Fix for issue #192

Also: Avoid divide by zero before OpenGL window is up

Demos/CcdPhysicsDemo/main.cpp

@@ -17,6 +17,10 @@ subject to the following restrictions:
 #include "GlutStuff.h"
 #include "GLDebugDrawer.h"
 #include "btBulletDynamicsCommon.h"
+#ifdef __DEBUG_FPU_ISSUES
+#define _GNU_SOURCE
+#include <fenv.h>
+#endif
 
 GLDebugDrawer	gDebugDrawer;
 
@@ -25,6 +29,14 @@ int main(int argc,char** argv)
 
 	CcdPhysicsDemo* ccdDemo = new CcdPhysicsDemo();
 
+#ifdef __DEBUG_FPU_ISSUES
+//	feenableexcept (FE_DIVBYZERO);
+//	feenableexcept (FE_INEXACT);
+//	feenableexcept (FE_INVALID);
+//	feenableexcept (FE_OVERFLOW|FE_DIVBYZERO|FE_UNDERFLOW);
+//	feenableexcept (FE_UNDERFLOW);
+#endif
+
 	ccdDemo->initPhysics();
 	ccdDemo->getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
 

Demos/OpenGL/DemoApplication.cpp

@@ -200,6 +200,9 @@ void DemoApplication::updateCamera() {
 	m_cameraPosition[2] = eyePos.getZ();
 	m_cameraPosition += m_cameraTargetPosition;
 
+	if (m_glutScreenWidth == 0 && m_glutScreenHeight == 0)
+		return;
+
 	if (m_glutScreenWidth > m_glutScreenHeight) 
 	{
 		btScalar aspect = m_glutScreenWidth / (btScalar)m_glutScreenHeight;

src/BulletDynamics/ConstraintSolver/btTypedConstraint.h

@@ -67,7 +67,7 @@ public:
 		int m_numConstraintRows,nub;
 	};
 
-	struct btConstraintInfo2 {
+	ATTRIBUTE_ALIGNED16(struct) btConstraintInfo2 {
 		// integrator parameters: frames per second (1/stepsize), default error
 		// reduction parameter (0..1).
 		btScalar fps,erp;

src/LinearMath/btScalar.h

@@ -130,8 +130,8 @@ inline int	btGetVersion()
 	//non-windows systems
 
 		#define SIMD_FORCE_INLINE inline
-		#define ATTRIBUTE_ALIGNED16(a) a
+		#define ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16)))
-		#define ATTRIBUTE_ALIGNED128(a) a
+		#define ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128)))
 		#ifndef assert
 		#include <assert.h>
 		#endif