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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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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};