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Fixed warnings in Bullet/src core library

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Thanks Martijn Reuvers from Two Tribes B.V. (www.twotribes.com) for the patch

To make this work more visible, suppress warnings in external libraries in Extras (COLLADA_DOM, libxml and glui contain many warnings)
Added PreprocessorDefinitions: _CRT_SECURE_NO_DEPRECATE;_CRT_NONSTDC_NO_DEPRECATE to vcproj files
This commit is contained in:
erwin.coumans
2008-05-10 18:00:21 +00:00
parent 739d09a7af
commit bd97c5e569
285 changed files with 11554 additions and 11205 deletions
Download Patch File Download Diff File Expand all files Collapse all files

22
src/BulletCollision/BroadphaseCollision/btAxisSweep3.h
View File

@@ -47,7 +47,7 @@ public:
BP_FP_INT_TYPE m_pos; // low bit is min/max
BP_FP_INT_TYPE m_handle;
BP_FP_INT_TYPE IsMax() const {return m_pos & 1;}
BP_FP_INT_TYPE IsMax() const {return static_cast<BP_FP_INT_TYPE>(m_pos & 1);}
};
public:
@@ -223,14 +223,14 @@ template <typename BP_FP_INT_TYPE>
void btAxisSweep3Internal<BP_FP_INT_TYPE>::destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher)
{
Handle* handle = static_cast<Handle*>(proxy);
removeHandle(handle->m_uniqueId,dispatcher);
removeHandle(static_cast<BP_FP_INT_TYPE>(handle->m_uniqueId), dispatcher);
}
template <typename BP_FP_INT_TYPE>
void btAxisSweep3Internal<BP_FP_INT_TYPE>::setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher)
{
Handle* handle = static_cast<Handle*>(proxy);
updateHandle(handle->m_uniqueId,aabbMin,aabbMax,dispatcher);
updateHandle(static_cast<BP_FP_INT_TYPE>(handle->m_uniqueId), aabbMin, aabbMax,dispatcher);
}
@@ -247,7 +247,7 @@ m_userPairCallback(0),
m_ownsPairCache(false),
m_invalidPair(0)
{
BP_FP_INT_TYPE maxHandles = userMaxHandles+1;//need to add one sentinel handle
BP_FP_INT_TYPE maxHandles = static_cast<BP_FP_INT_TYPE>(userMaxHandles+1);//need to add one sentinel handle
if (!m_pairCache)
{
@@ -278,7 +278,7 @@ m_invalidPair(0)
m_firstFreeHandle = 1;
{
for (BP_FP_INT_TYPE i = m_firstFreeHandle; i < maxHandles; i++)
m_pHandles[i].SetNextFree(i + 1);
m_pHandles[i].SetNextFree(static_cast<BP_FP_INT_TYPE>(i + 1));
m_pHandles[maxHandles - 1].SetNextFree(0);
}
@@ -386,7 +386,7 @@ BP_FP_INT_TYPE btAxisSweep3Internal<BP_FP_INT_TYPE>::addHandle(const btPoint3& a
Handle* pHandle = getHandle(handle);
pHandle->m_uniqueId = handle;
pHandle->m_uniqueId = static_cast<int>(handle);
//pHandle->m_pOverlaps = 0;
pHandle->m_clientObject = pOwner;
pHandle->m_collisionFilterGroup = collisionFilterGroup;
@@ -394,7 +394,7 @@ BP_FP_INT_TYPE btAxisSweep3Internal<BP_FP_INT_TYPE>::addHandle(const btPoint3& a
pHandle->m_multiSapParentProxy = multiSapProxy;
// compute current limit of edge arrays
BP_FP_INT_TYPE limit = m_numHandles * 2;
BP_FP_INT_TYPE limit = static_cast<BP_FP_INT_TYPE>(m_numHandles * 2);
// insert new edges just inside the max boundary edge
@@ -411,7 +411,7 @@ BP_FP_INT_TYPE btAxisSweep3Internal<BP_FP_INT_TYPE>::addHandle(const btPoint3& a
m_pEdges[axis][limit].m_pos = max[axis];
m_pEdges[axis][limit].m_handle = handle;
pHandle->m_minEdges[axis] = limit - 1;
pHandle->m_minEdges[axis] = static_cast<BP_FP_INT_TYPE>(limit - 1);
pHandle->m_maxEdges[axis] = limit;
}
@@ -443,7 +443,7 @@ void btAxisSweep3Internal<BP_FP_INT_TYPE>::removeHandle(BP_FP_INT_TYPE handle,bt
}
// compute current limit of edge arrays
int limit = m_numHandles * 2;
int limit = static_cast<int>(m_numHandles * 2);
int axis;
@@ -680,7 +680,7 @@ void btAxisSweep3Internal<BP_FP_INT_TYPE>::updateHandle(BP_FP_INT_TYPE handle, c
// sorting a min edge downwards can only ever *add* overlaps
template <typename BP_FP_INT_TYPE>
void btAxisSweep3Internal<BP_FP_INT_TYPE>::sortMinDown(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps)
void btAxisSweep3Internal<BP_FP_INT_TYPE>::sortMinDown(int axis, BP_FP_INT_TYPE edge, btDispatcher* /* dispatcher */, bool updateOverlaps)
{
Edge* pEdge = m_pEdges[axis] + edge;
@@ -834,7 +834,7 @@ void btAxisSweep3Internal<BP_FP_INT_TYPE>::sortMaxDown(int axis, BP_FP_INT_TYPE
// sorting a max edge upwards can only ever *add* overlaps
template <typename BP_FP_INT_TYPE>
void btAxisSweep3Internal<BP_FP_INT_TYPE>::sortMaxUp(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps)
void btAxisSweep3Internal<BP_FP_INT_TYPE>::sortMaxUp(int axis, BP_FP_INT_TYPE edge, btDispatcher* /* dispatcher */, bool updateOverlaps)
{
Edge* pEdge = m_pEdges[axis] + edge;
Edge* pNext = pEdge + 1;

1
src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h
View File

@@ -64,7 +64,6 @@ CONCAVE_SHAPES_END_HERE,
MAX_BROADPHASE_COLLISION_TYPES
};
//#include <stdio.h>
///btBroadphaseProxy
ATTRIBUTE_ALIGNED16(struct) btBroadphaseProxy

