fix many warnings

remove btMultiSapBroadphase.*
make collisionFilterGroup/collisionFilterMark int (instead of short int)

Extras/ConvexDecomposition/concavity.cpp

@@ -705,6 +705,7 @@ float computeConcavity(unsigned int vcount,
 			}
 		}
 
+#if 0
 	  if ( ftris.size()  && 0 )
 	  {
 
@@ -725,17 +726,17 @@ float computeConcavity(unsigned int vcount,
 
         do
         {
-          found = false;
+			  found = false;
-          CTriVector::iterator i;
+			  CTriVector::iterator i;
-          for (i=ftris.begin(); i!=ftris.end(); ++i)
+			  for (i=ftris.begin(); i!=ftris.end(); ++i)
-          {
+			  {
-            CTri &t = (*i);
+				CTri &t = (*i);
-            if ( isFeatureTri(t,flist,maxc,callback,color) )
+				if ( isFeatureTri(t,flist,maxc,callback,color) )
-            {
+				{
-              found = true;
+				  found = true;
-              totalarea+=t.area();
+				  totalarea+=t.area();
-            }
+				}
-  				}
+			  }
         } while ( found );
 
 
@@ -759,6 +760,7 @@ float computeConcavity(unsigned int vcount,
             }
           }
         }
+		  
       }
 
       unsigned int color = getDebugColor();
@@ -786,7 +788,7 @@ float computeConcavity(unsigned int vcount,
 
 	  hl.ReleaseResult(result);
   }
-
+#endif
 
 	return cret;
 }

Extras/Serialize/BulletFileLoader/bDNA.cpp

@@ -349,7 +349,8 @@ static int name_is_array(char* name, int* dim1, int* dim2) {
 void bDNA::init(char *data, int len, bool swap)
 {
 	int *intPtr=0;short *shtPtr=0;
-	char *cp = 0;int dataLen =0;long nr=0;
+	char *cp = 0;int dataLen =0;
+	//long nr=0;
 	intPtr = (int*)data;
 
 	/*

Extras/Serialize/BulletFileLoader/bFile.cpp

@@ -411,7 +411,7 @@ void bFile::swapDNA(char* ptr)
 
 //	void bDNA::init(char *data, int len, bool swap)
 	int *intPtr=0;short *shtPtr=0;
-	char *cp = 0;int dataLen =0;long nr=0;
+	char *cp = 0;int dataLen =0;
 	intPtr = (int*)data;
 
 	/*
@@ -573,7 +573,7 @@ void bFile::writeFile(const char* fileName)
 void bFile::preSwap()
 {
 
-	const bool brokenDNA = (mFlags&FD_BROKEN_DNA)!=0;
+	//const bool brokenDNA = (mFlags&FD_BROKEN_DNA)!=0;
 	//FD_ENDIAN_SWAP
 	//byte 8 determines the endianness of the file, little (v) versus big (V)
 	int littleEndian= 1;
@@ -1285,7 +1285,7 @@ int bFile::resolvePointersStructRecursive(char *strcPtr, int dna_nr, int verbose
 						}
 						//skip the *
 						printf("<%s type=\"pointer\"> ",&memName[1]);
-						printf("%d ", array[a]);
+						printf("%p ", array[a]);
 						printf("</%s>\n",&memName[1]);
 					}
 
@@ -1303,7 +1303,7 @@ int bFile::resolvePointersStructRecursive(char *strcPtr, int dna_nr, int verbose
 						printf("  ");
 					}
 					printf("<%s type=\"pointer\"> ",&memName[1]);
-					printf("%d ", ptr);
+					printf("%p ", ptr);
 					printf("</%s>\n",&memName[1]);
 				}
 				ptr = findLibPointer(ptr);
@@ -1484,7 +1484,7 @@ void bFile::resolvePointers(int verboseMode)
 				char* oldType = fileDna->getType(oldStruct[0]);
 				
 				if (verboseMode & FD_VERBOSE_EXPORT_XML)
-					printf(" <%s pointer=%d>\n",oldType,dataChunk.oldPtr);
+					printf(" <%s pointer=%p>\n",oldType,dataChunk.oldPtr);
 
 				resolvePointersChunk(dataChunk, verboseMode);
 

Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.cpp

@@ -307,8 +307,6 @@ bool	btBulletWorldImporter::convertAllObjects(  bParse::btBulletFile* bulletFile
 	for (i=0;i<bulletFile2->m_constraints.size();i++)
 	{
 		btTypedConstraintData2* constraintData = (btTypedConstraintData2*)bulletFile2->m_constraints[i];
-		btTypedConstraintFloatData* singleC = (btTypedConstraintFloatData*)bulletFile2->m_constraints[i];
-		btTypedConstraintDoubleData* doubleC = (btTypedConstraintDoubleData*)bulletFile2->m_constraints[i];
 
 		btCollisionObject** colAptr = m_bodyMap.find(constraintData->m_rbA);
 		btCollisionObject** colBptr = m_bodyMap.find(constraintData->m_rbB);

Extras/Serialize/BulletWorldImporter/btWorldImporter.cpp

@@ -468,14 +468,11 @@ btCollisionShape* btWorldImporter::convertCollisionShape(  btCollisionShapeData*
 				btCompoundShapeData* compoundData = (btCompoundShapeData*)shapeData;
 				btCompoundShape* compoundShape = createCompoundShape();
 
-				btCompoundShapeChildData* childShapeDataArray = &compoundData->m_childShapePtr[0];
+			
-				
-
 				btAlignedObjectArray<btCollisionShape*> childShapes;
 				for (int i=0;i<compoundData->m_numChildShapes;i++)
 				{
-					btCompoundShapeChildData* ptr = &compoundData->m_childShapePtr[i];
+					
-
 					btCollisionShapeData* cd = compoundData->m_childShapePtr[i].m_childShape;
 
 					btCollisionShape* childShape = convertCollisionShape(cd);

Extras/Serialize/BulletXmlWorldImporter/btBulletXmlWorldImporter.cpp

@@ -18,6 +18,16 @@ subject to the following restrictions:
 #include "btBulletDynamicsCommon.h"
 #include "string_split.h"
 
+struct MyLocalCaster
+{
+	void* m_ptr;
+	int m_int;
+	MyLocalCaster()
+	:m_ptr(0)
+	{
+	}
+};
+
 
 btBulletXmlWorldImporter::btBulletXmlWorldImporter(btDynamicsWorld* world)
 	:btWorldImporter(world),
@@ -32,7 +42,7 @@ btBulletXmlWorldImporter::~btBulletXmlWorldImporter()
 
 }
 
-
+#if 0
 static int get_double_attribute_by_name(const TiXmlElement* pElement, const char* attribName,double* value)
 {
 	if ( !pElement ) 
@@ -48,7 +58,7 @@ static int get_double_attribute_by_name(const TiXmlElement* pElement, const char
 	}
 	return 0;
 }
-
+#endif
 
 static int get_int_attribute_by_name(const TiXmlElement* pElement, const char* attribName,int* value)
 {
@@ -130,7 +140,9 @@ void btBulletXmlWorldImporter::deSerializeVector3FloatData(TiXmlNode* pParent,bt
 		if (node)\
 		{\
 			const char* txt = (node)->ToElement()->GetText();\
-			(targetdata).argname= (pointertype) (int) atof(txt);\
+			MyLocalCaster cast;\
+			cast.m_int = (int) atof(txt);\
+			(targetdata).argname= (pointertype)cast.m_ptr;\
 		}\
 	}
 
@@ -216,8 +228,8 @@ void btBulletXmlWorldImporter::deSerializeCollisionShapeData(TiXmlNode* pParent,
 
 void btBulletXmlWorldImporter::deSerializeConvexHullShapeData(TiXmlNode* pParent)
 {
-	int ptr;
+	MyLocalCaster cast;
-	get_int_attribute_by_name(pParent->ToElement(),"pointer",&ptr);
+	get_int_attribute_by_name(pParent->ToElement(),"pointer",&cast.m_int);
 	
 	btConvexHullShapeData* convexHullData = (btConvexHullShapeData*)btAlignedAlloc(sizeof(btConvexHullShapeData), 16);
 
@@ -233,18 +245,33 @@ void btBulletXmlWorldImporter::deSerializeConvexHullShapeData(TiXmlNode* pParent
 	SET_VECTOR4_VALUE(xmlConvexInt,&convexHullData->m_convexInternalShapeData,m_localScaling)
 	SET_VECTOR4_VALUE(xmlConvexInt,&convexHullData->m_convexInternalShapeData,m_implicitShapeDimensions)
 
+	//convexHullData->m_unscaledPointsFloatPtr
+	//#define SET_POINTER_VALUE(xmlnode, targetdata, argname, pointertype)
+
+	{
+		TiXmlNode* node = pParent->FirstChild("m_unscaledPointsFloatPtr");
+		btAssert(node);
+		if (node)
+		{
+			const char* txt = (node)->ToElement()->GetText();
+			MyLocalCaster cast;
+			cast.m_int = (int) atof(txt);
+			(*convexHullData).m_unscaledPointsFloatPtr= (btVector3FloatData*) cast.m_ptr;
+		}
+	}
+	
 	SET_POINTER_VALUE(pParent,*convexHullData,m_unscaledPointsFloatPtr,btVector3FloatData*);
 	SET_POINTER_VALUE(pParent,*convexHullData,m_unscaledPointsDoublePtr,btVector3DoubleData*);
 	SET_INT_VALUE(pParent,convexHullData,m_numUnscaledPoints);
 
 	m_collisionShapeData.push_back((btCollisionShapeData*)convexHullData);
-	m_pointerLookup.insert((void*)ptr,convexHullData);
+	m_pointerLookup.insert(cast.m_ptr,convexHullData);
 }
 
 void btBulletXmlWorldImporter::deSerializeCompoundShapeChildData(TiXmlNode* pParent)
 {
-	int ptr;
+	MyLocalCaster cast;
-	get_int_attribute_by_name(pParent->ToElement(),"pointer",&ptr);
+	get_int_attribute_by_name(pParent->ToElement(),"pointer",&cast.m_int);
 
 	int numChildren = 0;
 	btAlignedObjectArray<btCompoundShapeChildData>* compoundChildArrayPtr = new btAlignedObjectArray<btCompoundShapeChildData>;
@@ -262,7 +289,9 @@ void btBulletXmlWorldImporter::deSerializeCompoundShapeChildData(TiXmlNode* pPar
 			SET_MATRIX33_VALUE(transNode,&compoundChildArrayPtr->at(i).m_transform,m_basis)
 
 			const char* txt = (colShapeNode)->ToElement()->GetText();
-			compoundChildArrayPtr->at(i).m_childShape = (btCollisionShapeData*) (int) atof(txt);
+			MyLocalCaster cast;
+			cast.m_int = (int) atof(txt);
+			compoundChildArrayPtr->at(i).m_childShape = (btCollisionShapeData*) cast.m_ptr;
 			
 			btAssert(childTypeNode->ToElement());
 			if (childTypeNode->ToElement())
@@ -292,15 +321,15 @@ void btBulletXmlWorldImporter::deSerializeCompoundShapeChildData(TiXmlNode* pPar
 	{
 		m_compoundShapeChildDataArrays.push_back(compoundChildArrayPtr);
 		btCompoundShapeChildData* cd = &compoundChildArrayPtr->at(0);
-		m_pointerLookup.insert((void*)ptr,cd);
+		m_pointerLookup.insert(cast.m_ptr,cd);
 	}
 	
