fix many warnings

remove btMultiSapBroadphase.* make collisionFilterGroup/collisionFilterMark int (instead of short int)
2017-01-15 22:26:11 -08:00
parent e3df00d5f1
commit c0c4c8ba3f
146 changed files with 830 additions and 1431 deletions
--- a/examples/BasicDemo/CMakeLists.txt
+++ b/examples/BasicDemo/CMakeLists.txt
@@ -74,7 +74,7 @@ ELSE(WIN32)
        IF(APPLE)
                find_library(COCOA NAMES Cocoa)
                MESSAGE(${COCOA})
-                link_libraries(${COCOA})
+                link_libraries(${COCOA} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY})

        ELSE(APPLE)
                INCLUDE_DIRECTORIES(
--- a/examples/Benchmarks/BenchmarkDemo.cpp
+++ b/examples/Benchmarks/BenchmarkDemo.cpp
@@ -228,9 +228,10 @@ public:

    struct CastRaysLoopBody
    {
-        btRaycastBar2* mRaycasts;
        btCollisionWorld* mWorld;
-        CastRaysLoopBody(btCollisionWorld* cw, btRaycastBar2* rb) : mWorld(cw), mRaycasts(rb) {}
+		btRaycastBar2* mRaycasts;
+
+		CastRaysLoopBody(btCollisionWorld* cw, btRaycastBar2* rb) : mWorld(cw), mRaycasts(rb) {}

        void forLoop( int iBegin, int iEnd ) const
        {
--- a/examples/Collision/CollisionTutorialBullet2.cpp
+++ b/examples/Collision/CollisionTutorialBullet2.cpp
@@ -61,8 +61,8 @@ class CollisionTutorialBullet2 : public CommonExampleInterface
 	plCollisionSdkHandle m_collisionSdkHandle;
 	plCollisionWorldHandle m_collisionWorldHandle;
 	
-	int m_stage;
-	int m_counter;
+//	int m_stage;
+//	int m_counter;
 	
 public:
    
@@ -70,11 +70,11 @@ public:
    :m_app(guiHelper->getAppInterface()),
 	m_guiHelper(guiHelper),
 	m_tutorialIndex(tutorialIndex),
+	m_timeSeriesCanvas0(0),
 	m_collisionSdkHandle(0),
-	m_collisionWorldHandle(0),
-	m_stage(0),
-	m_counter(0),
-	m_timeSeriesCanvas0(0)
+	m_collisionWorldHandle(0)
+//	m_stage(0),
+//	m_counter(0)
    {
 		
 		gTotalPoints = 0;
--- a/examples/Collision/Internal/Bullet2CollisionSdk.cpp
+++ b/examples/Collision/Internal/Bullet2CollisionSdk.cpp
@@ -6,13 +6,14 @@ struct Bullet2CollisionSdkInternalData
 	btCollisionConfiguration* m_collisionConfig;
 	btCollisionDispatcher* m_dispatcher;
 	btBroadphaseInterface* m_aabbBroadphase;
-
 	btCollisionWorld* m_collisionWorld;
 	
 	Bullet2CollisionSdkInternalData()
-		:m_aabbBroadphase(0),
-		m_dispatcher(0),
-		m_collisionWorld(0)
+		:
+	m_collisionConfig(0),
+	m_dispatcher(0),
+	m_aabbBroadphase(0),
+	m_collisionWorld(0)
 	{
 	}
 };
--- a/examples/Collision/Internal/RealTimeBullet3CollisionSdk.cpp
+++ b/examples/Collision/Internal/RealTimeBullet3CollisionSdk.cpp
@@ -53,13 +53,19 @@ struct RTB3CollisionWorld
 	b3AlignedObjectArray<b3Aabb>	m_worldSpaceAabbs;
 	b3AlignedObjectArray<b3GpuFace> m_planeFaces;
 	b3AlignedObjectArray<b3CompoundOverlappingPair> m_compoundOverlappingPairs;
-	int m_nextFreeShapeIndex;
+	
+	union
+	{
+		int m_nextFreeShapeIndex;
+		void* m_nextFreeShapePtr;
+	};
 	int m_nextFreeCollidableIndex;
 	int m_nextFreePlaneFaceIndex;

 	RTB3CollisionWorld()
-	:m_nextFreeCollidableIndex(START_COLLIDABLE_INDEX),
+	:
 	m_nextFreeShapeIndex(START_SHAPE_INDEX),
+	m_nextFreeCollidableIndex(START_COLLIDABLE_INDEX),
 	m_nextFreePlaneFaceIndex(0)//this value is never exposed to the user, so we can start from 0
 	{
 	}
@@ -125,7 +131,8 @@ plCollisionShapeHandle RealTimeBullet3CollisionSdk::createSphereShape(plCollisio
 		shape.m_childOrientation.setValue(0,0,0,1);
 		shape.m_radius = radius;
 		shape.m_shapeType = RTB3_SHAPE_SPHERE;
-		return (plCollisionShapeHandle) world->m_nextFreeShapeIndex++;
+		world->m_nextFreeShapeIndex++;
+		return (plCollisionShapeHandle) world->m_nextFreeShapePtr;
 	}
 	return 0;
 }
@@ -147,7 +154,8 @@ plCollisionShapeHandle RealTimeBullet3CollisionSdk::createPlaneShape(plCollision
 		world->m_planeFaces[world->m_nextFreePlaneFaceIndex].m_plane = b3MakeVector4(planeNormalX,planeNormalY,planeNormalZ,planeConstant);
 		shape.m_shapeIndex = world->m_nextFreePlaneFaceIndex++;
 		shape.m_shapeType = RTB3_SHAPE_PLANE;
-		return (plCollisionShapeHandle) world->m_nextFreeShapeIndex++;
+		world->m_nextFreeShapeIndex++;
+		return (plCollisionShapeHandle)world->m_nextFreeShapePtr ;
 	}
 	return 0;
 }
@@ -169,7 +177,8 @@ plCollisionShapeHandle RealTimeBullet3CollisionSdk::createCapsuleShape(plCollisi
 		shape.m_height = height;
 		shape.m_shapeIndex = capsuleAxis;
 		shape.m_shapeType = RTB3_SHAPE_CAPSULE;
-		return (plCollisionShapeHandle) world->m_nextFreeShapeIndex++;
+		world->m_nextFreeShapeIndex++;
+		return (plCollisionShapeHandle) world->m_nextFreeShapePtr;
 	}
 	return 0;
 }
@@ -186,7 +195,8 @@ plCollisionShapeHandle RealTimeBullet3CollisionSdk::createCompoundShape(plCollis
 		shape.m_childOrientation.setValue(0,0,0,1);
 		shape.m_numChildShapes = 0;
 		shape.m_shapeType = RTB3_SHAPE_COMPOUND_INTERNAL;
-		return (plCollisionShapeHandle) world->m_nextFreeShapeIndex++;
+		world->m_nextFreeShapeIndex++;
+		return (plCollisionShapeHandle) world->m_nextFreeShapePtr;
 	}
 	return 0;
 }
@@ -265,7 +275,8 @@ plCollisionObjectHandle RealTimeBullet3CollisionSdk::createCollisionObject(  plC
 				collidable.m_shapeIndex = shape.m_shapeIndex;
 				break;
 		*/
-		return (plCollisionObjectHandle)world->m_nextFreeCollidableIndex++;
+		world->m_nextFreeCollidableIndex++;
+		return (plCollisionObjectHandle)world->m_nextFreeShapePtr;
 	}
 	return 0;
 }
--- a/examples/Constraints/ConstraintDemo.cpp
+++ b/examples/Constraints/ConstraintDemo.cpp
@@ -56,7 +56,7 @@ class AllConstraintDemo : public  CommonRigidBodyBase
 		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
 	}

-	virtual void keyboardCallback(unsigned char key, int x, int y);
+	virtual bool	keyboardCallback(int key, int state);

 	// for cone-twist motor driving
 	float m_Time;
@@ -66,7 +66,6 @@ class AllConstraintDemo : public  CommonRigidBodyBase



-const int numObjects = 3;

 #define ENABLE_ALL_DEMOS 1

@@ -839,10 +838,11 @@ void AllConstraintDemo::displayCallback(void) {
 }
 #endif

-void AllConstraintDemo::keyboardCallback(unsigned char key, int x, int y)
+bool	AllConstraintDemo::keyboardCallback(int key, int state)
 {
-	(void)x;
-	(void)y;
+	
+	bool handled = false;
+	
 	switch (key) 
 	{
 		case 'O' :
@@ -870,6 +870,7 @@ void AllConstraintDemo::keyboardCallback(unsigned char key, int x, int y)
 					printf("Slider6Dof %s frame offset\n", offectOnOff ? "uses" : "does not use");
 				}
 			}
+			handled = true;
 			break;
 		default : 
 			{
@@ -877,6 +878,8 @@ void AllConstraintDemo::keyboardCallback(unsigned char key, int x, int y)
 			}
 			break;
 	}
+	return handled;
+	
 }

 class CommonExampleInterface*    AllConstraintCreateFunc(struct CommonExampleOptions& options)
--- a/examples/Constraints/Dof6Spring2Setup.cpp
+++ b/examples/Constraints/Dof6Spring2Setup.cpp
@@ -443,8 +443,6 @@ void Dof6Spring2Setup::animate()
 /////// servo motor: flip its target periodically
 #ifdef USE_6DOF2
 		static float servoNextFrame = -1;
-		btScalar pos = m_data->m_ServoMotorConstraint->getRotationalLimitMotor(2)->m_currentPosition;
-		btScalar target = m_data->m_ServoMotorConstraint->getRotationalLimitMotor(2)->m_servoTarget;
 		if(servoNextFrame < 0)
 		{
 			m_data->m_ServoMotorConstraint->getRotationalLimitMotor(2)->m_servoTarget *= -1;
--- a/examples/Constraints/TestHingeTorque.cpp
+++ b/examples/Constraints/TestHingeTorque.cpp
@@ -4,8 +4,8 @@
 #include "../CommonInterfaces/CommonRigidBodyBase.h"
 #include "../CommonInterfaces/CommonParameterInterface.h"

-short collisionFilterGroup = short(btBroadphaseProxy::CharacterFilter);
-short collisionFilterMask = short(btBroadphaseProxy::AllFilter ^ (btBroadphaseProxy::CharacterFilter));
+int collisionFilterGroup = int(btBroadphaseProxy::CharacterFilter);
+int collisionFilterMask = int(btBroadphaseProxy::AllFilter ^ (btBroadphaseProxy::CharacterFilter));
 static btScalar radius(0.2);

 struct TestHingeTorque : public CommonRigidBodyBase
@@ -123,9 +123,7 @@ void TestHingeTorque::initPhysics()
 	{ // create a door using hinge constraint attached to the world
        
        int numLinks = 2;
-        bool spherical = false;					//set it ot false -to use 1DoF hinges instead of 3DoF sphericals
-        bool canSleep = false;
-        bool selfCollide = false;
+    //    bool selfCollide = false;
        btVector3 linkHalfExtents(0.05, 0.37, 0.1);
        btVector3 baseHalfExtents(0.05, 0.37, 0.1);

@@ -223,7 +221,7 @@ void TestHingeTorque::initPhysics()
 		
 		btTransform start; start.setIdentity();
 		btVector3 groundOrigin(-0.4f, 3.f, 0.f);
-		btVector3 basePosition = btVector3(-0.4f, 3.f, 0.f);
+	//	btVector3 basePosition = btVector3(-0.4f, 3.f, 0.f);
 		btQuaternion groundOrn(btVector3(0,1,0),0.25*SIMD_PI);
 		
 		groundOrigin[upAxis] -=.5;
--- a/examples/Evolution/NN3DWalkers.cpp
+++ b/examples/Evolution/NN3DWalkers.cpp
@@ -118,10 +118,10 @@ public:
 	:NN3DWalkersTimeWarpBase(helper),
 	 m_Time(0),
 	 m_SpeedupTimestamp(0),
-	 m_motorStrength(0.5f),
-	 m_targetFrequency(3),
 	 m_targetAccumulator(0),
-	 m_evaluationsQty(0),
+	m_targetFrequency(3),
+	m_motorStrength(0.5f),
+	m_evaluationsQty(0),
 	 m_nextReaped(0),
 	 m_timeSeriesCanvas(0)
 	{
@@ -729,9 +729,9 @@ bool NN3DWalkersExample::detectCollisions()
 				btManifoldPoint& pt = contactManifold->getContactPoint(j);
 				if (pt.getDistance()<0.f)
 				{
-					const btVector3& ptA = pt.getPositionWorldOnA();
-					const btVector3& ptB = pt.getPositionWorldOnB();
-					const btVector3& normalOnB = pt.m_normalWorldOnB;
+					//const btVector3& ptA = pt.getPositionWorldOnA();
+					//const btVector3& ptB = pt.getPositionWorldOnB();
+					//const btVector3& normalOnB = pt.m_normalWorldOnB;

 					if(!DRAW_INTERPENETRATIONS){
 						return collisionDetected;
--- a/examples/Evolution/NN3DWalkersTimeWarpBase.h
+++ b/examples/Evolution/NN3DWalkersTimeWarpBase.h
@@ -593,7 +593,7 @@ struct NN3DWalkersTimeWarpBase: public CommonRigidBodyBase {
 			timeWarpSimulation(deltaTime);
 			if(mLoopTimer.getTimeSeconds() - speedUpPrintTimeStamp > 1){
 				// on reset, we calculate the performed speed up
-				double speedUp = ((double)performedTime*1000.0)/((double)(mLoopTimer.getTimeMilliseconds()-performanceTimestamp));
+				//double speedUp = ((double)performedTime*1000.0)/((double)(mLoopTimer.getTimeMilliseconds()-performanceTimestamp));
 //				b3Printf("Avg Effective speedup: %f",speedUp);
 				performedTime = 0;
 				performanceTimestamp = mLoopTimer.getTimeMilliseconds();
--- a/examples/ExampleBrowser/GwenGUISupport/GwenParameterInterface.cpp
+++ b/examples/ExampleBrowser/GwenGUISupport/GwenParameterInterface.cpp
@@ -36,12 +36,13 @@ struct MySliderEventHandler : public Gwen::Event::Handler
    bool m_showValue;