2
src/BulletCollision/BroadphaseCollision/btDbvt.cpp
View File

@@ -279,7 +279,7 @@ static btDbvt::Node* topdown(btDbvt* pdbvt,
{
if((splitcount[i][0]>0)&&(splitcount[i][1]>0))
{
const int midp=btFabs(splitcount[i][0]-splitcount[i][1]);
const int midp=static_cast<int>(btFabs(static_cast<btScalar>(splitcount[i][0]-splitcount[i][1])));
if(midp<bestmidp)
{
bestaxis=i;

2
src/BulletCollision/BroadphaseCollision/btDbvt.h
View File

@@ -95,7 +95,7 @@ struct btDbvt
// Constants
enum {
TREETREE_STACKSIZE = 128,
VOLUMETREE_STACKSIZE = 64,
VOLUMETREE_STACKSIZE = 64
};
// Fields

12
src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp
View File

@@ -50,7 +50,7 @@ struct ProfileScope
//
static inline int hash(unsigned int i,unsigned int j)
{
int key=((unsigned int)i)|(((unsigned int)j)<<16);
int key=static_cast<int>(((unsigned int)i)|(((unsigned int)j)<<16));
key+=~(key<<15);
key^= (key>>10);
key+= (key<<3);
@@ -104,7 +104,7 @@ struct btDbvtBroadphaseCollider : btDbvt::ICollide
int pid;
btDbvtBroadphaseCollider(btDbvtBroadphase* p,int id) : pbp(p),pid(id) {}
virtual void Process(const btDbvt::Node* na)
virtual void Process(const btDbvt::Node* /*na*/)
{
}
virtual bool Descent(const btDbvt::Node*)
@@ -163,12 +163,12 @@ btDbvtBroadphase::~btDbvtBroadphase()
//
btBroadphaseProxy* btDbvtBroadphase::createProxy( const btVector3& aabbMin,
const btVector3& aabbMax,
int shapeType,
int /*shapeType*/,
void* userPtr,
short int collisionFilterGroup,
short int collisionFilterMask,
btDispatcher* dispatcher,
void* multiSapProxy)
btDispatcher* /*dispatcher*/,
void* /*multiSapProxy*/)
{
btDbvtProxy* proxy=new btDbvtProxy(userPtr,collisionFilterGroup,collisionFilterMask);
proxy->aabb = btDbvtAabbMm::FromMM(aabbMin,aabbMax);
@@ -197,7 +197,7 @@ void btDbvtBroadphase::destroyProxy( btBroadphaseProxy* absproxy,
void btDbvtBroadphase::setAabb( btBroadphaseProxy* absproxy,
const btVector3& aabbMin,
const btVector3& aabbMax,
btDispatcher* dispatcher)
btDispatcher* /*dispatcher*/)
{
btDbvtProxy* proxy=(btDbvtProxy*)absproxy;
btDbvtAabbMm aabb=btDbvtAabbMm::FromMM(aabbMin,aabbMax);

2
src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h
View File

@@ -68,7 +68,7 @@ struct btDbvtBroadphase : btBroadphaseInterface
DYNAMIC_SET = 0, /* Dynamic set index */
FIXED_SET = 1, /* Fixed set index */
STAGECOUNT = 2, /* Number of stages */
PREDICTED_FRAMES = 2, /* Frames prediction */
PREDICTED_FRAMES = 2 /* Frames prediction */
};
/* Fields */
btDbvt m_sets[2]; // Dbvt sets

15
src/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.cpp
View File

@@ -37,7 +37,7 @@ public:
*/
btMultiSapBroadphase::btMultiSapBroadphase(int maxProxies,btOverlappingPairCache* pairCache)
btMultiSapBroadphase::btMultiSapBroadphase(int /*maxProxies*/,btOverlappingPairCache* pairCache)
:m_overlappingPairs(pairCache),
m_ownsPairCache(false),
m_invalidPair(0),
@@ -104,7 +104,7 @@ void btMultiSapBroadphase::buildTree(const btVector3& bvhAabbMin,const btVector3
m_optimizedAabbTree->buildInternal();
}
btBroadphaseProxy* btMultiSapBroadphase::createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* ignoreMe)
btBroadphaseProxy* btMultiSapBroadphase::createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* /*ignoreMe*/)
{
//void* ignoreMe -> we could think of recursive multi-sap, if someone is interested
@@ -117,7 +117,7 @@ btBroadphaseProxy* btMultiSapBroadphase::createProxy( const btVector3& aabbMin,
return proxy;
}
void btMultiSapBroadphase::destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher)
void btMultiSapBroadphase::destroyProxy(btBroadphaseProxy* /*proxy*/,btDispatcher* /*dispatcher*/)
{
///not yet
btAssert(0);
@@ -128,13 +128,14 @@ void btMultiSapBroadphase::destroyProxy(btBroadphaseProxy* proxy,btDispatcher* d
void btMultiSapBroadphase::addToChildBroadphase(btMultiSapProxy* parentMultiSapProxy, btBroadphaseProxy* childProxy, btBroadphaseInterface* childBroadphase)
{
void* mem = btAlignedAlloc(sizeof(btBridgeProxy),16);
btBridgeProxy* bridgeProxyRef = new(mem) btBridgeProxy();
btBridgeProxy* bridgeProxyRef = new(mem) btBridgeProxy;
bridgeProxyRef->m_childProxy = childProxy;
bridgeProxyRef->m_childBroadphase = childBroadphase;
parentMultiSapProxy->m_bridgeProxies.push_back(bridgeProxyRef);
}
bool boxIsContainedWithinBox(const btVector3& amin,const btVector3& amax,const btVector3& bmin,const btVector3& bmax);
bool boxIsContainedWithinBox(const btVector3& amin,const btVector3& amax,const btVector3& bmin,const btVector3& bmax)
{
return
@@ -157,8 +158,8 @@ void btMultiSapBroadphase::setAabb(btBroadphaseProxy* proxy,const btVector3& aab
multiProxy->m_aabbMax = aabbMax;
bool fullyContained = false;
bool alreadyInSimple = false;
// bool fullyContained = false;
// bool alreadyInSimple = false;
@@ -177,7 +178,7 @@ void btMultiSapBroadphase::setAabb(btBroadphaseProxy* proxy,const btVector3& aab
}
virtual void processNode(int nodeSubPart, int broadphaseIndex)
virtual void processNode(int /*nodeSubPart*/, int broadphaseIndex)
{
btBroadphaseInterface* childBroadphase = m_multiSap->getBroadphaseArray()[broadphaseIndex];

