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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

4
src/BulletDynamics/ConstraintSolver/btConstraintSolver.h
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@@ -35,12 +35,12 @@ public:
virtual ~btConstraintSolver() {}
virtual void prepareSolve (int numBodies, int numManifolds) {;}
virtual void prepareSolve (int /* numBodies */, int /* numManifolds */) {;}
///solve a group of constraints
virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints, const btContactSolverInfo& info,class btIDebugDraw* debugDrawer, btStackAlloc* stackAlloc,btDispatcher* dispatcher) = 0;
virtual void allSolved (const btContactSolverInfo& info,class btIDebugDraw* debugDrawer, btStackAlloc* stackAlloc) {;}
virtual void allSolved (const btContactSolverInfo& /* info */,class btIDebugDraw* /* debugDrawer */, btStackAlloc* /* stackAlloc */) {;}
///clear internal cached data and reset random seed
virtual void reset() = 0;

12
src/BulletDynamics/ConstraintSolver/btContactConstraint.cpp
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@@ -233,6 +233,12 @@ btScalar resolveSingleFriction(
}
btScalar resolveSingleFrictionOriginal(
btRigidBody& body1,
btRigidBody& body2,
btManifoldPoint& contactPoint,
const btContactSolverInfo& solverInfo);
btScalar resolveSingleFrictionOriginal(
btRigidBody& body1,
btRigidBody& body2,
@@ -400,6 +406,12 @@ btScalar resolveSingleCollisionCombined(
return normalImpulse;
}
btScalar resolveSingleFrictionEmpty(
btRigidBody& body1,
btRigidBody& body2,
btManifoldPoint& contactPoint,
const btContactSolverInfo& solverInfo);
btScalar resolveSingleFrictionEmpty(
btRigidBody& body1,
btRigidBody& body2,

12
src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
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@@ -31,6 +31,7 @@ static const int kAxisA[] = { 1, 0, 0 };
static const int kAxisB[] = { 2, 2, 1 };
#define GENERIC_D6_DISABLE_WARMSTARTING 1
btScalar btGetMatrixElem(const btMatrix3x3& mat, int index);
btScalar btGetMatrixElem(const btMatrix3x3& mat, int index)
{
int i = index%3;
@@ -39,6 +40,7 @@ btScalar btGetMatrixElem(const btMatrix3x3& mat, int index)
}
///MatrixToEulerXYZ from http://www.geometrictools.com/LibFoundation/Mathematics/Wm4Matrix3.inl.html
bool matrixToEulerXYZ(const btMatrix3x3& mat,btVector3& xyz);
bool matrixToEulerXYZ(const btMatrix3x3& mat,btVector3& xyz)
{
// // rot = cy*cz -cy*sz sy
@@ -101,13 +103,11 @@ int btRotationalLimitMotor::testLimitValue(btScalar test_value)
m_currentLimit = 2;//High limit violation
m_currentLimitError = test_value - m_hiLimit;
return 2;
}
else
{
m_currentLimit = 0;//Free from violation
return 0;
}
};
m_currentLimit = 0;//Free from violation
return 0;
}