 	MySliderEventHandler(const char* varName, Gwen::Controls::TextBox* label, Gwen::Controls::Slider* pSlider,T* target, SliderParamChangedCallback callback, void* userPtr)
-		:m_label(label),
+	:	m_callback(callback),
+		m_userPointer(userPtr),
+		m_label(label),
 		m_pSlider(pSlider),
-		m_targetValue(target),
-        m_showValue(true),
-		m_callback(callback),
-        m_userPointer(userPtr)
+	m_targetValue(target),
+	m_showValue(true)
+
 	{
 		memcpy(m_variableName,varName,strlen(varName)+1);
 	}
--- a/examples/ExampleBrowser/InProcessExampleBrowser.cpp
+++ b/examples/ExampleBrowser/InProcessExampleBrowser.cpp
@@ -233,7 +233,7 @@ void	ExampleBrowserThreadFunc(void* userPtr,void* lsMemory)
 	ExampleBrowserThreadLocalStorage* localStorage = (ExampleBrowserThreadLocalStorage*) lsMemory;

 	ExampleBrowserArgs* args = (ExampleBrowserArgs*) userPtr;
-	int workLeft = true;
+	//int workLeft = true;
  b3CommandLineArgs args2(args->m_argc,args->m_argv);
 	b3Clock clock;

@@ -411,7 +411,8 @@ btInProcessExampleBrowserMainThreadInternalData* btCreateInProcessExampleBrowser
    data->m_exampleBrowser = new DefaultBrowser(&data->m_examples);
    data->m_sharedMem = new InProcessMemory;
    data->m_exampleBrowser->setSharedMemoryInterface(data->m_sharedMem );
-    bool init = data->m_exampleBrowser->init(argc,argv);
+	bool init;
+	init = data->m_exampleBrowser->init(argc,argv);
    data->m_clock.reset();
    return data;
 }
--- a/examples/ExampleBrowser/OpenGLExampleBrowser.cpp
+++ b/examples/ExampleBrowser/OpenGLExampleBrowser.cpp
@@ -721,7 +721,7 @@ static void saveCurrentSettings(int currentEntry,const char* startFileName)

 static void loadCurrentSettings(const char* startFileName, b3CommandLineArgs& args)
 {
-	int currentEntry= 0;
+	//int currentEntry= 0;
 	FILE* f = fopen(startFileName,"r");
 	if (f)
 	{
--- a/examples/ForkLift/ForkLiftDemo.cpp
+++ b/examples/ForkLift/ForkLiftDemo.cpp
@@ -46,6 +46,7 @@ class btCollisionShape;
 class ForkLiftDemo  : public CommonExampleInterface
 {
 	public:
+	GUIHelperInterface* m_guiHelper;

 		/* extra stuff*/
 	btVector3 m_cameraPosition;
@@ -57,7 +58,6 @@ class ForkLiftDemo  : public CommonExampleInterface
 	btRigidBody* m_carChassis;
 	btRigidBody* localCreateRigidBody(btScalar mass, const btTransform& worldTransform, btCollisionShape* colSape);

-	GUIHelperInterface* m_guiHelper;
 	int m_wheelInstances[4];

 //----------------------------
@@ -195,8 +195,6 @@ bool useMCLPSolver = true;
 #include "ForkLiftDemo.h"


-const int maxProxies = 32766;
-const int maxOverlap = 65535;

 ///btRaycastVehicle is the interface for the constraint that implements the raycast vehicle
 ///notice that for higher-quality slow-moving vehicles, another approach might be better
--- a/examples/FractureDemo/btFractureDynamicsWorld.cpp
+++ b/examples/FractureDemo/btFractureDynamicsWorld.cpp
@@ -529,7 +529,7 @@ void btFractureDynamicsWorld::fractureCallback( )
 		{
 			int j=f0;

-			btCollisionObject* colOb = (btCollisionObject*)manifold->getBody1();
+	//		btCollisionObject* colOb = (btCollisionObject*)manifold->getBody1();
 	//		btRigidBody* otherOb = btRigidBody::upcast(colOb);
 			//	if (!otherOb->getInvMass())
 			//		continue;
@@ -562,8 +562,8 @@ void btFractureDynamicsWorld::fractureCallback( )
 		{
 			int j=f1;
 			{
-				btCollisionObject* colOb = (btCollisionObject*)manifold->getBody0();
-				btRigidBody* otherOb = btRigidBody::upcast(colOb);
+				//btCollisionObject* colOb = (btCollisionObject*)manifold->getBody0();
+				//btRigidBody* otherOb = btRigidBody::upcast(colOb);
 				//	if (!otherOb->getInvMass())
 				//		continue;

--- a/examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp
+++ b/examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp
@@ -336,7 +336,7 @@ void readLibraryGeometries(TiXmlDocument& doc, btAlignedObjectArray<GLInstanceGr

 void readNodeHierarchy(TiXmlElement* node,btHashMap<btHashString,int>& name2Shape, btAlignedObjectArray<ColladaGraphicsInstance>& visualShapeInstances,  const btMatrix4x4& parentTransMat)
 {
-	const char* nodeName = node->Attribute("id");
+	//const char* nodeName = node->Attribute("id");
 	//printf("processing node %s\n", nodeName);

 	
--- a/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
+++ b/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
@@ -157,7 +157,6 @@ struct BulletMJCFImporterInternalData
 		//rudimentary 'default' support, would need more work for better feature coverage
 		for (TiXmlElement* child_xml = root_xml->FirstChildElement() ; child_xml ; child_xml = child_xml->NextSiblingElement())
 		{
-			bool handled = false;
 			std::string n = child_xml->Value();
 			if (n=="inertial")
 			{
@@ -412,7 +411,7 @@ struct BulletMJCFImporterInternalData

 		

-		const char* rgba = link_xml->Attribute("rgba");
+//		const char* rgba = link_xml->Attribute("rgba");
 		const char* gType = link_xml->Attribute("type");
 		const char* sz = link_xml->Attribute("size");
 		const char* posS = link_xml->Attribute("pos");
@@ -713,7 +712,7 @@ struct BulletMJCFImporterInternalData
 		const char* bodyName = link_xml->Attribute("name");
 		int orgChildLinkIndex = createBody(modelIndex,bodyName);
 		
-		int curChildLinkIndex = orgChildLinkIndex;
+//		int curChildLinkIndex = orgChildLinkIndex;
 		std::string bodyN;
 		
 		if (bodyName)
@@ -727,7 +726,7 @@ struct BulletMJCFImporterInternalData
 		}
 		

-		btTransform orgLinkTransform = parseTransform(link_xml,logger);
+//		btTransform orgLinkTransform = parseTransform(link_xml,logger);

 		btTransform linkTransform = parseTransform(link_xml,logger);
 		UrdfLink* linkPtr = getLink(modelIndex,orgChildLinkIndex);
@@ -739,7 +738,7 @@ struct BulletMJCFImporterInternalData
 		btQuaternion inertialOrn(0,0,0,1);
 		btScalar mass = 0.f;
 		btVector3 localInertiaDiag(0,0,0);
-		int thisLinkIndex = -2;
+	//	int thisLinkIndex = -2;
 		bool hasJoint = false;
 		btTransform jointTrans;
 		jointTrans.setIdentity();
@@ -1331,7 +1330,7 @@ class btCompoundShape* BulletMJCFImporter::convertLinkCollisionShapes(int linkIn
 					btVector3 f = col->m_geometry.m_capsuleFrom;
 					btVector3 t = col->m_geometry.m_capsuleTo;
 					//MuJoCo seems to take the average of the spheres as center?
-					btVector3 c = (f+t)*0.5;
+					//btVector3 c = (f+t)*0.5;
 					//f-=c;
 					//t-=c;
 					btVector3 fromto[2] = {f,t};
--- a/examples/Importers/ImportMJCFDemo/ImportMJCFSetup.cpp
+++ b/examples/Importers/ImportMJCFDemo/ImportMJCFSetup.cpp
@@ -147,25 +147,8 @@ ImportMJCFSetup::~ImportMJCFSetup()
    delete m_data;
 }

-static btVector4 colors[4] =
-{
-	btVector4(1,0,0,1),
-	btVector4(0,1,0,1),
-	btVector4(0,1,1,1),
-	btVector4(1,1,0,1),
-};


-static btVector3 selectColor()
-{
-
-	static int curColor = 0;
-	btVector4 color = colors[curColor];
-	curColor++;
-	curColor&=3;
-	return color;
-}
-
 void ImportMJCFSetup::setFileName(const char* mjcfFileName)
 {
    memcpy(m_fileName,mjcfFileName,strlen(mjcfFileName)+1);
@@ -229,7 +212,7 @@ void ImportMJCFSetup::initPhysics()


 			//todo: move these internal API called inside the 'ConvertURDF2Bullet' call, hidden from the user
-			int rootLinkIndex = importer.getRootLinkIndex();
+			//int rootLinkIndex = importer.getRootLinkIndex();
 			//b3Printf("urdf root link index = %d\n",rootLinkIndex);
 			MyMultiBodyCreator creation(m_guiHelper);

--- a/examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp
+++ b/examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp
@@ -30,7 +30,7 @@ bool b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(const std::string&
 		
 		GLInstanceGraphicsShape* gfxShape = btgCreateGraphicsShapeFromWavefrontObj(shapes);
 		
-		int textureIndex = -1;
+		//int textureIndex = -1;
 		//try to load some texture
 		for (int i=0;i<shapes.size();i++)
 		{
--- a/examples/Importers/ImportSDFDemo/ImportSDFSetup.cpp
+++ b/examples/Importers/ImportSDFDemo/ImportSDFSetup.cpp
@@ -155,25 +155,8 @@ ImportSDFSetup::~ImportSDFSetup()
    delete m_data;
 }

-static btVector4 colors[4] =
-{
-	btVector4(1,0,0,1),
-	btVector4(0,1,0,1),
-	btVector4(0,1,1,1),
-	btVector4(1,1,0,1),
-};


-static btVector3 selectColor()
-{
-
-	static int curColor = 0;
-	btVector4 color = colors[curColor];
-	curColor++;
-	curColor&=3;
-	return color;
-}
-
 void ImportSDFSetup::setFileName(const char* urdfFileName)
 {
    memcpy(m_fileName,urdfFileName,strlen(urdfFileName)+1);
@@ -227,7 +210,7 @@ void ImportSDFSetup::initPhysics()


 			//todo: move these internal API called inside the 'ConvertURDF2Bullet' call, hidden from the user
-			int rootLinkIndex = u2b.getRootLinkIndex();
+			//int rootLinkIndex = u2b.getRootLinkIndex();
 			//b3Printf("urdf root link index = %d\n",rootLinkIndex);
 			MyMultiBodyCreator creation(m_guiHelper);

--- a/examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp
+++ b/examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp
@@ -159,25 +159,8 @@ ImportUrdfSetup::~ImportUrdfSetup()
    delete m_data;
 }

-static btVector4 colors[4] =
-{
-	btVector4(1,0,0,1),
-	btVector4(0,1,0,1),
-	btVector4(0,1,1,1),
-	btVector4(1,1,0,1),
-};


-static btVector3 selectColor()
-{
-
-	static int curColor = 0;
-	btVector4 color = colors[curColor];
-	curColor++;
-	curColor&=3;
-	return color;
-}
-
 void ImportUrdfSetup::setFileName(const char* urdfFileName)
 {
    memcpy(m_fileName,urdfFileName,strlen(urdfFileName)+1);
@@ -237,7 +220,7 @@ void ImportUrdfSetup::initPhysics()


 			//todo: move these internal API called inside the 'ConvertURDF2Bullet' call, hidden from the user
-			int rootLinkIndex = u2b.getRootLinkIndex();
+			//int rootLinkIndex = u2b.getRootLinkIndex();
 			//b3Printf("urdf root link index = %d\n",rootLinkIndex);
 			MyMultiBodyCreator creation(m_guiHelper);

--- a/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
+++ b/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
@@ -11,8 +11,8 @@
 #include "MultiBodyCreationInterface.h"
 #include <string>

-static int bodyCollisionFilterGroup=btBroadphaseProxy::CharacterFilter;
-static int bodyCollisionFilterMask=btBroadphaseProxy::AllFilter&(~btBroadphaseProxy::CharacterFilter);
+//static int bodyCollisionFilterGroup=btBroadphaseProxy::CharacterFilter;
+//static int bodyCollisionFilterMask=btBroadphaseProxy::AllFilter&(~btBroadphaseProxy::CharacterFilter);
 static bool enableConstraints = true;

 static btVector4 colors[4] =
@@ -446,8 +446,8 @@ void ConvertURDF2BulletInternal(
 				
 				//base and fixed? -> static, otherwise flag as dynamic
                bool isDynamic = (mbLinkIndex<0 && cache.m_bulletMultiBody->hasFixedBase())? false : true;
-                short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(btBroadphaseProxy::StaticFilter);
-                short collisionFilterMask = isDynamic? 	short(btBroadphaseProxy::AllFilter) : 	short(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
+                int collisionFilterGroup = isDynamic? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
+                int collisionFilterMask = isDynamic? 	int(btBroadphaseProxy::AllFilter) : 	int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);

 				int colGroup=0, colMask=0;
 				int flags = u2b.getCollisionGroupAndMask(urdfLinkIndex,colGroup, colMask);
--- a/examples/InverseDynamics/InverseDynamicsExample.cpp
+++ b/examples/InverseDynamics/InverseDynamicsExample.cpp
@@ -225,13 +225,13 @@ void InverseDynamicsExample::initPhysics()
 			{
 				qd[dof] = 0;
 				char tmp[25];
-				sprintf(tmp,"q_desired[%u]",dof);
+				sprintf(tmp,"q_desired[%lu]",dof);
 				qd_name[dof] = tmp;
 				SliderParams slider(qd_name[dof].c_str(),&qd[dof]);
 				slider.m_minVal=-3.14;
 				slider.m_maxVal=3.14;
 				