 }
 
 void btBulletXmlWorldImporter::deSerializeCompoundShapeData(TiXmlNode* pParent)
 {
-	int ptr;
+	MyLocalCaster cast;
-	get_int_attribute_by_name(pParent->ToElement(),"pointer",&ptr);
+	get_int_attribute_by_name(pParent->ToElement(),"pointer",&cast.m_int);
 
 	btCompoundShapeData* compoundData = (btCompoundShapeData*) btAlignedAlloc(sizeof(btCompoundShapeData),16); 
 
@@ -319,7 +348,9 @@ void btBulletXmlWorldImporter::deSerializeCompoundShapeData(TiXmlNode* pParent)
 		while (node)
 		{
 			const char* txt = (node)->ToElement()->GetText();
-			compoundData->m_childShapePtr = (btCompoundShapeChildData*) (int) atof(txt);
+			MyLocalCaster cast;
+			cast.m_int = (int) atof(txt);
+			compoundData->m_childShapePtr = (btCompoundShapeChildData*) cast.m_ptr;
 			node = node->NextSibling("m_childShapePtr");
 		}
 		//SET_POINTER_VALUE(xmlColShape, *compoundData,m_childShapePtr,btCompoundShapeChildData*);
@@ -328,14 +359,14 @@ void btBulletXmlWorldImporter::deSerializeCompoundShapeData(TiXmlNode* pParent)
 	SET_FLOAT_VALUE(pParent, compoundData,m_collisionMargin);
 
 	m_collisionShapeData.push_back((btCollisionShapeData*)compoundData);
-	m_pointerLookup.insert((void*)ptr,compoundData);
+	m_pointerLookup.insert(cast.m_ptr,compoundData);
 
 }
 
 void btBulletXmlWorldImporter::deSerializeStaticPlaneShapeData(TiXmlNode* pParent)
 {
-	int ptr;
+	MyLocalCaster cast;
-	get_int_attribute_by_name(pParent->ToElement(),"pointer",&ptr);
+	get_int_attribute_by_name(pParent->ToElement(),"pointer",&cast.m_int);
 
 	btStaticPlaneShapeData* planeData = (btStaticPlaneShapeData*) btAlignedAlloc(sizeof(btStaticPlaneShapeData),16);
 
@@ -348,7 +379,7 @@ void btBulletXmlWorldImporter::deSerializeStaticPlaneShapeData(TiXmlNode* pParen
 	SET_FLOAT_VALUE(pParent, planeData,m_planeConstant);
 
 	m_collisionShapeData.push_back((btCollisionShapeData*)planeData);
-	m_pointerLookup.insert((void*)ptr,planeData);
+	m_pointerLookup.insert(cast.m_ptr,planeData);
 
 }
 
@@ -364,8 +395,8 @@ void btBulletXmlWorldImporter::deSerializeDynamicsWorldData(TiXmlNode* pParent)
 
 void btBulletXmlWorldImporter::deSerializeConvexInternalShapeData(TiXmlNode* pParent)
 {
-	int ptr=0;
+	MyLocalCaster cast;
-	get_int_attribute_by_name(pParent->ToElement(),"pointer",&ptr);
+	get_int_attribute_by_name(pParent->ToElement(),"pointer",&cast.m_int);
 	
 
 	btConvexInternalShapeData* convexShape = (btConvexInternalShapeData*) btAlignedAlloc(sizeof(btConvexInternalShapeData),16);
@@ -382,7 +413,7 @@ void btBulletXmlWorldImporter::deSerializeConvexInternalShapeData(TiXmlNode* pPa
 	SET_VECTOR4_VALUE(pParent,convexShape,m_implicitShapeDimensions)
 
 	m_collisionShapeData.push_back((btCollisionShapeData*)convexShape);
-	m_pointerLookup.insert((void*)ptr,convexShape);
+	m_pointerLookup.insert(cast.m_ptr,convexShape);
 
 }
 
@@ -404,8 +435,8 @@ enum btTypedConstraintType
 
 void btBulletXmlWorldImporter::deSerializeGeneric6DofConstraintData(TiXmlNode* pParent)
 {
-	int ptr=0;
+	MyLocalCaster cast;
-	get_int_attribute_by_name(pParent->ToElement(),"pointer",&ptr);
+	get_int_attribute_by_name(pParent->ToElement(),"pointer",&cast.m_int);
 	
 	btGeneric6DofConstraintData2* dof6Data = (btGeneric6DofConstraintData2*)btAlignedAlloc(sizeof(btGeneric6DofConstraintData2),16);
 
@@ -439,13 +470,14 @@ void btBulletXmlWorldImporter::deSerializeGeneric6DofConstraintData(TiXmlNode* p
 	SET_INT_VALUE(pParent, dof6Data,m_useOffsetForConstraintFrame);
 	
 	m_constraintData.push_back((btTypedConstraintData2*)dof6Data);
-	m_pointerLookup.insert((void*)ptr,dof6Data);
+	m_pointerLookup.insert(cast.m_ptr,dof6Data);
 }
 
 void btBulletXmlWorldImporter::deSerializeRigidBodyFloatData(TiXmlNode* pParent)
 {
-	int ptr=0;
+	MyLocalCaster cast;
-	if (!get_int_attribute_by_name(pParent->ToElement(),"pointer",&ptr))
+	
+	if (!get_int_attribute_by_name(pParent->ToElement(),"pointer",&cast.m_int))
 	{
 		m_fileOk = false;
 		return;
@@ -506,7 +538,7 @@ void btBulletXmlWorldImporter::deSerializeRigidBodyFloatData(TiXmlNode* pParent)
 
 
 	m_rigidBodyData.push_back(rbData);
-	m_pointerLookup.insert((void*)ptr,rbData);
+	m_pointerLookup.insert(cast.m_ptr,rbData);
 	
 //	rbData->m_collisionObjectData.m_collisionShape = (void*) (int)atof(txt);
 }
@@ -641,8 +673,8 @@ void btBulletXmlWorldImporter::auto_serialize_root_level_children(TiXmlNode* pPa
 //			printf("child Name=%s\n", pChild->Value());
 			if (!strcmp(pChild->Value(),"btVector3FloatData"))
 			{
-				int ptr;
+				MyLocalCaster cast;
-				get_int_attribute_by_name(pChild->ToElement(),"pointer",&ptr);
+				get_int_attribute_by_name(pChild->ToElement(),"pointer",&cast.m_int);
 				
 				btAlignedObjectArray<btVector3FloatData> v;
 				deSerializeVector3FloatData(pChild,v);
@@ -651,7 +683,7 @@ void btBulletXmlWorldImporter::auto_serialize_root_level_children(TiXmlNode* pPa
 				for (int i=0;i<numVectors;i++)
 					vectors[i] = v[i];
 				m_floatVertexArrays.push_back(vectors);
-				m_pointerLookup.insert((void*)ptr,vectors);
+				m_pointerLookup.insert(cast.m_ptr,vectors);
 				continue;
 			}
 
@@ -790,7 +822,7 @@ void btBulletXmlWorldImporter::auto_serialize_root_level_children(TiXmlNode* pPa
 	for (int i=0;i<m_constraintData.size();i++)
 	{
 		btTypedConstraintData2* tcd = m_constraintData[i];
-		bool isDoublePrecision = false;
+//		bool isDoublePrecision = false;
 		btRigidBody* rbA = 0;
 		btRigidBody* rbB = 0;
 		{

data/kuka_iiwa/model.sdf

@@ -21,7 +21,7 @@
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
-            <uri>meshes/coarse/link_0.stl</uri>
+            <uri>meshes/link_0.stl</uri>
           </mesh>
         </geometry>
       </collision>
@@ -60,7 +60,7 @@
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
-            <uri>meshes/coarse/link_1.stl</uri>
+            <uri>meshes/link_1.stl</uri>
           </mesh>
         </geometry>
       </collision>
@@ -119,7 +119,7 @@
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
-            <uri>meshes/coarse/link_2.stl</uri>
+            <uri>meshes/link_2.stl</uri>
           </mesh>
         </geometry>
       </collision>
@@ -178,7 +178,7 @@
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
-            <uri>meshes/coarse/link_3.stl</uri>
+            <uri>meshes/link_3.stl</uri>
           </mesh>
         </geometry>
       </collision>
@@ -237,7 +237,7 @@
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
-            <uri>meshes/coarse/link_4.stl</uri>
+            <uri>meshes/link_4.stl</uri>
           </mesh>
         </geometry>
       </collision>
@@ -296,7 +296,7 @@
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
-            <uri>meshes/coarse/link_5.stl</uri>
+            <uri>meshes/link_5.stl</uri>
           </mesh>
         </geometry>
       </collision>
@@ -355,7 +355,7 @@
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
-            <uri>meshes/coarse/link_6.stl</uri>
+            <uri>meshes/link_6.stl</uri>
           </mesh>
         </geometry>
       </collision>
@@ -414,7 +414,7 @@
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
-            <uri>meshes/coarse/link_7.stl</uri>
+            <uri>meshes/link_7.stl</uri>
           </mesh>
         </geometry>
       </collision>

examples/BasicDemo/CMakeLists.txt

@@ -74,7 +74,7 @@ ELSE(WIN32)
         IF(APPLE)
                 find_library(COCOA NAMES Cocoa)
                 MESSAGE(${COCOA})
-                link_libraries(${COCOA})
+                link_libraries(${COCOA} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY})
 
         ELSE(APPLE)
                 INCLUDE_DIRECTORIES(

examples/Benchmarks/BenchmarkDemo.cpp

@@ -228,9 +228,10 @@ public:
 
     struct CastRaysLoopBody
     {
-        btRaycastBar2* mRaycasts;
         btCollisionWorld* mWorld;
-        CastRaysLoopBody(btCollisionWorld* cw, btRaycastBar2* rb) : mWorld(cw), mRaycasts(rb) {}
+		btRaycastBar2* mRaycasts;
+
+		CastRaysLoopBody(btCollisionWorld* cw, btRaycastBar2* rb) : mWorld(cw), mRaycasts(rb) {}
 
         void forLoop( int iBegin, int iEnd ) const
         {

examples/Collision/CollisionTutorialBullet2.cpp

@@ -61,8 +61,8 @@ class CollisionTutorialBullet2 : public CommonExampleInterface
 	plCollisionSdkHandle m_collisionSdkHandle;
 	plCollisionWorldHandle m_collisionWorldHandle;
 	
-	int m_stage;
+//	int m_stage;
-	int m_counter;
+//	int m_counter;
 	
 public:
     
