pid;
+					pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass,position,orn,colIndex,index,false);
 
 
 					if (prevBody>=0)
@@ -319,8 +321,8 @@ void GpuConvexScene::createStaticEnvironment()
 	int numIndices = sizeof(cube_indices)/sizeof(int);
 	//int shapeId = ci.m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
 	int shapeId = m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
-	int group=1;
+	//int group=1;
-	int mask=1;
+	//int mask=1;
 	int index=0;
 
 
@@ -332,8 +334,10 @@ void GpuConvexScene::createStaticEnvironment()
 
 		b3Vector4 color=b3MakeVector4(0,0,1,1);
 
-		int id = m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
+		int id;
-		int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(0.f,position,orn,colIndex,index,false);
+		id = m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
+		int pid;
+		pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(0.f,position,orn,colIndex,index,false);
 
 	}
 }
@@ -345,8 +349,8 @@ void GpuConvexPlaneScene::createStaticEnvironment()
 	int numIndices = sizeof(cube_indices)/sizeof(int);
 	//int shapeId = ci.m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
 	int shapeId = m_guiHelper->getRenderInterface()->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
-	int group=1;
+//	int group=1;
-	int mask=1;
+//	int mask=1;
 	int index=0;
 
 
@@ -358,8 +362,10 @@ void GpuConvexPlaneScene::createStaticEnvironment()
 
 		b3Vector4 color=b3MakeVector4(0,0,1,1);
 
-		int id = m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId,position,orn,color,scaling);
+		int id;
-		int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(0.f,position,orn,colIndex,index,false);
+		id = m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId,position,orn,color,scaling);
+		int pid;
+		pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(0.f,position,orn,colIndex,index,false);
 
 	}
 
@@ -535,8 +541,8 @@ void GpuTetraScene::createFromTetGenData(const char* ele,
 			int numVertices = sizeof(mytetra_vertices)/strideInBytes;
 			int numIndices = sizeof(mytetra_indices)/sizeof(int);
 			int shapeId = m_instancingRenderer->registerShape(&mytetra_vertices[0],numVertices,mytetra_indices,numIndices);
-			int group=1;
+		//	int group=1;
-			int mask=1;
+		//	int mask=1;
 			
 
 
@@ -553,8 +559,10 @@ void GpuTetraScene::createFromTetGenData(const char* ele,
 				b3Vector4 color = colors[curColor++];
 				curColor&=3;
 				
-				int id = m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
+				int id;
-				int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(1.f,position,orn,colIndex,0,false);
+				id = m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
+				int pid;
+				pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(1.f,position,orn,colIndex,0,false);
 				//rigidBodyIds.push_back(pid);
 
 			}
@@ -620,7 +628,8 @@ void GpuTetraScene::createFromTetGenData(const char* ele,
 		bool useGPU = true;
 		if (useGPU)
 		{
-			int cid = m_data->m_rigidBodyPipeline->createFixedConstraint(bodyIndexA,bodyIndexB,pivotInA,pivotInB,relTargetAB,breakingThreshold);
+			int cid;
+			cid = m_data->m_rigidBodyPipeline->createFixedConstraint(bodyIndexA,bodyIndexB,pivotInA,pivotInB,relTargetAB,breakingThreshold);
 		} else
 		{
 			b3FixedConstraint* c = new b3FixedConstraint(bodyIndexA,bodyIndexB,frameInA,frameInB);

examples/OpenCL/rigidbody/GpuRigidBodyDemo.cpp

@@ -233,7 +233,7 @@ void GpuRigidBodyDemo::stepSimulation(float deltaTime)
 			GLuint vbo = m_instancingRenderer->getInternalData()->m_vbo;
 			int arraySizeInBytes  = numObjects * (3)*sizeof(b3Vector4);
 			glBindBuffer(GL_ARRAY_BUFFER, vbo);
-			cl_bool blocking=  CL_TRUE;
+//			cl_bool blocking=  CL_TRUE;
 			positions=  (b3Vector4*)glMapBufferRange( GL_ARRAY_BUFFER,m_instancingRenderer->getMaxShapeCapacity(),arraySizeInBytes, GL_MAP_READ_BIT );//GL_READ_WRITE);//GL_WRITE_ONLY
 			GLint err = glGetError();
 			assert(err==GL_NO_ERROR);
@@ -296,7 +296,7 @@ void GpuRigidBodyDemo::stepSimulation(float deltaTime)
 		int arraySizeInBytes  = numObjects * (3)*sizeof(b3Vector4);
 
 		glBindBuffer(GL_ARRAY_BUFFER, vbo);
-		cl_bool blocking=  CL_TRUE;
+//		cl_bool blocking=  CL_TRUE;
 		positions=  (b3Vector4*)glMapBufferRange( GL_ARRAY_BUFFER,m_instancingRenderer->getMaxShapeCapacity(),arraySizeInBytes, GL_MAP_WRITE_BIT );//GL_READ_WRITE);//GL_WRITE_ONLY
 		err = glGetError();
 		assert(err==GL_NO_ERROR);
@@ -329,7 +329,7 @@ b3Vector3	GpuRigidBodyDemo::getRayTo(int x,int y)
 	float farPlane = 10000.f;
 	rayForward*= farPlane;
 
-	b3Vector3 rightOffset;
+//	b3Vector3 rightOffset;
 	b3Vector3 m_cameraUp=b3MakeVector3(0,1,0);
 	b3Vector3 vertical = m_cameraUp;
 
@@ -401,7 +401,7 @@ bool	GpuRigidBodyDemo::mouseMoveCallback(float x,float y)
 		m_data->m_rigidBodyPipeline->removeConstraintByUid(m_data->m_pickConstraint);
 		b3Vector3 newRayTo = getRayTo(x,y);
 		b3Vector3 rayFrom;
-		b3Vector3 oldPivotInB = m_data->m_pickPivotInB;
+	//	b3Vector3 oldPivotInB = m_data->m_pickPivotInB;
 		b3Vector3 newPivotB;
 		m_guiHelper->getRenderInterface()->getActiveCamera()->getCameraPosition(rayFrom);
 		b3Vector3 dir = newRayTo-rayFrom;

examples/OpenGLWindow/GLInstancingRenderer.cpp

@@ -163,10 +163,10 @@ struct InternalDataRenderer : public GLInstanceRendererInternalData
 	
 	
 	InternalDataRenderer() :
+	m_activeCamera(&m_defaultCamera1),
 		m_shadowMap(0),
 		m_shadowTexture(0),
-		m_renderFrameBuffer(0),
+		m_renderFrameBuffer(0)
-		m_activeCamera(&m_defaultCamera1)
 	{
 		//clear to zero to make it obvious if the matrix is used uninitialized
 		for (int i=0;i<16;i++)
@@ -616,7 +616,7 @@ int	GLInstancingRenderer::registerTexture(const unsigned char* texels, int width
 	b3Assert(glGetError() ==GL_NO_ERROR);
 	glActiveTexture(GL_TEXTURE0);
 	int textureIndex = m_data->m_textureHandles.size();
-    const GLubyte*	image= (const GLubyte*)texels;	
+  //  const GLubyte*	image= (const GLubyte*)texels;	
 	GLuint textureHandle;
 	glGenTextures(1,(GLuint*)&textureHandle);
 	glBindTexture(GL_TEXTURE_2D,textureHandle);
@@ -661,7 +661,7 @@ void    GLInstancingRenderer::updateTexture(int textureIndex, const unsigned cha
 
         glBindTexture(GL_TEXTURE_2D,h.m_glTexture);
         b3Assert(glGetError() ==GL_NO_ERROR);
-        const GLubyte*	image= (const GLubyte*)texels;	
+      //  const GLubyte*	image= (const GLubyte*)texels;	
         glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, h.m_width,h.m_height,0,GL_RGB,GL_UNSIGNED_BYTE,&flippedTexels[0]);
         b3Assert(glGetError() ==GL_NO_ERROR);
         glGenerateMipmap(GL_TEXTURE_2D);

examples/OpenGLWindow/GLPrimitiveRenderer.cpp

@@ -456,7 +456,7 @@ void GLPrimitiveRenderer::drawTexturedRect2a(float x0, float y0, float x1, float
         PrimVertex( PrimVec4( -1.f+2.f*x1/float(m_screenWidth), 1.f-2.f*y0/float(m_screenHeight), 0.f, 1.f ), PrimVec4( color[0], color[1], color[2], color[3] ) ,PrimVec2(u1,v0))
     };
 
-	int sz = m_data2->m_numVerticesText;
+//	int sz = m_data2->m_numVerticesText;
 
 	m_data2->m_verticesRect[m_data2->m_numVerticesRect++]=vertexData[0];
 	m_data2->m_verticesRect[m_data2->m_numVerticesRect++]=vertexData[1];
@@ -492,7 +492,7 @@ void GLPrimitiveRenderer::drawTexturedRect2(float x0, float y0, float x1, float
         PrimVertex( PrimVec4( -1.f+2.f*x1/float(m_screenWidth), 1.f-2.f*y0/float(m_screenHeight), 0.f, 1.f ), PrimVec4( color[0], color[1], color[2], color[3] ) ,PrimVec2(u1,v0))
     };
 
-	int sz = m_data2->m_numVerticesText;
+//	int sz = m_data2->m_numVerticesText;
 
 	m_data2->m_verticesText[m_data2->m_numVerticesText++]=vertexData[0];
 	m_data2->m_verticesText[m_data2->m_numVerticesText++]=vertexData[1];

examples/OpenGLWindow/MacOpenGLWindow.mm

@@ -223,8 +223,8 @@ MacOpenGLWindow::MacOpenGLWindow()
 m_mouseX(0),
 m_mouseY(0),
 m_modifierFlags(0),
-m_mouseMoveCallback(0),
 m_mouseButtonCallback(0),
+m_mouseMoveCallback(0),
 m_wheelCallback(0),
 m_keyboardCallback(0),
 m_retinaScaleFactor(1),
@@ -334,10 +334,10 @@ void MacOpenGLWindow::createWindow(const b3gWindowConstructionInfo& ci)
     
     // add Edit menu
     NSMenuItem *editMenuItem = [[NSMenuItem new] autorelease];
-    NSMenu *menu = [[NSMenu allocWithZone:[NSMenu menuZone]]initWithTitle:@"Edit"];
+    NSMenu *menu = [[NSMenu alloc]initWithTitle:@"Edit"];
     [editMenuItem setSubmenu: menu];
     
-    NSMenuItem *copyItem = [[NSMenuItem allocWithZone:[NSMenu menuZone]]initWithTitle:@"Copy" action:@selector(copy:) keyEquivalent:@"c"];
+    NSMenuItem *copyItem = [[NSMenuItem alloc]initWithTitle:@"Copy" action:@selector(copy:) keyEquivalent:@"c"];
     
     [menu addItem:copyItem];
     [menubar addItem:editMenuItem];

examples/OpenGLWindow/SimpleOpenGL3App.cpp

@@ -672,13 +672,15 @@ void SimpleOpenGL3App::getScreenPixels(unsigned char* rgbaBuffer, int bufferSize
     if ((width*height*4) == bufferSizeInBytes)
     {
         glReadPixels(0,0,width, height, GL_RGBA, GL_UNSIGNED_BYTE, rgbaBuffer);
-		int glstat = glGetError();
+		int glstat;
+		glstat = glGetError();
 		b3Assert(glstat==GL_NO_ERROR);
     }
     if ((width*height*sizeof(float)) == depthBufferSizeInBytes)
     {
         glReadPixels(0,0,width, height, GL_DEPTH_COMPONENT, GL_FLOAT, depthBuffer);
-		int glstat = glGetError();
+		int glstat;
+		glstat = glGetError();
 		b3Assert(glstat==GL_NO_ERROR);
     }
     

examples/RenderingExamples/DynamicTexturedCubeDemo.cpp

@@ -20,9 +20,6 @@
 class DynamicTexturedCubeDemo : public CommonExampleInterface
 {
     CommonGraphicsApp* m_app;
-    float m_x;
-    float m_y;
-    float m_z;
   	b3AlignedObjectArray<int> m_movingInstances;
 	