-				sprintf(tmp,"q[%u]",dof); 
+				sprintf(tmp,"q[%lu]",dof); 
 				q_name[dof] = tmp;   
 				m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
 				btVector4 color = sJointCurveColors[dof&7];
@@ -343,6 +343,7 @@ void InverseDynamicsExample::stepSimulation(float deltaTime)
 		btAlignedObjectArray<btQuaternion> scratch_q;
 		btAlignedObjectArray<btVector3> scratch_m;
 		m_multiBody->forwardKinematics(scratch_q, scratch_m);
+#if 0
 		for (int i = 0; i < m_multiBody->getNumLinks(); i++)
 		{
 			//btVector3 pos = m_multiBody->getLink(i).m_cachedWorldTransform.getOrigin();
@@ -355,6 +356,7 @@ void InverseDynamicsExample::stepSimulation(float deltaTime)


 		}
+#endif
    }
 }

--- a/examples/InverseKinematics/InverseKinematicsExample.cpp
+++ b/examples/InverseKinematics/InverseKinematicsExample.cpp
@@ -155,10 +155,7 @@ class InverseKinematicsExample : public CommonExampleInterface
 	b3AlignedObjectArray<Node*> m_ikNodes;
 	Jacobian* m_ikJacobian;

-    float m_x;
-    float m_y;
-    float m_z;
-	b3AlignedObjectArray<int> m_movingInstances;
+ 	b3AlignedObjectArray<int> m_movingInstances;
 	int m_targetInstance;
 	enum
 	{
@@ -169,12 +166,9 @@ public:
    
    InverseKinematicsExample(CommonGraphicsApp* app, int option)
    :m_app(app),
-    m_x(0),
-    m_y(0),
-	m_z(0),
-	m_targetInstance(-1),
-	m_ikMethod(option)
-    {
+	m_ikMethod(option),
+	m_targetInstance(-1)
+	{
 		m_app->setUpAxis(2);
        
 		 {
@@ -336,7 +330,7 @@ public:

 void InverseKinematicsExample::BuildKukaIIWAShape()
 {
-	const VectorR3& unitx = VectorR3::UnitX;
+	//const VectorR3& unitx = VectorR3::UnitX;
 	const VectorR3& unity = VectorR3::UnitY;
 	const VectorR3& unitz = VectorR3::UnitZ;
 	const VectorR3 unit1(sqrt(14.0) / 8.0, 1.0 / 8.0, 7.0 / 8.0);
--- a/examples/MultiBody/InvertedPendulumPDControl.cpp
+++ b/examples/MultiBody/InvertedPendulumPDControl.cpp
@@ -211,11 +211,11 @@ btMultiBody* createInvertedPendulumMultiBody(btMultiBodyDynamicsWorld* world, GU
    local_origin.resize(pMultiBody->getNumLinks() + 1);
    world_to_local[0] = pMultiBody->getWorldToBaseRot();
    local_origin[0] = pMultiBody->getBasePos();
-    double friction = 1;
+  //  double friction = 1;
    {

    //	float pos[4]={local_origin[0].x(),local_origin[0].y(),local_origin[0].z(),1};
-        float quat[4]={-world_to_local[0].x(),-world_to_local[0].y(),-world_to_local[0].z(),world_to_local[0].w()};
+       // float quat[4]={-world_to_local[0].x(),-world_to_local[0].y(),-world_to_local[0].z(),world_to_local[0].w()};


        if (1)
@@ -238,8 +238,8 @@ btMultiBody* createInvertedPendulumMultiBody(btMultiBodyDynamicsWorld* world, GU
            col->setWorldTransform(tr);

 			bool isDynamic = (baseMass > 0 && !fixedBase);
-			short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(btBroadphaseProxy::StaticFilter);
-			short collisionFilterMask = isDynamic? 	short(btBroadphaseProxy::AllFilter) : 	short(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
+			int collisionFilterGroup = isDynamic? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
+			int collisionFilterMask = isDynamic? 	int(btBroadphaseProxy::AllFilter) : 	int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);


            world->addCollisionObject(col,collisionFilterGroup,collisionFilterMask);//, 2,1+2);
@@ -291,8 +291,8 @@ btMultiBody* createInvertedPendulumMultiBody(btMultiBodyDynamicsWorld* world, GU
        col->setWorldTransform(tr);
    //       col->setFriction(friction);
 		bool isDynamic = 1;//(linkMass > 0);
-		short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(btBroadphaseProxy::StaticFilter);
-		short collisionFilterMask = isDynamic? 	short(btBroadphaseProxy::AllFilter) : 	short(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
+		int collisionFilterGroup = isDynamic? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
+		int collisionFilterMask = isDynamic? 	int(btBroadphaseProxy::AllFilter) : 	int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);

 		//if (i==0||i>numLinks-2)
 		{
@@ -450,7 +450,7 @@ void InvertedPendulumPDControl::stepSimulation(float deltaTime)
             m_multiBody->getBaseOmega()[2]
             );
    */
-    btScalar jointVel =m_multiBody->getJointVel(0);
+ //   btScalar jointVel =m_multiBody->getJointVel(0);
    
 //    b3Printf("child angvel = %f",jointVel);
    
--- a/examples/MultiBody/MultiBodyConstraintFeedback.cpp
+++ b/examples/MultiBody/MultiBodyConstraintFeedback.cpp
@@ -91,7 +91,7 @@ void MultiBodyConstraintFeedbackSetup::initPhysics()
            m_guiHelper->createCollisionShapeGraphicsObject(box);
            btTransform start; start.setIdentity();
            btVector3 groundOrigin(-0.4f, 3.f, 0.f);
-			btVector3 basePosition = btVector3(-0.4f, 3.f, 0.f);
+			//btVector3 basePosition = btVector3(-0.4f, 3.f, 0.f);
            groundOrigin[upAxis] -=.5;
 			groundOrigin[2]-=0.6;
            start.setOrigin(groundOrigin);
@@ -263,11 +263,11 @@ void MultiBodyConstraintFeedbackSetup::initPhysics()
        local_origin.resize(pMultiBody->getNumLinks() + 1);
        world_to_local[0] = pMultiBody->getWorldToBaseRot();
        local_origin[0] = pMultiBody->getBasePos();
-        double friction = 1;
+      //  double friction = 1;
        {

        //	float pos[4]={local_origin[0].x(),local_origin[0].y(),local_origin[0].z(),1};
-            float quat[4]={-world_to_local[0].x(),-world_to_local[0].y(),-world_to_local[0].z(),world_to_local[0].w()};
+           // float quat[4]={-world_to_local[0].x(),-world_to_local[0].y(),-world_to_local[0].z(),world_to_local[0].w()};


            if (1)
@@ -290,8 +290,8 @@ void MultiBodyConstraintFeedbackSetup::initPhysics()
                col->setWorldTransform(tr);

 				bool isDynamic = (baseMass > 0 && floating);
-				short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(btBroadphaseProxy::StaticFilter);
-				short collisionFilterMask = isDynamic? 	short(btBroadphaseProxy::AllFilter) : 	short(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
+				int collisionFilterGroup = isDynamic? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
+				int collisionFilterMask = isDynamic? 	int(btBroadphaseProxy::AllFilter) : 	int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);


                world->addCollisionObject(col,collisionFilterGroup,collisionFilterMask);//, 2,1+2);
@@ -343,8 +343,8 @@ void MultiBodyConstraintFeedbackSetup::initPhysics()
            col->setWorldTransform(tr);
     //       col->setFriction(friction);
 			bool isDynamic = 1;//(linkMass > 0);
-			short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(btBroadphaseProxy::StaticFilter);
-			short collisionFilterMask = isDynamic? 	short(btBroadphaseProxy::AllFilter) : 	short(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
+			int collisionFilterGroup = isDynamic? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
+			int collisionFilterMask = isDynamic? 	int(btBroadphaseProxy::AllFilter) : 	int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);

 			//if (i==0||i>numLinks-2)
 			{
@@ -416,7 +416,7 @@ void MultiBodyConstraintFeedbackSetup::stepSimulation(float deltaTime)
             m_multiBody->getBaseOmega()[2]
             );
    */
-    btScalar jointVel =m_multiBody->getJointVel(0);
+   // btScalar jointVel =m_multiBody->getJointVel(0);
    
 //    b3Printf("child angvel = %f",jointVel);
    
--- a/examples/MultiBody/MultiBodySoftContact.cpp
+++ b/examples/MultiBody/MultiBodySoftContact.cpp
@@ -7,7 +7,7 @@
 #include "../CommonInterfaces/CommonMultiBodyBase.h"
 #include "../Utils/b3ResourcePath.h"

-static btScalar radius(0.2);
+//static btScalar radius(0.2);

 struct MultiBodySoftContact : public CommonMultiBodyBase
 {
@@ -126,8 +126,8 @@ void MultiBodySoftContact::initPhysics()
 		col->setCollisionShape(childShape);
 		pMultiBody->setBaseCollider(col);
 			bool isDynamic = (mass > 0 && !isFixed);
-		short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(btBroadphaseProxy::StaticFilter);
-		short collisionFilterMask = isDynamic? 	short(btBroadphaseProxy::AllFilter) : 	short(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
+		int collisionFilterGroup = isDynamic? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
+		int collisionFilterMask = isDynamic? 	int(btBroadphaseProxy::AllFilter) : 	int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);

        m_dynamicsWorld->addCollisionObject(col,collisionFilterGroup,collisionFilterMask);//, 2,1+2);

--- a/examples/MultiBody/MultiDofDemo.cpp
+++ b/examples/MultiBody/MultiDofDemo.cpp
@@ -242,7 +242,7 @@ void	MultiDofDemo::initPhysics()

        if (multibodyConstraint) {
            btVector3 pointInA = -linkHalfExtents;
-            btVector3 pointInB = halfExtents;
+      //      btVector3 pointInB = halfExtents;
            btMatrix3x3 frameInA;
            btMatrix3x3 frameInB;
            frameInA.setIdentity();
--- a/examples/MultiBody/Pendulum.cpp
+++ b/examples/MultiBody/Pendulum.cpp
@@ -150,8 +150,8 @@ void Pendulum::initPhysics()
 			btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(pMultiBody, i);
 			col->setCollisionShape(shape);
 			bool isDynamic = 1;
-			short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(btBroadphaseProxy::StaticFilter);
-			short collisionFilterMask = isDynamic? 	short(btBroadphaseProxy::AllFilter) : 	short(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
+			int collisionFilterGroup = isDynamic? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
+			int collisionFilterMask = isDynamic? 	int(btBroadphaseProxy::AllFilter) : 	int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
 			world->addCollisionObject(col,collisionFilterGroup,collisionFilterMask);//,2,1+2);
 			btVector4 color(1,0,0,1);
 			m_guiHelper->createCollisionObjectGraphicsObject(col,color);
--- a/examples/MultiBody/TestJointTorqueSetup.cpp
+++ b/examples/MultiBody/TestJointTorqueSetup.cpp
@@ -294,8 +294,8 @@ void TestJointTorqueSetup::initPhysics()
                col->setWorldTransform(tr);

 				bool isDynamic = (baseMass > 0 && floating);
-				short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(btBroadphaseProxy::StaticFilter);
-				short collisionFilterMask = isDynamic? 	short(btBroadphaseProxy::AllFilter) : 	short(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
+				int collisionFilterGroup = isDynamic? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
+				int collisionFilterMask = isDynamic? 	int(btBroadphaseProxy::AllFilter) : 	int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);


                world->addCollisionObject(col,collisionFilterGroup,collisionFilterMask);//, 2,1+2);
@@ -347,8 +347,8 @@ void TestJointTorqueSetup::initPhysics()
            col->setWorldTransform(tr);
     //       col->setFriction(friction);
 			bool isDynamic = 1;//(linkMass > 0);
-			short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(btBroadphaseProxy::StaticFilter);
-			short collisionFilterMask = isDynamic? 	short(btBroadphaseProxy::AllFilter) : 	short(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
+			int collisionFilterGroup = isDynamic? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
+			int collisionFilterMask = isDynamic? 	int(btBroadphaseProxy::AllFilter) : 	int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);

 			//if (i==0||i>numLinks-2)
 			{
--- a/examples/MultiThreadedDemo/ParallelFor.h
+++ b/examples/MultiThreadedDemo/ParallelFor.h
@@ -224,12 +224,12 @@ private:
 extern TaskManager gTaskMgr;


-static void initTaskScheduler()
+inline static void initTaskScheduler()
 {
    gTaskMgr.init();
 }

-static void cleanupTaskScheduler()
+inline static void cleanupTaskScheduler()
 {
    gTaskMgr.shutdown();
 }
--- a/examples/MultiThreading/MultiThreadingExample.cpp
+++ b/examples/MultiThreading/MultiThreadingExample.cpp
@@ -163,8 +163,6 @@ void*	SamplelsMemoryFunc()
 class MultiThreadingExample : public CommonExampleInterface
 {
    CommonGraphicsApp* m_app;
-	GUIHelperInterface* m_guiHelper;
-    int m_exampleIndex;
    b3ThreadSupportInterface* m_threadSupport;
    btAlignedObjectArray<SampleJob1*> m_jobs;
    int m_numThreads;
@@ -172,12 +170,10 @@ public:
    
    MultiThreadingExample(GUIHelperInterface* guiHelper, int tutorialIndex)
    :m_app(guiHelper->getAppInterface()),
-	m_guiHelper(guiHelper),
-	m_exampleIndex(tutorialIndex),
 	m_threadSupport(0),
 	m_numThreads(8)
    {
-		int numBodies = 1;
+		//int numBodies = 1;
 		
 		m_app->setUpAxis(1);
 		m_app->m_renderer->enableBlend(true);
--- a/examples/OpenCL/CommonOpenCL/CommonOpenCLBase.h
+++ b/examples/OpenCL/CommonOpenCL/CommonOpenCLBase.h
@@ -43,8 +43,8 @@ struct CommonOpenCLBase : public CommonExampleInterface
 	
 	virtual void initCL(int preferredDeviceIndex, int preferredPlatformIndex)
 	{
-	void* glCtx=0;
-	void* glDC = 0;
+//	void* glCtx=0;
+//	void* glDC = 0;
 	