@@ -70,11 +70,11 @@ public:
     :m_app(guiHelper->getAppInterface()),
 	m_guiHelper(guiHelper),
 	m_tutorialIndex(tutorialIndex),
+	m_timeSeriesCanvas0(0),
 	m_collisionSdkHandle(0),
-	m_collisionWorldHandle(0),
+	m_collisionWorldHandle(0)
-	m_stage(0),
+//	m_stage(0),
-	m_counter(0),
+//	m_counter(0)
-	m_timeSeriesCanvas0(0)
     {
 		
 		gTotalPoints = 0;

examples/Collision/Internal/Bullet2CollisionSdk.cpp

@@ -6,13 +6,14 @@ struct Bullet2CollisionSdkInternalData
 	btCollisionConfiguration* m_collisionConfig;
 	btCollisionDispatcher* m_dispatcher;
 	btBroadphaseInterface* m_aabbBroadphase;
-
 	btCollisionWorld* m_collisionWorld;
 	
 	Bullet2CollisionSdkInternalData()
-		:m_aabbBroadphase(0),
+		:
-		m_dispatcher(0),
+	m_collisionConfig(0),
-		m_collisionWorld(0)
+	m_dispatcher(0),
+	m_aabbBroadphase(0),
+	m_collisionWorld(0)
 	{
 	}
 };

examples/Collision/Internal/RealTimeBullet3CollisionSdk.cpp

@@ -53,13 +53,19 @@ struct RTB3CollisionWorld
 	b3AlignedObjectArray<b3Aabb>	m_worldSpaceAabbs;
 	b3AlignedObjectArray<b3GpuFace> m_planeFaces;
 	b3AlignedObjectArray<b3CompoundOverlappingPair> m_compoundOverlappingPairs;
-	int m_nextFreeShapeIndex;
+	
+	union
+	{
+		int m_nextFreeShapeIndex;
+		void* m_nextFreeShapePtr;
+	};
 	int m_nextFreeCollidableIndex;
 	int m_nextFreePlaneFaceIndex;
 
 	RTB3CollisionWorld()
-	:m_nextFreeCollidableIndex(START_COLLIDABLE_INDEX),
+	:
 	m_nextFreeShapeIndex(START_SHAPE_INDEX),
+	m_nextFreeCollidableIndex(START_COLLIDABLE_INDEX),
 	m_nextFreePlaneFaceIndex(0)//this value is never exposed to the user, so we can start from 0
 	{
 	}
@@ -125,7 +131,8 @@ plCollisionShapeHandle RealTimeBullet3CollisionSdk::createSphereShape(plCollisio
 		shape.m_childOrientation.setValue(0,0,0,1);
 		shape.m_radius = radius;
 		shape.m_shapeType = RTB3_SHAPE_SPHERE;
-		return (plCollisionShapeHandle) world->m_nextFreeShapeIndex++;
+		world->m_nextFreeShapeIndex++;
+		return (plCollisionShapeHandle) world->m_nextFreeShapePtr;
 	}
 	return 0;
 }
@@ -147,7 +154,8 @@ plCollisionShapeHandle RealTimeBullet3CollisionSdk::createPlaneShape(plCollision
 		world->m_planeFaces[world->m_nextFreePlaneFaceIndex].m_plane = b3MakeVector4(planeNormalX,planeNormalY,planeNormalZ,planeConstant);
 		shape.m_shapeIndex = world->m_nextFreePlaneFaceIndex++;
 		shape.m_shapeType = RTB3_SHAPE_PLANE;
-		return (plCollisionShapeHandle) world->m_nextFreeShapeIndex++;
+		world->m_nextFreeShapeIndex++;
+		return (plCollisionShapeHandle)world->m_nextFreeShapePtr ;
 	}
 	return 0;
 }
@@ -169,7 +177,8 @@ plCollisionShapeHandle RealTimeBullet3CollisionSdk::createCapsuleShape(plCollisi
 		shape.m_height = height;
 		shape.m_shapeIndex = capsuleAxis;
 		shape.m_shapeType = RTB3_SHAPE_CAPSULE;
-		return (plCollisionShapeHandle) world->m_nextFreeShapeIndex++;
+		world->m_nextFreeShapeIndex++;
+		return (plCollisionShapeHandle) world->m_nextFreeShapePtr;
 	}
 	return 0;
 }
@@ -186,7 +195,8 @@ plCollisionShapeHandle RealTimeBullet3CollisionSdk::createCompoundShape(plCollis
 		shape.m_childOrientation.setValue(0,0,0,1);
 		shape.m_numChildShapes = 0;
 		shape.m_shapeType = RTB3_SHAPE_COMPOUND_INTERNAL;
-		return (plCollisionShapeHandle) world->m_nextFreeShapeIndex++;
+		world->m_nextFreeShapeIndex++;
+		return (plCollisionShapeHandle) world->m_nextFreeShapePtr;
 	}
 	return 0;
 }
@@ -265,7 +275,8 @@ plCollisionObjectHandle RealTimeBullet3CollisionSdk::createCollisionObject(  plC
 				collidable.m_shapeIndex = shape.m_shapeIndex;
 				break;
 		*/
-		return (plCollisionObjectHandle)world->m_nextFreeCollidableIndex++;
+		world->m_nextFreeCollidableIndex++;
+		return (plCollisionObjectHandle)world->m_nextFreeShapePtr;
 	}
 	return 0;
 }

examples/Constraints/ConstraintDemo.cpp

@@ -56,7 +56,7 @@ class AllConstraintDemo : public  CommonRigidBodyBase
 		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
 	}
 
-	virtual void keyboardCallback(unsigned char key, int x, int y);
+	virtual bool	keyboardCallback(int key, int state);
 
 	// for cone-twist motor driving
 	float m_Time;
@@ -66,7 +66,6 @@ class AllConstraintDemo : public  CommonRigidBodyBase
 
 
 
-const int numObjects = 3;
 
 #define ENABLE_ALL_DEMOS 1
 
@@ -839,10 +838,11 @@ void AllConstraintDemo::displayCallback(void) {
 }
 #endif
 
-void AllConstraintDemo::keyboardCallback(unsigned char key, int x, int y)
+bool	AllConstraintDemo::keyboardCallback(int key, int state)
 {
-	(void)x;
+	
-	(void)y;
+	bool handled = false;
+	
 	switch (key) 
 	{
 		case 'O' :
@@ -870,6 +870,7 @@ void AllConstraintDemo::keyboardCallback(unsigned char key, int x, int y)
 					printf("Slider6Dof %s frame offset\n", offectOnOff ? "uses" : "does not use");
 				}
 			}
+			handled = true;
 			break;
 		default : 
 			{
@@ -877,6 +878,8 @@ void AllConstraintDemo::keyboardCallback(unsigned char key, int x, int y)
 			}
 			break;
 	}
+	return handled;
+	
 }
 
 class CommonExampleInterface*    AllConstraintCreateFunc(struct CommonExampleOptions& options)

examples/Constraints/Dof6Spring2Setup.cpp

@@ -443,8 +443,6 @@ void Dof6Spring2Setup::animate()
 /////// servo motor: flip its target periodically
 #ifdef USE_6DOF2
 		static float servoNextFrame = -1;
-		btScalar pos = m_data->m_ServoMotorConstraint->getRotationalLimitMotor(2)->m_currentPosition;
-		btScalar target = m_data->m_ServoMotorConstraint->getRotationalLimitMotor(2)->m_servoTarget;
 		if(servoNextFrame < 0)
 		{
 			m_data->m_ServoMotorConstraint->getRotationalLimitMotor(2)->m_servoTarget *= -1;

examples/Constraints/TestHingeTorque.cpp

@@ -4,8 +4,8 @@
 #include "../CommonInterfaces/CommonRigidBodyBase.h"
 #include "../CommonInterfaces/CommonParameterInterface.h"
 
-short collisionFilterGroup = short(btBroadphaseProxy::CharacterFilter);
+int collisionFilterGroup = int(btBroadphaseProxy::CharacterFilter);
-short collisionFilterMask = short(btBroadphaseProxy::AllFilter ^ (btBroadphaseProxy::CharacterFilter));
+int collisionFilterMask = int(btBroadphaseProxy::AllFilter ^ (btBroadphaseProxy::CharacterFilter));
 static btScalar radius(0.2);
 
 struct TestHingeTorque : public CommonRigidBodyBase
@@ -123,9 +123,7 @@ void TestHingeTorque::initPhysics()
 	{ // create a door using hinge constraint attached to the world
         
         int numLinks = 2;
-        bool spherical = false;					//set it ot false -to use 1DoF hinges instead of 3DoF sphericals
+    //    bool selfCollide = false;
-        bool canSleep = false;
-        bool selfCollide = false;
         btVector3 linkHalfExtents(0.05, 0.37, 0.1);
         btVector3 baseHalfExtents(0.05, 0.37, 0.1);
 
@@ -223,7 +221,7 @@ void TestHingeTorque::initPhysics()
 		
 		btTransform start; start.setIdentity();
 		btVector3 groundOrigin(-0.4f, 3.f, 0.f);
-		btVector3 basePosition = btVector3(-0.4f, 3.f, 0.f);
+	//	btVector3 basePosition = btVector3(-0.4f, 3.f, 0.f);
 		btQuaternion groundOrn(btVector3(0,1,0),0.25*SIMD_PI);
 		
 		groundOrigin[upAxis] -=.5;

examples/Evolution/NN3DWalkers.cpp

@@ -118,10 +118,10 @@ public:
 	:NN3DWalkersTimeWarpBase(helper),
 	 m_Time(0),
 	 m_SpeedupTimestamp(0),
-	 m_motorStrength(0.5f),
-	 m_targetFrequency(3),
 	 m_targetAccumulator(0),
-	 m_evaluationsQty(0),
+	m_targetFrequency(3),
+	m_motorStrength(0.5f),
+	m_evaluationsQty(0),
 	 m_nextReaped(0),
 	 m_timeSeriesCanvas(0)
 	{
@@ -729,9 +729,9 @@ bool NN3DWalkersExample::detectCollisions()
 				btManifoldPoint& pt = contactManifold->getContactPoint(j);
 				if (pt.getDistance()<0.f)
 				{
-					const btVector3& ptA = pt.getPositionWorldOnA();
+					//const btVector3& ptA = pt.getPositionWorldOnA();
-					const btVector3& ptB = pt.getPositionWorldOnB();
+					//const btVector3& ptB = pt.getPositionWorldOnB();
-					const btVector3& normalOnB = pt.m_normalWorldOnB;
+					//const btVector3& normalOnB = pt.m_normalWorldOnB;
 
 					if(!DRAW_INTERPENETRATIONS){
 						return collisionDetected;

examples/Evolution/NN3DWalkersTimeWarpBase.h

@@ -593,7 +593,7 @@ struct NN3DWalkersTimeWarpBase: public CommonRigidBodyBase {
 			timeWarpSimulation(deltaTime);
 			if(mLoopTimer.getTimeSeconds() - speedUpPrintTimeStamp > 1){
 				// on reset, we calculate the performed speed up
-				double speedUp = ((double)performedTime*1000.0)/((double)(mLoopTimer.getTimeMilliseconds()-performanceTimestamp));
+				//double speedUp = ((double)performedTime*1000.0)/((double)(mLoopTimer.getTimeMilliseconds()-performanceTimestamp));
 //				b3Printf("Avg Effective speedup: %f",speedUp);
 				performedTime = 0;
 				performanceTimestamp = mLoopTimer.getTimeMilliseconds();

examples/ExampleBrowser/GwenGUISupport/GwenParameterInterface.cpp

@@ -36,12 +36,13 @@ struct MySliderEventHandler : public Gwen::Event::Handler
     bool m_showValue;
 