13
src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp
View File

@@ -142,7 +142,7 @@ btBroadphasePair* btHashedOverlappingPairCache::findPair(btBroadphaseProxy* prox
/*if (proxyId1 > proxyId2)
btSwap(proxyId1, proxyId2);*/
int hash = getHash(proxyId1, proxyId2) & (m_overlappingPairArray.capacity()-1);
int hash = static_cast<int>(getHash(static_cast<unsigned int>(proxyId1), static_cast<unsigned int>(proxyId2)) & (m_overlappingPairArray.capacity()-1));
if (hash >= m_hashTable.size())
{
@@ -200,7 +200,7 @@ void btHashedOverlappingPairCache::growTables()
int proxyId2 = pair.m_pProxy1->getUid();
/*if (proxyId1 > proxyId2)
btSwap(proxyId1, proxyId2);*/
int hashValue = getHash(proxyId1,proxyId2) & (m_overlappingPairArray.capacity()-1); // New hash value with new mask
int hashValue = static_cast<int>(getHash(static_cast<unsigned int>(proxyId1),static_cast<unsigned int>(proxyId2)) & (m_overlappingPairArray.capacity()-1)); // New hash value with new mask
m_next[i] = m_hashTable[hashValue];
m_hashTable[hashValue] = i;
}
@@ -218,9 +218,8 @@ btBroadphasePair* btHashedOverlappingPairCache::internalAddPair(btBroadphaseProx
/*if (proxyId1 > proxyId2)
btSwap(proxyId1, proxyId2);*/
int hash = getHash(proxyId1, proxyId2) & (m_overlappingPairArray.capacity()-1);
int hash = static_cast<int>(getHash(static_cast<unsigned int>(proxyId1),static_cast<unsigned int>(proxyId2)) & (m_overlappingPairArray.capacity()-1)); // New hash value with new mask
btBroadphasePair* pair = internalFindPair(proxy0, proxy1, hash);
if (pair != NULL)
@@ -245,7 +244,7 @@ btBroadphasePair* btHashedOverlappingPairCache::internalAddPair(btBroadphaseProx
{
growTables();
//hash with new capacity
hash = getHash(proxyId1, proxyId2) & (m_overlappingPairArray.capacity()-1);
hash = static_cast<int>(getHash(static_cast<unsigned int>(proxyId1),static_cast<unsigned int>(proxyId2)) & (m_overlappingPairArray.capacity()-1));
}
pair = new (mem) btBroadphasePair(*proxy0,*proxy1);
@@ -273,7 +272,7 @@ void* btHashedOverlappingPairCache::removeOverlappingPair(btBroadphaseProxy* pro
/*if (proxyId1 > proxyId2)
btSwap(proxyId1, proxyId2);*/
int hash = getHash(proxyId1, proxyId2) & (m_overlappingPairArray.capacity()-1);
int hash = static_cast<int>(getHash(static_cast<unsigned int>(proxyId1),static_cast<unsigned int>(proxyId2)) & (m_overlappingPairArray.capacity()-1));
btBroadphasePair* pair = internalFindPair(proxy0, proxy1, hash);
if (pair == NULL)
@@ -328,7 +327,7 @@ void* btHashedOverlappingPairCache::removeOverlappingPair(btBroadphaseProxy* pro
// Remove the last pair from the hash table.
const btBroadphasePair* last = &m_overlappingPairArray[lastPairIndex];
/* missing swap here too, Nat. */
int lastHash = getHash(last->m_pProxy0->getUid(), last->m_pProxy1->getUid()) & (m_overlappingPairArray.capacity()-1);
int lastHash = static_cast<int>(getHash(static_cast<unsigned int>(last->m_pProxy0->getUid()), static_cast<unsigned int>(last->m_pProxy1->getUid())) & (m_overlappingPairArray.capacity()-1));
index = m_hashTable[lastHash];
btAssert(index != BT_NULL_PAIR);

21
src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h
View File

@@ -205,7 +205,7 @@ private:
SIMD_FORCE_INLINE unsigned int getHash(unsigned int proxyId1, unsigned int proxyId2)
{
int key = ((unsigned int)proxyId1) | (((unsigned int)proxyId2) <<16);
int key = static_cast<int>(((unsigned int)proxyId1) | (((unsigned int)proxyId2) <<16));
// Thomas Wang's hash
key += ~(key << 15);
@@ -214,7 +214,7 @@ private:
key ^= (key >> 6);
key += ~(key << 11);
key ^= (key >> 16);
return key;
return static_cast<unsigned int>(key);
}
@@ -380,7 +380,7 @@ public:
return m_overlappingPairArray;
}
virtual void cleanOverlappingPair(btBroadphasePair& pair,btDispatcher* dispatcher)
virtual void cleanOverlappingPair(btBroadphasePair& /*pair*/,btDispatcher* /*dispatcher*/)
{
}
@@ -390,20 +390,20 @@ public:
return 0;
}
virtual void cleanProxyFromPairs(btBroadphaseProxy* proxy,btDispatcher* dispatcher)
virtual void cleanProxyFromPairs(btBroadphaseProxy* /*proxy*/,btDispatcher* /*dispatcher*/)
{
}
virtual void setOverlapFilterCallback(btOverlapFilterCallback* callback)
virtual void setOverlapFilterCallback(btOverlapFilterCallback* /*callback*/)
{
}
virtual void processAllOverlappingPairs(btOverlapCallback*,btDispatcher* dispatcher)
virtual void processAllOverlappingPairs(btOverlapCallback*,btDispatcher* /*dispatcher*/)
{
}
virtual btBroadphasePair* findPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1)
virtual btBroadphasePair* findPair(btBroadphaseProxy* /*proxy0*/, btBroadphaseProxy* /*proxy1*/)
{
return 0;
}
@@ -413,17 +413,17 @@ public:
return true;
}
virtual btBroadphasePair* addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1)
virtual btBroadphasePair* addOverlappingPair(btBroadphaseProxy* /*proxy0*/,btBroadphaseProxy* /*proxy1*/)
{
return 0;
}
virtual void* removeOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1,btDispatcher* dispatcher)
virtual void* removeOverlappingPair(btBroadphaseProxy* /*proxy0*/,btBroadphaseProxy* /*proxy1*/,btDispatcher* /*dispatcher*/)
{
return 0;
}
virtual void removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy0,btDispatcher* dispatcher)
virtual void removeOverlappingPairsContainingProxy(btBroadphaseProxy* /*proxy0*/,btDispatcher* /*dispatcher*/)
{
}
@@ -434,4 +434,3 @@ public:
#endif //OVERLAPPING_PAIR_CACHE_H