 	
    
--- a/examples/OpenCL/broadphase/PairBench.cpp
+++ b/examples/OpenCL/broadphase/PairBench.cpp
@@ -208,9 +208,6 @@ void	PairBench::initPhysics()
 	useShadowMap = false;

 	
-	int startItem = 0;
-
-	
 	initCL(gPreferredOpenCLDeviceIndex,gPreferredOpenCLPlatformIndex);

 	if (m_clData->m_clContext)
@@ -298,7 +295,7 @@ void	PairBench::createBroadphase(int arraySizeX, int arraySizeY, int arraySizeZ)
 					char * patloc;

 					
-					for (oriptr = buf; patloc = strstr(oriptr, pattern); oriptr = patloc + patlen)
+					for (oriptr = buf; (patloc = strstr(oriptr, pattern)); oriptr = patloc + patlen)
 					{
 						if (patloc)
 						{
@@ -335,12 +332,14 @@ void	PairBench::createBroadphase(int arraySizeX, int arraySizeY, int arraySizeZ)
 							if (l>500)
 							{
 								b3Vector4 color=b3MakeVector4(0,1,0,0.1);
-								int id = m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId,position,orn,color,scaling);
+								int id;
+								id = m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId,position,orn,color,scaling);
 								m_data->m_broadphaseGPU->createLargeProxy(aabbMin,aabbMax,index,group,mask);
 							} else
 							{
 								b3Vector4 color=b3MakeVector4(1,0,0,1);
-								int id = m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId,position,orn,color,scaling);
+								int id;
+								id = m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId,position,orn,color,scaling);
 								m_data->m_broadphaseGPU->createProxy(aabbMin,aabbMax,index,group,mask);
 									index++;
 							}
@@ -403,7 +402,8 @@ void	PairBench::createBroadphase(int arraySizeX, int arraySizeY, int arraySizeZ)
 					}*/


-					int id = m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId,position,orn,color,scaling);
+					int id;
+					id = m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId,position,orn,color,scaling);
 					
 					
 					b3Vector3 aabbMin = position-scaling;
@@ -486,7 +486,7 @@ void PairBench::stepSimulation(float deltaTime)
 		return;


-	bool animate=true;
+	//bool animate=true;
 	int numObjects= 0;
 	{
 		B3_PROFILE("Num Objects");
@@ -503,7 +503,7 @@ void PairBench::stepSimulation(float deltaTime)
 		int arraySizeInBytes  = numObjects * (3)*sizeof(b3Vector4);

 		glBindBuffer(GL_ARRAY_BUFFER, vbo);
-		cl_bool blocking=  CL_TRUE;
+	//	cl_bool blocking=  CL_TRUE;
 		char* hostPtr= 0;
 		{
 			B3_PROFILE("glMapBufferRange");
@@ -583,7 +583,7 @@ void PairBench::stepSimulation(float deltaTime)
 			B3_PROFILE("updateOnCpu");
 			if (!gPairBenchFileName)
 			{
-			int allAabbs = m_data->m_broadphaseGPU->getAllAabbsCPU().size();
+		//	int allAabbs = m_data->m_broadphaseGPU->getAllAabbsCPU().size();
 			

 			b3AlignedObjectArray<b3Vector4> posOrnColorsCpu;
@@ -625,11 +625,12 @@ void PairBench::stepSimulation(float deltaTime)
 		b3Clock cl;
 		dt = cl.getTimeMicroseconds();
 		B3_PROFILE("calculateOverlappingPairs");
-		int sz = sizeof(b3Int4)*64*numObjects;
+		//int sz = sizeof(b3Int4)*64*numObjects;


 		m_data->m_broadphaseGPU->calculateOverlappingPairs(maxOverlap);
-		int numPairs = m_data->m_broadphaseGPU->getNumOverlap();
+		int numPairs;
+		numPairs = m_data->m_broadphaseGPU->getNumOverlap();
 		//printf("numPairs = %d\n", numPairs);
 		dt = cl.getTimeMicroseconds()-dt;
 		
--- a/examples/OpenCL/rigidbody/GpuConvexScene.cpp
+++ b/examples/OpenCL/rigidbody/GpuConvexScene.cpp
@@ -223,8 +223,8 @@ int	GpuConvexScene::createDynamicsObjects2( const float* vertices, int numVertic
 	}

 	int shapeId = m_guiHelper->getRenderInterface()->registerShape(&vertices[0],numVertices,indices,numIndices,B3_GL_TRIANGLES,textureIndex);
-	int group=1;
-	int mask=1;
+	//int group=1;
+	//int mask=1;
 	int index=0;


@@ -237,7 +237,7 @@ int	GpuConvexScene::createDynamicsObjects2( const float* vertices, int numVertic
 		int curColor = 0;
 		float scaling[4] = {1,1,1,1};
 		int prevBody = -1;
-		int insta = 0;
+		//int insta = 0;

 		b3ConvexUtility* utilPtr = new b3ConvexUtility();

@@ -290,9 +290,11 @@ int	GpuConvexScene::createDynamicsObjects2( const float* vertices, int numVertic
 					b3Vector4 color = colors[curColor];
 					curColor++;
 					curColor&=3;
-					b3Vector4 scalin=b3MakeVector4(1,1,1,1);
-					int id = m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId,position,orn,color,scaling);
-					int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass,position,orn,colIndex,index,false);
+//					b3Vector4 scaling=b3MakeVector4(1,1,1,1);
+					int id;
+					id= m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId,position,orn,color,scaling);
+					int pid;
+					pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass,position,orn,colIndex,index,false);


 					if (prevBody>=0)
@@ -319,8 +321,8 @@ void GpuConvexScene::createStaticEnvironment()
 	int numIndices = sizeof(cube_indices)/sizeof(int);
 	//int shapeId = ci.m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
 	int shapeId = m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
-	int group=1;
-	int mask=1;
+	//int group=1;
+	//int mask=1;
 	int index=0;


@@ -332,8 +334,10 @@ void GpuConvexScene::createStaticEnvironment()

 		b3Vector4 color=b3MakeVector4(0,0,1,1);

-		int id = m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
-		int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(0.f,position,orn,colIndex,index,false);
+		int id;
+		id = m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
+		int pid;
+		pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(0.f,position,orn,colIndex,index,false);

 	}
 }
@@ -345,8 +349,8 @@ void GpuConvexPlaneScene::createStaticEnvironment()
 	int numIndices = sizeof(cube_indices)/sizeof(int);
 	//int shapeId = ci.m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
 	int shapeId = m_guiHelper->getRenderInterface()->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
-	int group=1;
-	int mask=1;
+//	int group=1;
+//	int mask=1;
 	int index=0;


@@ -358,8 +362,10 @@ void GpuConvexPlaneScene::createStaticEnvironment()

 		b3Vector4 color=b3MakeVector4(0,0,1,1);

-		int id = m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId,position,orn,color,scaling);
-		int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(0.f,position,orn,colIndex,index,false);
+		int id;
+		id = m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId,position,orn,color,scaling);
+		int pid;
+		pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(0.f,position,orn,colIndex,index,false);

 	}

@@ -535,8 +541,8 @@ void GpuTetraScene::createFromTetGenData(const char* ele,
 			int numVertices = sizeof(mytetra_vertices)/strideInBytes;
 			int numIndices = sizeof(mytetra_indices)/sizeof(int);
 			int shapeId = m_instancingRenderer->registerShape(&mytetra_vertices[0],numVertices,mytetra_indices,numIndices);
-			int group=1;
-			int mask=1;
+		//	int group=1;
+		//	int mask=1;
 			


@@ -553,8 +559,10 @@ void GpuTetraScene::createFromTetGenData(const char* ele,
 				b3Vector4 color = colors[curColor++];
 				curColor&=3;
 				
-				int id = m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
-				int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(1.f,position,orn,colIndex,0,false);
+				int id;
+				id = m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
+				int pid;
+				pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(1.f,position,orn,colIndex,0,false);
 				//rigidBodyIds.push_back(pid);

 			}
@@ -620,7 +628,8 @@ void GpuTetraScene::createFromTetGenData(const char* ele,
 		bool useGPU = true;
 		if (useGPU)
 		{
-			int cid = m_data->m_rigidBodyPipeline->createFixedConstraint(bodyIndexA,bodyIndexB,pivotInA,pivotInB,relTargetAB,breakingThreshold);
+			int cid;
+			cid = m_data->m_rigidBodyPipeline->createFixedConstraint(bodyIndexA,bodyIndexB,pivotInA,pivotInB,relTargetAB,breakingThreshold);
 		} else
 		{
 			b3FixedConstraint* c = new b3FixedConstraint(bodyIndexA,bodyIndexB,frameInA,frameInB);
--- a/examples/OpenCL/rigidbody/GpuRigidBodyDemo.cpp
+++ b/examples/OpenCL/rigidbody/GpuRigidBodyDemo.cpp
@@ -233,7 +233,7 @@ void GpuRigidBodyDemo::stepSimulation(float deltaTime)
 			GLuint vbo = m_instancingRenderer->getInternalData()->m_vbo;
 			int arraySizeInBytes  = numObjects * (3)*sizeof(b3Vector4);
 			glBindBuffer(GL_ARRAY_BUFFER, vbo);
-			cl_bool blocking=  CL_TRUE;
+//			cl_bool blocking=  CL_TRUE;
 			positions=  (b3Vector4*)glMapBufferRange( GL_ARRAY_BUFFER,m_instancingRenderer->getMaxShapeCapacity(),arraySizeInBytes, GL_MAP_READ_BIT );//GL_READ_WRITE);//GL_WRITE_ONLY
 			GLint err = glGetError();
 			assert(err==GL_NO_ERROR);
@@ -296,7 +296,7 @@ void GpuRigidBodyDemo::stepSimulation(float deltaTime)
 		int arraySizeInBytes  = numObjects * (3)*sizeof(b3Vector4);

 		glBindBuffer(GL_ARRAY_BUFFER, vbo);
-		cl_bool blocking=  CL_TRUE;
+//		cl_bool blocking=  CL_TRUE;
 		positions=  (b3Vector4*)glMapBufferRange( GL_ARRAY_BUFFER,m_instancingRenderer->getMaxShapeCapacity(),arraySizeInBytes, GL_MAP_WRITE_BIT );//GL_READ_WRITE);//GL_WRITE_ONLY
 		err = glGetError();
 		assert(err==GL_NO_ERROR);
@@ -329,7 +329,7 @@ b3Vector3	GpuRigidBodyDemo::getRayTo(int x,int y)
 	float farPlane = 10000.f;
 	rayForward*= farPlane;

-	b3Vector3 rightOffset;
+//	b3Vector3 rightOffset;
 	b3Vector3 m_cameraUp=b3MakeVector3(0,1,0);
 	b3Vector3 vertical = m_cameraUp;

@@ -401,7 +401,7 @@ bool	GpuRigidBodyDemo::mouseMoveCallback(float x,float y)
 		m_data->m_rigidBodyPipeline->removeConstraintByUid(m_data->m_pickConstraint);
 		b3Vector3 newRayTo = getRayTo(x,y);
 		b3Vector3 rayFrom;
-		b3Vector3 oldPivotInB = m_data->m_pickPivotInB;
+	//	b3Vector3 oldPivotInB = m_data->m_pickPivotInB;
 		b3Vector3 newPivotB;
 		m_guiHelper->getRenderInterface()->getActiveCamera()->getCameraPosition(rayFrom);
 		b3Vector3 dir = newRayTo-rayFrom;
--- a/examples/OpenGLWindow/GLInstancingRenderer.cpp
+++ b/examples/OpenGLWindow/GLInstancingRenderer.cpp
@@ -163,10 +163,10 @@ struct InternalDataRenderer : public GLInstanceRendererInternalData
 	
 	
 	InternalDataRenderer() :
+	m_activeCamera(&m_defaultCamera1),
 		m_shadowMap(0),
 		m_shadowTexture(0),
-		m_renderFrameBuffer(0),
-		m_activeCamera(&m_defaultCamera1)
+		m_renderFrameBuffer(0)
 	{
 		//clear to zero to make it obvious if the matrix is used uninitialized
 		for (int i=0;i<16;i++)
@@ -616,7 +616,7 @@ int	GLInstancingRenderer::registerTexture(const unsigned char* texels, int width
 	b3Assert(glGetError() ==GL_NO_ERROR);
 	glActiveTexture(GL_TEXTURE0);
 	int textureIndex = m_data->m_textureHandles.size();
-    const GLubyte*	image= (const GLubyte*)texels;	
+  //  const GLubyte*	image= (const GLubyte*)texels;	
 	GLuint textureHandle;
 	glGenTextures(1,(GLuint*)&textureHandle);
 	glBindTexture(GL_TEXTURE_2D,textureHandle);
@@ -661,7 +661,7 @@ void    GLInstancingRenderer::updateTexture(int textureIndex, const unsigned cha

        glBindTexture(GL_TEXTURE_2D,h.m_glTexture);
        b3Assert(glGetError() ==GL_NO_ERROR);
-        const GLubyte*	image= (const GLubyte*)texels;	
+      //  const GLubyte*	image= (const GLubyte*)texels;	
        glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, h.m_width,h.m_height,0,GL_RGB,GL_UNSIGNED_BYTE,&flippedTexels[0]);
        b3Assert(glGetError() ==GL_NO_ERROR);
        glGenerateMipmap(GL_TEXTURE_2D);
--- a/examples/OpenGLWindow/GLPrimitiveRenderer.cpp
+++ b/examples/OpenGLWindow/GLPrimitiveRenderer.cpp
@@ -456,7 +456,7 @@ void GLPrimitiveRenderer::drawTexturedRect2a(float x0, float y0, float x1, float
        PrimVertex( PrimVec4( -1.f+2.f*x1/float(m_screenWidth), 1.f-2.f*y0/float(m_screenHeight), 0.f, 1.f ), PrimVec4( color[0], color[1], color[2], color[3] ) ,PrimVec2(u1,v0))
    };