 	MySliderEventHandler(const char* varName, Gwen::Controls::TextBox* label, Gwen::Controls::Slider* pSlider,T* target, SliderParamChangedCallback callback, void* userPtr)
-		:m_label(label),
+	:	m_callback(callback),
+		m_userPointer(userPtr),
+		m_label(label),
 		m_pSlider(pSlider),
-		m_targetValue(target),
+	m_targetValue(target),
-        m_showValue(true),
+	m_showValue(true)
-		m_callback(callback),
+
-        m_userPointer(userPtr)
 	{
 		memcpy(m_variableName,varName,strlen(varName)+1);
 	}

examples/ExampleBrowser/InProcessExampleBrowser.cpp

@@ -233,7 +233,7 @@ void	ExampleBrowserThreadFunc(void* userPtr,void* lsMemory)
 	ExampleBrowserThreadLocalStorage* localStorage = (ExampleBrowserThreadLocalStorage*) lsMemory;
 
 	ExampleBrowserArgs* args = (ExampleBrowserArgs*) userPtr;
-	int workLeft = true;
+	//int workLeft = true;
   b3CommandLineArgs args2(args->m_argc,args->m_argv);
 	b3Clock clock;
 
@@ -411,7 +411,8 @@ btInProcessExampleBrowserMainThreadInternalData* btCreateInProcessExampleBrowser
     data->m_exampleBrowser = new DefaultBrowser(&data->m_examples);
     data->m_sharedMem = new InProcessMemory;
     data->m_exampleBrowser->setSharedMemoryInterface(data->m_sharedMem );
-    bool init = data->m_exampleBrowser->init(argc,argv);
+	bool init;
+	init = data->m_exampleBrowser->init(argc,argv);
     data->m_clock.reset();
     return data;
 }

examples/ExampleBrowser/OpenGLExampleBrowser.cpp

@@ -721,7 +721,7 @@ static void saveCurrentSettings(int currentEntry,const char* startFileName)
 
 static void loadCurrentSettings(const char* startFileName, b3CommandLineArgs& args)
 {
-	int currentEntry= 0;
+	//int currentEntry= 0;
 	FILE* f = fopen(startFileName,"r");
 	if (f)
 	{

examples/ForkLift/ForkLiftDemo.cpp

@@ -46,6 +46,7 @@ class btCollisionShape;
 class ForkLiftDemo  : public CommonExampleInterface
 {
 	public:
+	GUIHelperInterface* m_guiHelper;
 
 		/* extra stuff*/
 	btVector3 m_cameraPosition;
@@ -57,7 +58,6 @@ class ForkLiftDemo  : public CommonExampleInterface
 	btRigidBody* m_carChassis;
 	btRigidBody* localCreateRigidBody(btScalar mass, const btTransform& worldTransform, btCollisionShape* colSape);
 
-	GUIHelperInterface* m_guiHelper;
 	int m_wheelInstances[4];
 
 //----------------------------
@@ -195,8 +195,6 @@ bool useMCLPSolver = true;
 #include "ForkLiftDemo.h"
 
 
-const int maxProxies = 32766;
-const int maxOverlap = 65535;
 
 ///btRaycastVehicle is the interface for the constraint that implements the raycast vehicle
 ///notice that for higher-quality slow-moving vehicles, another approach might be better

examples/FractureDemo/btFractureDynamicsWorld.cpp

@@ -529,7 +529,7 @@ void btFractureDynamicsWorld::fractureCallback( )
 		{
 			int j=f0;
 
-			btCollisionObject* colOb = (btCollisionObject*)manifold->getBody1();
+	//		btCollisionObject* colOb = (btCollisionObject*)manifold->getBody1();
 	//		btRigidBody* otherOb = btRigidBody::upcast(colOb);
 			//	if (!otherOb->getInvMass())
 			//		continue;
@@ -562,8 +562,8 @@ void btFractureDynamicsWorld::fractureCallback( )
 		{
 			int j=f1;
 			{
-				btCollisionObject* colOb = (btCollisionObject*)manifold->getBody0();
+				//btCollisionObject* colOb = (btCollisionObject*)manifold->getBody0();
-				btRigidBody* otherOb = btRigidBody::upcast(colOb);
+				//btRigidBody* otherOb = btRigidBody::upcast(colOb);
 				//	if (!otherOb->getInvMass())
 				//		continue;
 

examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp

@@ -336,7 +336,7 @@ void readLibraryGeometries(TiXmlDocument& doc, btAlignedObjectArray<GLInstanceGr
 
 void readNodeHierarchy(TiXmlElement* node,btHashMap<btHashString,int>& name2Shape, btAlignedObjectArray<ColladaGraphicsInstance>& visualShapeInstances,  const btMatrix4x4& parentTransMat)
 {
-	const char* nodeName = node->Attribute("id");
+	//const char* nodeName = node->Attribute("id");
 	//printf("processing node %s\n", nodeName);
 
 	

examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp

@@ -157,7 +157,6 @@ struct BulletMJCFImporterInternalData
 		//rudimentary 'default' support, would need more work for better feature coverage
 		for (TiXmlElement* child_xml = root_xml->FirstChildElement() ; child_xml ; child_xml = child_xml->NextSiblingElement())
 		{
-			bool handled = false;
 			std::string n = child_xml->Value();
 			if (n=="inertial")
 			{
@@ -412,7 +411,7 @@ struct BulletMJCFImporterInternalData
 
 		
 
-		const char* rgba = link_xml->Attribute("rgba");
+//		const char* rgba = link_xml->Attribute("rgba");
 		const char* gType = link_xml->Attribute("type");
 		const char* sz = link_xml->Attribute("size");
 		const char* posS = link_xml->Attribute("pos");
@@ -713,7 +712,7 @@ struct BulletMJCFImporterInternalData
 		const char* bodyName = link_xml->Attribute("name");
 		int orgChildLinkIndex = createBody(modelIndex,bodyName);
 		
-		int curChildLinkIndex = orgChildLinkIndex;
+//		int curChildLinkIndex = orgChildLinkIndex;
 		std::string bodyN;
 		
 		if (bodyName)
@@ -727,7 +726,7 @@ struct BulletMJCFImporterInternalData
 		}
 		
 
-		btTransform orgLinkTransform = parseTransform(link_xml,logger);
+//		btTransform orgLinkTransform = parseTransform(link_xml,logger);
 
 		btTransform linkTransform = parseTransform(link_xml,logger);
 		UrdfLink* linkPtr = getLink(modelIndex,orgChildLinkIndex);
@@ -739,7 +738,7 @@ struct BulletMJCFImporterInternalData
 		btQuaternion inertialOrn(0,0,0,1);
 		btScalar mass = 0.f;
 		btVector3 localInertiaDiag(0,0,0);
-		int thisLinkIndex = -2;
+	//	int thisLinkIndex = -2;
 		bool hasJoint = false;
 		btTransform jointTrans;
 		jointTrans.setIdentity();
@@ -1331,7 +1330,7 @@ class btCompoundShape* BulletMJCFImporter::convertLinkCollisionShapes(int linkIn
 					btVector3 f = col->m_geometry.m_capsuleFrom;
 					btVector3 t = col->m_geometry.m_capsuleTo;
 					//MuJoCo seems to take the average of the spheres as center?
-					btVector3 c = (f+t)*0.5;
+					//btVector3 c = (f+t)*0.5;
 					//f-=c;
 					//t-=c;
 					btVector3 fromto[2] = {f,t};

examples/Importers/ImportMJCFDemo/ImportMJCFSetup.cpp

@@ -147,25 +147,8 @@ ImportMJCFSetup::~ImportMJCFSetup()
     delete m_data;
 }
 
-static btVector4 colors[4] =
-{
-	btVector4(1,0,0,1),
-	btVector4(0,1,0,1),
-	btVector4(0,1,1,1),
-	btVector4(1,1,0,1),
-};
 
 
-static btVector3 selectColor()
-{
-
-	static int curColor = 0;
-	btVector4 color = colors[curColor];
-	curColor++;
-	curColor&=3;
-	return color;
-}
-
 void ImportMJCFSetup::setFileName(const char* mjcfFileName)
 {
     memcpy(m_fileName,mjcfFileName,strlen(mjcfFileName)+1);
@@ -229,7 +212,7 @@ void ImportMJCFSetup::initPhysics()
 
 
 			//todo: move these internal API called inside the 'ConvertURDF2Bullet' call, hidden from the user
-			int rootLinkIndex = importer.getRootLinkIndex();
+			//int rootLinkIndex = importer.getRootLinkIndex();
 			//b3Printf("urdf root link index = %d\n",rootLinkIndex);
 			MyMultiBodyCreator creation(m_guiHelper);
 

examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp

@@ -30,7 +30,7 @@ bool b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(const std::string&
 		
 		GLInstanceGraphicsShape* gfxShape = btgCreateGraphicsShapeFromWavefrontObj(shapes);
 		
-		int textureIndex = -1;
+		//int textureIndex = -1;
 		//try to load some texture
 		for (int i=0;i<shapes.size();i++)
 		{

examples/Importers/ImportSDFDemo/ImportSDFSetup.cpp

@@ -155,25 +155,8 @@ ImportSDFSetup::~ImportSDFSetup()
     delete m_data;
 }
 
-static btVector4 colors[4] =
-{
-	btVector4(1,0,0,1),
-	btVector4(0,1,0,1),
-	btVector4(0,1,1,1),
-	btVector4(1,1,0,1),
-};
 
 
-static btVector3 selectColor()
-{
-
-	static int curColor = 0;
-	btVector4 color = colors[curColor];
-	curColor++;
-	curColor&=3;
-	return color;
-}
-
 void ImportSDFSetup::setFileName(const char* urdfFileName)
 {
     memcpy(m_fileName,urdfFileName,strlen(urdfFileName)+1);
@@ -227,7 +210,7 @@ void ImportSDFSetup::initPhysics()
 
 
 			//todo: move these internal API called inside the 'ConvertURDF2Bullet' call, hidden from the user
-			int rootLinkIndex = u2b.getRootLinkIndex();
+			//int rootLinkIndex = u2b.getRootLinkIndex();
 			//b3Printf("urdf root link index = %d\n",rootLinkIndex);
 			MyMultiBodyCreator creation(m_guiHelper);
 

examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp

@@ -159,25 +159,8 @@ ImportUrdfSetup::~ImportUrdfSetup()
     delete m_data;
 }
 
-static btVector4 colors[4] =
-{
-	btVector4(1,0,0,1),
-	btVector4(0,1,0,1),
-	btVector4(0,1,1,1),
-	btVector4(1,1,0,1),
-};
 
