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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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4
src/BulletDynamics/Character/btKinematicCharacterController.cpp
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@@ -559,7 +559,7 @@ void btKinematicCharacterController::stepDown ( btCollisionWorld* collisionWorld
break;
}
if (m_ghostObject->hasContactResponse() && (callback.hasHit() && needsCollision(m_ghostObject, callback.m_hitCollisionObject)) || runonce == true)
if ((m_ghostObject->hasContactResponse() && (callback.hasHit() && needsCollision(m_ghostObject, callback.m_hitCollisionObject))) || runonce == true)
{
// we dropped a fraction of the height -> hit floor
btScalar fraction = (m_currentPosition.getY() - callback.m_hitPointWorld.getY()) / 2;
@@ -751,7 +751,7 @@ void btKinematicCharacterController::playerStep ( btCollisionWorld* collisionWo
m_wasOnGround = onGround();
//btVector3 lvel = m_walkDirection;
btScalar c = 0.0f;
//btScalar c = 0.0f;
if (m_walkDirection.length2() > 0)
{

10
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@@ -1100,8 +1100,6 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
int frictionIndex = m_tmpSolverContactConstraintPool.size();
btSolverConstraint& solverConstraint = m_tmpSolverContactConstraintPool.expandNonInitializing();
btRigidBody* rb0 = btRigidBody::upcast(colObj0);
btRigidBody* rb1 = btRigidBody::upcast(colObj1);
solverConstraint.m_solverBodyIdA = solverBodyIdA;
solverConstraint.m_solverBodyIdB = solverBodyIdB;
@@ -1113,9 +1111,9 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
rel_pos1 = pos1 - colObj0->getWorldTransform().getOrigin();
rel_pos2 = pos2 - colObj1->getWorldTransform().getOrigin();
btVector3 vel1;// = rb0 ? rb0->getVelocityInLocalPoint(rel_pos1) : btVector3(0,0,0);
btVector3 vel2;// = rb1 ? rb1->getVelocityInLocalPoint(rel_pos2) : btVector3(0,0,0);
btVector3 vel1;
btVector3 vel2;
solverBodyA->getVelocityInLocalPointNoDelta(rel_pos1,vel1);
solverBodyB->getVelocityInLocalPointNoDelta(rel_pos2,vel2 );
@@ -1126,8 +1124,6 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
// const btVector3& pos1 = cp.getPositionWorldOnA();
// const btVector3& pos2 = cp.getPositionWorldOnB();
/////setup the friction constraints

8
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
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@@ -539,7 +539,7 @@ btVector3 btDiscreteDynamicsWorld::getGravity () const
return m_gravity;
}
void btDiscreteDynamicsWorld::addCollisionObject(btCollisionObject* collisionObject,short int collisionFilterGroup,short int collisionFilterMask)
void btDiscreteDynamicsWorld::addCollisionObject(btCollisionObject* collisionObject, int collisionFilterGroup, int collisionFilterMask)
{
btCollisionWorld::addCollisionObject(collisionObject,collisionFilterGroup,collisionFilterMask);
}
@@ -578,14 +578,14 @@ void btDiscreteDynamicsWorld::addRigidBody(btRigidBody* body)
}
bool isDynamic = !(body->isStaticObject() || body->isKinematicObject());
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);
addCollisionObject(body,collisionFilterGroup,collisionFilterMask);
}
}
void btDiscreteDynamicsWorld::addRigidBody(btRigidBody* body, short group, short mask)
void btDiscreteDynamicsWorld::addRigidBody(btRigidBody* body, int group, int mask)
{
if (!body->isStaticOrKinematicObject() && !(body->getFlags() &BT_DISABLE_WORLD_GRAVITY))
{