 	
@@ -37,9 +34,6 @@ public:
     
     DynamicTexturedCubeDemo(CommonGraphicsApp* app)
     :m_app(app),
-    m_x(0),
-    m_y(0),
-	m_z(0),
   	m_tinyVrGUI(0)
     {
 		m_app->setUpAxis(2);

examples/RenderingExamples/RaytracerSetup.cpp

@@ -76,16 +76,16 @@ struct RaytracerInternalData
 	RaytracerInternalData()
 		:m_canvasIndex(-1),
 		m_canvas(0),
-		m_roll(0),
-		m_pitch(0),
-		m_yaw(0),
 #ifdef _DEBUG
 	m_width(64),
-		m_height(64)
+	m_height(64),
 #else
 	m_width(128),
-		m_height(128)
+	m_height(128),
 #endif
+		m_pitch(0),
+	m_roll(0),
+	m_yaw(0)
 	{
 		btConeShape* cone = new btConeShape(1,1);
 		btSphereShape* sphere = new btSphereShape(1);
@@ -300,7 +300,7 @@ void RaytracerPhysicsSetup::stepSimulation(float deltaTime)
 	
 
 	
-	int	mode = 0;
+//	int	mode = 0;
 	int x,y;
 
 	for (x=0;x<m_internalData->m_width;x++)

examples/RenderingExamples/TimeSeriesCanvas.cpp

@@ -298,7 +298,7 @@ void TimeSeriesCanvas::insertDataAtCurrentTime(float orgV, int dataSourceIndex,
 	float amp = m_internalData->m_pixelsPerUnit;
 	//insert some new value(s) in the right-most column
 	{
-		float time = m_internalData->getTime();
+	//	float time = m_internalData->getTime();
 		
 		float v = zero+amp*orgV;
 		

examples/RenderingExamples/TinyRendererSetup.cpp

@@ -43,13 +43,13 @@ struct TinyRendererSetupInternalData
 	int m_animateRenderer;
 
 	TinyRendererSetupInternalData(int width, int height)
-		:m_roll(0),
+		:
-		m_pitch(0),
+		m_rgbColorBuffer(width,height,TGAImage::RGB),
-		m_yaw(0),
-
 	m_width(width),
 	m_height(height),
-		m_rgbColorBuffer(width,height,TGAImage::RGB),
+	m_pitch(0),
+	m_roll(0),
+	m_yaw(0),
 	m_textureHandle(0),
 		m_animateRenderer(0)
 	{

examples/RenderingExamples/TinyVRGui.cpp

@@ -19,9 +19,10 @@ struct TestCanvasInterface2 : public Common2dCanvasInterface
 	int m_height;
 
 	TestCanvasInterface2(b3AlignedObjectArray<unsigned char>& texelsRGB, int width, int height)
-		:m_width(width),
+		:
-		m_height(height),
+		m_texelsRGB(texelsRGB),
-		m_texelsRGB(texelsRGB)
+	m_width(width),
+	m_height(height)
 	{
 	}
 

examples/RigidBody/RigidBodySoftContact.cpp

@@ -157,7 +157,8 @@ void RigidBodySoftContact::initPhysics()
 										btScalar(2.0*j)));
 
 			
-					btRigidBody* body = createRigidBody(mass,startTransform,colShape);
+					btRigidBody* body;
+					body = createRigidBody(mass,startTransform,colShape);
 					//body->setAngularVelocity(btVector3(1,1,1));
 					
 

examples/RoboticsLearning/GripperGraspExample.cpp

@@ -25,12 +25,8 @@ class GripperGraspExample : public CommonExampleInterface
 	GUIHelperInterface* m_guiHelper;
 	b3RobotSimAPI m_robotSim;
 	int m_options;
-	int m_r2d2Index;
     int m_gripperIndex;
     
-    float m_x;
-    float m_y;
-    float m_z;
  	b3AlignedObjectArray<int> m_movingInstances;
 	enum
 	{
@@ -43,11 +39,7 @@ public:
     :m_app(helper->getAppInterface()),
 	m_guiHelper(helper),
 	m_options(options),
-	m_r2d2Index(-1),
+    m_gripperIndex(-1)
-    m_gripperIndex(-1),
-    m_x(0),
-    m_y(0),
-	m_z(0)
 	{
 		m_app->setUpAxis(2);
     }

examples/RoboticsLearning/KukaGraspExample.cpp

@@ -30,7 +30,7 @@ class KukaGraspExample : public CommonExampleInterface
     b3Vector4 m_targetOri;
     b3Vector4 m_worldOri;
     double m_time;
-	int m_options;
+//	int m_options;
 	
 	b3AlignedObjectArray<int> m_movingInstances;
 	enum
@@ -40,10 +40,10 @@ class KukaGraspExample : public CommonExampleInterface
 	};
 public:
     
-    KukaGraspExample(GUIHelperInterface* helper, int options)
+    KukaGraspExample(GUIHelperInterface* helper, int /* options */)
     :m_app(helper->getAppInterface()),
 	m_guiHelper(helper),
-	m_options(options),
+//	m_options(options),
 	m_kukaIndex(-1),
     m_time(0)
     {

examples/RoboticsLearning/R2D2GraspExample.cpp

@@ -23,9 +23,6 @@ class R2D2GraspExample : public CommonExampleInterface
 	int m_options;
 	int m_r2d2Index;
 	
-    float m_x;
-    float m_y;
-    float m_z;
 	b3AlignedObjectArray<int> m_movingInstances;
 	enum
 	{
@@ -38,10 +35,7 @@ public:
     :m_app(helper->getAppInterface()),
 	m_guiHelper(helper),
 	m_options(options),
-	m_r2d2Index(-1),
+	m_r2d2Index(-1)
-    m_x(0),
-    m_y(0),
-	m_z(0)
     {
 		m_app->setUpAxis(2);
     }
@@ -70,7 +64,7 @@ public:
 				b3RobotSimLoadFileResults results;
 				if (m_robotSim.loadFile(args, results) && results.m_uniqueObjectIds.size()==1)
 				{
-					int m_r2d2Index = results.m_uniqueObjectIds[0];
+					m_r2d2Index = results.m_uniqueObjectIds[0];
 					int numJoints = m_robotSim.getNumJoints(m_r2d2Index);
 					b3Printf("numJoints = %d",numJoints);
 

examples/RoboticsLearning/b3RobotSimAPI.cpp

@@ -106,10 +106,10 @@ struct RobotSimThreadLocalStorage
 void	RobotThreadFunc(void* userPtr,void* lsMemory)
 {
 	printf("RobotThreadFunc thread started\n");
-	RobotSimThreadLocalStorage* localStorage = (RobotSimThreadLocalStorage*) lsMemory;
+//	RobotSimThreadLocalStorage* localStorage = (RobotSimThreadLocalStorage*) lsMemory;
 
 	RobotSimArgs* args = (RobotSimArgs*) userPtr;
-	int workLeft = true;
+//	int workLeft = true;
 	b3Clock clock;
 	clock.reset();
 	bool init = true;
@@ -157,7 +157,7 @@ void*	RobotlsMemoryFunc()
 
 ATTRIBUTE_ALIGNED16(class) MultiThreadedOpenGLGuiHelper2 : public GUIHelperInterface
 {
-	CommonGraphicsApp* m_app;
+//	CommonGraphicsApp* m_app;
 	
 	b3CriticalSection* m_cs;
 
@@ -188,9 +188,8 @@ public:
 	int m_instanceId;
 	
 
-	MultiThreadedOpenGLGuiHelper2(CommonGraphicsApp* app, GUIHelperInterface* guiHelper)
+	MultiThreadedOpenGLGuiHelper2( GUIHelperInterface* guiHelper)
-		:m_app(app)
+		:	m_cs(0),
-		,m_cs(0),
 		m_texels(0),
 		m_textureId(-1)
 	{
@@ -439,10 +438,12 @@ struct b3RobotSimAPI_InternalData
 	bool m_connected;
 
 	b3RobotSimAPI_InternalData()
-		:m_threadSupport(0),
+		:
-		m_multiThreadedHelper(0),
-		m_clientServerDirect(0),
 	m_physicsClient(0),
+	m_threadSupport(0),
+	m_multiThreadedHelper(0),
+	
+	m_clientServerDirect(0),
 	m_useMultiThreading(false),
 		m_connected(false)
 	{
@@ -615,7 +616,8 @@ void b3RobotSimAPI::processMultiThreadedGraphicsRequests()
 	case eRobotSimGUIHelperRemoveAllGraphicsInstances:
         {
             m_data->m_multiThreadedHelper->m_childGuiHelper->removeAllGraphicsInstances();
-			int numRenderInstances = m_data->m_multiThreadedHelper->m_childGuiHelper->getRenderInterface()->getTotalNumInstances();
+			int numRenderInstances;
+			numRenderInstances = m_data->m_multiThreadedHelper->m_childGuiHelper->getRenderInterface()->getTotalNumInstances();
 			b3Assert(numRenderInstances==0);
 
             m_data->m_multiThreadedHelper->getCriticalSection()->lock();
@@ -695,7 +697,7 @@ bool b3RobotSimAPI::getJointStates(int bodyUniqueId, b3JointStates& state)
     
     if (statusHandle)
     {
-        double rootInertialFrame[7];
+     //   double rootInertialFrame[7];
         const double* rootLocalInertialFrame;
         const double* actualStateQ;
         const double* actualStateQdot;
@@ -843,7 +845,8 @@ bool b3RobotSimAPI::loadFile(const struct b3RobotSimLoadFileArgs& args, b3RobotS
 				if (numBodies)
 				{
 					results.m_uniqueObjectIds.resize(numBodies);
-					int numBodies = b3GetStatusBodyIndices(statusHandle, &results.m_uniqueObjectIds[0],results.m_uniqueObjectIds.size());
+					int numBodies;
+					numBodies = b3GetStatusBodyIndices(statusHandle, &results.m_uniqueObjectIds[0],results.m_uniqueObjectIds.size());
 
 				}
 				statusOk = true;
@@ -865,11 +868,7 @@ bool b3RobotSimAPI::connect(GUIHelperInterface* guiHelper)
 {
 	if (m_data->m_useMultiThreading)
 	{
-		m_data->m_multiThreadedHelper = new MultiThreadedOpenGLGuiHelper2(guiHelper->getAppInterface(), guiHelper);
+		m_data->m_multiThreadedHelper = new MultiThreadedOpenGLGuiHelper2(guiHelper);
-
-		MultiThreadedOpenGLGuiHelper2* guiHelperWrapper = new MultiThreadedOpenGLGuiHelper2(guiHelper->getAppInterface(), guiHelper);
-
-
 
 
 		m_data->m_threadSupport = createRobotSimThreadSupport(MAX_ROBOT_NUM_THREADS);
@@ -892,7 +891,7 @@ bool b3RobotSimAPI::connect(GUIHelperInterface* guiHelper)
 			int numMoving = 0;
 			m_data->m_args[w].m_positions.resize(numMoving);
 			m_data->m_args[w].m_physicsServerPtr = &m_data->m_physicsServer;
-			int index = 0;
+			//int index = 0;
 
 			m_data->m_threadSupport->runTask(B3_THREAD_SCHEDULE_TASK, (void*)&m_data->m_args[w], w);
 			while (m_data->m_args[w].m_cs->getSharedParam(0) == eRobotSimIsUnInitialized)
@@ -903,7 +902,8 @@ bool b3RobotSimAPI::connect(GUIHelperInterface* guiHelper)
 		m_data->m_args[0].m_cs->setSharedParam(1, eRobotSimGUIHelperIdle);
 		m_data->m_multiThreadedHelper->setCriticalSection(m_data->m_args[0].m_cs);
 