4
src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp
View File

@@ -83,7 +83,7 @@ btSimpleBroadphase::~btSimpleBroadphase()
}
btBroadphaseProxy* btSimpleBroadphase::createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* multiSapProxy)
btBroadphaseProxy* btSimpleBroadphase::createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* /*dispatcher*/,void* multiSapProxy)
{
if (m_numHandles >= m_maxHandles)
{
@@ -139,7 +139,7 @@ void btSimpleBroadphase::destroyProxy(btBroadphaseProxy* proxyOrg,btDispatcher*
}
void btSimpleBroadphase::setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher)
void btSimpleBroadphase::setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* /*dispatcher*/)
{
btSimpleBroadphaseProxy* sbp = getSimpleProxyFromProxy(proxy);
sbp->m_min = aabbMin;

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

@@ -53,6 +53,8 @@ void SphereTriangleDetector::getClosestPoints(const ClosestPointInput& input,Res
// See also geometrictools.com
// Basic idea: D = |p - (lo + t0*lv)| where t0 = lv . (p - lo) / lv . lv
btScalar SegmentSqrDistance(const btVector3& from, const btVector3& to,const btVector3 &p, btVector3 &nearest);
btScalar SegmentSqrDistance(const btVector3& from, const btVector3& to,const btVector3 &p, btVector3 &nearest) {
btVector3 diff = p - from;
btVector3 v = to - from;

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

@@ -78,7 +78,7 @@ void btBoxBoxCollisionAlgorithm::processCollision (btCollisionObject* body0,btCo
}
btScalar btBoxBoxCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
btScalar btBoxBoxCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* /*body0*/,btCollisionObject* /*body1*/,const btDispatcherInfo& /*dispatchInfo*/,btManifoldResult* /*resultOut*/)
{
//not yet
return 1.f;

25
src/BulletCollision/CollisionDispatch/btBoxBoxDetector.cpp
View File

@@ -63,23 +63,27 @@ static btScalar dDOT44 (const btScalar *a, const btScalar *b) { return dDOTpq(a,
static btScalar dDOT41 (const btScalar *a, const btScalar *b) { return dDOTpq(a,b,4,1); }
static btScalar dDOT14 (const btScalar *a, const btScalar *b) { return dDOTpq(a,b,1,4); }
#define dMULTIPLYOP1_331(A,op,B,C) \
do { \
{\
(A)[0] op dDOT41((B),(C)); \
(A)[1] op dDOT41((B+1),(C)); \
(A)[2] op dDOT41((B+2),(C)); \
} while(0)
}
#define dMULTIPLYOP0_331(A,op,B,C) \
do { \
{ \
(A)[0] op dDOT((B),(C)); \
(A)[1] op dDOT((B+4),(C)); \
(A)[2] op dDOT((B+8),(C)); \
} while(0)
}
#define dMULTIPLY1_331(A,B,C) dMULTIPLYOP1_331(A,=,B,C)
#define dMULTIPLY0_331(A,B,C) dMULTIPLYOP0_331(A,=,B,C)
typedef btScalar dMatrix3[4*3];
void dLineClosestApproach (const btVector3& pa, const btVector3& ua,
const btVector3& pb, const btVector3& ub,
btScalar *alpha, btScalar *beta);
void dLineClosestApproach (const btVector3& pa, const btVector3& ua,
const btVector3& pb, const btVector3& ub,
btScalar *alpha, btScalar *beta)
@@ -118,7 +122,7 @@ static int intersectRectQuad2 (btScalar h[2], btScalar p[8], btScalar ret[16])
{
// q (and r) contain nq (and nr) coordinate points for the current (and
// chopped) polygons
int nq=4,nr;
int nq=4,nr=0;
btScalar buffer[16];
btScalar *q = p;
btScalar *r = ret;
@@ -178,6 +182,7 @@ static int intersectRectQuad2 (btScalar h[2], btScalar p[8], btScalar ret[16])
// n must be in the range [1..8]. m must be in the range [1..n]. i0 must be
// in the range [0..n-1].
void cullPoints2 (int n, btScalar p[], int m, int i0, int iret[]);
void cullPoints2 (int n, btScalar p[], int m, int i0, int iret[])
{
// compute the centroid of the polygon in cx,cy
@@ -244,12 +249,16 @@ void cullPoints2 (int n, btScalar p[], int m, int i0, int iret[])
int dBoxBox2 (const btVector3& p1, const dMatrix3 R1,
const btVector3& side1, const btVector3& p2,
const dMatrix3 R2, const btVector3& side2,
btVector3& normal, btScalar *depth, int *return_code,
int maxc, dContactGeom *contact, int skip,btDiscreteCollisionDetectorInterface::Result& output)
int maxc, dContactGeom * /*contact*/, int /*skip*/,btDiscreteCollisionDetectorInterface::Result& output);
int dBoxBox2 (const btVector3& p1, const dMatrix3 R1,
const btVector3& side1, const btVector3& p2,
const dMatrix3 R2, const btVector3& side2,
btVector3& normal, btScalar *depth, int *return_code,
int maxc, dContactGeom * /*contact*/, int /*skip*/,btDiscreteCollisionDetectorInterface::Result& output)
{
const btScalar fudge_factor = btScalar(1.05);
btVector3 p,pp,normalC;
@@ -626,7 +635,7 @@ int dBoxBox2 (const btVector3& p1, const dMatrix3 R1,
return cnum;
}
void btBoxBoxDetector::getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw)
void btBoxBoxDetector::getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* /*debugDraw*/)
{
const btTransform& transformA = input.m_transformA;