 
-static btVector3 selectColor()
-{
-
-	static int curColor = 0;
-	btVector4 color = colors[curColor];
-	curColor++;
-	curColor&=3;
-	return color;
-}
-
 void ImportUrdfSetup::setFileName(const char* urdfFileName)
 {
     memcpy(m_fileName,urdfFileName,strlen(urdfFileName)+1);
@@ -237,7 +220,7 @@ void ImportUrdfSetup::initPhysics()
 
 
 			//todo: move these internal API called inside the 'ConvertURDF2Bullet' call, hidden from the user
-			int rootLinkIndex = u2b.getRootLinkIndex();
+			//int rootLinkIndex = u2b.getRootLinkIndex();
 			//b3Printf("urdf root link index = %d\n",rootLinkIndex);
 			MyMultiBodyCreator creation(m_guiHelper);
 

examples/Importers/ImportURDFDemo/URDF2Bullet.cpp

@@ -11,8 +11,8 @@
 #include "MultiBodyCreationInterface.h"
 #include <string>
 
-static int bodyCollisionFilterGroup=btBroadphaseProxy::CharacterFilter;
+//static int bodyCollisionFilterGroup=btBroadphaseProxy::CharacterFilter;
-static int bodyCollisionFilterMask=btBroadphaseProxy::AllFilter&(~btBroadphaseProxy::CharacterFilter);
+//static int bodyCollisionFilterMask=btBroadphaseProxy::AllFilter&(~btBroadphaseProxy::CharacterFilter);
 static bool enableConstraints = true;
 
 static btVector4 colors[4] =
@@ -446,8 +446,8 @@ void ConvertURDF2BulletInternal(
 				
 				//base and fixed? -> static, otherwise flag as dynamic
                 bool isDynamic = (mbLinkIndex<0 && cache.m_bulletMultiBody->hasFixedBase())? false : true;
-                short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(btBroadphaseProxy::StaticFilter);
+                int collisionFilterGroup = isDynamic? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
-                short collisionFilterMask = isDynamic? 	short(btBroadphaseProxy::AllFilter) : 	short(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
+                int collisionFilterMask = isDynamic? 	int(btBroadphaseProxy::AllFilter) : 	int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
 
 				int colGroup=0, colMask=0;
 				int flags = u2b.getCollisionGroupAndMask(urdfLinkIndex,colGroup, colMask);

examples/InverseDynamics/InverseDynamicsExample.cpp

@@ -225,13 +225,13 @@ void InverseDynamicsExample::initPhysics()
 			{
 				qd[dof] = 0;
 				char tmp[25];
-				sprintf(tmp,"q_desired[%u]",dof);
+				sprintf(tmp,"q_desired[%lu]",dof);
 				qd_name[dof] = tmp;
 				SliderParams slider(qd_name[dof].c_str(),&qd[dof]);
 				slider.m_minVal=-3.14;
 				slider.m_maxVal=3.14;
 				
-				sprintf(tmp,"q[%u]",dof); 
+				sprintf(tmp,"q[%lu]",dof); 
 				q_name[dof] = tmp;   
 				m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
 				btVector4 color = sJointCurveColors[dof&7];
@@ -343,6 +343,7 @@ void InverseDynamicsExample::stepSimulation(float deltaTime)
 		btAlignedObjectArray<btQuaternion> scratch_q;
 		btAlignedObjectArray<btVector3> scratch_m;
 		m_multiBody->forwardKinematics(scratch_q, scratch_m);
+#if 0
 		for (int i = 0; i < m_multiBody->getNumLinks(); i++)
 		{
 			//btVector3 pos = m_multiBody->getLink(i).m_cachedWorldTransform.getOrigin();
@@ -355,6 +356,7 @@ void InverseDynamicsExample::stepSimulation(float deltaTime)
 
 
 		}
+#endif
     }
 }
 

examples/InverseKinematics/InverseKinematicsExample.cpp

@@ -155,10 +155,7 @@ class InverseKinematicsExample : public CommonExampleInterface
 	b3AlignedObjectArray<Node*> m_ikNodes;
 	Jacobian* m_ikJacobian;
 
-    float m_x;
+ 	b3AlignedObjectArray<int> m_movingInstances;
-    float m_y;
-    float m_z;
-	b3AlignedObjectArray<int> m_movingInstances;
 	int m_targetInstance;
 	enum
 	{
@@ -169,12 +166,9 @@ public:
     
     InverseKinematicsExample(CommonGraphicsApp* app, int option)
     :m_app(app),
-    m_x(0),
+	m_ikMethod(option),
-    m_y(0),
+	m_targetInstance(-1)
-	m_z(0),
+	{
-	m_targetInstance(-1),
-	m_ikMethod(option)
-    {
 		m_app->setUpAxis(2);
         
 		 {
@@ -336,7 +330,7 @@ public:
 
 void InverseKinematicsExample::BuildKukaIIWAShape()
 {
-	const VectorR3& unitx = VectorR3::UnitX;
+	//const VectorR3& unitx = VectorR3::UnitX;
 	const VectorR3& unity = VectorR3::UnitY;
 	const VectorR3& unitz = VectorR3::UnitZ;
 	const VectorR3 unit1(sqrt(14.0) / 8.0, 1.0 / 8.0, 7.0 / 8.0);

examples/MultiBody/InvertedPendulumPDControl.cpp

@@ -211,11 +211,11 @@ btMultiBody* createInvertedPendulumMultiBody(btMultiBodyDynamicsWorld* world, GU
     local_origin.resize(pMultiBody->getNumLinks() + 1);
     world_to_local[0] = pMultiBody->getWorldToBaseRot();
     local_origin[0] = pMultiBody->getBasePos();
-    double friction = 1;
+  //  double friction = 1;
     {
 
     //	float pos[4]={local_origin[0].x(),local_origin[0].y(),local_origin[0].z(),1};
-        float quat[4]={-world_to_local[0].x(),-world_to_local[0].y(),-world_to_local[0].z(),world_to_local[0].w()};
+       // float quat[4]={-world_to_local[0].x(),-world_to_local[0].y(),-world_to_local[0].z(),world_to_local[0].w()};
 
 
         if (1)
@@ -238,8 +238,8 @@ btMultiBody* createInvertedPendulumMultiBody(btMultiBodyDynamicsWorld* world, GU
             col->setWorldTransform(tr);
 
 			bool isDynamic = (baseMass > 0 && !fixedBase);
-			short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(btBroadphaseProxy::StaticFilter);
+			int collisionFilterGroup = isDynamic? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
-			short collisionFilterMask = isDynamic? 	short(btBroadphaseProxy::AllFilter) : 	short(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
+			int collisionFilterMask = isDynamic? 	int(btBroadphaseProxy::AllFilter) : 	int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
 
 
             world->addCollisionObject(col,collisionFilterGroup,collisionFilterMask);//, 2,1+2);
@@ -291,8 +291,8 @@ btMultiBody* createInvertedPendulumMultiBody(btMultiBodyDynamicsWorld* world, GU
         col->setWorldTransform(tr);
     //       col->setFriction(friction);
 		bool isDynamic = 1;//(linkMass > 0);
-		short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(btBroadphaseProxy::StaticFilter);
+		int collisionFilterGroup = isDynamic? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
-		short collisionFilterMask = isDynamic? 	short(btBroadphaseProxy::AllFilter) : 	short(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
+		int collisionFilterMask = isDynamic? 	int(btBroadphaseProxy::AllFilter) : 	int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
 
 		//if (i==0||i>numLinks-2)
 		{
@@ -450,7 +450,7 @@ void InvertedPendulumPDControl::stepSimulation(float deltaTime)
              m_multiBody->getBaseOmega()[2]
              );
     */
-    btScalar jointVel =m_multiBody->getJointVel(0);
+ //   btScalar jointVel =m_multiBody->getJointVel(0);
     
 //    b3Printf("child angvel = %f",jointVel);
     

examples/MultiBody/MultiBodyConstraintFeedback.cpp

@@ -91,7 +91,7 @@ void MultiBodyConstraintFeedbackSetup::initPhysics()
             m_guiHelper->createCollisionShapeGraphicsObject(box);
             btTransform start; start.setIdentity();
             btVector3 groundOrigin(-0.4f, 3.f, 0.f);
-			btVector3 basePosition = btVector3(-0.4f, 3.f, 0.f);
+			//btVector3 basePosition = btVector3(-0.4f, 3.f, 0.f);
             groundOrigin[upAxis] -=.5;
 			groundOrigin[2]-=0.6;
             start.setOrigin(groundOrigin);
@@ -263,11 +263,11 @@ void MultiBodyConstraintFeedbackSetup::initPhysics()
         local_origin.resize(pMultiBody->getNumLinks() + 1);
         world_to_local[0] = pMultiBody->getWorldToBaseRot();
         local_origin[0] = pMultiBody->getBasePos();
-        double friction = 1;
+      //  double friction = 1;
         {
 
         //	float pos[4]={local_origin[0].x(),local_origin[0].y(),local_origin[0].z(),1};
-            float quat[4]={-world_to_local[0].x(),-world_to_local[0].y(),-world_to_local[0].z(),world_to_local[0].w()};
+           // float quat[4]={-world_to_local[0].x(),-world_to_local[0].y(),-world_to_local[0].z(),world_to_local[0].w()};
 
 
             if (1)
@@ -290,8 +290,8 @@ void MultiBodyConstraintFeedbackSetup::initPhysics()
                 col->setWorldTransform(tr);
 
 				bool isDynamic = (baseMass > 0 && floating);
-				short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(btBroadphaseProxy::StaticFilter);
+				int collisionFilterGroup = isDynamic? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
-				short collisionFilterMask = isDynamic? 	short(btBroadphaseProxy::AllFilter) : 	short(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
+				int collisionFilterMask = isDynamic? 	int(btBroadphaseProxy::AllFilter) : 	int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
 
 
                 world->addCollisionObject(col,collisionFilterGroup,collisionFilterMask);//, 2,1+2);
@@ -343,8 +343,8 @@ void MultiBodyConstraintFeedbackSetup::initPhysics()
             col->setWorldTransform(tr);
      //       col->setFriction(friction);
 			bool isDynamic = 1;//(linkMass > 0);
-			short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(btBroadphaseProxy::StaticFilter);
+			int collisionFilterGroup = isDynamic? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
-			short collisionFilterMask = isDynamic? 	short(btBroadphaseProxy::AllFilter) : 	short(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
+			int collisionFilterMask = isDynamic? 	int(btBroadphaseProxy::AllFilter) : 	int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
 
 			//if (i==0||i>numLinks-2)
 			{
@@ -416,7 +416,7 @@ void MultiBodyConstraintFeedbackSetup::stepSimulation(float deltaTime)
              m_multiBody->getBaseOmega()[2]
              );
     */
-    btScalar jointVel =m_multiBody->getJointVel(0);
+   // btScalar jointVel =m_multiBody->getJointVel(0);
     
 //    b3Printf("child angvel = %f",jointVel);
     

examples/MultiBody/MultiBodySoftContact.cpp

@@ -7,7 +7,7 @@
 #include "../CommonInterfaces/CommonMultiBodyBase.h"
 #include "../Utils/b3ResourcePath.h"
 