-		bool serverConnected = m_data->m_physicsServer.connectSharedMemory(m_data->m_multiThreadedHelper);
+		bool serverConnected;
+		serverConnected = m_data->m_physicsServer.connectSharedMemory(m_data->m_multiThreadedHelper);
 		b3Assert(serverConnected);
 
 		m_data->m_physicsClient = b3ConnectSharedMemory(SHARED_MEMORY_KEY);
@@ -912,7 +912,8 @@ bool b3RobotSimAPI::connect(GUIHelperInterface* guiHelper)
 	{
 		PhysicsServerCommandProcessor* sdk = new PhysicsServerCommandProcessor;
 		m_data->m_clientServerDirect = new PhysicsDirect(sdk,true);
-		bool connected = m_data->m_clientServerDirect->connect(guiHelper);
+		bool connected;
+		connected = m_data->m_clientServerDirect->connect(guiHelper);
 		m_data->m_physicsClient = (b3PhysicsClientHandle)m_data->m_clientServerDirect;
 
 	}

examples/SharedMemory/CMakeLists.txt

@@ -0,0 +1,206 @@
+
+
+SET(SharedMemory_SRCS
+	IKTrajectoryHelper.cpp
+	IKTrajectoryHelper.h
+	PhysicsClient.cpp
+	PhysicsClientSharedMemory.cpp
+	PhysicsClientExample.cpp
+	PhysicsServerExample.cpp
+	PhysicsServerSharedMemory.cpp
+	PhysicsServerSharedMemory.h
+	PhysicsServer.cpp
+	PhysicsServer.h
+	PhysicsClientC_API.cpp
+	SharedMemoryCommands.h
+	SharedMemoryPublic.h
+	PhysicsServer.cpp
+	PosixSharedMemory.cpp
+	Win32SharedMemory.cpp
+	InProcessMemory.cpp
+	PhysicsDirect.cpp
+	PhysicsDirect.h
+	PhysicsDirectC_API.cpp
+	PhysicsDirectC_API.h
+	PhysicsLoopBack.cpp
+	PhysicsLoopBack.h
+	PhysicsLoopBackC_API.cpp
+	PhysicsLoopBackC_API.h
+	PhysicsClientSharedMemory_C_API.cpp
+	PhysicsClientSharedMemory_C_API.h
+	PhysicsClientSharedMemory2_C_API.cpp
+	PhysicsClientSharedMemory2_C_API.h
+	PhysicsClientSharedMemory2.cpp
+	PhysicsClientSharedMemory2.h
+	SharedMemoryCommandProcessor.cpp
+	SharedMemoryCommandProcessor.h
+	PhysicsServerCommandProcessor.cpp
+	PhysicsServerCommandProcessor.h
+	TinyRendererVisualShapeConverter.cpp
+	TinyRendererVisualShapeConverter.h
+	../TinyRenderer/geometry.cpp
+	../TinyRenderer/model.cpp
+	../TinyRenderer/tgaimage.cpp
+	../TinyRenderer/our_gl.cpp
+	../TinyRenderer/TinyRenderer.cpp
+	../OpenGLWindow/SimpleCamera.cpp
+	../OpenGLWindow/SimpleCamera.h
+	../Importers/ImportURDFDemo/ConvertRigidBodies2MultiBody.h
+	../Importers/ImportURDFDemo/MultiBodyCreationInterface.h
+	../Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
+	../Importers/ImportURDFDemo/MyMultiBodyCreator.h
+	../Importers/ImportURDFDemo/BulletUrdfImporter.cpp
+	../Importers/ImportURDFDemo/BulletUrdfImporter.h
+	../Importers/ImportURDFDemo/UrdfParser.cpp
+ 	../Importers/ImportURDFDemo/urdfStringSplit.cpp
+	../Importers/ImportURDFDemo/UrdfParser.cpp
+	../Importers/ImportURDFDemo/UrdfParser.h
+	../Importers/ImportURDFDemo/URDF2Bullet.cpp
+	../Importers/ImportURDFDemo/URDF2Bullet.h
+	../Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
+	../Importers/ImportMJCFDemo/BulletMJCFImporter.h
+	../Utils/b3ResourcePath.cpp
+	../Utils/b3Clock.cpp	
+	../Importers/ImportURDFDemo/URDFImporterInterface.h
+	../Importers/ImportURDFDemo/URDFJointTypes.h
+	../Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp
+	../Importers/ImportObjDemo/LoadMeshFromObj.cpp
+	../Importers/ImportSTLDemo/ImportSTLSetup.h
+	../Importers/ImportSTLDemo/LoadMeshFromSTL.h
+	../Importers/ImportColladaDemo/LoadMeshFromCollada.cpp
+	../Importers/ImportColladaDemo/ColladaGraphicsInstance.h
+	../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp	
+	../ThirdPartyLibs/tinyxml/tinystr.cpp
+	../ThirdPartyLibs/tinyxml/tinyxml.cpp
+	../ThirdPartyLibs/tinyxml/tinyxmlerror.cpp
+	../ThirdPartyLibs/tinyxml/tinyxmlparser.cpp
+	../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp
+	../ThirdPartyLibs/stb_image/stb_image.cpp  
+	../MultiThreading/b3ThreadSupportInterface.cpp
+	../MultiThreading/b3ThreadSupportInterface.h
+)
+
+INCLUDE_DIRECTORIES(
+	${BULLET_PHYSICS_SOURCE_DIR}/src
+	${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs
+)
+
+LINK_LIBRARIES(
+ Bullet3Common BulletWorldImporter BulletFileLoader BulletInverseDynamicsUtils BulletInverseDynamics BulletDynamics BulletCollision LinearMath BussIK
+)
+
+IF (WIN32)
+        ADD_EXECUTABLE(App_SharedMemoryPhysics
+                ${SharedMemory_SRCS}
+                main.cpp
+                ../MultiThreading/b3Win32ThreadSupport.cpp
+	              ../MultiThreading/b3Win32ThreadSupport.h
+                ${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
+        )
+ELSE(WIN32)
+			 IF(APPLE)
+			        LINK_LIBRARIES(  pthread dl )
+			        ADD_EXECUTABLE(App_SharedMemoryPhysics
+			                ${SharedMemory_SRCS}
+			                ../MultiThreading/b3PosixThreadSupport.cpp
+	               			../MultiThreading/b3PosixThreadSupport.h
+			                main.cpp
+			        )
+							
+        ELSE(APPLE)
+         			LINK_LIBRARIES(  pthread dl )
+			        ADD_EXECUTABLE(App_SharedMemoryPhysics
+			                ${SharedMemory_SRCS}
+			                ../MultiThreading/b3PosixThreadSupport.cpp
+	               			../MultiThreading/b3PosixThreadSupport.h
+			                main.cpp
+			        )
+        ENDIF(APPLE)
+ENDIF(WIN32)
+
+
+
+
+IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
+                        SET_TARGET_PROPERTIES(App_SharedMemoryPhysics PROPERTIES  DEBUG_POSTFIX "_Debug")
+                        SET_TARGET_PROPERTIES(App_SharedMemoryPhysics PROPERTIES  MINSIZEREL_POSTFIX "_MinsizeRel")
+                        SET_TARGET_PROPERTIES(App_SharedMemoryPhysics PROPERTIES  RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
+ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
+
+
+
+INCLUDE_DIRECTORIES(
+	${BULLET_PHYSICS_SOURCE_DIR}/src
+	${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs
+	${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/Glew
+)
+
+ADD_DEFINITIONS(-DB3_USE_STANDALONE_EXAMPLE)
+
+LINK_LIBRARIES(
+ Bullet3Common BulletWorldImporter BulletInverseDynamicsUtils BulletInverseDynamics BulletDynamics BulletCollision LinearMath BussIK OpenGLWindow
+)
+
+
+
+IF (WIN32)
+ 				ADD_DEFINITIONS(-DGLEW_STATIC)
+				LINK_LIBRARIES( ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY} )
+	
+        ADD_EXECUTABLE(App_SharedMemoryPhysics_GUI
+                ${SharedMemory_SRCS}
+								../StandaloneMain/main_opengl_single_example.cpp
+								../ExampleBrowser/OpenGLGuiHelper.cpp
+								../ExampleBrowser/GL_ShapeDrawer.cpp
+								../ExampleBrowser/CollisionShape2TriangleMesh.cpp
+								../MultiThreading/b3Win32ThreadSupport.cpp
+								../MultiThreading/b3Win32ThreadSupport.h
+			          ${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
+        )
+ELSE(WIN32)
+			 IF(APPLE)
+			        LINK_LIBRARIES(  pthread dl )
+			        FIND_LIBRARY(COCOA NAMES Cocoa)
+              MESSAGE(${COCOA})
+              LINK_LIBRARIES(${COCOA} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY})
+                
+			        ADD_EXECUTABLE(App_SharedMemoryPhysics_GUI
+			                ${SharedMemory_SRCS}
+	               			../StandaloneMain/main_opengl_single_example.cpp
+											../ExampleBrowser/OpenGLGuiHelper.cpp
+											../ExampleBrowser/GL_ShapeDrawer.cpp
+											../ExampleBrowser/CollisionShape2TriangleMesh.cpp					
+			                ../MultiThreading/b3PosixThreadSupport.cpp
+	               			../MultiThreading/b3PosixThreadSupport.h
+			        )
+							
+        ELSE(APPLE)
+         			LINK_LIBRARIES(  pthread dl )
+         			ADD_DEFINITIONS("-DGLEW_INIT_OPENGL11_FUNCTIONS=1")
+              ADD_DEFINITIONS("-DGLEW_STATIC")
+              ADD_DEFINITIONS("-DGLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1")
+                
+			        ADD_EXECUTABLE(App_SharedMemoryPhysics_GUI
+			                ${SharedMemory_SRCS}
+	              			../StandaloneMain/main_opengl_single_example.cpp
+											../ExampleBrowser/OpenGLGuiHelper.cpp
+											../ExampleBrowser/GL_ShapeDrawer.cpp
+											../ExampleBrowser/CollisionShape2TriangleMesh.cpp
+			                ../MultiThreading/b3PosixThreadSupport.cpp
+	               			../MultiThreading/b3PosixThreadSupport.h
+			        )
+        ENDIF(APPLE)
+ENDIF(WIN32)
+
+
+
+
+IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
+                        SET_TARGET_PROPERTIES(App_SharedMemoryPhysics_GUI PROPERTIES  DEBUG_POSTFIX "_Debug")
+                        SET_TARGET_PROPERTIES(App_SharedMemoryPhysics_GUI PROPERTIES  MINSIZEREL_POSTFIX "_MinsizeRel")
+                        SET_TARGET_PROPERTIES(App_SharedMemoryPhysics_GUI PROPERTIES  RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
+ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
+
+
+
+				

examples/SharedMemory/PhysicsClientC_API.cpp

@@ -347,6 +347,18 @@ int b3PhysicsParamSetNumSolverIterations(b3SharedMemoryCommandHandle commandHand
 	return 0;
 }
 
+
+int b3PhysicsParamSetCollisionFilterMode(b3SharedMemoryCommandHandle commandHandle, int filterMode)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
+	b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS);
+	command->m_physSimParamArgs.m_collisionFilterMode = filterMode;
+	command->m_updateFlags |= SIM_PARAM_UPDATE_COLLISION_FILTER_MODE;
+	return 0;
+}
+
+
+
 int	b3PhysicsParamSetTimeStep(b3SharedMemoryCommandHandle commandHandle, double timeStep)
 {
     struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
@@ -1109,6 +1121,19 @@ int b3InitChangeUserConstraintSetFrameInB(b3SharedMemoryCommandHandle commandHan
 	return 0;
 }
 
+int b3InitChangeUserConstraintSetMaxForce(b3SharedMemoryCommandHandle commandHandle, double maxAppliedForce)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
+	b3Assert(command);
+	b3Assert(command->m_type == CMD_USER_CONSTRAINT);
+	b3Assert(command->m_updateFlags & USER_CONSTRAINT_CHANGE_CONSTRAINT);
+	
+	command->m_updateFlags |=USER_CONSTRAINT_CHANGE_MAX_FORCE;
+	command->m_userConstraintArguments.m_maxAppliedForce = maxAppliedForce;
+
+	return 0;
+}
+
 
 b3SharedMemoryCommandHandle  b3InitRemoveUserConstraintCommand(b3PhysicsClientHandle physClient, int userConstraintUniqueId)
 {

examples/SharedMemory/PhysicsClientC_API.h

@@ -77,6 +77,8 @@ int b3GetStatusUserConstraintUniqueId(b3SharedMemoryStatusHandle statusHandle);
 b3SharedMemoryCommandHandle  b3InitChangeUserConstraintCommand(b3PhysicsClientHandle physClient, int userConstraintUniqueId);
 int b3InitChangeUserConstraintSetPivotInB(b3SharedMemoryCommandHandle commandHandle, double jointChildPivot[3]);
 int b3InitChangeUserConstraintSetFrameInB(b3SharedMemoryCommandHandle commandHandle, double jointChildFrameOrn[4]);
+int b3InitChangeUserConstraintSetMaxForce(b3SharedMemoryCommandHandle commandHandle, double maxAppliedForce);
+	
 
 b3SharedMemoryCommandHandle  b3InitRemoveUserConstraintCommand(b3PhysicsClientHandle physClient, int userConstraintUniqueId);
 
