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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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7
src/Bullet3Dynamics/ConstraintSolver/b3PgsJacobiSolver.cpp
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@@ -142,8 +142,9 @@ int getNumContacts(b3Contact4* contact)
}
b3PgsJacobiSolver::b3PgsJacobiSolver(bool usePgs)
:m_btSeed2(0),m_usePgs(usePgs),
m_numSplitImpulseRecoveries(0)
:m_usePgs(usePgs),
m_numSplitImpulseRecoveries(0),
m_btSeed2(0)
{
}
@@ -1084,7 +1085,7 @@ b3Scalar b3PgsJacobiSolver::solveGroupCacheFriendlySetup(b3RigidBodyData* bodies
m_deltaAngularVelocities.resize(0);
m_deltaAngularVelocities.resize(numBodies,b3MakeVector3(0,0,0));
int totalBodies = 0;
//int totalBodies = 0;
for (int i=0;i<numConstraints;i++)
{

2
src/Bullet3Dynamics/ConstraintSolver/b3Point2PointConstraint.cpp
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@@ -83,7 +83,7 @@ void b3Point2PointConstraint::getInfo2NonVirtual (b3ConstraintInfo2* info, const
info->m_J1linearAxis[2*info->rowskip+2] = 1;
b3Vector3 a1 = body0_trans.getBasis()*getPivotInA();
b3Vector3 a1a = b3QuatRotate(body0_trans.getRotation(),getPivotInA());
//b3Vector3 a1a = b3QuatRotate(body0_trans.getRotation(),getPivotInA());
{
b3Vector3* angular0 = (b3Vector3*)(info->m_J1angularAxis);

16
src/Bullet3Dynamics/b3CpuRigidBodyPipeline.cpp
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@@ -254,9 +254,12 @@ struct b3SolveTask// : public ThreadPool::Task
int maxNumBatches,
b3AlignedObjectArray<int>* wgUsedBodies, int curWgidx
)
: m_bodies( bodies ), m_shapes( shapes ), m_constraints( constraints ), m_start( start ), m_nConstraints( nConstraints ),
m_solveFriction( true ),m_maxNumBatches(maxNumBatches),
m_wgUsedBodies(wgUsedBodies),m_curWgidx(curWgidx)
: m_bodies( bodies ), m_shapes( shapes ), m_constraints( constraints ),
m_wgUsedBodies(wgUsedBodies),m_curWgidx(curWgidx),
m_start( start ),
m_nConstraints( nConstraints ),
m_solveFriction( true ),
m_maxNumBatches(maxNumBatches)
{}
unsigned short int getType(){ return 0; }
@@ -281,10 +284,11 @@ struct b3SolveTask// : public ThreadPool::Task
float frictionCoeff = b3GetFrictionCoeff(&m_constraints[i]);
int aIdx = (int)m_constraints[i].m_bodyA;
int bIdx = (int)m_constraints[i].m_bodyB;
int localBatch = m_constraints[i].m_batchIdx;
//int localBatch = m_constraints[i].m_batchIdx;
b3RigidBodyData& bodyA = m_bodies[aIdx];
b3RigidBodyData& bodyB = m_bodies[bIdx];
#if 0
if ((bodyA.m_invMass) && (bodyB.m_invMass))
{
// printf("aIdx=%d, bIdx=%d\n", aIdx,bIdx);
@@ -293,7 +297,7 @@ struct b3SolveTask// : public ThreadPool::Task
{
//printf("ic(b)=%d, localBatch=%d\n",ic,localBatch);
}
#endif
if (aIdx==10)
{
//printf("ic(a)=%d, localBatch=%d\n",ic,localBatch);
@@ -393,7 +397,7 @@ void b3CpuRigidBodyPipeline::solveContactConstraints()
int m_nIterations = 4;
b3AlignedObjectArray<b3ContactConstraint4> contactConstraints;
const b3AlignedObjectArray<b3Contact4Data>& contacts = m_data->m_np->getContacts();
// const b3AlignedObjectArray<b3Contact4Data>& contacts = m_data->m_np->getContacts();
int n = contactConstraints.size();
//convert contacts...