-static btScalar radius(0.2);
+//static btScalar radius(0.2);
 
 struct MultiBodySoftContact : public CommonMultiBodyBase
 {
@@ -126,8 +126,8 @@ void MultiBodySoftContact::initPhysics()
 		col->setCollisionShape(childShape);
 		pMultiBody->setBaseCollider(col);
 			bool isDynamic = (mass > 0 && !isFixed);
-		short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(btBroadphaseProxy::StaticFilter);
+		int collisionFilterGroup = isDynamic? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
-		short collisionFilterMask = isDynamic? 	short(btBroadphaseProxy::AllFilter) : 	short(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
+		int collisionFilterMask = isDynamic? 	int(btBroadphaseProxy::AllFilter) : 	int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
 
         m_dynamicsWorld->addCollisionObject(col,collisionFilterGroup,collisionFilterMask);//, 2,1+2);
 

examples/MultiBody/MultiDofDemo.cpp

@@ -242,7 +242,7 @@ void	MultiDofDemo::initPhysics()
 
         if (multibodyConstraint) {
             btVector3 pointInA = -linkHalfExtents;
-            btVector3 pointInB = halfExtents;
+      //      btVector3 pointInB = halfExtents;
             btMatrix3x3 frameInA;
             btMatrix3x3 frameInB;
             frameInA.setIdentity();

examples/MultiBody/Pendulum.cpp

@@ -150,8 +150,8 @@ void Pendulum::initPhysics()
 			btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(pMultiBody, i);
 			col->setCollisionShape(shape);
 			bool isDynamic = 1;
-			short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(btBroadphaseProxy::StaticFilter);
+			int collisionFilterGroup = isDynamic? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
-			short collisionFilterMask = isDynamic? 	short(btBroadphaseProxy::AllFilter) : 	short(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
+			int collisionFilterMask = isDynamic? 	int(btBroadphaseProxy::AllFilter) : 	int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
 			world->addCollisionObject(col,collisionFilterGroup,collisionFilterMask);//,2,1+2);
 			btVector4 color(1,0,0,1);
 			m_guiHelper->createCollisionObjectGraphicsObject(col,color);

examples/MultiBody/TestJointTorqueSetup.cpp

@@ -294,8 +294,8 @@ void TestJointTorqueSetup::initPhysics()
                 col->setWorldTransform(tr);
 
 				bool isDynamic = (baseMass > 0 && floating);
-				short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(btBroadphaseProxy::StaticFilter);
+				int collisionFilterGroup = isDynamic? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
-				short collisionFilterMask = isDynamic? 	short(btBroadphaseProxy::AllFilter) : 	short(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
+				int collisionFilterMask = isDynamic? 	int(btBroadphaseProxy::AllFilter) : 	int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
 
 
                 world->addCollisionObject(col,collisionFilterGroup,collisionFilterMask);//, 2,1+2);
@@ -347,8 +347,8 @@ void TestJointTorqueSetup::initPhysics()
             col->setWorldTransform(tr);
      //       col->setFriction(friction);
 			bool isDynamic = 1;//(linkMass > 0);
-			short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(btBroadphaseProxy::StaticFilter);
+			int collisionFilterGroup = isDynamic? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
-			short collisionFilterMask = isDynamic? 	short(btBroadphaseProxy::AllFilter) : 	short(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
+			int collisionFilterMask = isDynamic? 	int(btBroadphaseProxy::AllFilter) : 	int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
 
 			//if (i==0||i>numLinks-2)
 			{

examples/MultiThreadedDemo/ParallelFor.h

@@ -224,12 +224,12 @@ private:
 extern TaskManager gTaskMgr;
 
 
-static void initTaskScheduler()
+inline static void initTaskScheduler()
 {
     gTaskMgr.init();
 }
 
-static void cleanupTaskScheduler()
+inline static void cleanupTaskScheduler()
 {
     gTaskMgr.shutdown();
 }

examples/MultiThreading/MultiThreadingExample.cpp

@@ -163,8 +163,6 @@ void*	SamplelsMemoryFunc()
 class MultiThreadingExample : public CommonExampleInterface
 {
     CommonGraphicsApp* m_app;
-	GUIHelperInterface* m_guiHelper;
-    int m_exampleIndex;
     b3ThreadSupportInterface* m_threadSupport;
     btAlignedObjectArray<SampleJob1*> m_jobs;
     int m_numThreads;
@@ -172,12 +170,10 @@ public:
     
     MultiThreadingExample(GUIHelperInterface* guiHelper, int tutorialIndex)
     :m_app(guiHelper->getAppInterface()),
-	m_guiHelper(guiHelper),
-	m_exampleIndex(tutorialIndex),
 	m_threadSupport(0),
 	m_numThreads(8)
     {
-		int numBodies = 1;
+		//int numBodies = 1;
 		
 		m_app->setUpAxis(1);
 		m_app->m_renderer->enableBlend(true);

examples/OpenCL/CommonOpenCL/CommonOpenCLBase.h

@@ -43,8 +43,8 @@ struct CommonOpenCLBase : public CommonExampleInterface
 	
 	virtual void initCL(int preferredDeviceIndex, int preferredPlatformIndex)
 	{
-	void* glCtx=0;
+//	void* glCtx=0;
-	void* glDC = 0;
+//	void* glDC = 0;
 	
 	
     

examples/OpenCL/broadphase/PairBench.cpp

@@ -208,9 +208,6 @@ void	PairBench::initPhysics()
 	useShadowMap = false;
 
 	
-	int startItem = 0;
-
-	
 	initCL(gPreferredOpenCLDeviceIndex,gPreferredOpenCLPlatformIndex);
 
 	if (m_clData->m_clContext)
@@ -298,7 +295,7 @@ void	PairBench::createBroadphase(int arraySizeX, int arraySizeY, int arraySizeZ)
 					char * patloc;
 
 					
-					for (oriptr = buf; patloc = strstr(oriptr, pattern); oriptr = patloc + patlen)
+					for (oriptr = buf; (patloc = strstr(oriptr, pattern)); oriptr = patloc + patlen)
 					{
 						if (patloc)
 						{
@@ -335,12 +332,14 @@ void	PairBench::createBroadphase(int arraySizeX, int arraySizeY, int arraySizeZ)
 							if (l>500)
 							{
 								b3Vector4 color=b3MakeVector4(0,1,0,0.1);
-								int id = m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId,position,orn,color,scaling);
+								int id;
+								id = m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId,position,orn,color,scaling);
 								m_data->m_broadphaseGPU->createLargeProxy(aabbMin,aabbMax,index,group,mask);
 							} else
 							{
 								b3Vector4 color=b3MakeVector4(1,0,0,1);
-								int id = m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId,position,orn,color,scaling);
+								int id;
+								id = m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId,position,orn,color,scaling);
 								m_data->m_broadphaseGPU->createProxy(aabbMin,aabbMax,index,group,mask);
 									index++;
 							}
@@ -403,7 +402,8 @@ void	PairBench::createBroadphase(int arraySizeX, int arraySizeY, int arraySizeZ)
 					}*/
 
 
-					int id = m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId,position,orn,color,scaling);
+					int id;
+					id = m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId,position,orn,color,scaling);
 					
 					
 					b3Vector3 aabbMin = position-scaling;
@@ -486,7 +486,7 @@ void PairBench::stepSimulation(float deltaTime)
 		return;
 
 
-	bool animate=true;
+	//bool animate=true;
 	int numObjects= 0;
 	{
 		B3_PROFILE("Num Objects");
@@ -503,7 +503,7 @@ void PairBench::stepSimulation(float deltaTime)
 		int arraySizeInBytes  = numObjects * (3)*sizeof(b3Vector4);
 
 		glBindBuffer(GL_ARRAY_BUFFER, vbo);
-		cl_bool blocking=  CL_TRUE;
+	//	cl_bool blocking=  CL_TRUE;
 		char* hostPtr= 0;
 		{
 			B3_PROFILE("glMapBufferRange");
@@ -583,7 +583,7 @@ void PairBench::stepSimulation(float deltaTime)
 			B3_PROFILE("updateOnCpu");
 			if (!gPairBenchFileName)
 			{
-			int allAabbs = m_data->m_broadphaseGPU->getAllAabbsCPU().size();
+		//	int allAabbs = m_data->m_broadphaseGPU->getAllAabbsCPU().size();
 			
 
 			b3AlignedObjectArray<b3Vector4> posOrnColorsCpu;
@@ -625,11 +625,12 @@ void PairBench::stepSimulation(float deltaTime)
 		b3Clock cl;
 		dt = cl.getTimeMicroseconds();
 		B3_PROFILE("calculateOverlappingPairs");
-		int sz = sizeof(b3Int4)*64*numObjects;
+		//int sz = sizeof(b3Int4)*64*numObjects;
 
 
 		m_data->m_broadphaseGPU->calculateOverlappingPairs(maxOverlap);
-		int numPairs = m_data->m_broadphaseGPU->getNumOverlap();
+		int numPairs;
+		numPairs = m_data->m_broadphaseGPU->getNumOverlap();
 		//printf("numPairs = %d\n", numPairs);
 		dt = cl.getTimeMicroseconds()-dt;
 		

examples/OpenCL/rigidbody/GpuConvexScene.cpp

@@ -223,8 +223,8 @@ int	GpuConvexScene::createDynamicsObjects2( const float* vertices, int numVertic
 	}
 
 	int shapeId = m_guiHelper->getRenderInterface()->registerShape(&vertices[0],numVertices,indices,numIndices,B3_GL_TRIANGLES,textureIndex);
-	int group=1;
+	//int group=1;
-	int mask=1;
+	//int mask=1;
 	int index=0;
 
 
@@ -237,7 +237,7 @@ int	GpuConvexScene::createDynamicsObjects2( const float* vertices, int numVertic
 		int curColor = 0;
 		float scaling[4] = {1,1,1,1};
 		int prevBody = -1;
-		int insta = 0;
+		//int insta = 0;
 
 		b3ConvexUtility* utilPtr = new b3ConvexUtility();
 
@@ -290,9 +290,11 @@ int	GpuConvexScene::createDynamicsObjects2( const float* vertices, int numVertic
 					b3Vector4 color = colors[curColor];
 					curColor++;
 					curColor&=3;
-					b3Vector4 scalin=b3MakeVector4(1,1,1,1);
+//					b3Vector4 scaling=b3MakeVector4(1,1,1,1);
-					int id = m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId,position,orn,color,scaling);
+					int id;
-					int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass,position,orn,colIndex,index,false);
+					id= m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId,position,orn,color,scaling);
+					int pid;
+					pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass,position,orn,colIndex,index,false);
 
 
 					if (prevBody>=0)
@@ -319,8 +321,8 @@ void GpuConvexScene::createStaticEnvironment()
 	int numIndices = sizeof(cube_indices)/sizeof(int);
 	//int shapeId = ci.m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
 	int shapeId = m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
-	int group=1;
+	//int group=1;
-	int mask=1;
+	//int mask=1;
 	int index=0;
 
 
@@ -332,8 +334,10 @@ void GpuConvexScene::createStaticEnvironment()
 
 		b3Vector4 color=b3MakeVector4(0,0,1,1);
 