-	int sz = m_data2->m_numVerticesText;
+//	int sz = m_data2->m_numVerticesText;

 	m_data2->m_verticesRect[m_data2->m_numVerticesRect++]=vertexData[0];
 	m_data2->m_verticesRect[m_data2->m_numVerticesRect++]=vertexData[1];
@@ -492,7 +492,7 @@ void GLPrimitiveRenderer::drawTexturedRect2(float x0, float y0, float x1, float
        PrimVertex( PrimVec4( -1.f+2.f*x1/float(m_screenWidth), 1.f-2.f*y0/float(m_screenHeight), 0.f, 1.f ), PrimVec4( color[0], color[1], color[2], color[3] ) ,PrimVec2(u1,v0))
    };

-	int sz = m_data2->m_numVerticesText;
+//	int sz = m_data2->m_numVerticesText;

 	m_data2->m_verticesText[m_data2->m_numVerticesText++]=vertexData[0];
 	m_data2->m_verticesText[m_data2->m_numVerticesText++]=vertexData[1];
--- a/examples/OpenGLWindow/MacOpenGLWindow.mm
+++ b/examples/OpenGLWindow/MacOpenGLWindow.mm
@@ -223,8 +223,8 @@ MacOpenGLWindow::MacOpenGLWindow()
 m_mouseX(0),
 m_mouseY(0),
 m_modifierFlags(0),
-m_mouseMoveCallback(0),
 m_mouseButtonCallback(0),
+m_mouseMoveCallback(0),
 m_wheelCallback(0),
 m_keyboardCallback(0),
 m_retinaScaleFactor(1),
@@ -334,10 +334,10 @@ void MacOpenGLWindow::createWindow(const b3gWindowConstructionInfo& ci)
    
    // add Edit menu
    NSMenuItem *editMenuItem = [[NSMenuItem new] autorelease];
-    NSMenu *menu = [[NSMenu allocWithZone:[NSMenu menuZone]]initWithTitle:@"Edit"];
+    NSMenu *menu = [[NSMenu alloc]initWithTitle:@"Edit"];
    [editMenuItem setSubmenu: menu];
    
-    NSMenuItem *copyItem = [[NSMenuItem allocWithZone:[NSMenu menuZone]]initWithTitle:@"Copy" action:@selector(copy:) keyEquivalent:@"c"];
+    NSMenuItem *copyItem = [[NSMenuItem alloc]initWithTitle:@"Copy" action:@selector(copy:) keyEquivalent:@"c"];
    
    [menu addItem:copyItem];
    [menubar addItem:editMenuItem];
--- a/examples/RenderingExamples/DynamicTexturedCubeDemo.cpp
+++ b/examples/RenderingExamples/DynamicTexturedCubeDemo.cpp
@@ -20,10 +20,7 @@
 class DynamicTexturedCubeDemo : public CommonExampleInterface
 {
    CommonGraphicsApp* m_app;
-    float m_x;
-    float m_y;
-    float m_z;
-	b3AlignedObjectArray<int> m_movingInstances;
+  	b3AlignedObjectArray<int> m_movingInstances;
 	
 	
 	TinyVRGui* m_tinyVrGUI;
@@ -37,10 +34,7 @@ public:
    
    DynamicTexturedCubeDemo(CommonGraphicsApp* app)
    :m_app(app),
-    m_x(0),
-    m_y(0),
-	m_z(0),
-	m_tinyVrGUI(0)
+  	m_tinyVrGUI(0)
    {
 		m_app->setUpAxis(2);
        
--- a/examples/RenderingExamples/RaytracerSetup.cpp
+++ b/examples/RenderingExamples/RaytracerSetup.cpp
@@ -76,16 +76,16 @@ struct RaytracerInternalData
 	RaytracerInternalData()
 		:m_canvasIndex(-1),
 		m_canvas(0),
-		m_roll(0),
-		m_pitch(0),
-		m_yaw(0),
 #ifdef _DEBUG
-		m_width(64),
-		m_height(64)
+	m_width(64),
+	m_height(64),
 #else
-		m_width(128),
-		m_height(128)
+	m_width(128),
+	m_height(128),
 #endif
+		m_pitch(0),
+	m_roll(0),
+	m_yaw(0)
 	{
 		btConeShape* cone = new btConeShape(1,1);
 		btSphereShape* sphere = new btSphereShape(1);
@@ -300,7 +300,7 @@ void RaytracerPhysicsSetup::stepSimulation(float deltaTime)
 	

 	
-	int	mode = 0;
+//	int	mode = 0;
 	int x,y;

 	for (x=0;x<m_internalData->m_width;x++)
--- a/examples/RenderingExamples/TimeSeriesCanvas.cpp
+++ b/examples/RenderingExamples/TimeSeriesCanvas.cpp
@@ -298,7 +298,7 @@ void TimeSeriesCanvas::insertDataAtCurrentTime(float orgV, int dataSourceIndex,
 	float amp = m_internalData->m_pixelsPerUnit;
 	//insert some new value(s) in the right-most column
 	{
-		float time = m_internalData->getTime();
+	//	float time = m_internalData->getTime();
 		
 		float v = zero+amp*orgV;
 		
--- a/examples/RenderingExamples/TinyRendererSetup.cpp
+++ b/examples/RenderingExamples/TinyRendererSetup.cpp
@@ -43,14 +43,14 @@ struct TinyRendererSetupInternalData
 	int m_animateRenderer;

 	TinyRendererSetupInternalData(int width, int height)
-		:m_roll(0),
-		m_pitch(0),
-		m_yaw(0),
-
-		m_width(width),
-		m_height(height),
+		:
 		m_rgbColorBuffer(width,height,TGAImage::RGB),
-		m_textureHandle(0),
+	m_width(width),
+	m_height(height),
+	m_pitch(0),
+	m_roll(0),
+	m_yaw(0),
+	m_textureHandle(0),
 		m_animateRenderer(0)
 	{
 		m_depthBuffer.resize(m_width*m_height);
--- a/examples/RenderingExamples/TinyVRGui.cpp
+++ b/examples/RenderingExamples/TinyVRGui.cpp
@@ -19,9 +19,10 @@ struct TestCanvasInterface2 : public Common2dCanvasInterface
 	int m_height;

 	TestCanvasInterface2(b3AlignedObjectArray<unsigned char>& texelsRGB, int width, int height)
-		:m_width(width),
-		m_height(height),
-		m_texelsRGB(texelsRGB)
+		:
+		m_texelsRGB(texelsRGB),
+	m_width(width),
+	m_height(height)
 	{
 	}

--- a/examples/RigidBody/RigidBodySoftContact.cpp
+++ b/examples/RigidBody/RigidBodySoftContact.cpp
@@ -157,7 +157,8 @@ void RigidBodySoftContact::initPhysics()
 										btScalar(2.0*j)));

 			
-					btRigidBody* body = createRigidBody(mass,startTransform,colShape);
+					btRigidBody* body;
+					body = createRigidBody(mass,startTransform,colShape);
 					//body->setAngularVelocity(btVector3(1,1,1));
 					

--- a/examples/RoboticsLearning/GripperGraspExample.cpp
+++ b/examples/RoboticsLearning/GripperGraspExample.cpp
@@ -25,13 +25,9 @@ class GripperGraspExample : public CommonExampleInterface
 	GUIHelperInterface* m_guiHelper;
 	b3RobotSimAPI m_robotSim;
 	int m_options;
-	int m_r2d2Index;
    int m_gripperIndex;
    
-    float m_x;
-    float m_y;
-    float m_z;
-	b3AlignedObjectArray<int> m_movingInstances;
+ 	b3AlignedObjectArray<int> m_movingInstances;
 	enum
 	{
 		numCubesX = 20,
@@ -43,12 +39,8 @@ public:
    :m_app(helper->getAppInterface()),
 	m_guiHelper(helper),
 	m_options(options),
-	m_r2d2Index(-1),
-    m_gripperIndex(-1),
-    m_x(0),
-    m_y(0),
-	m_z(0)
-    {
+    m_gripperIndex(-1)
+	{
 		m_app->setUpAxis(2);
    }
    virtual ~GripperGraspExample()
--- a/examples/RoboticsLearning/KukaGraspExample.cpp
+++ b/examples/RoboticsLearning/KukaGraspExample.cpp
@@ -30,7 +30,7 @@ class KukaGraspExample : public CommonExampleInterface
    b3Vector4 m_targetOri;
    b3Vector4 m_worldOri;
    double m_time;
-	int m_options;
+//	int m_options;
 	
 	b3AlignedObjectArray<int> m_movingInstances;
 	enum
@@ -40,10 +40,10 @@ class KukaGraspExample : public CommonExampleInterface
 	};
 public:
    
-    KukaGraspExample(GUIHelperInterface* helper, int options)
+    KukaGraspExample(GUIHelperInterface* helper, int /* options */)
    :m_app(helper->getAppInterface()),
 	m_guiHelper(helper),
-	m_options(options),
+//	m_options(options),
 	m_kukaIndex(-1),
    m_time(0)
    {
--- a/examples/RoboticsLearning/R2D2GraspExample.cpp
+++ b/examples/RoboticsLearning/R2D2GraspExample.cpp
@@ -23,9 +23,6 @@ class R2D2GraspExample : public CommonExampleInterface
 	int m_options;
 	int m_r2d2Index;
 	
-    float m_x;
-    float m_y;
-    float m_z;
 	b3AlignedObjectArray<int> m_movingInstances;
 	enum
 	{
@@ -38,10 +35,7 @@ public:
    :m_app(helper->getAppInterface()),
 	m_guiHelper(helper),
 	m_options(options),
-	m_r2d2Index(-1),
-    m_x(0),
-    m_y(0),
-	m_z(0)
+	m_r2d2Index(-1)
    {
 		m_app->setUpAxis(2);
    }
@@ -70,7 +64,7 @@ public:
 				b3RobotSimLoadFileResults results;
 				if (m_robotSim.loadFile(args, results) && results.m_uniqueObjectIds.size()==1)
 				{
-					int m_r2d2Index = results.m_uniqueObjectIds[0];
+					m_r2d2Index = results.m_uniqueObjectIds[0];
 					int numJoints = m_robotSim.getNumJoints(m_r2d2Index);
 					b3Printf("numJoints = %d",numJoints);

--- a/examples/RoboticsLearning/b3RobotSimAPI.cpp
+++ b/examples/RoboticsLearning/b3RobotSimAPI.cpp
@@ -106,10 +106,10 @@ struct RobotSimThreadLocalStorage
 void	RobotThreadFunc(void* userPtr,void* lsMemory)
 {
 	printf("RobotThreadFunc thread started\n");
-	RobotSimThreadLocalStorage* localStorage = (RobotSimThreadLocalStorage*) lsMemory;
+//	RobotSimThreadLocalStorage* localStorage = (RobotSimThreadLocalStorage*) lsMemory;

 	RobotSimArgs* args = (RobotSimArgs*) userPtr;
-	int workLeft = true;
+//	int workLeft = true;
 	b3Clock clock;
 	clock.reset();
 	bool init = true;
@@ -157,7 +157,7 @@ void*	RobotlsMemoryFunc()

 ATTRIBUTE_ALIGNED16(class) MultiThreadedOpenGLGuiHelper2 : public GUIHelperInterface
 {
-	CommonGraphicsApp* m_app;
+//	CommonGraphicsApp* m_app;
 	
 	b3CriticalSection* m_cs;

@@ -188,9 +188,8 @@ public:
 	int m_instanceId;
 	

-	MultiThreadedOpenGLGuiHelper2(CommonGraphicsApp* app, GUIHelperInterface* guiHelper)
-		:m_app(app)
-		,m_cs(0),
+	MultiThreadedOpenGLGuiHelper2( GUIHelperInterface* guiHelper)
+		:	m_cs(0),
 		m_texels(0),
 		m_textureId(-1)
 	{
@@ -439,11 +438,13 @@ struct b3RobotSimAPI_InternalData
 	bool m_connected;

 	b3RobotSimAPI_InternalData()
-		:m_threadSupport(0),
-		m_multiThreadedHelper(0),
-		m_clientServerDirect(0),
-		m_physicsClient(0),
-		m_useMultiThreading(false),
+		:
+	m_physicsClient(0),
+	m_threadSupport(0),
+	m_multiThreadedHelper(0),
+	
+	m_clientServerDirect(0),
+	m_useMultiThreading(false),
 		m_connected(false)
 	{
 	}
@@ -695,7 +696,7 @@ bool b3RobotSimAPI::getJointStates(int bodyUniqueId, b3JointStates& state)
    
    if (statusHandle)
    {
-        double rootInertialFrame[7];
+     //   double rootInertialFrame[7];
        const double* rootLocalInertialFrame;
        const double* actualStateQ;
        const double* actualStateQdot;
@@ -843,7 +844,8 @@ bool b3RobotSimAPI::loadFile(const struct b3RobotSimLoadFileArgs& args, b3RobotS
 				if (numBodies)
 				{
 					results.m_uniqueObjectIds.resize(numBodies);
-					int numBodies = b3GetStatusBodyIndices(statusHandle, &results.m_uniqueObjectIds[0],results.m_uniqueObjectIds.size());
+					int numBodies;
+					numBodies = b3GetStatusBodyIndices(statusHandle, &results.m_uniqueObjectIds[0],results.m_uniqueObjectIds.size());