@@ -170,6 +172,10 @@ int	b3PhysicsParamSetDefaultContactERP(b3SharedMemoryCommandHandle commandHandle
 int	b3PhysicsParamSetNumSubSteps(b3SharedMemoryCommandHandle commandHandle, int numSubSteps);
 int b3PhysicsParamSetRealTimeSimulation(b3SharedMemoryCommandHandle commandHandle, int enableRealTimeSimulation);
 int b3PhysicsParamSetNumSolverIterations(b3SharedMemoryCommandHandle commandHandle, int numSolverIterations);
+int b3PhysicsParamSetCollisionFilterMode(b3SharedMemoryCommandHandle commandHandle, int filterMode);
+
+
+	
 int b3PhysicsParamSetUseSplitImpulse(b3SharedMemoryCommandHandle commandHandle, int useSplitImpulse);
 int b3PhysicsParamSetSplitImpulsePenetrationThreshold(b3SharedMemoryCommandHandle commandHandle, double splitImpulsePenetrationThreshold);
 

examples/SharedMemory/PhysicsClientExample.cpp

@@ -514,13 +514,13 @@ m_wantsTermination(false),
 m_sharedMemoryKey(SHARED_MEMORY_KEY),
 m_selectedBody(-1),
 m_prevSelectedBody(-1),
-m_numMotors(0),
-m_options(options),
-m_isOptionalServerConnected(false),
 m_canvas(0),
 m_canvasRGBIndex(-1),
 m_canvasDepthIndex(-1),
-m_canvasSegMaskIndex(-1)
+m_canvasSegMaskIndex(-1),
+m_numMotors(0),
+m_options(options),
+m_isOptionalServerConnected(false)
 	
 {
 	b3Printf("Started PhysicsClientExample\n");

examples/SharedMemory/PhysicsClientSharedMemory.cpp

@@ -62,10 +62,9 @@ struct PhysicsClientSharedMemoryInternalData {
         : m_sharedMemory(0),
 		  m_ownsSharedMemory(false),
           m_testBlock1(0),
-		  m_counter(0),
 		  m_cachedCameraPixelsWidth(0),
 		  m_cachedCameraPixelsHeight(0),
-		  
+		  m_counter(0),		  
           m_isConnected(false),
           m_waitingForServer(false),
           m_hasLastServerStatus(false),
@@ -283,7 +282,7 @@ void PhysicsClientSharedMemory::processBodyJointInfo(int bodyUniqueId, const Sha
 }
 
 const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
-    SharedMemoryStatus* stat = 0;
+   // SharedMemoryStatus* stat = 0;
 
     if (!m_data->m_testBlock1) {
 		m_data->m_lastServerStatus.m_type = CMD_SHARED_MEMORY_NOT_INITIALIZED;
@@ -308,7 +307,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
         const SharedMemoryStatus& serverCmd = m_data->m_testBlock1->m_serverCommands[0];
         m_data->m_lastServerStatus = serverCmd;
 
-        EnumSharedMemoryServerStatus s = (EnumSharedMemoryServerStatus)serverCmd.m_type;
+ //       EnumSharedMemoryServerStatus s = (EnumSharedMemoryServerStatus)serverCmd.m_type;
         // consume the command
 
         switch (serverCmd.m_type) {

examples/SharedMemory/PhysicsClientUDP.cpp

@@ -170,7 +170,7 @@ struct	UdpNetworkedInternalData
 				
 				if (gVerboseNetworkMessagesClient)
 				{
-					printf("A packet of length %u containing '%s' was "
+					printf("A packet of length %lu containing '%s' was "
 						"received from %s on channel %u.\n",
 						m_event.packet->dataLength,
 						m_event.packet->data,
@@ -225,7 +225,7 @@ struct	UdpNetworkedInternalData
 			{
 				if (gVerboseNetworkMessagesClient)
 				{
-					printf("A packet of length %u containing '%s' was "
+					printf("A packet of length %lu containing '%s' was "
 						"received from %s on channel %u.\n",
 						m_event.packet->dataLength,
 						m_event.packet->data,
@@ -303,10 +303,10 @@ enum UDPCommandEnums
 void	UDPThreadFunc(void* userPtr, void* lsMemory)
 {
 	printf("UDPThreadFunc thread started\n");
-	UDPThreadLocalStorage* localStorage = (UDPThreadLocalStorage*)lsMemory;
+//	UDPThreadLocalStorage* localStorage = (UDPThreadLocalStorage*)lsMemory;
 
 	UdpNetworkedInternalData* args = (UdpNetworkedInternalData*)userPtr;
-	int workLeft = true;
+//	int workLeft = true;
 	b3Clock clock;
 	clock.reset();
 	bool init = true;
@@ -366,7 +366,8 @@ void	UDPThreadFunc(void* userPtr, void* lsMemory)
 
 						int sz = sizeof(SharedMemoryCommand);
 						ENetPacket *packet = enet_packet_create(&args->m_clientCmd, sz, ENET_PACKET_FLAG_RELIABLE);
-						int res = enet_peer_send(args->m_peer, 0, packet);
+						int res;
+						res = enet_peer_send(args->m_peer, 0, packet);
 						args->m_cs->lock();
 						args->m_hasCommand = false;
 						args->m_cs->unlock();
@@ -440,7 +441,7 @@ UdpNetworkedPhysicsProcessor::~UdpNetworkedPhysicsProcessor()
 
 bool UdpNetworkedPhysicsProcessor::processCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
 {
-	int sz = sizeof(SharedMemoryCommand);
+//	int sz = sizeof(SharedMemoryCommand);
 	int timeout = 1024 * 1024 * 1024;
 
 	m_data->m_cs->lock();

examples/SharedMemory/PhysicsClientUDP_C_API.cpp

@@ -12,7 +12,8 @@ b3PhysicsClientHandle b3ConnectPhysicsUDP(const char* hostName, int port)
 
 	PhysicsDirect* direct = new PhysicsDirect(udp,true);
 
-	bool connected = direct->connect();
+	bool connected;
+	connected = direct->connect();
 	printf("direct!\n");
 	return (b3PhysicsClientHandle)direct;
 }

examples/SharedMemory/PhysicsDirectC_API.cpp

@@ -12,7 +12,8 @@ b3PhysicsClientHandle b3ConnectPhysicsDirect()
 	PhysicsServerCommandProcessor* sdk = new PhysicsServerCommandProcessor;
 
 	PhysicsDirect* direct = new PhysicsDirect(sdk,true);
-	bool connected = direct->connect();
+	bool connected;
+	connected = direct->connect();
 	return (b3PhysicsClientHandle  )direct;
 }
 

examples/SharedMemory/PhysicsLoopBackC_API.cpp

@@ -9,7 +9,8 @@ b3PhysicsClientHandle b3ConnectPhysicsLoopback(int key)
 {
 	PhysicsLoopBack* loopBack = new PhysicsLoopBack();
 	loopBack->setSharedMemoryKey(key);
-	bool connected = loopBack->connect();
+	bool connected;
+	connected = loopBack->connect();
 	return (b3PhysicsClientHandle  )loopBack;
 }
 

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -376,6 +376,47 @@ struct MyBroadphaseCallback : public btBroadphaseAabbCallback
 };
 
 
+
+enum MyFilterModes
+{
+	FILTER_GROUPAMASKB_AND_GROUPBMASKA=0,
+	FILTER_GROUPAMASKB_OR_GROUPBMASKA
+};
+
+struct MyOverlapFilterCallback : public btOverlapFilterCallback
+{
+	int m_filterMode;
+	
+	MyOverlapFilterCallback()
+	:m_filterMode(FILTER_GROUPAMASKB_AND_GROUPBMASKA)
+	{
+	}
+	
+	virtual ~MyOverlapFilterCallback()
+	{}
+	// return true when pairs need collision
+	virtual bool	needBroadphaseCollision(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) const
+	{
+		if (m_filterMode==FILTER_GROUPAMASKB_AND_GROUPBMASKA)
+		{
+			bool collides = (proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0;
+			collides = collides && (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
+			return collides;
+		}
+		
+		if (m_filterMode==FILTER_GROUPAMASKB_OR_GROUPBMASKA)
+		{
+			bool collides = (proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0;
+			collides = collides || (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
+			return collides;
+		}
+		return false;
+	}
+};
+
+
+
+
 struct PhysicsServerCommandProcessorInternalData
 {
 	///handle management
@@ -438,7 +479,7 @@ struct PhysicsServerCommandProcessorInternalData
 
 		if (m_firstFreeHandle<0)
 		{
-			int curCapacity = m_bodyHandles.size();
+			//int curCapacity = m_bodyHandles.size();
 			int additionalCapacity= m_bodyHandles.size();
 			increaseHandleCapacity(additionalCapacity);
 
@@ -501,6 +542,9 @@ struct PhysicsServerCommandProcessorInternalData
 	btAlignedObjectArray<std::string*> m_strings;
 
 	btAlignedObjectArray<btCollisionShape*>	m_collisionShapes;
+
+	MyOverlapFilterCallback* m_broadphaseCollisionFilterCallback;
+	btHashedOverlappingPairCache* m_pairCache;
 	btBroadphaseInterface*	m_broadphase;
 	btCollisionDispatcher*	m_dispatcher;
 	btMultiBodyConstraintSolver*	m_solver;
@@ -541,14 +585,15 @@ struct PhysicsServerCommandProcessorInternalData
 	TinyRendererVisualShapeConverter  m_visualConverter;
 
 	PhysicsServerCommandProcessorInternalData()
-		:m_hasGround(false),
+		:
+		m_allowRealTimeSimulation(false),
+	m_hasGround(false),	
 	m_gripperRigidbodyFixed(0),
 		m_gripperMultiBody(0),
 		m_kukaGripperFixed(0),
 		m_kukaGripperMultiBody(0),
 		m_kukaGripperRevolute1(0),
 		m_kukaGripperRevolute2(0),
-		m_allowRealTimeSimulation(false),
 		m_huskyId(-1),
 		m_KukaId(-1),
 		m_sphereId(-1),
@@ -558,6 +603,12 @@ struct PhysicsServerCommandProcessorInternalData
 		m_physicsDeltaTime(1./240.),
         m_numSimulationSubSteps(0),
 		m_userConstraintUIDGenerator(1),
+		m_broadphaseCollisionFilterCallback(0),
+		m_pairCache(0),
+		m_broadphase(0),
+		m_dispatcher(0),
+		m_solver(0),
+		m_collisionConfiguration(0),
 		m_dynamicsWorld(0),
 		m_remoteDebugDrawer(0),
 		m_guiHelper(0),
@@ -697,7 +748,6 @@ PhysicsServerCommandProcessor::~PhysicsServerCommandProcessor()
 }
 
 
-
 void PhysicsServerCommandProcessor::createEmptyDynamicsWorld()
 {
     ///collision configuration contains default setup for memory, collision setup
@@ -710,6 +760,14 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld()
     ///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
     m_data->m_dispatcher = new	btCollisionDispatcher(m_data->m_collisionConfiguration);
     