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

@@ -280,7 +280,7 @@ void* btCollisionDispatcher::allocateCollisionAlgorithm(int size)
}
//warn user for overflow?
return btAlignedAlloc(size,16);
return btAlignedAlloc(static_cast<std::size_t>(size), 16);
}
void btCollisionDispatcher::freeCollisionAlgorithm(void* ptr)

2
src/BulletCollision/CollisionDispatch/btCollisionObject.h
View File

@@ -84,7 +84,7 @@ protected:
char m_pad[7];
virtual bool checkCollideWithOverride(btCollisionObject* co)
virtual bool checkCollideWithOverride(btCollisionObject* /* co */)
{
return true;
}

16
src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
View File

@@ -1,3 +1,17 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "LinearMath/btScalar.h"
@@ -25,7 +39,7 @@ void btSimulationIslandManager::initUnionFind(int n)
}
void btSimulationIslandManager::findUnions(btDispatcher* dispatcher,btCollisionWorld* colWorld)
void btSimulationIslandManager::findUnions(btDispatcher* /* dispatcher */,btCollisionWorld* colWorld)
{
{

6
src/BulletCollision/CollisionDispatch/btSimulationIslandManager.h
View File

@@ -32,9 +32,9 @@ class btSimulationIslandManager
{
btUnionFind m_unionFind;
btAlignedObjectArray<btPersistentManifold*> m_islandmanifold;
btAlignedObjectArray<btCollisionObject* > m_islandBodies;
btAlignedObjectArray<btPersistentManifold*> m_islandmanifold;
btAlignedObjectArray<btCollisionObject* > m_islandBodies;
public:
btSimulationIslandManager();

7
src/BulletCollision/CollisionShapes/btCollisionShape.cpp
View File

@@ -21,7 +21,12 @@ subject to the following restrictions:
can be used by probes that are checking whether the
library is actually installed.
*/
extern "C" void btBulletCollisionProbe () {}
extern "C"
{
void btBulletCollisionProbe ();
void btBulletCollisionProbe () {}
}

1
src/BulletCollision/CollisionShapes/btCompoundShape.h
View File

@@ -26,6 +26,7 @@ subject to the following restrictions:
class btOptimizedBvh;
ATTRIBUTE_ALIGNED16(struct) btCompoundShapeChild
{
BT_DECLARE_ALIGNED_ALLOCATOR();

2
src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp
View File

@@ -182,7 +182,7 @@ void btHeightfieldTerrainShape::getVertex(int x,int y,btVector3& vertex) const
}
void btHeightfieldTerrainShape::quantizeWithClamp(int* out, const btVector3& point,int isMax) const
void btHeightfieldTerrainShape::quantizeWithClamp(int* out, const btVector3& point,int /*isMax*/) const
{
btVector3 clampedPoint(point);
clampedPoint.setMax(m_localAabbMin);