 				}
 				statusOk = true;
@@ -865,11 +867,7 @@ bool b3RobotSimAPI::connect(GUIHelperInterface* guiHelper)
 {
 	if (m_data->m_useMultiThreading)
 	{
-		m_data->m_multiThreadedHelper = new MultiThreadedOpenGLGuiHelper2(guiHelper->getAppInterface(), guiHelper);
-
-		MultiThreadedOpenGLGuiHelper2* guiHelperWrapper = new MultiThreadedOpenGLGuiHelper2(guiHelper->getAppInterface(), guiHelper);
-
-
+		m_data->m_multiThreadedHelper = new MultiThreadedOpenGLGuiHelper2(guiHelper);


 		m_data->m_threadSupport = createRobotSimThreadSupport(MAX_ROBOT_NUM_THREADS);
@@ -892,7 +890,7 @@ bool b3RobotSimAPI::connect(GUIHelperInterface* guiHelper)
 			int numMoving = 0;
 			m_data->m_args[w].m_positions.resize(numMoving);
 			m_data->m_args[w].m_physicsServerPtr = &m_data->m_physicsServer;
-			int index = 0;
+			//int index = 0;

 			m_data->m_threadSupport->runTask(B3_THREAD_SCHEDULE_TASK, (void*)&m_data->m_args[w], w);
 			while (m_data->m_args[w].m_cs->getSharedParam(0) == eRobotSimIsUnInitialized)
@@ -912,7 +910,8 @@ bool b3RobotSimAPI::connect(GUIHelperInterface* guiHelper)
 	{
 		PhysicsServerCommandProcessor* sdk = new PhysicsServerCommandProcessor;
 		m_data->m_clientServerDirect = new PhysicsDirect(sdk,true);
-		bool connected = m_data->m_clientServerDirect->connect(guiHelper);
+		bool connected;
+		connected = m_data->m_clientServerDirect->connect(guiHelper);
 		m_data->m_physicsClient = (b3PhysicsClientHandle)m_data->m_clientServerDirect;

 	}
--- a/examples/SharedMemory/PhysicsClientExample.cpp
+++ b/examples/SharedMemory/PhysicsClientExample.cpp
@@ -514,13 +514,13 @@ m_wantsTermination(false),
 m_sharedMemoryKey(SHARED_MEMORY_KEY),
 m_selectedBody(-1),
 m_prevSelectedBody(-1),
-m_numMotors(0),
-m_options(options),
-m_isOptionalServerConnected(false),
 m_canvas(0),
 m_canvasRGBIndex(-1),
 m_canvasDepthIndex(-1),
-m_canvasSegMaskIndex(-1)
+m_canvasSegMaskIndex(-1),
+m_numMotors(0),
+m_options(options),
+m_isOptionalServerConnected(false)
 	
 {
 	b3Printf("Started PhysicsClientExample\n");
--- a/examples/SharedMemory/PhysicsClientSharedMemory.cpp
+++ b/examples/SharedMemory/PhysicsClientSharedMemory.cpp
@@ -62,10 +62,9 @@ struct PhysicsClientSharedMemoryInternalData {
        : m_sharedMemory(0),
 		  m_ownsSharedMemory(false),
          m_testBlock1(0),
-		  m_counter(0),
 		  m_cachedCameraPixelsWidth(0),
 		  m_cachedCameraPixelsHeight(0),
-		  
+		  m_counter(0),		  
          m_isConnected(false),
          m_waitingForServer(false),
          m_hasLastServerStatus(false),
@@ -283,7 +282,7 @@ void PhysicsClientSharedMemory::processBodyJointInfo(int bodyUniqueId, const Sha
 }

 const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
-    SharedMemoryStatus* stat = 0;
+   // SharedMemoryStatus* stat = 0;

    if (!m_data->m_testBlock1) {
 		m_data->m_lastServerStatus.m_type = CMD_SHARED_MEMORY_NOT_INITIALIZED;
@@ -308,7 +307,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
        const SharedMemoryStatus& serverCmd = m_data->m_testBlock1->m_serverCommands[0];
        m_data->m_lastServerStatus = serverCmd;

-        EnumSharedMemoryServerStatus s = (EnumSharedMemoryServerStatus)serverCmd.m_type;
+ //       EnumSharedMemoryServerStatus s = (EnumSharedMemoryServerStatus)serverCmd.m_type;
        // consume the command

        switch (serverCmd.m_type) {
--- a/examples/SharedMemory/PhysicsClientUDP.cpp
+++ b/examples/SharedMemory/PhysicsClientUDP.cpp
@@ -170,7 +170,7 @@ struct	UdpNetworkedInternalData
 				
 				if (gVerboseNetworkMessagesClient)
 				{
-					printf("A packet of length %u containing '%s' was "
+					printf("A packet of length %lu containing '%s' was "
 						"received from %s on channel %u.\n",
 						m_event.packet->dataLength,
 						m_event.packet->data,
@@ -225,7 +225,7 @@ struct	UdpNetworkedInternalData
 			{
 				if (gVerboseNetworkMessagesClient)
 				{
-					printf("A packet of length %u containing '%s' was "
+					printf("A packet of length %lu containing '%s' was "
 						"received from %s on channel %u.\n",
 						m_event.packet->dataLength,
 						m_event.packet->data,
@@ -303,10 +303,10 @@ enum UDPCommandEnums
 void	UDPThreadFunc(void* userPtr, void* lsMemory)
 {
 	printf("UDPThreadFunc thread started\n");
-	UDPThreadLocalStorage* localStorage = (UDPThreadLocalStorage*)lsMemory;
+//	UDPThreadLocalStorage* localStorage = (UDPThreadLocalStorage*)lsMemory;

 	UdpNetworkedInternalData* args = (UdpNetworkedInternalData*)userPtr;
-	int workLeft = true;
+//	int workLeft = true;
 	b3Clock clock;
 	clock.reset();
 	bool init = true;
@@ -366,7 +366,8 @@ void	UDPThreadFunc(void* userPtr, void* lsMemory)

 						int sz = sizeof(SharedMemoryCommand);
 						ENetPacket *packet = enet_packet_create(&args->m_clientCmd, sz, ENET_PACKET_FLAG_RELIABLE);
-						int res = enet_peer_send(args->m_peer, 0, packet);
+						int res;
+						res = enet_peer_send(args->m_peer, 0, packet);
 						args->m_cs->lock();
 						args->m_hasCommand = false;
 						args->m_cs->unlock();
@@ -440,7 +441,7 @@ UdpNetworkedPhysicsProcessor::~UdpNetworkedPhysicsProcessor()

 bool UdpNetworkedPhysicsProcessor::processCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
 {
-	int sz = sizeof(SharedMemoryCommand);
+//	int sz = sizeof(SharedMemoryCommand);
 	int timeout = 1024 * 1024 * 1024;

 	m_data->m_cs->lock();
--- a/examples/SharedMemory/PhysicsClientUDP_C_API.cpp
+++ b/examples/SharedMemory/PhysicsClientUDP_C_API.cpp
@@ -12,7 +12,8 @@ b3PhysicsClientHandle b3ConnectPhysicsUDP(const char* hostName, int port)

 	PhysicsDirect* direct = new PhysicsDirect(udp,true);

-	bool connected = direct->connect();
+	bool connected;
+	connected = direct->connect();
 	printf("direct!\n");
 	return (b3PhysicsClientHandle)direct;
 }
--- a/examples/SharedMemory/PhysicsDirectC_API.cpp
+++ b/examples/SharedMemory/PhysicsDirectC_API.cpp
@@ -12,7 +12,8 @@ b3PhysicsClientHandle b3ConnectPhysicsDirect()
 	PhysicsServerCommandProcessor* sdk = new PhysicsServerCommandProcessor;

 	PhysicsDirect* direct = new PhysicsDirect(sdk,true);
-	bool connected = direct->connect();
+	bool connected;
+	connected = direct->connect();
 	return (b3PhysicsClientHandle  )direct;
 }

--- a/examples/SharedMemory/PhysicsLoopBackC_API.cpp
+++ b/examples/SharedMemory/PhysicsLoopBackC_API.cpp
@@ -9,7 +9,8 @@ b3PhysicsClientHandle b3ConnectPhysicsLoopback(int key)
 {
 	PhysicsLoopBack* loopBack = new PhysicsLoopBack();
 	loopBack->setSharedMemoryKey(key);
-	bool connected = loopBack->connect();
+	bool connected;
+	connected = loopBack->connect();
 	return (b3PhysicsClientHandle  )loopBack;
 }

--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -438,7 +438,7 @@ struct PhysicsServerCommandProcessorInternalData

 		if (m_firstFreeHandle<0)
 		{
-			int curCapacity = m_bodyHandles.size();
+			//int curCapacity = m_bodyHandles.size();
 			int additionalCapacity= m_bodyHandles.size();
 			increaseHandleCapacity(additionalCapacity);

@@ -541,14 +541,15 @@ struct PhysicsServerCommandProcessorInternalData
 	TinyRendererVisualShapeConverter  m_visualConverter;

 	PhysicsServerCommandProcessorInternalData()
-		:m_hasGround(false),
-		m_gripperRigidbodyFixed(0),
+		:
+		m_allowRealTimeSimulation(false),
+	m_hasGround(false),	
+	m_gripperRigidbodyFixed(0),
 		m_gripperMultiBody(0),
 		m_kukaGripperFixed(0),
 		m_kukaGripperMultiBody(0),
 		m_kukaGripperRevolute1(0),
 		m_kukaGripperRevolute2(0),
-		m_allowRealTimeSimulation(false),
 		m_huskyId(-1),
 		m_KukaId(-1),
 		m_sphereId(-1),
@@ -1336,7 +1337,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 			//m_data->m_testBlock1->m_numProcessedClientCommands++;

 			//no timestamp yet
-            int timeStamp = 0;
+            //int timeStamp = 0;
 			
 			//catch uninitialized cases
 			serverStatusOut.m_type = CMD_INVALID_STATUS;
@@ -2920,9 +2921,9 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm

 						serverCmd.m_type = CMD_REQUEST_AABB_OVERLAP_COMPLETED;

-						int m_startingOverlappingObjectIndex;
-						int m_numOverlappingObjectsCopied;
-						int m_numRemainingOverlappingObjects;
+						//int m_startingOverlappingObjectIndex;
+						//int m_numOverlappingObjectsCopied;
+						//int m_numRemainingOverlappingObjects;
 						serverCmd.m_sendOverlappingObjectsArgs.m_startingOverlappingObjectIndex = clientCmd.m_requestOverlappingObjectsArgs.m_startingOverlappingObjectIndex;
 						serverCmd.m_sendOverlappingObjectsArgs.m_numOverlappingObjectsCopied = m_data->m_cachedOverlappingObjects.m_bodyUniqueIds.size();
 						serverCmd.m_sendOverlappingObjectsArgs.m_numRemainingOverlappingObjects = remainingObjects - curNumObjects;
@@ -3133,8 +3134,6 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 									///ContactResultCallback is used to report contact points
 									struct MyContactResultCallback : public btCollisionWorld::ContactResultCallback
 									{
-										//short int	m_collisionFilterGroup;
-										//short int	m_collisionFilterMask;
 										int m_bodyUniqueIdA;
 										int m_bodyUniqueIdB;
 										int m_linkIndexA;
@@ -3789,8 +3788,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
                    //retrieve the visual shape information for a specific body
                    
 					int totalNumVisualShapes = m_data->m_visualConverter.getNumVisualShapes(clientCmd.m_requestVisualShapeDataArguments.m_bodyUniqueId);
-					int totalBytesPerVisualShape = sizeof (b3VisualShapeData);
-					int visualShapeStorage = bufferSizeInBytes / totalBytesPerVisualShape - 1;
+					//int totalBytesPerVisualShape = sizeof (b3VisualShapeData);
+					//int visualShapeStorage = bufferSizeInBytes / totalBytesPerVisualShape - 1;
 					b3VisualShapeData* visualShapeStoragePtr = (b3VisualShapeData*)bufferServerToClient;

 					int remain = totalNumVisualShapes - clientCmd.m_requestVisualShapeDataArguments.m_startingVisualShapeIndex;
@@ -4084,7 +4083,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 	return hasStatus;
 }

-static int skip=1;
+//static int skip=1;

 void PhysicsServerCommandProcessor::renderScene()
 {
--- a/examples/SharedMemory/PhysicsServerExample.cpp
+++ b/examples/SharedMemory/PhysicsServerExample.cpp
@@ -56,6 +56,29 @@ const char* startFileNameVR = "0_VRDemoSettings.txt";

 #include <vector>

+static void loadCurrentSettingsVR(b3CommandLineArgs& args)
+{
+	//int currentEntry = 0;
+	FILE* f = fopen(startFileNameVR, "r");
+	if (f)
+	{
+		char oneline[1024];
+		char* argv[] = { 0,&oneline[0] };
+		
+		while (fgets(oneline, 1024, f) != NULL)
+		{
+			char *pos;
+			if ((pos = strchr(oneline, '\n')) != NULL)
+				*pos = '\0';
+			args.addArgs(2, argv);
+		}
+		fclose(f);
+	}
+	
+};
+
+
+#if B3_USE_MIDI
 //remember the settings (you don't want to re-tune again and again...)
 static void saveCurrentSettingsVR()
 {
@@ -70,27 +93,6 @@ static void saveCurrentSettingsVR()
 	}
 };

-static void loadCurrentSettingsVR(b3CommandLineArgs& args)
-{
-	int currentEntry = 0;
-	FILE* f = fopen(startFileNameVR, "r");
-	if (f)
-	{
-		char oneline[1024];
-		char* argv[] = { 0,&oneline[0] };
-
-		while (fgets(oneline, 1024, f) != NULL)
-		{
-			char *pos;
-			if ((pos = strchr(oneline, '\n')) != NULL)
-				*pos = '\0';
-			args.addArgs(2, argv);
-		}
-		fclose(f);
-	}
-
-};
-#if B3_USE_MIDI


 static float getParamf(float rangeMin, float rangeMax, int midiVal)
@@ -280,10 +282,10 @@ float sleepTimeThreshold = 8./1000.;
 void	MotionThreadFunc(void* userPtr,void* lsMemory)
 {
 	printf("MotionThreadFunc thread started\n");
-	MotionThreadLocalStorage* localStorage = (MotionThreadLocalStorage*) lsMemory;
+	//MotionThreadLocalStorage* localStorage = (MotionThreadLocalStorage*) lsMemory;

