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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/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);