55
src/BulletDynamics/ConstraintSolver/btOdeContactJoint.cpp
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@@ -52,6 +52,7 @@ void btOdeContactJoint::GetInfo1(Info1 *info)
void dPlaneSpace1 (const dVector3 n, dVector3 p, dVector3 q);
void dPlaneSpace1 (const dVector3 n, dVector3 p, dVector3 q)
{
if (btFabs(n[2]) > M_SQRT12) {
@@ -200,16 +201,16 @@ void btOdeContactJoint::GetInfo2(Info2 *info)
info->J1l[s+1] = t1[1];
info->J1l[s+2] = t1[2];
dCROSS (info->J1a+s,=,c1,t1);
if (1) { //j->node[1].body) {
// if (1) { //j->node[1].body) {
info->J2l[s+0] = -t1[0];
info->J2l[s+1] = -t1[1];
info->J2l[s+2] = -t1[2];
dCROSS (info->J2a+s,= -,c2,t1);
}
// }
// set right hand side
if (0) {//j->contact.surface.mode & dContactMotion1) {
// if (0) {//j->contact.surface.mode & dContactMotion1) {
//info->c[1] = j->contact.surface.motion1;
}
// }
// set LCP bounds and friction index. this depends on the approximation
// mode
//1e30f
@@ -217,17 +218,17 @@ void btOdeContactJoint::GetInfo2(Info2 *info)
info->lo[1] = -friction;//-j->contact.surface.mu;
info->hi[1] = friction;//j->contact.surface.mu;
if (1)//j->contact.surface.mode & dContactApprox1_1)
// if (1)//j->contact.surface.mode & dContactApprox1_1)
info->findex[1] = 0;
// set slip (constraint force mixing)
if (0)//j->contact.surface.mode & dContactSlip1)
{
// info->cfm[1] = j->contact.surface.slip1;
} else
{
//info->cfm[1] = 0.f;
}
// if (0)//j->contact.surface.mode & dContactSlip1)
// {
// // info->cfm[1] = j->contact.surface.slip1;
// } else
// {
// //info->cfm[1] = 0.f;
// }
}
// second friction direction
@@ -236,39 +237,39 @@ void btOdeContactJoint::GetInfo2(Info2 *info)
info->J1l[s2+1] = t2[1];
info->J1l[s2+2] = t2[2];
dCROSS (info->J1a+s2,=,c1,t2);
if (1) { //j->node[1].body) {
// if (1) { //j->node[1].body) {
info->J2l[s2+0] = -t2[0];
info->J2l[s2+1] = -t2[1];
info->J2l[s2+2] = -t2[2];
dCROSS (info->J2a+s2,= -,c2,t2);
}
// }
// set right hand side
if (0){//j->contact.surface.mode & dContactMotion2) {
// if (0){//j->contact.surface.mode & dContactMotion2) {
//info->c[2] = j->contact.surface.motion2;
}
// }
// set LCP bounds and friction index. this depends on the approximation
// mode
if (0){//j->contact.surface.mode & dContactMu2) {
// if (0){//j->contact.surface.mode & dContactMu2) {
//info->lo[2] = -j->contact.surface.mu2;
//info->hi[2] = j->contact.surface.mu2;
}
else {
// }
// else {
info->lo[2] = -friction;
info->hi[2] = friction;
}
if (0)//j->contact.surface.mode & dContactApprox1_2)
// }
// if (0)//j->contact.surface.mode & dContactApprox1_2)
{
info->findex[2] = 0;
}
// {
// info->findex[2] = 0;
// }
// set slip (constraint force mixing)
if (0) //j->contact.surface.mode & dContactSlip2)
// if (0) //j->contact.surface.mode & dContactSlip2)
{
// {
//info->cfm[2] = j->contact.surface.slip2;
}
// }
}
#endif //DO_THE_FRICTION_2

10
src/BulletDynamics/ConstraintSolver/btOdeMacros.h
View File

@@ -69,14 +69,14 @@ inline btScalar dDOT1 (const btScalar *a, const btScalar *b)
*/
#define dCROSSMAT(A,a,skip,plus,minus) \
do { \
{ \
(A)[1] = minus (a)[2]; \
(A)[2] = plus (a)[1]; \
(A)[(skip)+0] = plus (a)[2]; \
(A)[(skip)+2] = minus (a)[0]; \
(A)[2*(skip)+0] = minus (a)[1]; \
(A)[2*(skip)+1] = plus (a)[0]; \
} while(0)
}
#define dMULTIPLYOP2_333(A,op,B,C) \
@@ -130,9 +130,9 @@ typedef btScalar *dRealMutablePtr;
//#define dRealAllocaArray(name,size) btScalar *name = (btScalar*) stackAlloc->allocate(dEFFICIENT_SIZE(size)*sizeof(btScalar));
#define dRealAllocaArray(name,size) btScalar *name = NULL; \
int memNeeded_##name = dEFFICIENT_SIZE(size)*sizeof(btScalar); \
if (memNeeded_##name < stackAlloc->getAvailableMemory()) name = (btScalar*) stackAlloc->allocate(memNeeded_##name); \
else{ btAssert(memNeeded_##name < stackAlloc->getAvailableMemory()); name = (btScalar*) alloca(memNeeded_##name); }
unsigned int memNeeded_##name = dEFFICIENT_SIZE(size)*sizeof(btScalar); \
if (memNeeded_##name < static_cast<std::size_t>(stackAlloc->getAvailableMemory())) name = (btScalar*) stackAlloc->allocate(memNeeded_##name); \
else{ btAssert(memNeeded_##name < static_cast<std::size_t>(stackAlloc->getAvailableMemory())); name = (btScalar*) alloca(memNeeded_##name); }

5
src/BulletDynamics/ConstraintSolver/btOdeQuickstepConstraintSolver.cpp
View File

