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fix many warnings

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remove btMultiSapBroadphase.*
make collisionFilterGroup/collisionFilterMark int (instead of short int)
This commit is contained in:
Erwin Coumans
2017-01-15 22:26:11 -08:00
parent e3df00d5f1
commit c0c4c8ba3f
146 changed files with 830 additions and 1431 deletions
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2
examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp
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@@ -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);

11
examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
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@@ -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};

19
examples/Importers/ImportMJCFDemo/ImportMJCFSetup.cpp
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@@ -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);

2
examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp
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@@ -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++)
{

19
examples/Importers/ImportSDFDemo/ImportSDFSetup.cpp
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@@ -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);

19
examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp
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@@ -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);

8
examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
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@@ -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);