59
src/BulletCollision/CollisionShapes/btOptimizedBvh.cpp
View File

@@ -301,14 +301,14 @@ void btOptimizedBvh::updateBvhNodes(btStridingMeshInterface* meshInterface,int f
int curNodeSubPart=-1;
//get access info to trianglemesh data
const unsigned char *vertexbase;
int numverts;
PHY_ScalarType type;
int stride;
const unsigned char *indexbase;
int indexstride;
int numfaces;
PHY_ScalarType indicestype;
const unsigned char *vertexbase = 0;
int numverts = 0;
PHY_ScalarType type = PHY_INTEGER;
int stride = 0;
const unsigned char *indexbase = 0;
int indexstride = 0;
int numfaces = 0;
PHY_ScalarType indicestype = PHY_INTEGER;
btVector3 triangleVerts[3];
btVector3 aabbMin,aabbMax;
@@ -532,11 +532,11 @@ void btOptimizedBvh::updateSubtreeHeaders(int leftChildNodexIndex,int rightChild
btQuantizedBvhNode& leftChildNode = m_quantizedContiguousNodes[leftChildNodexIndex];
int leftSubTreeSize = leftChildNode.isLeafNode() ? 1 : leftChildNode.getEscapeIndex();
int leftSubTreeSizeInBytes = leftSubTreeSize * sizeof(btQuantizedBvhNode);
int leftSubTreeSizeInBytes = leftSubTreeSize * static_cast<int>(sizeof(btQuantizedBvhNode));
btQuantizedBvhNode& rightChildNode = m_quantizedContiguousNodes[rightChildNodexIndex];
int rightSubTreeSize = rightChildNode.isLeafNode() ? 1 : rightChildNode.getEscapeIndex();
int rightSubTreeSizeInBytes = rightSubTreeSize * sizeof(btQuantizedBvhNode);
int rightSubTreeSizeInBytes = rightSubTreeSize * static_cast<int>(sizeof(btQuantizedBvhNode));
if(leftSubTreeSizeInBytes <= MAX_SUBTREE_SIZE_IN_BYTES)
{
@@ -606,6 +606,7 @@ int btOptimizedBvh::sortAndCalcSplittingIndex(int startIndex,int endIndex,int sp
}
bool unbal = (splitIndex==startIndex) || (splitIndex == (endIndex));
(void)unbal;
btAssert(!unbal);
return splitIndex;
@@ -785,6 +786,7 @@ void btOptimizedBvh::walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback*
int curIndex = startNodeIndex;
int walkIterations = 0;
int subTreeSize = endNodeIndex - startNodeIndex;
(void)subTreeSize;
const btQuantizedBvhNode* rootNode = &m_quantizedContiguousNodes[startNodeIndex];
int escapeIndex;
@@ -909,6 +911,7 @@ void btOptimizedBvh::walkStacklessQuantizedTree(btNodeOverlapCallback* nodeCallb
int curIndex = startNodeIndex;
int walkIterations = 0;
int subTreeSize = endNodeIndex - startNodeIndex;
(void)subTreeSize;
const btQuantizedBvhNode* rootNode = &m_quantizedContiguousNodes[startNodeIndex];
int escapeIndex;
@@ -1080,7 +1083,7 @@ unsigned btOptimizedBvh::calculateSerializeBufferSize()
return baseSize + m_curNodeIndex * sizeof(btOptimizedBvhNode);
}
bool btOptimizedBvh::serialize(void *o_alignedDataBuffer, unsigned i_dataBufferSize, bool i_swapEndian)
bool btOptimizedBvh::serialize(void *o_alignedDataBuffer, unsigned /*i_dataBufferSize */, bool i_swapEndian)
{
assert(m_subtreeHeaderCount == m_SubtreeHeaders.size());
m_subtreeHeaderCount = m_SubtreeHeaders.size();
@@ -1101,7 +1104,7 @@ bool btOptimizedBvh::serialize(void *o_alignedDataBuffer, unsigned i_dataBufferS
if (i_swapEndian)
{
targetBvh->m_curNodeIndex = btSwapEndian(m_curNodeIndex);
targetBvh->m_curNodeIndex = static_cast<int>(btSwapEndian(m_curNodeIndex));
btSwapVector3Endian(m_bvhAabbMin,targetBvh->m_bvhAabbMin);
@@ -1109,7 +1112,7 @@ bool btOptimizedBvh::serialize(void *o_alignedDataBuffer, unsigned i_dataBufferS
btSwapVector3Endian(m_bvhQuantization,targetBvh->m_bvhQuantization);
targetBvh->m_traversalMode = (btTraversalMode)btSwapEndian(m_traversalMode);
targetBvh->m_subtreeHeaderCount = btSwapEndian(m_subtreeHeaderCount);
targetBvh->m_subtreeHeaderCount = static_cast<int>(btSwapEndian(m_subtreeHeaderCount));
}
else
{
@@ -1147,7 +1150,7 @@ bool btOptimizedBvh::serialize(void *o_alignedDataBuffer, unsigned i_dataBufferS
targetBvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[1] = btSwapEndian(m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[1]);
targetBvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[2] = btSwapEndian(m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[2]);
targetBvh->m_quantizedContiguousNodes[nodeIndex].m_escapeIndexOrTriangleIndex = btSwapEndian(m_quantizedContiguousNodes[nodeIndex].m_escapeIndexOrTriangleIndex);
targetBvh->m_quantizedContiguousNodes[nodeIndex].m_escapeIndexOrTriangleIndex = static_cast<int>(btSwapEndian(m_quantizedContiguousNodes[nodeIndex].m_escapeIndexOrTriangleIndex));
}
}
else
@@ -1181,9 +1184,9 @@ bool btOptimizedBvh::serialize(void *o_alignedDataBuffer, unsigned i_dataBufferS
btSwapVector3Endian(m_contiguousNodes[nodeIndex].m_aabbMinOrg, targetBvh->m_contiguousNodes[nodeIndex].m_aabbMinOrg);
btSwapVector3Endian(m_contiguousNodes[nodeIndex].m_aabbMaxOrg, targetBvh->m_contiguousNodes[nodeIndex].m_aabbMaxOrg);
targetBvh->m_contiguousNodes[nodeIndex].m_escapeIndex = btSwapEndian(m_contiguousNodes[nodeIndex].m_escapeIndex);
targetBvh->m_contiguousNodes[nodeIndex].m_subPart = btSwapEndian(m_contiguousNodes[nodeIndex].m_subPart);
targetBvh->m_contiguousNodes[nodeIndex].m_triangleIndex = btSwapEndian(m_contiguousNodes[nodeIndex].m_triangleIndex);
targetBvh->m_contiguousNodes[nodeIndex].m_escapeIndex = static_cast<int>(btSwapEndian(m_contiguousNodes[nodeIndex].m_escapeIndex));
targetBvh->m_contiguousNodes[nodeIndex].m_subPart = static_cast<int>(btSwapEndian(m_contiguousNodes[nodeIndex].m_subPart));
targetBvh->m_contiguousNodes[nodeIndex].m_triangleIndex = static_cast<int>(btSwapEndian(m_contiguousNodes[nodeIndex].m_triangleIndex));
}
}
else
@@ -1218,8 +1221,8 @@ bool btOptimizedBvh::serialize(void *o_alignedDataBuffer, unsigned i_dataBufferS
targetBvh->m_SubtreeHeaders[i].m_quantizedAabbMax[1] = btSwapEndian(m_SubtreeHeaders[i].m_quantizedAabbMax[1]);
targetBvh->m_SubtreeHeaders[i].m_quantizedAabbMax[2] = btSwapEndian(m_SubtreeHeaders[i].m_quantizedAabbMax[2]);
targetBvh->m_SubtreeHeaders[i].m_rootNodeIndex = btSwapEndian(m_SubtreeHeaders[i].m_rootNodeIndex);
targetBvh->m_SubtreeHeaders[i].m_subtreeSize = btSwapEndian(m_SubtreeHeaders[i].m_subtreeSize);
targetBvh->m_SubtreeHeaders[i].m_rootNodeIndex = static_cast<int>(btSwapEndian(m_SubtreeHeaders[i].m_rootNodeIndex));
targetBvh->m_SubtreeHeaders[i].m_subtreeSize = static_cast<int>(btSwapEndian(m_SubtreeHeaders[i].m_subtreeSize));
}
}
else
@@ -1256,14 +1259,14 @@ btOptimizedBvh *btOptimizedBvh::deSerializeInPlace(void *i_alignedDataBuffer, un
if (i_swapEndian)
{
bvh->m_curNodeIndex = btSwapEndian(bvh->m_curNodeIndex);
bvh->m_curNodeIndex = static_cast<int>(btSwapEndian(bvh->m_curNodeIndex));
btUnSwapVector3Endian(bvh->m_bvhAabbMin);
btUnSwapVector3Endian(bvh->m_bvhAabbMax);
btUnSwapVector3Endian(bvh->m_bvhQuantization);
bvh->m_traversalMode = (btTraversalMode)btSwapEndian(bvh->m_traversalMode);
bvh->m_subtreeHeaderCount = btSwapEndian(bvh->m_subtreeHeaderCount);
bvh->m_subtreeHeaderCount = static_cast<int>(btSwapEndian(bvh->m_subtreeHeaderCount));
}
unsigned int calculatedBufSize = bvh->calculateSerializeBufferSize();
@@ -1302,7 +1305,7 @@ btOptimizedBvh *btOptimizedBvh::deSerializeInPlace(void *i_alignedDataBuffer, un
bvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[1] = btSwapEndian(bvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[1]);
bvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[2] = btSwapEndian(bvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[2]);
bvh->m_quantizedContiguousNodes[nodeIndex].m_escapeIndexOrTriangleIndex = btSwapEndian(bvh->m_quantizedContiguousNodes[nodeIndex].m_escapeIndexOrTriangleIndex);
bvh->m_quantizedContiguousNodes[nodeIndex].m_escapeIndexOrTriangleIndex = static_cast<int>(btSwapEndian(bvh->m_quantizedContiguousNodes[nodeIndex].m_escapeIndexOrTriangleIndex));
}
}
nodeData += sizeof(btQuantizedBvhNode) * nodeCount;
@@ -1318,9 +1321,9 @@ btOptimizedBvh *btOptimizedBvh::deSerializeInPlace(void *i_alignedDataBuffer, un
btUnSwapVector3Endian(bvh->m_contiguousNodes[nodeIndex].m_aabbMinOrg);
btUnSwapVector3Endian(bvh->m_contiguousNodes[nodeIndex].m_aabbMaxOrg);
bvh->m_contiguousNodes[nodeIndex].m_escapeIndex = btSwapEndian(bvh->m_contiguousNodes[nodeIndex].m_escapeIndex);
bvh->m_contiguousNodes[nodeIndex].m_subPart = btSwapEndian(bvh->m_contiguousNodes[nodeIndex].m_subPart);
bvh->m_contiguousNodes[nodeIndex].m_triangleIndex = btSwapEndian(bvh->m_contiguousNodes[nodeIndex].m_triangleIndex);
bvh->m_contiguousNodes[nodeIndex].m_escapeIndex = static_cast<int>(btSwapEndian(bvh->m_contiguousNodes[nodeIndex].m_escapeIndex));
bvh->m_contiguousNodes[nodeIndex].m_subPart = static_cast<int>(btSwapEndian(bvh->m_contiguousNodes[nodeIndex].m_subPart));
bvh->m_contiguousNodes[nodeIndex].m_triangleIndex = static_cast<int>(btSwapEndian(bvh->m_contiguousNodes[nodeIndex].m_triangleIndex));
}
}
nodeData += sizeof(btOptimizedBvhNode) * nodeCount;
@@ -1343,8 +1346,8 @@ btOptimizedBvh *btOptimizedBvh::deSerializeInPlace(void *i_alignedDataBuffer, un
bvh->m_SubtreeHeaders[i].m_quantizedAabbMax[1] = btSwapEndian(bvh->m_SubtreeHeaders[i].m_quantizedAabbMax[1]);
bvh->m_SubtreeHeaders[i].m_quantizedAabbMax[2] = btSwapEndian(bvh->m_SubtreeHeaders[i].m_quantizedAabbMax[2]);
bvh->m_SubtreeHeaders[i].m_rootNodeIndex = btSwapEndian(bvh->m_SubtreeHeaders[i].m_rootNodeIndex);
bvh->m_SubtreeHeaders[i].m_subtreeSize = btSwapEndian(bvh->m_SubtreeHeaders[i].m_subtreeSize);
bvh->m_SubtreeHeaders[i].m_rootNodeIndex = static_cast<int>(btSwapEndian(bvh->m_SubtreeHeaders[i].m_rootNodeIndex));
bvh->m_SubtreeHeaders[i].m_subtreeSize = static_cast<int>(btSwapEndian(bvh->m_SubtreeHeaders[i].m_subtreeSize));
}
}
@@ -1352,7 +1355,7 @@ btOptimizedBvh *btOptimizedBvh::deSerializeInPlace(void *i_alignedDataBuffer, un
}
// Constructor that prevents btVector3's default constructor from being called
btOptimizedBvh::btOptimizedBvh(btOptimizedBvh &self, bool ownsMemory) :
btOptimizedBvh::btOptimizedBvh(btOptimizedBvh &self, bool /* ownsMemory */) :
m_bvhAabbMin(self.m_bvhAabbMin),
m_bvhAabbMax(self.m_bvhAabbMax),
m_bvhQuantization(self.m_bvhQuantization)