@@ -66,7 +66,7 @@ btOdeQuickstepConstraintSolver::btOdeQuickstepConstraintSolver():
//iterative lcp and penalty method
btScalar btOdeQuickstepConstraintSolver::solveGroup(btCollisionObject** bodies,int numBulletBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc,btDispatcher* dispatcher)
btScalar btOdeQuickstepConstraintSolver::solveGroup(btCollisionObject** /*bodies*/,int numBulletBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc,btDispatcher* /*dispatcher*/)
{
m_CurBody = 0;
@@ -155,6 +155,7 @@ btScalar btOdeQuickstepConstraintSolver::solveGroup(btCollisionObject** bodies,i
typedef btScalar dQuaternion[4];
#define _R(i,j) R[(i)*4+(j)]
void dRfromQ1 (dMatrix3 R, const dQuaternion q);
void dRfromQ1 (dMatrix3 R, const dQuaternion q)
{
// q = (s,vx,vy,vz)
@@ -339,7 +340,7 @@ void btOdeQuickstepConstraintSolver::ConvertConstraint(btPersistentManifold* man
void btOdeQuickstepConstraintSolver::ConvertTypedConstraint(
btTypedConstraint * constraint,
btAlignedObjectArray<btOdeJoint*> &joints,int& numJoints,
const btAlignedObjectArray< btOdeSolverBody*> &bodies,int _bodyId0,int _bodyId1,btIDebugDraw* debugDrawer)
const btAlignedObjectArray< btOdeSolverBody*> &bodies,int _bodyId0,int _bodyId1,btIDebugDraw* /*debugDrawer*/)
{
int bodyId0 = _bodyId0,bodyId1 = _bodyId1;

29
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
View File

@@ -65,7 +65,7 @@ unsigned long btSequentialImpulseConstraintSolver::btRand2()
int btSequentialImpulseConstraintSolver::btRandInt2 (int n)
{
// seems good; xor-fold and modulus
const unsigned long un = n;
const unsigned long un = static_cast<unsigned long>(n);
unsigned long r = btRand2();
// note: probably more aggressive than it needs to be -- might be
@@ -92,7 +92,7 @@ int btSequentialImpulseConstraintSolver::btRandInt2 (int n)
bool MyContactDestroyedCallback(void* userPersistentData);
bool MyContactDestroyedCallback(void* userPersistentData)
{
assert (userPersistentData);
@@ -127,6 +127,7 @@ btSequentialImpulseConstraintSolver::~btSequentialImpulseConstraintSolver()
}
void initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject);
void initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject)
{
btRigidBody* rb = btRigidBody::upcast(collisionObject);
@@ -152,6 +153,8 @@ void initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject
}
btScalar penetrationResolveFactor = btScalar(0.9);
btScalar restitutionCurve(btScalar rel_vel, btScalar restitution);
btScalar restitutionCurve(btScalar rel_vel, btScalar restitution)
{
btScalar rest = restitution * -rel_vel;
@@ -165,6 +168,13 @@ btScalar restitutionCurve(btScalar rel_vel, btScalar restitution)
//velocity + friction
//response between two dynamic objects with friction
btScalar resolveSingleCollisionCombinedCacheFriendly(
btSolverBody& body1,
btSolverBody& body2,
const btSolverConstraint& contactConstraint,
const btContactSolverInfo& solverInfo);
//SIMD_FORCE_INLINE
btScalar resolveSingleCollisionCombinedCacheFriendly(
btSolverBody& body1,
@@ -230,6 +240,13 @@ btScalar resolveSingleCollisionCombinedCacheFriendly(
#ifndef NO_FRICTION_TANGENTIALS
btScalar resolveSingleFrictionCacheFriendly(
btSolverBody& body1,
btSolverBody& body2,
const btSolverConstraint& contactConstraint,
const btContactSolverInfo& solverInfo,
btScalar appliedNormalImpulse);
//SIMD_FORCE_INLINE
btScalar resolveSingleFrictionCacheFriendly(
btSolverBody& body1,
@@ -430,7 +447,7 @@ void btSequentialImpulseConstraintSolver::addFrictionConstraint(const btVector3&
btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc)
btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCollisionObject** /*bodies */,int /*numBodies */,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc)
{
BT_PROFILE("solveGroupCacheFriendlySetup");
(void)stackAlloc;
@@ -488,7 +505,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
//todo: use stack allocator for this temp memory
int minReservation = numManifolds*2;
// int minReservation = numManifolds*2;
//m_tmpSolverBodyPool.reserve(minReservation);
@@ -751,7 +768,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
}
btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc)
btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations(btCollisionObject** /*bodies */,int /*numBodies*/,btPersistentManifold** /*manifoldPtr*/, int /*numManifolds*/,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* /*debugDrawer*/,btStackAlloc* /*stackAlloc*/)
{
BT_PROFILE("solveGroupCacheFriendlyIterations");
int numConstraintPool = m_tmpSolverConstraintPool.size();
@@ -895,7 +912,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendly(btCollisio
}
/// btSequentialImpulseConstraintSolver Sequentially applies impulses
btScalar btSequentialImpulseConstraintSolver::solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc,btDispatcher* dispatcher)
btScalar btSequentialImpulseConstraintSolver::solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc,btDispatcher* /*dispatcher*/)
{
BT_PROFILE("solveGroup");
if (getSolverMode() & SOLVER_CACHE_FRIENDLY)

