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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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14
examples/RoboticsLearning/GripperGraspExample.cpp
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@@ -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()

6
examples/RoboticsLearning/KukaGraspExample.cpp
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@@ -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)
{

10
examples/RoboticsLearning/R2D2GraspExample.cpp
View File

@@ -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);

39
examples/RoboticsLearning/b3RobotSimAPI.cpp
View File

@@ -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;
}