4
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h
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@@ -144,11 +144,11 @@ public:
virtual btVector3 getGravity () const;
virtual void addCollisionObject(btCollisionObject* collisionObject,short int collisionFilterGroup=btBroadphaseProxy::StaticFilter,short int collisionFilterMask=btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
virtual void addCollisionObject(btCollisionObject* collisionObject, int collisionFilterGroup=btBroadphaseProxy::StaticFilter, int collisionFilterMask=btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
virtual void addRigidBody(btRigidBody* body);
virtual void addRigidBody(btRigidBody* body, short group, short mask);
virtual void addRigidBody(btRigidBody* body, int group, int mask);
virtual void removeRigidBody(btRigidBody* body);

2
src/BulletDynamics/Dynamics/btDynamicsWorld.h
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@@ -89,7 +89,7 @@ public:
virtual void addRigidBody(btRigidBody* body) = 0;
virtual void addRigidBody(btRigidBody* body, short group, short mask) = 0;
virtual void addRigidBody(btRigidBody* body, int group, int mask) = 0;
virtual void removeRigidBody(btRigidBody* body) = 0;

2
src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp
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@@ -155,7 +155,7 @@ void btSimpleDynamicsWorld::addRigidBody(btRigidBody* body)
}
}
void btSimpleDynamicsWorld::addRigidBody(btRigidBody* body, short group, short mask)
void btSimpleDynamicsWorld::addRigidBody(btRigidBody* body, int group, int mask)
{
body->setGravity(m_gravity);

2
src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h
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@@ -56,7 +56,7 @@ public:
virtual void addRigidBody(btRigidBody* body);
virtual void addRigidBody(btRigidBody* body, short group, short mask);
virtual void addRigidBody(btRigidBody* body, int group, int mask);
virtual void removeRigidBody(btRigidBody* body);

4
src/BulletDynamics/Featherstone/btMultiBody.cpp
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@@ -52,6 +52,7 @@ namespace {
bottom_out = -displacement.cross(top_out) + rotation_matrix * bottom_in;
}
#if 0
void InverseSpatialTransform(const btMatrix3x3 &rotation_matrix,
const btVector3 &displacement,
const btVector3 &top_in,
@@ -81,6 +82,8 @@ namespace {
top_out = a_top.cross(b_top);
bottom_out = a_bottom.cross(b_top) + a_top.cross(b_bottom);
}
#endif
}
@@ -1765,7 +1768,6 @@ void btMultiBody::goToSleep()
void btMultiBody::checkMotionAndSleepIfRequired(btScalar timestep)
{
int num_links = getNumLinks();
extern bool gDisableDeactivation;
if (!m_canSleep || gDisableDeactivation)
{

3
src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp
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@@ -602,7 +602,7 @@ void btMultiBodyConstraintSolver::setupMultiBodyTorsionalFrictionConstraint(btMu
relaxation = infoGlobal.m_sor;
btScalar invTimeStep = btScalar(1)/infoGlobal.m_timeStep;
// btScalar invTimeStep = btScalar(1)/infoGlobal.m_timeStep;
if (multiBodyA)
@@ -817,7 +817,6 @@ void btMultiBodyConstraintSolver::setupMultiBodyTorsionalFrictionConstraint(btMu
{
btScalar positionalError = 0.f;
btScalar velocityError = restitution - rel_vel;// * damping; //note for friction restitution is always set to 0 (check above) so it is acutally velocityError = -rel_vel for friction
if (penetration>0)

2
src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
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@@ -24,7 +24,7 @@ subject to the following restrictions:
#include "LinearMath/btSerializer.h"
void btMultiBodyDynamicsWorld::addMultiBody(btMultiBody* body, short group, short mask)
void btMultiBodyDynamicsWorld::addMultiBody(btMultiBody* body, int group, int mask)
{
m_multiBodies.push_back(body);

2
src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h
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@@ -58,7 +58,7 @@ public:
virtual ~btMultiBodyDynamicsWorld ();
virtual void addMultiBody(btMultiBody* body, short group= btBroadphaseProxy::DefaultFilter, short mask=btBroadphaseProxy::AllFilter);
virtual void addMultiBody(btMultiBody* body, int group= btBroadphaseProxy::DefaultFilter, int mask=btBroadphaseProxy::AllFilter);
virtual void removeMultiBody(btMultiBody* body);