-		int id = m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
+		int id;
-		int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(0.f,position,orn,colIndex,index,false);
+		id = m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
+		int pid;
+		pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(0.f,position,orn,colIndex,index,false);
 
 	}
 }
@@ -345,8 +349,8 @@ void GpuConvexPlaneScene::createStaticEnvironment()
 	int numIndices = sizeof(cube_indices)/sizeof(int);
 	//int shapeId = ci.m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
 	int shapeId = m_guiHelper->getRenderInterface()->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
-	int group=1;
+//	int group=1;
-	int mask=1;
+//	int mask=1;
 	int index=0;
 
 
@@ -358,8 +362,10 @@ void GpuConvexPlaneScene::createStaticEnvironment()
 
 		b3Vector4 color=b3MakeVector4(0,0,1,1);
 
-		int id = m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId,position,orn,color,scaling);
+		int id;
-		int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(0.f,position,orn,colIndex,index,false);
+		id = m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId,position,orn,color,scaling);
+		int pid;
+		pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(0.f,position,orn,colIndex,index,false);
 
 	}
 
@@ -535,8 +541,8 @@ void GpuTetraScene::createFromTetGenData(const char* ele,
 			int numVertices = sizeof(mytetra_vertices)/strideInBytes;
 			int numIndices = sizeof(mytetra_indices)/sizeof(int);
 			int shapeId = m_instancingRenderer->registerShape(&mytetra_vertices[0],numVertices,mytetra_indices,numIndices);
-			int group=1;
+		//	int group=1;
-			int mask=1;
+		//	int mask=1;
 			
 
 
@@ -553,8 +559,10 @@ void GpuTetraScene::createFromTetGenData(const char* ele,
 				b3Vector4 color = colors[curColor++];
 				curColor&=3;
 				
-				int id = m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
+				int id;
-				int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(1.f,position,orn,colIndex,0,false);
+				id = m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
+				int pid;
+				pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(1.f,position,orn,colIndex,0,false);
 				//rigidBodyIds.push_back(pid);
 
 			}
@@ -620,7 +628,8 @@ void GpuTetraScene::createFromTetGenData(const char* ele,
 		bool useGPU = true;
 		if (useGPU)
 		{
-			int cid = m_data->m_rigidBodyPipeline->createFixedConstraint(bodyIndexA,bodyIndexB,pivotInA,pivotInB,relTargetAB,breakingThreshold);
+			int cid;
+			cid = m_data->m_rigidBodyPipeline->createFixedConstraint(bodyIndexA,bodyIndexB,pivotInA,pivotInB,relTargetAB,breakingThreshold);
 		} else
 		{
 			b3FixedConstraint* c = new b3FixedConstraint(bodyIndexA,bodyIndexB,frameInA,frameInB);

examples/OpenCL/rigidbody/GpuRigidBodyDemo.cpp

@@ -233,7 +233,7 @@ void GpuRigidBodyDemo::stepSimulation(float deltaTime)
 			GLuint vbo = m_instancingRenderer->getInternalData()->m_vbo;
 			int arraySizeInBytes  = numObjects * (3)*sizeof(b3Vector4);
 			glBindBuffer(GL_ARRAY_BUFFER, vbo);
-			cl_bool blocking=  CL_TRUE;
+//			cl_bool blocking=  CL_TRUE;
 			positions=  (b3Vector4*)glMapBufferRange( GL_ARRAY_BUFFER,m_instancingRenderer->getMaxShapeCapacity(),arraySizeInBytes, GL_MAP_READ_BIT );//GL_READ_WRITE);//GL_WRITE_ONLY
 			GLint err = glGetError();
 			assert(err==GL_NO_ERROR);
@@ -296,7 +296,7 @@ void GpuRigidBodyDemo::stepSimulation(float deltaTime)
 		int arraySizeInBytes  = numObjects * (3)*sizeof(b3Vector4);
 
 		glBindBuffer(GL_ARRAY_BUFFER, vbo);
-		cl_bool blocking=  CL_TRUE;
+//		cl_bool blocking=  CL_TRUE;
 		positions=  (b3Vector4*)glMapBufferRange( GL_ARRAY_BUFFER,m_instancingRenderer->getMaxShapeCapacity(),arraySizeInBytes, GL_MAP_WRITE_BIT );//GL_READ_WRITE);//GL_WRITE_ONLY
 		err = glGetError();
 		assert(err==GL_NO_ERROR);
@@ -329,7 +329,7 @@ b3Vector3	GpuRigidBodyDemo::getRayTo(int x,int y)
 	float farPlane = 10000.f;
 	rayForward*= farPlane;
 
-	b3Vector3 rightOffset;
+//	b3Vector3 rightOffset;
 	b3Vector3 m_cameraUp=b3MakeVector3(0,1,0);
 	b3Vector3 vertical = m_cameraUp;
 
@@ -401,7 +401,7 @@ bool	GpuRigidBodyDemo::mouseMoveCallback(float x,float y)
 		m_data->m_rigidBodyPipeline->removeConstraintByUid(m_data->m_pickConstraint);
 		b3Vector3 newRayTo = getRayTo(x,y);
 		b3Vector3 rayFrom;
-		b3Vector3 oldPivotInB = m_data->m_pickPivotInB;
+	//	b3Vector3 oldPivotInB = m_data->m_pickPivotInB;
 		b3Vector3 newPivotB;
 		m_guiHelper->getRenderInterface()->getActiveCamera()->getCameraPosition(rayFrom);
 		b3Vector3 dir = newRayTo-rayFrom;

examples/OpenGLWindow/GLInstancingRenderer.cpp

@@ -163,10 +163,10 @@ struct InternalDataRenderer : public GLInstanceRendererInternalData
 	
 	
 	InternalDataRenderer() :
+	m_activeCamera(&m_defaultCamera1),
 		m_shadowMap(0),
 		m_shadowTexture(0),
-		m_renderFrameBuffer(0),
+		m_renderFrameBuffer(0)
-		m_activeCamera(&m_defaultCamera1)
 	{
 		//clear to zero to make it obvious if the matrix is used uninitialized
 		for (int i=0;i<16;i++)
@@ -616,7 +616,7 @@ int	GLInstancingRenderer::registerTexture(const unsigned char* texels, int width
 	b3Assert(glGetError() ==GL_NO_ERROR);
 	glActiveTexture(GL_TEXTURE0);
 	int textureIndex = m_data->m_textureHandles.size();
-    const GLubyte*	image= (const GLubyte*)texels;	
+  //  const GLubyte*	image= (const GLubyte*)texels;	
 	GLuint textureHandle;
 	glGenTextures(1,(GLuint*)&textureHandle);
 	glBindTexture(GL_TEXTURE_2D,textureHandle);
@@ -661,7 +661,7 @@ void    GLInstancingRenderer::updateTexture(int textureIndex, const unsigned cha
 
         glBindTexture(GL_TEXTURE_2D,h.m_glTexture);
         b3Assert(glGetError() ==GL_NO_ERROR);
-        const GLubyte*	image= (const GLubyte*)texels;	
+      //  const GLubyte*	image= (const GLubyte*)texels;	
         glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, h.m_width,h.m_height,0,GL_RGB,GL_UNSIGNED_BYTE,&flippedTexels[0]);
         b3Assert(glGetError() ==GL_NO_ERROR);
         glGenerateMipmap(GL_TEXTURE_2D);

examples/OpenGLWindow/GLPrimitiveRenderer.cpp

@@ -456,7 +456,7 @@ void GLPrimitiveRenderer::drawTexturedRect2a(float x0, float y0, float x1, float
         PrimVertex( PrimVec4( -1.f+2.f*x1/float(m_screenWidth), 1.f-2.f*y0/float(m_screenHeight), 0.f, 1.f ), PrimVec4( color[0], color[1], color[2], color[3] ) ,PrimVec2(u1,v0))
     };
 
-	int sz = m_data2->m_numVerticesText;
+//	int sz = m_data2->m_numVerticesText;
 
 	m_data2->m_verticesRect[m_data2->m_numVerticesRect++]=vertexData[0];
 	m_data2->m_verticesRect[m_data2->m_numVerticesRect++]=vertexData[1];
@@ -492,7 +492,7 @@ void GLPrimitiveRenderer::drawTexturedRect2(float x0, float y0, float x1, float
         PrimVertex( PrimVec4( -1.f+2.f*x1/float(m_screenWidth), 1.f-2.f*y0/float(m_screenHeight), 0.f, 1.f ), PrimVec4( color[0], color[1], color[2], color[3] ) ,PrimVec2(u1,v0))
     };
 
-	int sz = m_data2->m_numVerticesText;
+//	int sz = m_data2->m_numVerticesText;
 
 	m_data2->m_verticesText[m_data2->m_numVerticesText++]=vertexData[0];
 	m_data2->m_verticesText[m_data2->m_numVerticesText++]=vertexData[1];

examples/OpenGLWindow/MacOpenGLWindow.mm

@@ -223,8 +223,8 @@ MacOpenGLWindow::MacOpenGLWindow()
 m_mouseX(0),
 m_mouseY(0),
 m_modifierFlags(0),
-m_mouseMoveCallback(0),
 m_mouseButtonCallback(0),
+m_mouseMoveCallback(0),
 m_wheelCallback(0),
 m_keyboardCallback(0),
 m_retinaScaleFactor(1),
@@ -334,10 +334,10 @@ void MacOpenGLWindow::createWindow(const b3gWindowConstructionInfo& ci)
     
     // add Edit menu
     NSMenuItem *editMenuItem = [[NSMenuItem new] autorelease];
-    NSMenu *menu = [[NSMenu allocWithZone:[NSMenu menuZone]]initWithTitle:@"Edit"];
+    NSMenu *menu = [[NSMenu alloc]initWithTitle:@"Edit"];
     [editMenuItem setSubmenu: menu];
     
-    NSMenuItem *copyItem = [[NSMenuItem allocWithZone:[NSMenu menuZone]]initWithTitle:@"Copy" action:@selector(copy:) keyEquivalent:@"c"];
+    NSMenuItem *copyItem = [[NSMenuItem alloc]initWithTitle:@"Copy" action:@selector(copy:) keyEquivalent:@"c"];
     
     [menu addItem:copyItem];
     [menubar addItem:editMenuItem];

examples/RenderingExamples/DynamicTexturedCubeDemo.cpp

@@ -20,10 +20,7 @@
 class DynamicTexturedCubeDemo : public CommonExampleInterface
 {
     CommonGraphicsApp* m_app;
-    float m_x;
+  	b3AlignedObjectArray<int> m_movingInstances;
-    float m_y;
-    float m_z;
-	b3AlignedObjectArray<int> m_movingInstances;
 	
 	
 	TinyVRGui* m_tinyVrGUI;
@@ -37,10 +34,7 @@ public:
     