 	MotionArgs* args = (MotionArgs*) userPtr;
-	int workLeft = true;
+	//int workLeft = true;
 	b3Clock clock;
 	clock.reset();
 	bool init = true;
@@ -494,7 +496,7 @@ struct UserDebugText

 class MultiThreadedOpenGLGuiHelper : public GUIHelperInterface
 {
-	CommonGraphicsApp* m_app;
+//	CommonGraphicsApp* m_app;
 	
 	b3CriticalSection* m_cs;
 	b3CriticalSection* m_cs2;
@@ -558,8 +560,9 @@ public:
 	}

 	MultiThreadedOpenGLGuiHelper(CommonGraphicsApp* app, GUIHelperInterface* guiHelper)
-		:m_app(app)
-		,m_cs(0),
+		:
+	//m_app(app),
+		m_cs(0),
 		m_cs2(0),
 		m_cs3(0),
 		m_csGUI(0),
@@ -816,7 +819,7 @@ public:
 		m_tmpText.m_itemUniqueId = m_uidGenerator++;
 		m_tmpText.m_lifeTime = lifeTime;
 		m_tmpText.textSize = size;
-		int len = strlen(txt);
+		//int len = strlen(txt);
 		strcpy(m_tmpText.m_text,txt);
 		m_tmpText.m_textPositionXYZ[0] = positionXYZ[0];
 		m_tmpText.m_textPositionXYZ[1] = positionXYZ[1];
@@ -893,7 +896,7 @@ class PhysicsServerExample : public SharedMemoryCommon
    bool m_isConnected;
    btClock m_clock;
 	bool m_replay;
-	int m_options;
+//	int m_options;
 	
 #ifdef BT_ENABLE_VR
 	TinyVRGui* m_tinyVrGui;
@@ -1123,8 +1126,8 @@ PhysicsServerExample::PhysicsServerExample(MultiThreadedOpenGLGuiHelper* helper,
 m_physicsServer(sharedMem),
 m_wantsShutdown(false),
 m_isConnected(false),
-m_replay(false),
-m_options(options)
+m_replay(false)
+//m_options(options)
 #ifdef BT_ENABLE_VR
 ,m_tinyVrGui(0)
 #endif
@@ -1201,7 +1204,7 @@ void	PhysicsServerExample::initPhysics()
 			int numMoving = 0;
 			m_args[w].m_positions.resize(numMoving);
 			m_args[w].m_physicsServerPtr = &m_physicsServer;
-			int index = 0;
+			//int index = 0;
 			
 			m_threadSupport->runTask(B3_THREAD_SCHEDULE_TASK, (void*) &this->m_args[w], w);
 			
@@ -1507,8 +1510,8 @@ extern btTransform gVRTrackingObjectTr;

 void PhysicsServerExample::drawUserDebugLines()
 {
-	static char line0[1024];
-	static char line1[1024];
+	//static char line0[1024];
+	//static char line1[1024];

 	//draw all user-debug-lines

@@ -1634,15 +1637,16 @@ void PhysicsServerExample::renderScene()
 	{
 		
 		static int frameCount=0;
-		static btScalar prevTime = m_clock.getTimeSeconds();
+		//static btScalar prevTime = m_clock.getTimeSeconds();
 		frameCount++;
-		
+
+#if 0
+
 		static btScalar worseFps = 1000000;
 		int numFrames = 200;
 		static int count = 0;
 		count++;

-#if 0
 		if (0 == (count & 1))
 		{
 			btScalar curTime = m_clock.getTimeSeconds();
--- a/examples/SharedMemory/SharedMemoryCommandProcessor.cpp
+++ b/examples/SharedMemory/SharedMemoryCommandProcessor.cpp
@@ -125,7 +125,6 @@ bool SharedMemoryCommandProcessor::processCommand(const struct SharedMemoryComma

 bool SharedMemoryCommandProcessor::receiveStatus(struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
 {
-	SharedMemoryStatus* stat = 0;

 	m_data->m_lastServerStatus.m_dataStream = 0;
 	m_data->m_lastServerStatus.m_numDataStreamBytes = 0;
--- a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
+++ b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
@@ -546,7 +546,7 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(int linkIndex, const
 			btAlignedObjectArray<GLInstanceVertex> vertices;
 			btAlignedObjectArray<int> indices;
 			btTransform startTrans; startTrans.setIdentity();
-			int graphicsIndex = -1;
+			//int graphicsIndex = -1;

 			const UrdfVisual& vis = link->m_visualArray[v];
 			btTransform childTrans = vis.m_linkLocalFrame;
@@ -660,7 +660,7 @@ int TinyRendererVisualShapeConverter::getVisualShapesData(int bodyUniqueId, int
 			break;
 		}
 	}
-	int count = 0;
+	//int count = 0;

 	if (start >= 0)
 	{
--- a/examples/SoftDemo/SoftDemo.cpp
+++ b/examples/SoftDemo/SoftDemo.cpp
@@ -232,15 +232,15 @@ extern float eye[3];
 extern int glutScreenWidth;
 extern int glutScreenHeight;

-static bool sDemoMode = false;
+//static bool sDemoMode = false;

 const int maxProxies = 32766;
-const int maxOverlap = 65535;
+//const int maxOverlap = 65535;

 static btVector3*	gGroundVertices=0;
 static int*	gGroundIndices=0;
-static btBvhTriangleMeshShape* trimeshShape =0;
-static btRigidBody* staticBody = 0;
+//static btBvhTriangleMeshShape* trimeshShape =0;
+//static btRigidBody* staticBody = 0;
 static float waveheight = 5.f;

 const float TRIANGLE_SIZE=8.f;
@@ -249,12 +249,12 @@ int		current_demo=20;


 #ifdef _DEBUG
-const int gNumObjects = 1;
+//const int gNumObjects = 1;
 #else
-const int gNumObjects = 1;//try this in release mode: 3000. never go above 16384, unless you increate maxNumObjects  value in DemoApplication.cp
+//const int gNumObjects = 1;//try this in release mode: 3000. never go above 16384, unless you increate maxNumObjects  value in DemoApplication.cp
 #endif

-const int maxNumObjects = 32760;
+//const int maxNumObjects = 32760;

 #define CUBE_HALF_EXTENTS 1.5
 #define EXTRA_HEIGHT -10.f
@@ -1452,7 +1452,8 @@ static void	Init_ClusterRobot(SoftDemo* pdemo)
 	ls.position=psb2->clusterCom(0);psb2->appendLinearJoint(ls,prb);

 	btBoxShape*			pbox=new btBoxShape(btVector3(20,1,40));
-	btRigidBody*		pgrn=pdemo->createRigidBody(0,btTransform(btQuaternion(0,-SIMD_HALF_PI/2,0),btVector3(0,0,0)),pbox);
+	btRigidBody*		pgrn;
+	pgrn =pdemo->createRigidBody(0,btTransform(btQuaternion(0,-SIMD_HALF_PI/2,0),btVector3(0,0,0)),pbox);

 	pdemo->m_autocam=true;

--- a/examples/ThirdPartyLibs/BussIK/MatrixRmn.cpp
+++ b/examples/ThirdPartyLibs/BussIK/MatrixRmn.cpp
@@ -486,7 +486,7 @@ void MatrixRmn::ComputeSVD( MatrixRmn& U, VectorRn& w, MatrixRmn& V ) const
 			 && U.NumRows==U.NumCols && V.NumRows==V.NumCols
 			 && w.GetLength()==Min(NumRows,NumCols) );

-	double temp=0.0;
+//	double temp=0.0;
 	VectorRn& superDiag = VectorRn::GetWorkVector( w.GetLength()-1 );		// Some extra work space.  Will get passed around.

 	// Choose larger of U, V to hold intermediate results
--- a/examples/ThirdPartyLibs/BussIK/Misc.cpp
+++ b/examples/ThirdPartyLibs/BussIK/Misc.cpp
@@ -23,7 +23,7 @@ subject to the following restrictions:
 #include <math.h>
 #include "LinearR3.h"

-
+#if 0

 /****************************************************************
 							 Axes 
@@ -65,7 +65,7 @@ static float zy[] = {
 static int zorder[] = {
 		1, 2, 3, 4, -5, 6
 		};
-
+#endif
 #define LENFRAC		0.10
 #define BASEFRAC	1.10

@@ -88,9 +88,9 @@ static int zorder[] = {

 /* x, y, z, axes:							*/

-static float axx[3] = { 1., 0., 0. };
-static float ayy[3] = { 0., 1., 0. };
-static float azz[3] = { 0., 0., 1. };
+//static float axx[3] = { 1., 0., 0. };
+//static float ayy[3] = { 0., 1., 0. };
+//static float azz[3] = { 0., 0., 1. };



--- a/examples/ThirdPartyLibs/BussIK/Node.h
+++ b/examples/ThirdPartyLibs/BussIK/Node.h
@@ -45,7 +45,7 @@ public:

 	double GetTheta() const { return theta; }
 	double AddToTheta( double& delta ) { 
-		double orgTheta = theta;
+		//double orgTheta = theta;
 		theta += delta;
 #if 0
 		if (theta < minTheta)
--- a/examples/TinyRenderer/TinyRenderer.cpp
+++ b/examples/TinyRenderer/TinyRenderer.cpp
@@ -31,11 +31,11 @@ struct DepthShader : public IShader {
    
    DepthShader(Model* model, Matrix& lightModelView, Matrix& projectionMat, Matrix& modelMat, Vec3f localScaling, float lightDistance)
    :m_model(model),
-    m_lightModelView(lightModelView),
-    m_projectionMat(projectionMat),
    m_modelMat(modelMat),
-    m_localScaling(localScaling),
-    m_lightDistance(lightDistance)
+	m_projectionMat(projectionMat),
+	m_localScaling(localScaling),
+	m_lightModelView(lightModelView),
+	m_lightDistance(lightDistance)
    {
        m_invModelMat = m_modelMat.invert_transpose();
    }
@@ -92,19 +92,21 @@ struct Shader : public IShader {
    :m_model(model),
    m_light_dir_local(light_dir_local),
    m_light_color(light_color),
-    m_ambient_coefficient(ambient_coefficient),
-    m_diffuse_coefficient(diffuse_coefficient),
-    m_specular_coefficient(specular_coefficient),
-    m_modelView1(modelView),
-    m_lightModelView(lightModelView),
-    m_projectionMat(projectionMat),
-    m_modelMat(modelMat),
-    m_viewportMat(viewportMat),
-    m_localScaling(localScaling),
-    m_colorRGBA(colorRGBA),
-    m_width(width),
-    m_height(height),
-    m_shadowBuffer(shadowBuffer)
+	m_modelMat(modelMat),
+	m_modelView1(modelView),
+	m_projectionMat(projectionMat),
+	m_localScaling(localScaling),
+	m_lightModelView(lightModelView),
+	m_colorRGBA(colorRGBA),
+	m_viewportMat(viewportMat),
+	m_ambient_coefficient(ambient_coefficient),
+	m_diffuse_coefficient(diffuse_coefficient),
+	m_specular_coefficient(specular_coefficient),
+
+	m_shadowBuffer(shadowBuffer),
+	m_width(width),
+    m_height(height)
+   
    {
        m_invModelMat = m_modelMat.invert_transpose();
    }
@@ -157,11 +159,12 @@ struct Shader : public IShader {
 };

 TinyRenderObjectData::TinyRenderObjectData(TGAImage& rgbColorBuffer,b3AlignedObjectArray<float>&depthBuffer,b3AlignedObjectArray<float>* shadowBuffer)
-:m_rgbColorBuffer(rgbColorBuffer),
+:
+m_model(0),
+m_rgbColorBuffer(rgbColorBuffer),
 m_depthBuffer(depthBuffer),
 m_shadowBuffer(shadowBuffer),
 m_segmentationMaskBufferPtr(0),
-m_model(0),
 m_userData(0),
 m_userIndex(-1),
 m_objectIndex(-1)
@@ -180,11 +183,11 @@ m_objectIndex(-1)
 }

 TinyRenderObjectData::TinyRenderObjectData(TGAImage& rgbColorBuffer,b3AlignedObjectArray<float>&depthBuffer, b3AlignedObjectArray<float>* shadowBuffer, b3AlignedObjectArray<int>* segmentationMaskBuffer, int objectIndex)
-:m_rgbColorBuffer(rgbColorBuffer),
+:m_model(0),
+m_rgbColorBuffer(rgbColorBuffer),
 m_depthBuffer(depthBuffer),
 m_shadowBuffer(shadowBuffer),
 m_segmentationMaskBufferPtr(segmentationMaskBuffer),
-m_model(0),
 m_userData(0),
 m_userIndex(-1),
 m_objectIndex(objectIndex)
@@ -203,10 +206,10 @@ m_objectIndex(objectIndex)
 }

 TinyRenderObjectData::TinyRenderObjectData(TGAImage& rgbColorBuffer,b3AlignedObjectArray<float>&depthBuffer)
-:m_rgbColorBuffer(rgbColorBuffer),
+:m_model(0),
+m_rgbColorBuffer(rgbColorBuffer),
 m_depthBuffer(depthBuffer),
 m_segmentationMaskBufferPtr(0),
-m_model(0),
 m_userData(0),
 m_userIndex(-1),
 m_objectIndex(-1)
@@ -225,10 +228,10 @@ m_objectIndex(-1)
 }