+
+	m_data->m_broadphaseCollisionFilterCallback = new MyOverlapFilterCallback();
+	m_data->m_broadphaseCollisionFilterCallback->m_filterMode = FILTER_GROUPAMASKB_OR_GROUPBMASKA;
+	
+	m_data->m_pairCache = new btHashedOverlappingPairCache();
+	
+	m_data->m_pairCache->setOverlapFilterCallback(m_data->m_broadphaseCollisionFilterCallback);
+	
     m_data->m_broadphase = new btDbvtBroadphase();
     
     m_data->m_solver = new btMultiBodyConstraintSolver;
@@ -864,9 +922,16 @@ void PhysicsServerCommandProcessor::deleteDynamicsWorld()
 	delete m_data->m_solver;
 	m_data->m_solver=0;
 
+	
 	delete m_data->m_broadphase;
 	m_data->m_broadphase=0;
 
+	delete m_data->m_pairCache;
+	m_data->m_pairCache= 0;
+	
+	delete m_data->m_broadphaseCollisionFilterCallback;
+	m_data->m_broadphaseCollisionFilterCallback= 0;
+	
 	delete m_data->m_dispatcher;
 	m_data->m_dispatcher=0;
 
@@ -1182,7 +1247,7 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
 			    util->m_mb = mb;
 				for (int i = 0; i < bufferSizeInBytes; i++)
 				{
-					bufferServerToClient[i] = 0xcc;
+					bufferServerToClient[i] = 0;//0xcc;
 				}
 			    util->m_memSerializer = new btDefaultSerializer(bufferSizeInBytes ,(unsigned char*)bufferServerToClient);
 			    //disable serialization of the collision objects (they are too big, and the client likely doesn't need them);
@@ -1336,7 +1401,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 			//m_data->m_testBlock1->m_numProcessedClientCommands++;
 
 			//no timestamp yet
-            int timeStamp = 0;
+            //int timeStamp = 0;
 			
 			//catch uninitialized cases
 			serverStatusOut.m_type = CMD_INVALID_STATUS;
@@ -1621,7 +1686,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
                                 
                                 if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_SET_SHADOW) != 0)
                                 {
-                                    m_data->m_visualConverter.setShadow(clientCmd.m_requestPixelDataArguments.m_hasShadow);
+                                    m_data->m_visualConverter.setShadow((clientCmd.m_requestPixelDataArguments.m_hasShadow!=0));
                                 }
                                 
                                 if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_SET_AMBIENT_COEFF) != 0)
@@ -1844,7 +1909,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
                         {
                             b3Printf("Processed CMD_LOAD_SDF:%s", sdfArgs.m_sdfFileName);
                         }
-                        bool useMultiBody=(clientCmd.m_updateFlags & URDF_ARGS_USE_MULTIBODY) ? sdfArgs.m_useMultiBody : true;
+                        bool useMultiBody=(clientCmd.m_updateFlags & URDF_ARGS_USE_MULTIBODY) ? (sdfArgs.m_useMultiBody!=0) : true;
 
 						int flags = CUF_USE_SDF; //CUF_USE_URDF_INERTIA
                         bool completedOk = loadSdf(sdfArgs.m_sdfFileName,bufferServerToClient, bufferSizeInBytes, useMultiBody, flags);
@@ -1893,8 +1958,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 						initialOrn[2] = urdfArgs.m_initialOrientation[2];
 						initialOrn[3] = urdfArgs.m_initialOrientation[3];
 					}
-					bool useMultiBody=(clientCmd.m_updateFlags & URDF_ARGS_USE_MULTIBODY) ? urdfArgs.m_useMultiBody : true;
+					bool useMultiBody=(clientCmd.m_updateFlags & URDF_ARGS_USE_MULTIBODY) ? (urdfArgs.m_useMultiBody!=0) : true;
-					bool useFixedBase = (clientCmd.m_updateFlags & URDF_ARGS_USE_FIXED_BASE) ? urdfArgs.m_useFixedBase: false;
+					bool useFixedBase = (clientCmd.m_updateFlags & URDF_ARGS_USE_FIXED_BASE) ? (urdfArgs.m_useFixedBase!=0): false;
 					int bodyUniqueId;
                     //load the actual URDF and send a report: completed or failed
                     bool completedOk = loadUrdf(urdfArgs.m_urdfFileName,
@@ -2531,6 +2596,11 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 						m_data->m_dynamicsWorld->getSolverInfo().m_numIterations = clientCmd.m_physSimParamArgs.m_numSolverIterations;
 					}
 
+					if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_COLLISION_FILTER_MODE)
+					{
+						m_data->m_broadphaseCollisionFilterCallback->m_filterMode = clientCmd.m_physSimParamArgs.m_collisionFilterMode;
+					}
+
 					if (clientCmd.m_updateFlags & SIM_PARAM_UPDATE_USE_SPLIT_IMPULSE)
 					{
 						m_data->m_dynamicsWorld->getSolverInfo().m_splitImpulse = clientCmd.m_physSimParamArgs.m_useSplitImpulse;
@@ -2920,9 +2990,9 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 
 						serverCmd.m_type = CMD_REQUEST_AABB_OVERLAP_COMPLETED;
 
-						int m_startingOverlappingObjectIndex;
+						//int m_startingOverlappingObjectIndex;
-						int m_numOverlappingObjectsCopied;
+						//int m_numOverlappingObjectsCopied;
-						int m_numRemainingOverlappingObjects;
+						//int m_numRemainingOverlappingObjects;
 						serverCmd.m_sendOverlappingObjectsArgs.m_startingOverlappingObjectIndex = clientCmd.m_requestOverlappingObjectsArgs.m_startingOverlappingObjectIndex;
 						serverCmd.m_sendOverlappingObjectsArgs.m_numOverlappingObjectsCopied = m_data->m_cachedOverlappingObjects.m_bodyUniqueIds.size();
 						serverCmd.m_sendOverlappingObjectsArgs.m_numRemainingOverlappingObjects = remainingObjects - curNumObjects;
@@ -3133,8 +3203,6 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 									///ContactResultCallback is used to report contact points
 									struct MyContactResultCallback : public btCollisionWorld::ContactResultCallback
 									{
-										//short int	m_collisionFilterGroup;
-										//short int	m_collisionFilterMask;
 										int m_bodyUniqueIdA;
 										int m_bodyUniqueIdB;
 										int m_linkIndexA;
@@ -3596,6 +3664,11 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 									btMatrix3x3 childFrameBasis(childFrameOrn);
 									userConstraintPtr->m_mbConstraint->setFrameInB(childFrameBasis);
 								}
+								if (clientCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_MAX_FORCE)
+								{
+									btScalar maxImp = clientCmd.m_userConstraintArguments.m_maxAppliedForce*m_data->m_physicsDeltaTime;
+									userConstraintPtr->m_mbConstraint->setMaxAppliedImpulse(maxImp);
+								}
 							}
 							if (userConstraintPtr->m_rbConstraint)
 							{
@@ -3789,8 +3862,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
                     //retrieve the visual shape information for a specific body
                     
 					int totalNumVisualShapes = m_data->m_visualConverter.getNumVisualShapes(clientCmd.m_requestVisualShapeDataArguments.m_bodyUniqueId);
-					int totalBytesPerVisualShape = sizeof (b3VisualShapeData);
+					//int totalBytesPerVisualShape = sizeof (b3VisualShapeData);
-					int visualShapeStorage = bufferSizeInBytes / totalBytesPerVisualShape - 1;
+					//int visualShapeStorage = bufferSizeInBytes / totalBytesPerVisualShape - 1;
 					b3VisualShapeData* visualShapeStoragePtr = (b3VisualShapeData*)bufferServerToClient;
 
 					int remain = totalNumVisualShapes - clientCmd.m_requestVisualShapeDataArguments.m_startingVisualShapeIndex;
@@ -3940,7 +4013,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
                         {
                             b3Printf("Processed CMD_LOAD_MJCF:%s", mjcfArgs.m_mjcfFileName);
                         }
-                        bool useMultiBody=(clientCmd.m_updateFlags & URDF_ARGS_USE_MULTIBODY) ? mjcfArgs.m_useMultiBody : true;
+                        bool useMultiBody=(clientCmd.m_updateFlags & URDF_ARGS_USE_MULTIBODY) ? (mjcfArgs.m_useMultiBody!=0) : true;
 						int flags = CUF_USE_MJCF;//CUF_USE_URDF_INERTIA
                         bool completedOk = loadMjcf(mjcfArgs.m_mjcfFileName,bufferServerToClient, bufferSizeInBytes, useMultiBody, flags);
                         if (completedOk)
@@ -4084,7 +4157,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 	return hasStatus;
 }
 
-static int skip=1;
+//static int skip=1;
 
 void PhysicsServerCommandProcessor::renderScene()
 {

examples/SharedMemory/PhysicsServerExample.cpp

@@ -56,23 +56,9 @@ const char* startFileNameVR = "0_VRDemoSettings.txt";
 
 #include <vector>
 
-//remember the settings (you don't want to re-tune again and again...)
-static void saveCurrentSettingsVR()
-{
-	FILE* f = fopen(startFileNameVR, "w");
-	if (f)
-	{
-		fprintf(f, "--camPosX= %f\n", gVRTeleportPosLocal[0]);
-		fprintf(f, "--camPosY= %f\n", gVRTeleportPosLocal[1]);
-		fprintf(f, "--camPosZ= %f\n", gVRTeleportPosLocal[2]);
-		fprintf(f, "--camRotZ= %f\n", gVRTeleportRotZ);
-		fclose(f);
-	}
-};
-
 static void loadCurrentSettingsVR(b3CommandLineArgs& args)
 {
-	int currentEntry = 0;
+	//int currentEntry = 0;
 	FILE* f = fopen(startFileNameVR, "r");
 	if (f)
 	{
@@ -90,7 +76,23 @@ static void loadCurrentSettingsVR(b3CommandLineArgs& args)
 	}
 	
 };
+
+
 #if B3_USE_MIDI
+//remember the settings (you don't want to re-tune again and again...)
+static void saveCurrentSettingsVR()
+{
+	FILE* f = fopen(startFileNameVR, "w");
+	if (f)
+	{
+		fprintf(f, "--camPosX= %f\n", gVRTeleportPosLocal[0]);
+		fprintf(f, "--camPosY= %f\n", gVRTeleportPosLocal[1]);
+		fprintf(f, "--camPosZ= %f\n", gVRTeleportPosLocal[2]);
+		fprintf(f, "--camRotZ= %f\n", gVRTeleportRotZ);
+		fclose(f);
+	}
+};
+
 
 
 static float getParamf(float rangeMin, float rangeMax, int midiVal)
@@ -280,10 +282,10 @@ float sleepTimeThreshold = 8./1000.;
 void	MotionThreadFunc(void* userPtr,void* lsMemory)
 {
 	printf("MotionThreadFunc thread started\n");
-	MotionThreadLocalStorage* localStorage = (MotionThreadLocalStorage*) lsMemory;
+	//MotionThreadLocalStorage* localStorage = (MotionThreadLocalStorage*) lsMemory;
 
 	MotionArgs* args = (MotionArgs*) userPtr;
-	int workLeft = true;
+	//int workLeft = true;
 	b3Clock clock;
 	clock.reset();
 	bool init = true;
@@ -494,7 +496,7 @@ struct UserDebugText
 
 class MultiThreadedOpenGLGuiHelper : public GUIHelperInterface
 {
-	CommonGraphicsApp* m_app;
+//	CommonGraphicsApp* m_app;
 	
 	b3CriticalSection* m_cs;
 	b3CriticalSection* m_cs2;
@@ -558,8 +560,9 @@ public:
 	}
 
 	MultiThreadedOpenGLGuiHelper(CommonGraphicsApp* app, GUIHelperInterface* guiHelper)
-		:m_app(app)
+		:
-		,m_cs(0),
+	//m_app(app),
+		m_cs(0),
 		m_cs2(0),
 		m_cs3(0),
 		m_csGUI(0),
@@ -816,7 +819,7 @@ public:
 		m_tmpText.m_itemUniqueId = m_uidGenerator++;
 		m_tmpText.m_lifeTime = lifeTime;
 		m_tmpText.textSize = size;
-		int len = strlen(txt);
+		//int len = strlen(txt);
 		strcpy(m_tmpText.m_text,txt);
 		m_tmpText.m_textPositionXYZ[0] = positionXYZ[0];
 		m_tmpText.m_textPositionXYZ[1] = positionXYZ[1];
@@ -893,7 +896,7 @@ class PhysicsServerExample : public SharedMemoryCommon
     bool m_isConnected;
     btClock m_clock;
 	bool m_replay;
-	int m_options;
+//	int m_options;
 	
