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cleaned up, removed warning under MSVC2005 (Level 4)

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Mostly related to alignment and unused variables
This commit is contained in:
ejcoumans
2007-04-13 01:37:21 +00:00
parent 2cf026aae3
commit bc3f9535ad
71 changed files with 348 additions and 125 deletions
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15
src/BulletDynamics/ConstraintSolver/btContactConstraint.cpp
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@@ -32,6 +32,10 @@ void resolveSingleBilateral(btRigidBody& body1, const btVector3& pos1,
btRigidBody& body2, const btVector3& pos2,
btScalar distance, const btVector3& normal,btScalar& impulse ,btScalar timeStep)
{
(void)timeStep;
(void)distance;
btScalar normalLenSqr = normal.length2();
ASSERT2(btFabs(normalLenSqr) < btScalar(1.1));
if (normalLenSqr > btScalar(1.1))
@@ -153,6 +157,8 @@ btScalar resolveSingleFriction(
const btContactSolverInfo& solverInfo)
{
(void)solverInfo;
const btVector3& pos1 = contactPoint.getPositionWorldOnA();
const btVector3& pos2 = contactPoint.getPositionWorldOnB();
@@ -234,6 +240,8 @@ btScalar resolveSingleFrictionOriginal(
const btContactSolverInfo& solverInfo)
{
(void)solverInfo;
const btVector3& pos1 = contactPoint.getPositionWorldOnA();
const btVector3& pos2 = contactPoint.getPositionWorldOnB();
@@ -391,12 +399,19 @@ btScalar resolveSingleCollisionCombined(
return normalImpulse;
}
btScalar resolveSingleFrictionEmpty(
btRigidBody& body1,
btRigidBody& body2,
btManifoldPoint& contactPoint,
const btContactSolverInfo& solverInfo)
{
(void)contactPoint;
(void)body1;
(void)body2;
(void)solverInfo;
return btScalar(0.);
};

15
src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
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@@ -168,9 +168,10 @@ bool MatrixToEulerXYZ(const btMatrix3x3& mat,btVector3& xyz)
xyz[0] = btAtan2(getMatrixElem(mat,3),getMatrixElem(mat,4));
xyz[1] = SIMD_HALF_PI;
xyz[2] = 0.0;
return false;
}
return false;
return false;
}
@@ -329,12 +330,13 @@ void btGeneric6DofConstraint::solveConstraint(btScalar timeStep)
void btGeneric6DofConstraint::updateRHS(btScalar timeStep)
{
(void)timeStep;
}
btScalar btGeneric6DofConstraint::computeAngle(int axis) const
{
btScalar angle;
btScalar angle = btScalar(0.f);
switch (axis)
{
@@ -376,9 +378,12 @@ btScalar btGeneric6DofConstraint::computeAngle(int axis) const
angle = btAtan2( s, c );
}
break;
default: assert ( 0 ) ; break ;
default:
btAssert ( 0 ) ;
break ;
}
return angle;
return angle;
}

7
src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h
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@@ -40,12 +40,19 @@ class btGeneric6DofConstraint : public btTypedConstraint
btScalar m_accumulatedImpulse[6];
btGeneric6DofConstraint& operator=(btGeneric6DofConstraint& other)
{
btAssert(0);
(void) other;
return *this;
}
public:
btGeneric6DofConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB );
btGeneric6DofConstraint();
virtual void buildJacobian();
virtual void solveConstraint(btScalar timeStep);

1
src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp
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@@ -223,6 +223,7 @@ void btHingeConstraint::solveConstraint(btScalar timeStep)
void btHingeConstraint::updateRHS(btScalar timeStep)
{
(void)timeStep;
}

6
src/BulletDynamics/ConstraintSolver/btHingeConstraint.h
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@@ -37,8 +37,8 @@ class btHingeConstraint : public btTypedConstraint
bool m_angularOnly;
float m_motorTargetVelocity;
float m_maxMotorImpulse;
btScalar m_motorTargetVelocity;
btScalar m_maxMotorImpulse;
bool m_enableAngularMotor;
public:
@@ -69,7 +69,7 @@ public:
m_angularOnly = angularOnly;
}
void enableAngularMotor(bool enableMotor,float targetVelocity,float maxMotorImpulse)
void enableAngularMotor(bool enableMotor,btScalar targetVelocity,btScalar maxMotorImpulse)
{
m_enableAngularMotor = enableMotor;
m_motorTargetVelocity = targetVelocity;

1
src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp
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@@ -110,6 +110,7 @@ void btPoint2PointConstraint::solveConstraint(btScalar timeStep)
void btPoint2PointConstraint::updateRHS(btScalar timeStep)
{
(void)timeStep;
}