 TinyRenderObjectData::TinyRenderObjectData(TGAImage& rgbColorBuffer,b3AlignedObjectArray<float>&depthBuffer, b3AlignedObjectArray<int>* segmentationMaskBuffer, int objectIndex)
-:m_rgbColorBuffer(rgbColorBuffer),
+:m_model(0),
+m_rgbColorBuffer(rgbColorBuffer),
 m_depthBuffer(depthBuffer),
 m_segmentationMaskBufferPtr(segmentationMaskBuffer),
-m_model(0),
 m_userData(0),
 m_userIndex(-1),
 m_objectIndex(objectIndex)
--- a/examples/Tutorial/Dof6ConstraintTutorial.cpp
+++ b/examples/Tutorial/Dof6ConstraintTutorial.cpp
@@ -457,8 +457,8 @@ void Dof6ConstraintTutorial::animate()
 /////// servo motor: flip its target periodically
 #ifdef USE_6DOF2
 		static float servoNextFrame = -1;
-		btScalar pos = m_data->m_ServoMotorConstraint->getRotationalLimitMotor(2)->m_currentPosition;
-		btScalar target = m_data->m_ServoMotorConstraint->getRotationalLimitMotor(2)->m_servoTarget;
+		//btScalar pos = m_data->m_ServoMotorConstraint->getRotationalLimitMotor(2)->m_currentPosition;
+		//btScalar target = m_data->m_ServoMotorConstraint->getRotationalLimitMotor(2)->m_servoTarget;
 		if(servoNextFrame < 0)
 		{
 			m_data->m_ServoMotorConstraint->getRotationalLimitMotor(2)->m_servoTarget *= -1;
@@ -510,7 +510,7 @@ void Dof6ConstraintTutorial::stepSimulation(float deltaTime)
 	//animate();
 	

-	float time = m_data->m_timeSeriesCanvas->getCurrentTime();
+	//float time = m_data->m_timeSeriesCanvas->getCurrentTime();
 	
 	float prevPos = m_data->m_TranslateSpringBody->getWorldTransform().getOrigin().x();
 	m_dynamicsWorld->stepSimulation(deltaTime);
--- a/examples/Tutorial/Tutorial.cpp
+++ b/examples/Tutorial/Tutorial.cpp
@@ -292,11 +292,11 @@ public:
    :m_app(guiHelper->getAppInterface()),
 	m_guiHelper(guiHelper),
 	m_tutorialIndex(tutorialIndex),
-	m_stage(0),
-	m_counter(0),
 	m_timeSeriesCanvas0(0),
-	m_timeSeriesCanvas1(0)
-    {
+	m_timeSeriesCanvas1(0),
+	m_stage(0),
+	m_counter(0)	
+	{
 		int numBodies = 1;
 		
 		m_app->setUpAxis(1);
--- a/examples/Vehicles/Hinge2Vehicle.cpp
+++ b/examples/Vehicles/Hinge2Vehicle.cpp
@@ -158,9 +158,9 @@ static btScalar loadMass = 350.f;//
 #endif


-static int rightIndex = 0;
-static int upIndex = 1;
-static int forwardIndex = 2;
+//static int rightIndex = 0;
+//static int upIndex = 1;
+//static int forwardIndex = 2;
 static btVector3 wheelDirectionCS0(0,-1,0);
 static btVector3 wheelAxleCS(-1,0,0);

@@ -173,8 +173,8 @@ static bool useMCLPSolver = false;//true;
 #include "Hinge2Vehicle.h"


-static const int maxProxies = 32766;
-static const int maxOverlap = 65535;
+//static const int maxProxies = 32766;
+//static const int maxOverlap = 65535;

 static float	gEngineForce = 0.f;

@@ -182,21 +182,21 @@ static float	defaultBreakingForce = 10.f;
 static float	gBreakingForce = 100.f;

 static float	maxEngineForce = 1000.f;//this should be engine/velocity dependent
-static float	maxBreakingForce = 100.f;
+//static float	maxBreakingForce = 100.f;

 static float	gVehicleSteering = 0.f;
 static float	steeringIncrement = 0.04f;
 static float	steeringClamp = 0.3f;
 static float	wheelRadius = 0.5f;
 static float	wheelWidth = 0.4f;
-static float	wheelFriction = 1000;//BT_LARGE_FLOAT;
-static float	suspensionStiffness = 20.f;
-static float	suspensionDamping = 2.3f;
-static float	suspensionCompression = 4.4f;
-static float	rollInfluence = 0.1f;//1.0f;
+//static float	wheelFriction = 1000;//BT_LARGE_FLOAT;
+//static float	suspensionStiffness = 20.f;
+//static float	suspensionDamping = 2.3f;
+//static float	suspensionCompression = 4.4f;
+//static float	rollInfluence = 0.1f;//1.0f;


-static btScalar suspensionRestLength(0.6);
+//static btScalar suspensionRestLength(0.6);

 #define CUBE_HALF_EXTENTS 1

@@ -209,8 +209,8 @@ static btScalar suspensionRestLength(0.6);

 Hinge2Vehicle::Hinge2Vehicle(struct GUIHelperInterface* helper)
 :CommonRigidBodyBase(helper),
-m_guiHelper(helper),
 m_carChassis(0),
+m_guiHelper(helper),
 m_liftBody(0),
 m_forkBody(0),
 m_loadBody(0),
@@ -378,10 +378,10 @@ tr.setOrigin(btVector3(0,-3,0));
 	m_wheelShape = new btCylinderShapeX(btVector3(wheelWidth,wheelRadius,wheelRadius));
 	

-	const float position[4]={0,10,10,0};
-	const float quaternion[4]={0,0,0,1};
-	const float color[4]={0,1,0,1};
-	const float scaling[4] = {1,1,1,1};
+	//const float position[4]={0,10,10,0};
+	//const float quaternion[4]={0,0,0,1};
+	//const float color[4]={0,1,0,1};
+	//const float scaling[4] = {1,1,1,1};

 	btVector3 wheelPos[4] = {
 		btVector3(btScalar(-1.), btScalar(-0.25), btScalar(1.25)),
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -354,7 +354,6 @@ static PyObject* pybullet_disconnectPhysicsServer(PyObject* self,
 }

 static PyObject* pybullet_saveWorld(PyObject* self, PyObject* args,PyObject *keywds) {
-	int size = PySequence_Size(args);
 	const char* worldFileName = "";

 	b3PhysicsClientHandle sm = 0;
@@ -398,7 +397,6 @@ static PyObject* pybullet_saveWorld(PyObject* self, PyObject* args,PyObject *key
 #define MAX_SDF_BODIES 512
 static PyObject* pybullet_loadBullet(PyObject* self, PyObject* args,PyObject *keywds)
 {
-	int size = PySequence_Size(args);
 	const char* bulletFileName = "";
 	b3SharedMemoryStatusHandle statusHandle;
 	int statusType;
@@ -452,7 +450,6 @@ static PyObject* pybullet_loadBullet(PyObject* self, PyObject* args,PyObject *ke

 static PyObject* pybullet_saveBullet(PyObject* self, PyObject* args, PyObject* keywds)
 {
-	int size = PySequence_Size(args);
 	const char* bulletFileName = "";
 	b3SharedMemoryStatusHandle statusHandle;
 	int statusType;
@@ -489,7 +486,6 @@ static PyObject* pybullet_saveBullet(PyObject* self, PyObject* args, PyObject* k

 static PyObject* pybullet_loadMJCF(PyObject* self, PyObject* args, PyObject* keywds)
 {
-	int size = PySequence_Size(args);
 	const char* mjcfFileName = "";
 	b3SharedMemoryStatusHandle statusHandle;
 	int statusType;
@@ -614,7 +610,6 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
 // loadURDF(pos_x, pos_y, pos_z, orn_x, orn_y, orn_z, orn_w)
 static PyObject* pybullet_loadURDF(PyObject* self, PyObject* args, PyObject *keywds) 
 {
-  int size = PySequence_Size(args);
  int physicsClientId = 0;
 	
  static char *kwlist[] = { "fileName", "basePosition", "baseOrientation", "useMaximalCoordinates","useFixedBase","physicsClientId", NULL };
@@ -753,7 +748,6 @@ b3PhysicsClientHandle sm=0;

 static PyObject* pybullet_loadSDF(PyObject* self, PyObject* args, PyObject *keywds) {
  const char* sdfFileName = "";
-  int size = PySequence_Size(args);
  int numBodies = 0;
  int i;
  int bodyIndicesOut[MAX_SDF_BODIES];
@@ -1577,8 +1571,7 @@ static PyObject* pybullet_getBodyInfo(PyObject* self, PyObject* args, PyObject*
 	
 	{
    int bodyUniqueId= -1;
-    int numJoints = 0;
-	b3PhysicsClientHandle sm = 0;
+ 	b3PhysicsClientHandle sm = 0;

    	int physicsClientId = 0;
 	static char *kwlist[] = { "bodyUniqueId", "physicsClientId", NULL };
@@ -2128,15 +2121,13 @@ b3PhysicsClientHandle sm = 0;

 static PyObject* pybullet_addUserDebugText(PyObject* self, PyObject* args, PyObject *keywds) 
 {
-  int size = PySequence_Size(args);
  
  b3SharedMemoryCommandHandle commandHandle;
  b3SharedMemoryStatusHandle statusHandle;
  int statusType;
  int res = 0;

-  PyObject* pyResultList = 0;
-	char* text;
+char* text;
  double posXYZ[3];
  double colorRGB[3]={1,1,1};

@@ -2198,15 +2189,13 @@ static PyObject* pybullet_addUserDebugText(PyObject* self, PyObject* args, PyObj

 static PyObject* pybullet_addUserDebugLine(PyObject* self, PyObject* args, PyObject *keywds) 
 {
-  int size = PySequence_Size(args);
  
  b3SharedMemoryCommandHandle commandHandle;
  b3SharedMemoryStatusHandle statusHandle;
  int statusType;
  int res = 0;

-  PyObject* pyResultList = 0;
-
+ 
  double fromXYZ[3];
  double toXYZ[3];
  double colorRGB[3]={1,1,1};
@@ -2704,7 +2693,6 @@ static PyObject* pybullet_getVisualShapeData(PyObject* self, PyObject* args, PyO
 					PyTuple_SetItem(visualShapeObList, 6, vec);
 				}

-		visualShapeInfo.m_visualShapeData[0].m_rgbaColor[0];	

 				PyTuple_SetItem(pyResultList, i, visualShapeObList);
 			}
@@ -2767,7 +2755,6 @@ static PyObject* pybullet_resetVisualShapeData(PyObject* self, PyObject* args,Py

 static PyObject* pybullet_loadTexture(PyObject* self, PyObject* args, PyObject* keywds)
 {
-    int size = PySequence_Size(args);
    const char* filename = 0;
    b3SharedMemoryCommandHandle commandHandle;
    b3SharedMemoryStatusHandle statusHandle;
@@ -2970,7 +2957,6 @@ static PyObject* pybullet_getOverlappingObjects(PyObject* self, PyObject* args,

 static PyObject* pybullet_getClosestPointData(PyObject* self, PyObject* args, PyObject *keywds) 
 {
-  int size = PySequence_Size(args);
  int bodyUniqueIdA = -1;
  int bodyUniqueIdB = -1;
  int linkIndexA = -2;
@@ -2982,7 +2968,6 @@ static PyObject* pybullet_getClosestPointData(PyObject* self, PyObject* args, Py
  struct b3ContactInformation contactPointData;
  b3SharedMemoryStatusHandle statusHandle;
  int statusType;
-  PyObject* pyResultList = 0;
  int physicsClientId = 0;
  b3PhysicsClientHandle sm = 0;
  static char *kwlist[] = { "bodyA", "bodyB", "distance", "linkIndexA","linkIndexB","physicsClientId", NULL };
@@ -3111,9 +3096,6 @@ static PyObject* pybullet_updateUserConstraint(PyObject* self, PyObject* args, P

 static PyObject* pybullet_createUserConstraint(PyObject* self, PyObject* args, PyObject *keywds) 
 {
-	int size = PySequence_Size(args);
-	int bodyUniqueIdA = -1;
-	int bodyUniqueIdB = -1;
  
 	b3SharedMemoryCommandHandle commandHandle;
 	int parentBodyUniqueId=-1;
@@ -3135,7 +3117,6 @@ static PyObject* pybullet_createUserConstraint(PyObject* self, PyObject* args, P
 	struct b3JointInfo jointInfo;
 	b3SharedMemoryStatusHandle statusHandle;
 	int statusType;
-	PyObject* pyResultList = 0;
 	int physicsClientId = 0;
 	b3PhysicsClientHandle sm = 0;
 	static char *kwlist[] = { "parentBodyUniqueId", "parentLinkIndex",
@@ -3218,7 +3199,6 @@ static PyObject* pybullet_createUserConstraint(PyObject* self, PyObject* args, P
 }

 static PyObject* pybullet_getContactPointData(PyObject* self, PyObject* args, PyObject *keywds) {
-  int size = PySequence_Size(args);
  int bodyUniqueIdA = -1;
  int bodyUniqueIdB = -1;
  
@@ -3226,7 +3206,6 @@ static PyObject* pybullet_getContactPointData(PyObject* self, PyObject* args, Py
  struct b3ContactInformation contactPointData;
  b3SharedMemoryStatusHandle statusHandle;
  int statusType;
-  PyObject* pyResultList = 0;


  static char *kwlist[] = { "bodyA", "bodyB","physicsClientId", NULL };
@@ -3273,7 +3252,6 @@ static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObjec
 	struct b3CameraImageData imageData;
 	PyObject* objViewMat = 0, *objProjMat = 0, *lightDirObj = 0, *lightColorObj = 0;
 	int width, height;
-	int size = PySequence_Size(args);
 	float viewMatrix[16];
 	float projectionMatrix[16];
 	float lightDir[3];
@@ -3852,8 +3830,7 @@ static PyObject* pybullet_applyExternalForce(PyObject* self, PyObject* args,PyOb

    b3SharedMemoryCommandHandle command;
    b3SharedMemoryStatusHandle statusHandle;
-    int size = PySequence_Size(args);
-	int physicsClientId = 0;
+  	int physicsClientId = 0;
 	b3PhysicsClientHandle sm = 0;
 	static char *kwlist[] = { "objectUniqueId", "linkIndex",
                            "forceObj", "posObj", "flags", "physicsClientId", NULL };
@@ -4156,7 +4133,6 @@ static PyObject* pybullet_calculateInverseKinematics(PyObject* self,
 		{
 			int szInBytes = sizeof(double) * numJoints;
 			int i;
-			PyObject* pylist = 0;
 			lowerLimits = (double*)malloc(szInBytes);
 			upperLimits = (double*)malloc(szInBytes);
 			jointRanges = (double*)malloc(szInBytes);