4
src/BulletCollision/CollisionShapes/btOptimizedBvh.h
View File

@@ -311,10 +311,10 @@ protected:
//This block replaces the block below and uses no branches, and replaces the 8 bit return with a 32 bit return for improved performance (~3x on XBox 360)
SIMD_FORCE_INLINE unsigned testQuantizedAabbAgainstQuantizedAabb(unsigned short int* aabbMin1,unsigned short int* aabbMax1,const unsigned short int* aabbMin2,const unsigned short int* aabbMax2) const
{
return btSelect((unsigned)((aabbMin1[0] <= aabbMax2[0]) & (aabbMax1[0] >= aabbMin2[0])
return static_cast<unsigned int>(btSelect((unsigned)((aabbMin1[0] <= aabbMax2[0]) & (aabbMax1[0] >= aabbMin2[0])
& (aabbMin1[2] <= aabbMax2[2]) & (aabbMax1[2] >= aabbMin2[2])
& (aabbMin1[1] <= aabbMax2[1]) & (aabbMax1[1] >= aabbMin2[1])),
1, 0);
1, 0));
}
#else
SIMD_FORCE_INLINE bool testQuantizedAabbAgainstQuantizedAabb(unsigned short int* aabbMin1,unsigned short int* aabbMax1,const unsigned short int* aabbMin2,const unsigned short int* aabbMax2) const