 #ifdef BT_ENABLE_VR
 	TinyVRGui* m_tinyVrGui;
@@ -1123,8 +1126,8 @@ PhysicsServerExample::PhysicsServerExample(MultiThreadedOpenGLGuiHelper* helper,
 m_physicsServer(sharedMem),
 m_wantsShutdown(false),
 m_isConnected(false),
-m_replay(false),
+m_replay(false)
-m_options(options)
+//m_options(options)
 #ifdef BT_ENABLE_VR
 ,m_tinyVrGui(0)
 #endif
@@ -1201,7 +1204,7 @@ void	PhysicsServerExample::initPhysics()
 			int numMoving = 0;
  			m_args[w].m_positions.resize(numMoving);
 			m_args[w].m_physicsServerPtr = &m_physicsServer;
-			int index = 0;
+			//int index = 0;
 			
 			m_threadSupport->runTask(B3_THREAD_SCHEDULE_TASK, (void*) &this->m_args[w], w);
 			
@@ -1365,7 +1368,8 @@ void	PhysicsServerExample::stepSimulation(float deltaTime)
             m_multiThreadedHelper->m_childGuiHelper->removeAllGraphicsInstances();
 			if (m_multiThreadedHelper->m_childGuiHelper->getRenderInterface())
 			{
-				int numRenderInstances = m_multiThreadedHelper->m_childGuiHelper->getRenderInterface()->getTotalNumInstances();
+				int numRenderInstances;
+				numRenderInstances = m_multiThreadedHelper->m_childGuiHelper->getRenderInterface()->getTotalNumInstances();
 				b3Assert(numRenderInstances==0);
 			}
 			m_multiThreadedHelper->mainThreadRelease();
@@ -1507,8 +1511,8 @@ extern btTransform gVRTrackingObjectTr;
 
 void PhysicsServerExample::drawUserDebugLines()
 {
-	static char line0[1024];
+	//static char line0[1024];
-	static char line1[1024];
+	//static char line1[1024];
 
 	//draw all user-debug-lines
 
@@ -1634,15 +1638,16 @@ void PhysicsServerExample::renderScene()
 	{
 		
 		static int frameCount=0;
-		static btScalar prevTime = m_clock.getTimeSeconds();
+		//static btScalar prevTime = m_clock.getTimeSeconds();
 		frameCount++;
 
+#if 0
+
 		static btScalar worseFps = 1000000;
 		int numFrames = 200;
 		static int count = 0;
 		count++;
 
-#if 0
 		if (0 == (count & 1))
 		{
 			btScalar curTime = m_clock.getTimeSeconds();
@@ -1973,7 +1978,7 @@ void	PhysicsServerExample::vrControllerButtonCallback(int controllerId, int butt
 
 	if (controllerId == gGraspingController && (button == 33))
 	{
-		gVRGripperClosed =state;
+		gVRGripperClosed =(state!=0);
 	}
 	else
 	{

examples/SharedMemory/PhysicsServerSharedMemory.cpp

@@ -128,10 +128,7 @@ bool PhysicsServerSharedMemory::connectSharedMemory( struct GUIHelperInterface*
 	
 	bool allowCreation = true;
     bool allConnected = false;
-    
+	int numConnected = 0;
-	
-
-   
 	
 	 
 	int counter = 0;
@@ -140,6 +137,7 @@ bool PhysicsServerSharedMemory::connectSharedMemory( struct GUIHelperInterface*
         if (m_data->m_areConnected[block])
         {
             allConnected = true;
+			numConnected++;
             b3Warning("connectSharedMemory, while already connected");
             continue;
         }
@@ -163,6 +161,7 @@ bool PhysicsServerSharedMemory::connectSharedMemory( struct GUIHelperInterface*
                         b3Printf("Created and initialized shared memory block\n");
                     }
                     m_data->m_areConnected[block] = true;
+					numConnected++;
                 } else
                 {
                     m_data->m_sharedMemory->releaseSharedMemory(m_data->m_sharedMemoryKey+block, SHARED_MEMORY_SIZE);
@@ -181,6 +180,8 @@ bool PhysicsServerSharedMemory::connectSharedMemory( struct GUIHelperInterface*
         }
     }
 	
+	allConnected = (numConnected==MAX_SHARED_MEMORY_BLOCKS);
+	
 	return allConnected;
 }
 

examples/SharedMemory/SharedMemoryCommandProcessor.cpp

@@ -125,7 +125,6 @@ bool SharedMemoryCommandProcessor::processCommand(const struct SharedMemoryComma
 
 bool SharedMemoryCommandProcessor::receiveStatus(struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
 {
-	SharedMemoryStatus* stat = 0;
 
 	m_data->m_lastServerStatus.m_dataStream = 0;
 	m_data->m_lastServerStatus.m_numDataStreamBytes = 0;

examples/SharedMemory/SharedMemoryCommands.h

@@ -313,6 +313,7 @@ enum EnumSimParamUpdateFlags
 	SIM_PARAM_UPDATE_INTERNAL_SIMULATION_FLAGS=64,
 	SIM_PARAM_UPDATE_USE_SPLIT_IMPULSE=128,
 	SIM_PARAM_UPDATE_SPLIT_IMPULSE_PENETRATION_THRESHOLD = 256,
+	SIM_PARAM_UPDATE_COLLISION_FILTER_MODE=512
 };
 
 enum EnumLoadBunnyUpdateFlags
@@ -341,6 +342,7 @@ struct SendPhysicsSimulationParameters
 	double m_splitImpulsePenetrationThreshold;
 	int m_internalSimFlags;
 	double m_defaultContactERP;
+	int m_collisionFilterMode;
 };
 
 struct LoadBunnyArgs
@@ -538,6 +540,8 @@ enum EnumUserConstraintFlags
 	USER_CONSTRAINT_CHANGE_CONSTRAINT=4,
 	USER_CONSTRAINT_CHANGE_PIVOT_IN_B=8,
 	USER_CONSTRAINT_CHANGE_FRAME_ORN_IN_B=16,
+	USER_CONSTRAINT_CHANGE_MAX_FORCE=32,
+	
 };
 
 struct UserConstraintArgs
@@ -550,6 +554,7 @@ struct UserConstraintArgs
     double m_childFrame[7];
     double m_jointAxis[3];
     int m_jointType;
+	double m_maxAppliedForce;
 	int m_userConstraintUniqueId;
 };
 

examples/SharedMemory/TinyRendererVisualShapeConverter.cpp

@@ -546,7 +546,7 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(int linkIndex, const
 			btAlignedObjectArray<GLInstanceVertex> vertices;
 			btAlignedObjectArray<int> indices;
 			btTransform startTrans; startTrans.setIdentity();
-			int graphicsIndex = -1;
+			//int graphicsIndex = -1;
 
 			const UrdfVisual& vis = link->m_visualArray[v];
 			btTransform childTrans = vis.m_linkLocalFrame;
@@ -660,7 +660,7 @@ int TinyRendererVisualShapeConverter::getVisualShapesData(int bodyUniqueId, int
 			break;
 		}
 	}
-	int count = 0;
+	//int count = 0;
 
 	if (start >= 0)
 	{

examples/SharedMemory/main.cpp

@@ -81,6 +81,8 @@ int main(int argc, char* argv[])
 	
 	
 	example->initPhysics();
+
+	
 	while (example->isConnected() && !(example->wantsTermination() || interrupted))
 	{
 		example->stepSimulation(1.f/60.f);

examples/SoftDemo/SoftDemo.cpp

@@ -232,15 +232,15 @@ extern float eye[3];
 extern int glutScreenWidth;
 extern int glutScreenHeight;
 
-static bool sDemoMode = false;
+//static bool sDemoMode = false;
 
 const int maxProxies = 32766;
-const int maxOverlap = 65535;
+//const int maxOverlap = 65535;
 
 static btVector3*	gGroundVertices=0;
 static int*	gGroundIndices=0;
-static btBvhTriangleMeshShape* trimeshShape =0;
+//static btBvhTriangleMeshShape* trimeshShape =0;
-static btRigidBody* staticBody = 0;
+//static btRigidBody* staticBody = 0;
 static float waveheight = 5.f;
 
 const float TRIANGLE_SIZE=8.f;
@@ -249,12 +249,12 @@ int		current_demo=20;
 
 
 #ifdef _DEBUG
-const int gNumObjects = 1;
+//const int gNumObjects = 1;
 #else
-const int gNumObjects = 1;//try this in release mode: 3000. never go above 16384, unless you increate maxNumObjects  value in DemoApplication.cp
+//const int gNumObjects = 1;//try this in release mode: 3000. never go above 16384, unless you increate maxNumObjects  value in DemoApplication.cp
 #endif
 
-const int maxNumObjects = 32760;
+//const int maxNumObjects = 32760;
 
 #define CUBE_HALF_EXTENTS 1.5
 #define EXTRA_HEIGHT -10.f
@@ -1452,7 +1452,8 @@ static void	Init_ClusterRobot(SoftDemo* pdemo)
 	ls.position=psb2->clusterCom(0);psb2->appendLinearJoint(ls,prb);
 
 	btBoxShape*			pbox=new btBoxShape(btVector3(20,1,40));
-	btRigidBody*		pgrn=pdemo->createRigidBody(0,btTransform(btQuaternion(0,-SIMD_HALF_PI/2,0),btVector3(0,0,0)),pbox);
+	btRigidBody*		pgrn;
+	pgrn =pdemo->createRigidBody(0,btTransform(btQuaternion(0,-SIMD_HALF_PI/2,0),btVector3(0,0,0)),pbox);
 
 	pdemo->m_autocam=true;
 

examples/StandaloneMain/hellovr_opengl_main.cpp

@@ -22,6 +22,7 @@
 int gSharedMemoryKey = -1;
 int  gDebugDrawFlags = 0;
 bool gDisplayDistortion = false;
+bool gDisableDesktopGL = false;
 
 //how can you try typing on a keyboard, without seeing it?
 //it is pretty funny, to see the desktop in VR!
@@ -834,6 +835,8 @@ void CMainApplication::RenderFrame()
 		}
 		RenderStereoTargets();
 
+		if (!gDisableDesktopGL)
+		{
 			if (gDisplayDistortion)
 			{
 				B3_PROFILE("RenderDistortion");
@@ -852,6 +855,7 @@ void CMainApplication::RenderFrame()
  				glBindFramebuffer(GL_READ_FRAMEBUFFER, 0);
 				glBindFramebuffer(GL_DRAW_FRAMEBUFFER, 0 );
 			}
+		}
 
 		vr::Texture_t leftEyeTexture = {(void*)leftEyeDesc.m_nResolveTextureId, vr::API_OpenGL, vr::ColorSpace_Gamma };
 		vr::VRCompositor()->Submit(vr::Eye_Left, &leftEyeTexture );
@@ -873,7 +877,10 @@ void CMainApplication::RenderFrame()
 	// SwapWindow
 	{
 		B3_PROFILE("m_app->swapBuffer");
+		if (!gDisableDesktopGL)
+		{
 			m_app->swapBuffer();
+		}
 		//SDL_GL_SwapWindow( m_pWindow );
 		
 	}
@@ -2216,6 +2223,11 @@ void CGLRenderModel::Draw()
 int main(int argc, char *argv[])
 {
 
+	b3CommandLineArgs args(argc,argv);
+	if (args.CheckCmdLineFlag("disable_desktop_gl"))
+	{
+		gDisableDesktopGL = true;
+	}
 
 #ifdef BT_USE_CUSTOM_PROFILER
 	b3SetCustomEnterProfileZoneFunc(dcEnter);

examples/ThirdPartyLibs/BussIK/MatrixRmn.cpp

@@ -486,7 +486,7 @@ void MatrixRmn::ComputeSVD( MatrixRmn& U, VectorRn& w, MatrixRmn& V ) const
 			 && U.NumRows==U.NumCols && V.NumRows==V.NumCols
 			 && w.GetLength()==Min(NumRows,NumCols) );
 
-	double temp=0.0;
+//	double temp=0.0;
 	VectorRn& superDiag = VectorRn::GetWorkVector( w.GetLength()-1 );		// Some extra work space.  Will get passed around.
 