27
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@@ -42,8 +42,8 @@ int gTotalContactPoints = 0;
struct btOrderIndex
{
short int m_manifoldIndex;
short int m_pointIndex;
int m_manifoldIndex;
int m_pointIndex;
};
@@ -124,11 +124,12 @@ m_btSeed2(0)
void initSolverBody(btSolverBody* solverBody, btRigidBody* rigidbody)
{
int size = sizeof(btSolverBody);
/* int size = sizeof(btSolverBody);
int sizeofrb = sizeof(btRigidBody);
int sizemanifold = sizeof(btPersistentManifold);
int sizeofmp = sizeof(btManifoldPoint);
int sizeofPersistData = sizeof (btConstraintPersistentData);
*/
solverBody->m_angularVelocity = rigidbody->getAngularVelocity();
solverBody->m_centerOfMassPosition = rigidbody->getCenterOfMassPosition();
@@ -159,6 +160,8 @@ SIMD_FORCE_INLINE btScalar resolveSingleCollisionCombinedCacheFriendly(
btSolverConstraint& contactConstraint,
const btContactSolverInfo& solverInfo)
{
(void)solverInfo;
btScalar normalImpulse(0.f);
{
if (contactConstraint.m_penetration < 0.f)
@@ -225,6 +228,7 @@ SIMD_FORCE_INLINE btScalar resolveSingleFrictionCacheFriendly(
const btContactSolverInfo& solverInfo,
btScalar appliedNormalImpulse)
{
(void)solverInfo;
const btScalar combinedFriction = contactConstraint.m_friction;
@@ -335,6 +339,8 @@ btAlignedObjectArray<btSolverConstraint> tmpSolverFrictionConstraintPool;
btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendly(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc)
{
(void)stackAlloc;
(void)debugDrawer;
if (!(numConstraints + numManifolds))
{
@@ -364,7 +370,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendly(btCollisio
//int sizeofSC = sizeof(btSolverConstraint);
if (1)
//if (1)
{
//if m_stackAlloc, try to pack bodies/constraints to speed up solving
// btBlock* sablock;
@@ -407,8 +413,8 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendly(btCollisio
btRigidBody* rb1 = (btRigidBody*)manifold->getBody1();
int solverBodyIdA;
int solverBodyIdB;
int solverBodyIdA=-1;
int solverBodyIdB=-1;
if (manifold->getNumContacts())
{
@@ -766,13 +772,13 @@ btScalar btSequentialImpulseConstraintSolver::solveGroup(btCollisionObject** bod
{
int j;
short j;
for (j=0;j<numManifolds;j++)
{
btPersistentManifold* manifold = manifoldPtr[j];
prepareConstraints(manifold,info,debugDrawer);
for (int p=0;p<manifoldPtr[j]->getNumContacts();p++)
for (short p=0;p<manifoldPtr[j]->getNumContacts();p++)
{
gOrder[totalPoints].m_manifoldIndex = j;
gOrder[totalPoints].m_pointIndex = p;
@@ -859,6 +865,8 @@ btScalar btSequentialImpulseConstraintSolver::solveGroup(btCollisionObject** bod
void btSequentialImpulseConstraintSolver::prepareConstraints(btPersistentManifold* manifoldPtr, const btContactSolverInfo& info,btIDebugDraw* debugDrawer)
{
(void)debugDrawer;
btRigidBody* body0 = (btRigidBody*)manifoldPtr->getBody0();
btRigidBody* body1 = (btRigidBody*)manifoldPtr->getBody1();
@@ -1117,6 +1125,9 @@ btScalar btSequentialImpulseConstraintSolver::solve(btRigidBody* body0,btRigidBo
btScalar btSequentialImpulseConstraintSolver::solveFriction(btRigidBody* body0,btRigidBody* body1, btManifoldPoint& cp, const btContactSolverInfo& info,int iter,btIDebugDraw* debugDrawer)
{
(void)debugDrawer;
(void)iter;
{

16
src/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.cpp
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@@ -43,6 +43,12 @@ void btSolve2LinearConstraint::resolveUnilateralPairConstraint(
btScalar depthB, const btVector3& normalB,
btScalar& imp0,btScalar& imp1)
{
(void)linvelA;
(void)linvelB;
(void)angvelB;
(void)angvelA;
imp0 = btScalar(0.);
imp1 = btScalar(0.);
@@ -126,6 +132,13 @@ void btSolve2LinearConstraint::resolveBilateralPairConstraint(
btScalar& imp0,btScalar& imp1)
{
(void)linvelA;
(void)linvelB;
(void)angvelA;
(void)angvelB;
imp0 = btScalar(0.);
imp1 = btScalar(0.);
@@ -221,7 +234,7 @@ void btSolve2LinearConstraint::resolveBilateralPairConstraint(
}
/*
void btSolve2LinearConstraint::resolveAngularConstraint( const btMatrix3x3& invInertiaAWS,
const btScalar invMassA,
const btVector3& linvelA,const btVector3& angvelA,
@@ -238,4 +251,5 @@ void btSolve2LinearConstraint::resolveAngularConstraint( const btMatrix3x3& invI
{
}
*/

3
src/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.h
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@@ -85,7 +85,7 @@ public:
btScalar depthB, const btVector3& normalB,
btScalar& imp0,btScalar& imp1);
/*
void resolveAngularConstraint( const btMatrix3x3& invInertiaAWS,
const btScalar invMassA,
const btVector3& linvelA,const btVector3& angvelA,
@@ -100,6 +100,7 @@ public:
btScalar depthB, const btVector3& normalB,
btScalar& imp0,btScalar& imp1);
*/
};

2
src/BulletDynamics/ConstraintSolver/btSolverConstraint.h
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@@ -44,7 +44,7 @@ ATTRIBUTE_ALIGNED16 (struct) btSolverConstraint
int m_constraintType;
int m_frictionIndex;
// int m_unusedPadding[2];
int m_unusedPadding[2];
enum btSolverConstraintType
{

8
src/BulletDynamics/ConstraintSolver/btTypedConstraint.h
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@@ -24,7 +24,13 @@ class btTypedConstraint
{
int m_userConstraintType;
int m_userConstraintId;
btTypedConstraint& operator=(btTypedConstraint& other)
{
btAssert(0);
(void) other;
return *this;
}
protected:
btRigidBody& m_rbA;