16
src/BulletCollision/CollisionShapes/btShapeHull.cpp
View File

@@ -81,7 +81,7 @@ btShapeHull::~btShapeHull ()
}
bool
btShapeHull::buildHull (btScalar margin)
btShapeHull::buildHull (btScalar /*margin*/)
{
int numSampleDirections = NUM_UNITSPHERE_POINTS;
{
@@ -107,7 +107,7 @@ btShapeHull::buildHull (btScalar margin)
HullDesc hd;
hd.mFlags = QF_TRIANGLES;
hd.mVcount = numSampleDirections;
hd.mVcount = static_cast<unsigned int>(numSampleDirections);
#ifdef BT_USE_DOUBLE_PRECISION
hd.mVertices = &supportPoints[0];
@@ -124,16 +124,16 @@ btShapeHull::buildHull (btScalar margin)
return false;
}
m_vertices.resize (hr.mNumOutputVertices);
m_vertices.resize (static_cast<int>(hr.mNumOutputVertices));
for (i = 0; i < hr.mNumOutputVertices; i++)
for (i = 0; i < static_cast<int>(hr.mNumOutputVertices); i++)
{
m_vertices[i] = hr.m_OutputVertices[i];
}
m_numIndices = hr.mNumIndices;
m_indices.resize(m_numIndices);
for (i = 0; i < m_numIndices; i++)
m_indices.resize(static_cast<int>(m_numIndices));
for (i = 0; i < static_cast<int>(m_numIndices); i++)
{
m_indices[i] = hr.m_Indices[i];
}
@@ -147,7 +147,7 @@ btShapeHull::buildHull (btScalar margin)
int
btShapeHull::numTriangles () const
{
return m_numIndices / 3;
return static_cast<int>(m_numIndices / 3);
}
int
@@ -159,6 +159,6 @@ btShapeHull::numVertices () const
int
btShapeHull::numIndices () const
{
return m_numIndices;
return static_cast<int>(m_numIndices);
}

4
src/BulletCollision/CollisionShapes/btTriangleMesh.cpp
View File

@@ -97,7 +97,7 @@ void btTriangleMesh::addTriangle(const btVector3& vertex0,const btVector3& verte
m_indexedMeshes[0].m_triangleIndexBase = (unsigned char*) &m_32bitIndices[0];
} else
{
int curIndex = m_16bitIndices.size();
short curIndex = static_cast<short>(m_16bitIndices.size());
m_16bitIndices.push_back(curIndex++);
m_16bitIndices.push_back(curIndex++);
m_16bitIndices.push_back(curIndex++);
@@ -112,4 +112,4 @@ int btTriangleMesh::getNumTriangles() const
return m_32bitIndices.size() / 3;
}
return m_16bitIndices.size() / 3;
}
}

4
src/BulletCollision/NarrowPhaseCollision/btGjkEpa.cpp
View File

@@ -602,13 +602,13 @@ GJK gjk(stackAlloc,
wtrs1.getBasis(),wtrs1.getOrigin(),shape1,
radialmargin+EPA_accuracy);
const Z collide(gjk.SearchOrigin());
results.gjk_iterations = gjk.iterations+1;
results.gjk_iterations = static_cast<int>(gjk.iterations+1);
if(collide)
{
/* Then EPA for penetration depth */
EPA epa(&gjk);
const F pd(epa.EvaluatePD());
results.epa_iterations = epa.iterations+1;
results.epa_iterations = static_cast<int>(epa.iterations+1);
if(pd>0)
{
results.status = sResults::Penetrating;

2
src/BulletCollision/NarrowPhaseCollision/btGjkEpa.h
View File

@@ -35,7 +35,7 @@ struct sResults
Separated, /* Shapes doesnt penetrate */
Penetrating, /* Shapes are penetrating */
GJK_Failed, /* GJK phase fail, no big issue, shapes are probably just 'touching' */
EPA_Failed, /* EPA phase fail, bigger problem, need to save parameters, and debug */
EPA_Failed /* EPA phase fail, bigger problem, need to save parameters, and debug */
} status;
btVector3 witnesses[2];
btVector3 normal;

32
src/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp
View File

@@ -1,3 +1,27 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2008 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the
use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it
freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not
claim that you wrote the original software. If you use this software in a
product, an acknowledgment in the product documentation would be appreciated
but is not required.
2. Altered source versions must be plainly marked as such, and must not be
misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
/*
GJK-EPA collision solver by Nathanael Presson, 2008
*/
#include "BulletCollision/CollisionShapes/btConvexInternalShape.h"
#include "BulletCollision/CollisionShapes/btSphereShape.h"
#include "btGjkEpa2.h"
@@ -364,7 +388,7 @@ static btScalar projectorigin( const btVector3& a,
if((mindist<0)||(subd<mindist))
{
mindist = subd;
m = ((subm&1)?1<<i:0)+((subm&2)?1<<j:0);
m = static_cast<U>(((subm&1)?1<<i:0)+((subm&2)?1<<j:0));
w[i] = subw[0];
w[j] = subw[1];
w[imd3[j]] = 0;
@@ -412,9 +436,9 @@ static btScalar projectorigin( const btVector3& a,
if((mindist<0)||(subd<mindist))
{
mindist = subd;
m = (subm&1?1<<i:0)+
m = static_cast<U>((subm&1?1<<i:0)+
(subm&2?1<<j:0)+
(subm&4?8:0);
(subm&4?8:0));
w[i] = subw[0];
w[j] = subw[1];
w[imd3[j]] = 0;
@@ -476,7 +500,7 @@ struct eStatus { enum _ {
OutOfVertices,
AccuraryReached,
FallBack,
Failed, };};
Failed };};
/* Fields */
eStatus::_ m_status;
GJK::sSimplex m_result;

26
src/BulletCollision/NarrowPhaseCollision/btGjkEpa2.h
View File

@@ -1,3 +1,27 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2008 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the
use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it
freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not
claim that you wrote the original software. If you use this software in a
product, an acknowledgment in the product documentation would be appreciated
but is not required.
2. Altered source versions must be plainly marked as such, and must not be
misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
/*
GJK-EPA collision solver by Nathanael Presson, 2008
*/
#ifndef _68DA1F85_90B7_4bb0_A705_83B4040A75C6_
#define _68DA1F85_90B7_4bb0_A705_83B4040A75C6_
#include "BulletCollision/CollisionShapes/btConvexShape.h"
@@ -12,7 +36,7 @@ struct sResults
Separated, /* Shapes doesnt penetrate */
Penetrating, /* Shapes are penetrating */
GJK_Failed, /* GJK phase fail, no big issue, shapes are probably just 'touching' */
EPA_Failed, /* EPA phase fail, bigger problem, need to save parameters, and debug */
EPA_Failed /* EPA phase fail, bigger problem, need to save parameters, and debug */
} status;
btVector3 witnesses[2];
btVector3 normal;

1
src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp
View File

@@ -21,6 +21,7 @@ subject to the following restrictions:
#define NUM_UNITSPHERE_POINTS 42
static btVector3 sPenetrationDirections[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2] =
{

2
src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp
View File

@@ -157,4 +157,4 @@ btTriangleConvexcastCallback::processTriangle (btVector3* triangle, int partId,
}
}
}
}
}