 	// Choose larger of U, V to hold intermediate results

examples/ThirdPartyLibs/BussIK/Misc.cpp

@@ -23,7 +23,7 @@ subject to the following restrictions:
 #include <math.h>
 #include "LinearR3.h"
 
-
+#if 0
 
 /****************************************************************
 							 Axes 
@@ -65,7 +65,7 @@ static float zy[] = {
 static int zorder[] = {
 		1, 2, 3, 4, -5, 6
 		};
-
+#endif
 #define LENFRAC		0.10
 #define BASEFRAC	1.10
 
@@ -88,9 +88,9 @@ static int zorder[] = {
 
 /* x, y, z, axes:							*/
 
-static float axx[3] = { 1., 0., 0. };
+//static float axx[3] = { 1., 0., 0. };
-static float ayy[3] = { 0., 1., 0. };
+//static float ayy[3] = { 0., 1., 0. };
-static float azz[3] = { 0., 0., 1. };
+//static float azz[3] = { 0., 0., 1. };
 
 
 

examples/ThirdPartyLibs/BussIK/Node.h

@@ -45,7 +45,7 @@ public:
 
 	double GetTheta() const { return theta; }
 	double AddToTheta( double& delta ) { 
-		double orgTheta = theta;
+		//double orgTheta = theta;
 		theta += delta;
 #if 0
 		if (theta < minTheta)

examples/TinyRenderer/TinyRenderer.cpp

@@ -31,10 +31,10 @@ struct DepthShader : public IShader {
     
     DepthShader(Model* model, Matrix& lightModelView, Matrix& projectionMat, Matrix& modelMat, Vec3f localScaling, float lightDistance)
     :m_model(model),
-    m_lightModelView(lightModelView),
-    m_projectionMat(projectionMat),
     m_modelMat(modelMat),
+	m_projectionMat(projectionMat),
 	m_localScaling(localScaling),
+	m_lightModelView(lightModelView),
 	m_lightDistance(lightDistance)
     {
         m_invModelMat = m_modelMat.invert_transpose();
@@ -92,19 +92,21 @@ struct Shader : public IShader {
     :m_model(model),
     m_light_dir_local(light_dir_local),
     m_light_color(light_color),
+	m_modelMat(modelMat),
+	m_modelView1(modelView),
+	m_projectionMat(projectionMat),
+	m_localScaling(localScaling),
+	m_lightModelView(lightModelView),
+	m_colorRGBA(colorRGBA),
+	m_viewportMat(viewportMat),
 	m_ambient_coefficient(ambient_coefficient),
 	m_diffuse_coefficient(diffuse_coefficient),
 	m_specular_coefficient(specular_coefficient),
-    m_modelView1(modelView),
+
-    m_lightModelView(lightModelView),
+	m_shadowBuffer(shadowBuffer),
-    m_projectionMat(projectionMat),
-    m_modelMat(modelMat),
-    m_viewportMat(viewportMat),
-    m_localScaling(localScaling),
-    m_colorRGBA(colorRGBA),
 	m_width(width),
-    m_height(height),
+    m_height(height)
-    m_shadowBuffer(shadowBuffer)
+   
     {
         m_invModelMat = m_modelMat.invert_transpose();
     }
@@ -157,11 +159,12 @@ struct Shader : public IShader {
 };
 
 TinyRenderObjectData::TinyRenderObjectData(TGAImage& rgbColorBuffer,b3AlignedObjectArray<float>&depthBuffer,b3AlignedObjectArray<float>* shadowBuffer)
-:m_rgbColorBuffer(rgbColorBuffer),
+:
+m_model(0),
+m_rgbColorBuffer(rgbColorBuffer),
 m_depthBuffer(depthBuffer),
 m_shadowBuffer(shadowBuffer),
 m_segmentationMaskBufferPtr(0),
-m_model(0),
 m_userData(0),
 m_userIndex(-1),
 m_objectIndex(-1)
@@ -180,11 +183,11 @@ m_objectIndex(-1)
 }
 
 TinyRenderObjectData::TinyRenderObjectData(TGAImage& rgbColorBuffer,b3AlignedObjectArray<float>&depthBuffer, b3AlignedObjectArray<float>* shadowBuffer, b3AlignedObjectArray<int>* segmentationMaskBuffer, int objectIndex)
-:m_rgbColorBuffer(rgbColorBuffer),
+:m_model(0),
+m_rgbColorBuffer(rgbColorBuffer),
 m_depthBuffer(depthBuffer),
 m_shadowBuffer(shadowBuffer),
 m_segmentationMaskBufferPtr(segmentationMaskBuffer),
-m_model(0),
 m_userData(0),
 m_userIndex(-1),
 m_objectIndex(objectIndex)
@@ -203,10 +206,10 @@ m_objectIndex(objectIndex)
 }
 
 TinyRenderObjectData::TinyRenderObjectData(TGAImage& rgbColorBuffer,b3AlignedObjectArray<float>&depthBuffer)
-:m_rgbColorBuffer(rgbColorBuffer),
+:m_model(0),
+m_rgbColorBuffer(rgbColorBuffer),
 m_depthBuffer(depthBuffer),
 m_segmentationMaskBufferPtr(0),
-m_model(0),
 m_userData(0),
 m_userIndex(-1),
 m_objectIndex(-1)
@@ -225,10 +228,10 @@ m_objectIndex(-1)
 }
 
 TinyRenderObjectData::TinyRenderObjectData(TGAImage& rgbColorBuffer,b3AlignedObjectArray<float>&depthBuffer, b3AlignedObjectArray<int>* segmentationMaskBuffer, int objectIndex)
-:m_rgbColorBuffer(rgbColorBuffer),
+:m_model(0),
+m_rgbColorBuffer(rgbColorBuffer),
 m_depthBuffer(depthBuffer),
 m_segmentationMaskBufferPtr(segmentationMaskBuffer),
-m_model(0),
 m_userData(0),
 m_userIndex(-1),
 m_objectIndex(objectIndex)

examples/Tutorial/Dof6ConstraintTutorial.cpp

@@ -457,8 +457,8 @@ void Dof6ConstraintTutorial::animate()
 /////// servo motor: flip its target periodically
 #ifdef USE_6DOF2
 		static float servoNextFrame = -1;
-		btScalar pos = m_data->m_ServoMotorConstraint->getRotationalLimitMotor(2)->m_currentPosition;
+		//btScalar pos = m_data->m_ServoMotorConstraint->getRotationalLimitMotor(2)->m_currentPosition;
-		btScalar target = m_data->m_ServoMotorConstraint->getRotationalLimitMotor(2)->m_servoTarget;
+		//btScalar target = m_data->m_ServoMotorConstraint->getRotationalLimitMotor(2)->m_servoTarget;
 		if(servoNextFrame < 0)
 		{
 			m_data->m_ServoMotorConstraint->getRotationalLimitMotor(2)->m_servoTarget *= -1;
@@ -510,7 +510,7 @@ void Dof6ConstraintTutorial::stepSimulation(float deltaTime)
 	//animate();
 	
 
-	float time = m_data->m_timeSeriesCanvas->getCurrentTime();
+	//float time = m_data->m_timeSeriesCanvas->getCurrentTime();
 	
 	float prevPos = m_data->m_TranslateSpringBody->getWorldTransform().getOrigin().x();
 	m_dynamicsWorld->stepSimulation(deltaTime);

examples/Tutorial/Tutorial.cpp

@@ -292,10 +292,10 @@ public:
     :m_app(guiHelper->getAppInterface()),
 	m_guiHelper(guiHelper),
 	m_tutorialIndex(tutorialIndex),
-	m_stage(0),
-	m_counter(0),
 	m_timeSeriesCanvas0(0),
-	m_timeSeriesCanvas1(0)
+	m_timeSeriesCanvas1(0),
+	m_stage(0),
+	m_counter(0)	
 	{
 		int numBodies = 1;
 		

examples/Vehicles/Hinge2Vehicle.cpp

@@ -158,9 +158,9 @@ static btScalar loadMass = 350.f;//
 #endif
 
 
-static int rightIndex = 0;
+//static int rightIndex = 0;
-static int upIndex = 1;
+//static int upIndex = 1;
-static int forwardIndex = 2;
+//static int forwardIndex = 2;
 static btVector3 wheelDirectionCS0(0,-1,0);
 static btVector3 wheelAxleCS(-1,0,0);
 
@@ -173,8 +173,8 @@ static bool useMCLPSolver = false;//true;
 #include "Hinge2Vehicle.h"
 
 
-static const int maxProxies = 32766;
+//static const int maxProxies = 32766;
-static const int maxOverlap = 65535;
+//static const int maxOverlap = 65535;
 
 static float	gEngineForce = 0.f;
 
@@ -182,21 +182,21 @@ static float	defaultBreakingForce = 10.f;
 static float	gBreakingForce = 100.f;
 
 static float	maxEngineForce = 1000.f;//this should be engine/velocity dependent
-static float	maxBreakingForce = 100.f;
+//static float	maxBreakingForce = 100.f;
 
 static float	gVehicleSteering = 0.f;
 static float	steeringIncrement = 0.04f;
 static float	steeringClamp = 0.3f;
 static float	wheelRadius = 0.5f;
 static float	wheelWidth = 0.4f;
-static float	wheelFriction = 1000;//BT_LARGE_FLOAT;
+//static float	wheelFriction = 1000;//BT_LARGE_FLOAT;
-static float	suspensionStiffness = 20.f;
+//static float	suspensionStiffness = 20.f;
-static float	suspensionDamping = 2.3f;
+//static float	suspensionDamping = 2.3f;
-static float	suspensionCompression = 4.4f;
+//static float	suspensionCompression = 4.4f;
-static float	rollInfluence = 0.1f;//1.0f;
+//static float	rollInfluence = 0.1f;//1.0f;
 
 
-static btScalar suspensionRestLength(0.6);
+//static btScalar suspensionRestLength(0.6);
 
 #define CUBE_HALF_EXTENTS 1
 
@@ -209,8 +209,8 @@ static btScalar suspensionRestLength(0.6);
 
 Hinge2Vehicle::Hinge2Vehicle(struct GUIHelperInterface* helper)
 :CommonRigidBodyBase(helper),
-m_guiHelper(helper),
 m_carChassis(0),
+m_guiHelper(helper),
 m_liftBody(0),
 m_forkBody(0),
 m_loadBody(0),
@@ -378,10 +378,10 @@ tr.setOrigin(btVector3(0,-3,0));
 	m_wheelShape = new btCylinderShapeX(btVector3(wheelWidth,wheelRadius,wheelRadius));
 	
