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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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8
examples/SharedMemory/PhysicsClientExample.cpp
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@@ -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");

7
examples/SharedMemory/PhysicsClientSharedMemory.cpp
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@@ -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) {

13
examples/SharedMemory/PhysicsClientUDP.cpp
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@@ -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();

3
examples/SharedMemory/PhysicsClientUDP_C_API.cpp
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@@ -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;
}

3
examples/SharedMemory/PhysicsDirectC_API.cpp
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@@ -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;
}

3
examples/SharedMemory/PhysicsLoopBackC_API.cpp
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@@ -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;
}

25
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -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()
{

76
examples/SharedMemory/PhysicsServerExample.cpp
View File

@@ -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();

1
examples/SharedMemory/SharedMemoryCommandProcessor.cpp
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@@ -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;

4
examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
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@@ -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)
{