Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

cleaned up, removed warning under MSVC2005 (Level 4)

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

27
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
View File

@@ -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;
{