 
-	const float position[4]={0,10,10,0};
+	//const float position[4]={0,10,10,0};
-	const float quaternion[4]={0,0,0,1};
+	//const float quaternion[4]={0,0,0,1};
-	const float color[4]={0,1,0,1};
+	//const float color[4]={0,1,0,1};
-	const float scaling[4] = {1,1,1,1};
+	//const float scaling[4] = {1,1,1,1};
 
 	btVector3 wheelPos[4] = {
 		btVector3(btScalar(-1.), btScalar(-0.25), btScalar(1.25)),

examples/pybullet/pybullet.c

@@ -354,7 +354,6 @@ static PyObject* pybullet_disconnectPhysicsServer(PyObject* self,
 }
 
 static PyObject* pybullet_saveWorld(PyObject* self, PyObject* args,PyObject *keywds) {
-	int size = PySequence_Size(args);
 	const char* worldFileName = "";
 
 	b3PhysicsClientHandle sm = 0;
@@ -398,7 +397,6 @@ static PyObject* pybullet_saveWorld(PyObject* self, PyObject* args,PyObject *key
 #define MAX_SDF_BODIES 512
 static PyObject* pybullet_loadBullet(PyObject* self, PyObject* args,PyObject *keywds)
 {
-	int size = PySequence_Size(args);
 	const char* bulletFileName = "";
 	b3SharedMemoryStatusHandle statusHandle;
 	int statusType;
@@ -452,7 +450,6 @@ static PyObject* pybullet_loadBullet(PyObject* self, PyObject* args,PyObject *ke
 
 static PyObject* pybullet_saveBullet(PyObject* self, PyObject* args, PyObject* keywds)
 {
-	int size = PySequence_Size(args);
 	const char* bulletFileName = "";
 	b3SharedMemoryStatusHandle statusHandle;
 	int statusType;
@@ -489,7 +486,6 @@ static PyObject* pybullet_saveBullet(PyObject* self, PyObject* args, PyObject* k
 
 static PyObject* pybullet_loadMJCF(PyObject* self, PyObject* args, PyObject* keywds)
 {
-	int size = PySequence_Size(args);
 	const char* mjcfFileName = "";
 	b3SharedMemoryStatusHandle statusHandle;
 	int statusType;
@@ -546,12 +542,15 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
 	int useSplitImpulse = -1;
 	double splitImpulsePenetrationThreshold = -1;
 	int numSubSteps = -1;
+	int collisionFilterMode = -1;
+	
 	b3PhysicsClientHandle sm = 0;
 
 	int physicsClientId = 0;
-	static char *kwlist[] = { "fixedTimeStep", "numSolverIterations","useSplitImpulse","splitImpulsePenetrationThreshold", "numSubSteps","physicsClientId", NULL };
+	static char *kwlist[] = { "fixedTimeStep", "numSolverIterations","useSplitImpulse","splitImpulsePenetrationThreshold", "numSubSteps","collisionFilterMode", "physicsClientId", NULL };
 
-	if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidii", kwlist,&fixedTimeStep,&numSolverIterations,&useSplitImpulse,&splitImpulsePenetrationThreshold,&numSubSteps,&physicsClientId))
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidiii", kwlist,&fixedTimeStep,&numSolverIterations,&useSplitImpulse,&splitImpulsePenetrationThreshold,&numSubSteps,
+									 &collisionFilterMode, &physicsClientId))
 	{
 		return NULL;
 	}
@@ -571,6 +570,10 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
 		{
 			b3PhysicsParamSetNumSolverIterations(command, numSolverIterations);
 		}
+		if (collisionFilterMode>=0)
+		{
+			b3PhysicsParamSetCollisionFilterMode(command, collisionFilterMode);
+		}
 		if (numSubSteps >= 0)
 		{
 			b3PhysicsParamSetNumSubSteps(command, numSubSteps);
@@ -614,7 +617,6 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
 // loadURDF(pos_x, pos_y, pos_z, orn_x, orn_y, orn_z, orn_w)
 static PyObject* pybullet_loadURDF(PyObject* self, PyObject* args, PyObject *keywds) 
 {
-  int size = PySequence_Size(args);
   int physicsClientId = 0;
 	
   static char *kwlist[] = { "fileName", "basePosition", "baseOrientation", "useMaximalCoordinates","useFixedBase","physicsClientId", NULL };
@@ -753,7 +755,6 @@ b3PhysicsClientHandle sm=0;
 
 static PyObject* pybullet_loadSDF(PyObject* self, PyObject* args, PyObject *keywds) {
   const char* sdfFileName = "";
-  int size = PySequence_Size(args);
   int numBodies = 0;
   int i;
   int bodyIndicesOut[MAX_SDF_BODIES];
@@ -1577,7 +1578,6 @@ static PyObject* pybullet_getBodyInfo(PyObject* self, PyObject* args, PyObject*
 	
 	{
     int bodyUniqueId= -1;
-    int numJoints = 0;
  	b3PhysicsClientHandle sm = 0;
 
     	int physicsClientId = 0;
@@ -2128,15 +2128,13 @@ b3PhysicsClientHandle sm = 0;
 
 static PyObject* pybullet_addUserDebugText(PyObject* self, PyObject* args, PyObject *keywds) 
 {
-  int size = PySequence_Size(args);
   
   b3SharedMemoryCommandHandle commandHandle;
   b3SharedMemoryStatusHandle statusHandle;
   int statusType;
   int res = 0;
 
-  PyObject* pyResultList = 0;
+char* text;
-	char* text;
   double posXYZ[3];
   double colorRGB[3]={1,1,1};
 
@@ -2198,14 +2196,12 @@ static PyObject* pybullet_addUserDebugText(PyObject* self, PyObject* args, PyObj
 
 static PyObject* pybullet_addUserDebugLine(PyObject* self, PyObject* args, PyObject *keywds) 
 {
-  int size = PySequence_Size(args);
   
   b3SharedMemoryCommandHandle commandHandle;
   b3SharedMemoryStatusHandle statusHandle;
   int statusType;
   int res = 0;
 
-  PyObject* pyResultList = 0;
  
   double fromXYZ[3];
   double toXYZ[3];
@@ -2704,7 +2700,6 @@ static PyObject* pybullet_getVisualShapeData(PyObject* self, PyObject* args, PyO
 					PyTuple_SetItem(visualShapeObList, 6, vec);
 				}
 
-		visualShapeInfo.m_visualShapeData[0].m_rgbaColor[0];	
 
 				PyTuple_SetItem(pyResultList, i, visualShapeObList);
 			}
@@ -2767,7 +2762,6 @@ static PyObject* pybullet_resetVisualShapeData(PyObject* self, PyObject* args,Py
 
 static PyObject* pybullet_loadTexture(PyObject* self, PyObject* args, PyObject* keywds)
 {
-    int size = PySequence_Size(args);
     const char* filename = 0;
     b3SharedMemoryCommandHandle commandHandle;
     b3SharedMemoryStatusHandle statusHandle;
@@ -2970,7 +2964,6 @@ static PyObject* pybullet_getOverlappingObjects(PyObject* self, PyObject* args,
 
 static PyObject* pybullet_getClosestPointData(PyObject* self, PyObject* args, PyObject *keywds) 
 {
-  int size = PySequence_Size(args);
   int bodyUniqueIdA = -1;
   int bodyUniqueIdB = -1;
   int linkIndexA = -2;
@@ -2982,7 +2975,6 @@ static PyObject* pybullet_getClosestPointData(PyObject* self, PyObject* args, Py
   struct b3ContactInformation contactPointData;
   b3SharedMemoryStatusHandle statusHandle;
   int statusType;
-  PyObject* pyResultList = 0;
   int physicsClientId = 0;
   b3PhysicsClientHandle sm = 0;
   static char *kwlist[] = { "bodyA", "bodyB", "distance", "linkIndexA","linkIndexB","physicsClientId", NULL };
@@ -3031,7 +3023,7 @@ static PyObject* pybullet_getClosestPointData(PyObject* self, PyObject* args, Py
 
 static PyObject* pybullet_changeUserConstraint(PyObject* self, PyObject* args, PyObject *keywds) 
 {
-	static char *kwlist[] = { "userConstraintUniqueId","jointChildPivot", "jointChildFrameOrientation", "physicsClientId", NULL};
+	static char *kwlist[] = { "userConstraintUniqueId","jointChildPivot", "jointChildFrameOrientation","maxForce", "physicsClientId", NULL};
 	int userConstraintUniqueId=-1;
 	b3SharedMemoryCommandHandle commandHandle;
 	b3SharedMemoryStatusHandle statusHandle;
@@ -3042,8 +3034,9 @@ static PyObject* pybullet_changeUserConstraint(PyObject* self, PyObject* args, P
 	PyObject* jointChildFrameOrnObj=0;
 	double jointChildPivot[3];
 	double jointChildFrameOrn[4];
+	double maxForce = -1;
 
-	if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|OOi", kwlist,&userConstraintUniqueId,&jointChildPivotObj, &jointChildFrameOrnObj,&physicsClientId))
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|OOdi", kwlist,&userConstraintUniqueId,&jointChildPivotObj, &jointChildFrameOrnObj,&maxForce, &physicsClientId))
 	{
 		return NULL;
 	}
@@ -3065,6 +3058,10 @@ static PyObject* pybullet_changeUserConstraint(PyObject* self, PyObject* args, P
 	{
 		b3InitChangeUserConstraintSetFrameInB(commandHandle, jointChildFrameOrn);
 	}
+	if (maxForce>=0)
+	{
+		b3InitChangeUserConstraintSetMaxForce(commandHandle,maxForce);
+	}
 
 	statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
 	statusType = b3GetStatusType(statusHandle);
@@ -3111,9 +3108,6 @@ static PyObject* pybullet_updateUserConstraint(PyObject* self, PyObject* args, P
 
 static PyObject* pybullet_createUserConstraint(PyObject* self, PyObject* args, PyObject *keywds) 
 {
-	int size = PySequence_Size(args);
-	int bodyUniqueIdA = -1;
-	int bodyUniqueIdB = -1;
   
 	b3SharedMemoryCommandHandle commandHandle;
 	int parentBodyUniqueId=-1;
@@ -3135,7 +3129,6 @@ static PyObject* pybullet_createUserConstraint(PyObject* self, PyObject* args, P
 	struct b3JointInfo jointInfo;
 	b3SharedMemoryStatusHandle statusHandle;
 	int statusType;
-	PyObject* pyResultList = 0;
 	int physicsClientId = 0;
 	b3PhysicsClientHandle sm = 0;
 	static char *kwlist[] = { "parentBodyUniqueId", "parentLinkIndex",
@@ -3218,7 +3211,6 @@ static PyObject* pybullet_createUserConstraint(PyObject* self, PyObject* args, P
 }
 
 static PyObject* pybullet_getContactPointData(PyObject* self, PyObject* args, PyObject *keywds) {
-  int size = PySequence_Size(args);
   int bodyUniqueIdA = -1;
   int bodyUniqueIdB = -1;
   
@@ -3226,7 +3218,6 @@ static PyObject* pybullet_getContactPointData(PyObject* self, PyObject* args, Py
   struct b3ContactInformation contactPointData;
   b3SharedMemoryStatusHandle statusHandle;
   int statusType;
-  PyObject* pyResultList = 0;
 
 
   static char *kwlist[] = { "bodyA", "bodyB","physicsClientId", NULL };
@@ -3273,7 +3264,6 @@ static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObjec
 	struct b3CameraImageData imageData;
 	PyObject* objViewMat = 0, *objProjMat = 0, *lightDirObj = 0, *lightColorObj = 0;
 	int width, height;
-	int size = PySequence_Size(args);
 	float viewMatrix[16];
 	float projectionMatrix[16];
 	float lightDir[3];
@@ -3852,7 +3842,6 @@ static PyObject* pybullet_applyExternalForce(PyObject* self, PyObject* args,PyOb
 
     b3SharedMemoryCommandHandle command;
     b3SharedMemoryStatusHandle statusHandle;
-    int size = PySequence_Size(args);
   	int physicsClientId = 0;
 	b3PhysicsClientHandle sm = 0;
 	static char *kwlist[] = { "objectUniqueId", "linkIndex",
@@ -4156,7 +4145,6 @@ static PyObject* pybullet_calculateInverseKinematics(PyObject* self,
 		{
 			int szInBytes = sizeof(double) * numJoints;
 			int i;
-			PyObject* pylist = 0;
 			lowerLimits = (double*)malloc(szInBytes);
 			upperLimits = (double*)malloc(szInBytes);
 			jointRanges = (double*)malloc(szInBytes);

src/Bullet3Collision/BroadPhaseCollision/b3DynamicBvh.h

@@ -1021,8 +1021,9 @@ inline void		b3DynamicBvh::rayTest(	const b3DbvtNode* root,
 			unsigned int signs[3] = { rayDirectionInverse[0] < 0.0, rayDirectionInverse[1] < 0.0, rayDirectionInverse[2] < 0.0};
 
 			b3Scalar lambda_max = rayDir.dot(rayTo-rayFrom);
-
+#ifdef COMPARE_BTRAY_AABB2
 			b3Vector3 resultNormal;
+#endif//COMPARE_BTRAY_AABB2
 			
 			b3AlignedObjectArray<const b3DbvtNode*>	stack;