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

@@ -26,7 +26,7 @@ enum btTypedConstraintType
CONETWIST_CONSTRAINT_TYPE,
D6_CONSTRAINT_TYPE,
VEHICLE_CONSTRAINT_TYPE,
SLIDER_CONSTRAINT_TYPE,
SLIDER_CONSTRAINT_TYPE
};
///TypedConstraint is the baseclass for Bullet constraints and vehicles

1
src/BulletDynamics/Dynamics/Bullet-C-API.cpp
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@@ -231,6 +231,7 @@ void plSetEuler(plReal yaw,plReal pitch,plReal roll, plQuaternion orient)
void plAddVertex(plCollisionShapeHandle cshape, plReal x,plReal y,plReal z)
{
btCollisionShape* colShape = reinterpret_cast<btCollisionShape*>( cshape);
(void)colShape;
btAssert(colShape->getShapeType()==CONVEX_HULL_SHAPE_PROXYTYPE);
btConvexHullShape* convexHullShape = reinterpret_cast<btConvexHullShape*>( cshape);
convexHullShape->addPoint(btPoint3(x,y,z));

14
src/BulletDynamics/Dynamics/btContinuousDynamicsWorld.cpp
View File

@@ -107,7 +107,7 @@ void btContinuousDynamicsWorld::calculateTimeOfImpacts(btScalar timeStep)
///'toi' is the global smallest time of impact. However, we just calculate the time of impact for each object individually.
///so we handle the case moving versus static properly, and we cheat for moving versus moving
float toi = 1.f;
btScalar toi = 1.f;
btDispatcherInfo& dispatchInfo = getDispatchInfo();
@@ -145,12 +145,12 @@ void btContinuousDynamicsWorld::updateTemporalAabbs(btScalar timeStep)
const btVector3& linvel = body->getLinearVelocity();
//make the AABB temporal
float temporalAabbMaxx = temporalAabbMax.getX();
float temporalAabbMaxy = temporalAabbMax.getY();
float temporalAabbMaxz = temporalAabbMax.getZ();
float temporalAabbMinx = temporalAabbMin.getX();
float temporalAabbMiny = temporalAabbMin.getY();
float temporalAabbMinz = temporalAabbMin.getZ();
btScalar temporalAabbMaxx = temporalAabbMax.getX();
btScalar temporalAabbMaxy = temporalAabbMax.getY();
btScalar temporalAabbMaxz = temporalAabbMax.getZ();
btScalar temporalAabbMinx = temporalAabbMin.getX();
btScalar temporalAabbMiny = temporalAabbMin.getY();
btScalar temporalAabbMinz = temporalAabbMin.getZ();
// add linear motion
btVector3 linMotion = linvel*timeStep;

11
src/BulletDynamics/Dynamics/btDynamicsWorld.h
View File

@@ -53,13 +53,16 @@ class btDynamicsWorld : public btCollisionWorld
virtual void debugDrawWorld() = 0;
virtual void addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies=false) { (void)constraint;};
virtual void addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies=false)
{
(void)constraint; (void)disableCollisionsBetweenLinkedBodies;
}
virtual void removeConstraint(btTypedConstraint* constraint) {(void)constraint;};
virtual void removeConstraint(btTypedConstraint* constraint) {(void)constraint;}
virtual void addVehicle(btRaycastVehicle* vehicle) {(void)vehicle;};
virtual void addVehicle(btRaycastVehicle* vehicle) {(void)vehicle;}
virtual void removeVehicle(btRaycastVehicle* vehicle) {(void)vehicle;};
virtual void removeVehicle(btRaycastVehicle* vehicle) {(void)vehicle;}
//once a rigidbody is added to the dynamics world, it will get this gravity assigned
//existing rigidbodies in the world get gravity assigned too, during this method

6
src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp
View File

@@ -27,7 +27,11 @@ subject to the following restrictions:
can be used by probes that are checking whether the
library is actually installed.
*/
extern "C" void btBulletDynamicsProbe () {}
extern "C"
{
void btBulletDynamicsProbe ();
void btBulletDynamicsProbe () {}
}

1
src/BulletDynamics/Vehicle/btRaycastVehicle.cpp
View File

@@ -486,6 +486,7 @@ struct btWheelContactPoint
};
btScalar calcRollingFriction(btWheelContactPoint& contactPoint);
btScalar calcRollingFriction(btWheelContactPoint& contactPoint)
{