     DynamicTexturedCubeDemo(CommonGraphicsApp* app)
     :m_app(app),
-    m_x(0),
+  	m_tinyVrGUI(0)
-    m_y(0),
-	m_z(0),
-	m_tinyVrGUI(0)
     {
 		m_app->setUpAxis(2);
         

examples/RenderingExamples/RaytracerSetup.cpp

@@ -76,16 +76,16 @@ struct RaytracerInternalData
 	RaytracerInternalData()
 		:m_canvasIndex(-1),
 		m_canvas(0),
-		m_roll(0),
-		m_pitch(0),
-		m_yaw(0),
 #ifdef _DEBUG
-		m_width(64),
+	m_width(64),
-		m_height(64)
+	m_height(64),
 #else
-		m_width(128),
+	m_width(128),
-		m_height(128)
+	m_height(128),
 #endif
+		m_pitch(0),
+	m_roll(0),
+	m_yaw(0)
 	{
 		btConeShape* cone = new btConeShape(1,1);
 		btSphereShape* sphere = new btSphereShape(1);
@@ -300,7 +300,7 @@ void RaytracerPhysicsSetup::stepSimulation(float deltaTime)
 	
 
 	
-	int	mode = 0;
+//	int	mode = 0;
 	int x,y;
 
 	for (x=0;x<m_internalData->m_width;x++)

examples/RenderingExamples/TimeSeriesCanvas.cpp

@@ -298,7 +298,7 @@ void TimeSeriesCanvas::insertDataAtCurrentTime(float orgV, int dataSourceIndex,
 	float amp = m_internalData->m_pixelsPerUnit;
 	//insert some new value(s) in the right-most column
 	{
-		float time = m_internalData->getTime();
+	//	float time = m_internalData->getTime();
 		
 		float v = zero+amp*orgV;
 		

examples/RenderingExamples/TinyRendererSetup.cpp

@@ -43,14 +43,14 @@ struct TinyRendererSetupInternalData
 	int m_animateRenderer;
 
 	TinyRendererSetupInternalData(int width, int height)
-		:m_roll(0),
+		:
-		m_pitch(0),
-		m_yaw(0),
-
-		m_width(width),
-		m_height(height),
 		m_rgbColorBuffer(width,height,TGAImage::RGB),
-		m_textureHandle(0),
+	m_width(width),
+	m_height(height),
+	m_pitch(0),
+	m_roll(0),
+	m_yaw(0),
+	m_textureHandle(0),
 		m_animateRenderer(0)
 	{
 		m_depthBuffer.resize(m_width*m_height);

examples/RenderingExamples/TinyVRGui.cpp

@@ -19,9 +19,10 @@ struct TestCanvasInterface2 : public Common2dCanvasInterface
 	int m_height;
 
 	TestCanvasInterface2(b3AlignedObjectArray<unsigned char>& texelsRGB, int width, int height)
-		:m_width(width),
+		:
-		m_height(height),
+		m_texelsRGB(texelsRGB),
-		m_texelsRGB(texelsRGB)
+	m_width(width),
+	m_height(height)
 	{
 	}
 

examples/RigidBody/RigidBodySoftContact.cpp

@@ -157,7 +157,8 @@ void RigidBodySoftContact::initPhysics()
 										btScalar(2.0*j)));
 
 			
-					btRigidBody* body = createRigidBody(mass,startTransform,colShape);
+					btRigidBody* body;
+					body = createRigidBody(mass,startTransform,colShape);
 					//body->setAngularVelocity(btVector3(1,1,1));
 					
 

examples/RoboticsLearning/GripperGraspExample.cpp

@@ -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;
+ 	b3AlignedObjectArray<int> m_movingInstances;
-    float m_y;
-    float m_z;
-	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_gripperIndex(-1),
+	{
-    m_x(0),
-    m_y(0),
-	m_z(0)
-    {
 		m_app->setUpAxis(2);
     }
     virtual ~GripperGraspExample()

examples/RoboticsLearning/KukaGraspExample.cpp

@@ -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)
     {

examples/RoboticsLearning/R2D2GraspExample.cpp

@@ -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_r2d2Index(-1)
-    m_x(0),
-    m_y(0),
-	m_z(0)
     {
 		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);
 

examples/RoboticsLearning/b3RobotSimAPI.cpp

@@ -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)
+	MultiThreadedOpenGLGuiHelper2( GUIHelperInterface* guiHelper)
-		:m_app(app)
+		:	m_cs(0),
-		,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_physicsClient(0),
-		m_clientServerDirect(0),
+	m_threadSupport(0),
-		m_physicsClient(0),
+	m_multiThreadedHelper(0),
-		m_useMultiThreading(false),
+	
+	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);
+		m_data->m_multiThreadedHelper = new MultiThreadedOpenGLGuiHelper2(guiHelper);
-
-		MultiThreadedOpenGLGuiHelper2* guiHelperWrapper = new MultiThreadedOpenGLGuiHelper2(guiHelper->getAppInterface(), 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;
 
 	}

examples/SharedMemory/PhysicsClientExample.cpp

@@ -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");

examples/SharedMemory/PhysicsClientSharedMemory.cpp

@@ -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) {

examples/SharedMemory/PhysicsClientUDP.cpp

@@ -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();

examples/SharedMemory/PhysicsClientUDP_C_API.cpp

@@ -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;
 }

examples/SharedMemory/PhysicsDirectC_API.cpp

@@ -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;
 }
 

examples/SharedMemory/PhysicsLoopBackC_API.cpp

@@ -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;
 }
 

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -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_startingOverlappingObjectIndex;
-						int m_numOverlappingObjectsCopied;
+						//int m_numOverlappingObjectsCopied;
-						int m_numRemainingOverlappingObjects;
+						//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 totalBytesPerVisualShape = sizeof (b3VisualShapeData);
-					int visualShapeStorage = bufferSizeInBytes / totalBytesPerVisualShape - 1;
+					//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()
 {

examples/SharedMemory/PhysicsServerExample.cpp

@@ -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_replay(false)
-m_options(options)
+//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 line0[1024];
-	static char line1[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();

examples/SharedMemory/SharedMemoryCommandProcessor.cpp

@@ -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;

examples/SharedMemory/TinyRendererVisualShapeConverter.cpp

@@ -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)
 	{

examples/SoftDemo/SoftDemo.cpp

@@ -232,15 +232,15 @@ extern float eye[3];
 extern int glutScreenWidth;
 extern int glutScreenHeight;
 
-static bool sDemoMode = false;
+//static bool sDemoMode = false;
 
 const int maxProxies = 32766;
-const int maxOverlap = 65535;
+//const int maxOverlap = 65535;
 
 static btVector3*	gGroundVertices=0;
 static int*	gGroundIndices=0;
-static btBvhTriangleMeshShape* trimeshShape =0;
+//static btBvhTriangleMeshShape* trimeshShape =0;
-static btRigidBody* staticBody = 0;
+//static btRigidBody* staticBody = 0;
 static float waveheight = 5.f;
 
 const float TRIANGLE_SIZE=8.f;
@@ -249,12 +249,12 @@ int		current_demo=20;
 
 
 #ifdef _DEBUG
-const int gNumObjects = 1;
+//const int gNumObjects = 1;
 #else
-const int gNumObjects = 1;//try this in release mode: 3000. never go above 16384, unless you increate maxNumObjects  value in DemoApplication.cp
+//const int gNumObjects = 1;//try this in release mode: 3000. never go above 16384, unless you increate maxNumObjects  value in DemoApplication.cp
 #endif
 
-const int maxNumObjects = 32760;
+//const int maxNumObjects = 32760;
 
 #define CUBE_HALF_EXTENTS 1.5
 #define EXTRA_HEIGHT -10.f
@@ -1452,7 +1452,8 @@ static void	Init_ClusterRobot(SoftDemo* pdemo)
 	ls.position=psb2->clusterCom(0);psb2->appendLinearJoint(ls,prb);
 
 	btBoxShape*			pbox=new btBoxShape(btVector3(20,1,40));
-	btRigidBody*		pgrn=pdemo->createRigidBody(0,btTransform(btQuaternion(0,-SIMD_HALF_PI/2,0),btVector3(0,0,0)),pbox);
+	btRigidBody*		pgrn;
+	pgrn =pdemo->createRigidBody(0,btTransform(btQuaternion(0,-SIMD_HALF_PI/2,0),btVector3(0,0,0)),pbox);
 
 	pdemo->m_autocam=true;
 

examples/ThirdPartyLibs/BussIK/MatrixRmn.cpp

@@ -486,7 +486,7 @@ void MatrixRmn::ComputeSVD( MatrixRmn& U, VectorRn& w, MatrixRmn& V ) const
 			 && U.NumRows==U.NumCols && V.NumRows==V.NumCols
 			 && w.GetLength()==Min(NumRows,NumCols) );
 
-	double temp=0.0;
+//	double temp=0.0;
 	VectorRn& superDiag = VectorRn::GetWorkVector( w.GetLength()-1 );		// Some extra work space.  Will get passed around.
 
 	// Choose larger of U, V to hold intermediate results

examples/ThirdPartyLibs/BussIK/Misc.cpp

@@ -23,7 +23,7 @@ subject to the following restrictions:
 #include <math.h>
 #include "LinearR3.h"
 
-
+#if 0
 
 /****************************************************************
 							 Axes 
@@ -65,7 +65,7 @@ static float zy[] = {
 static int zorder[] = {
 		1, 2, 3, 4, -5, 6
 		};
-
+#endif
 #define LENFRAC		0.10
 #define BASEFRAC	1.10
 
@@ -88,9 +88,9 @@ static int zorder[] = {
 
 /* x, y, z, axes:							*/
 
-static float axx[3] = { 1., 0., 0. };
+//static float axx[3] = { 1., 0., 0. };
-static float ayy[3] = { 0., 1., 0. };
+//static float ayy[3] = { 0., 1., 0. };
-static float azz[3] = { 0., 0., 1. };
+//static float azz[3] = { 0., 0., 1. };
 
 
 

examples/ThirdPartyLibs/BussIK/Node.h

@@ -45,7 +45,7 @@ public:
 
 	double GetTheta() const { return theta; }
 	double AddToTheta( double& delta ) { 
-		double orgTheta = theta;
+		//double orgTheta = theta;
 		theta += delta;
 #if 0
 		if (theta < minTheta)

examples/TinyRenderer/TinyRenderer.cpp

@@ -31,11 +31,11 @@ struct DepthShader : public IShader {
     
     DepthShader(Model* model, Matrix& lightModelView, Matrix& projectionMat, Matrix& modelMat, Vec3f localScaling, float lightDistance)
     :m_model(model),
-    m_lightModelView(lightModelView),
-    m_projectionMat(projectionMat),
     m_modelMat(modelMat),
-    m_localScaling(localScaling),
+	m_projectionMat(projectionMat),
-    m_lightDistance(lightDistance)
+	m_localScaling(localScaling),
+	m_lightModelView(lightModelView),
+	m_lightDistance(lightDistance)
     {
         m_invModelMat = m_modelMat.invert_transpose();
     }
@@ -92,19 +92,21 @@ struct Shader : public IShader {
     :m_model(model),
     m_light_dir_local(light_dir_local),
     m_light_color(light_color),
-    m_ambient_coefficient(ambient_coefficient),
+	m_modelMat(modelMat),
-    m_diffuse_coefficient(diffuse_coefficient),
+	m_modelView1(modelView),
-    m_specular_coefficient(specular_coefficient),
+	m_projectionMat(projectionMat),
-    m_modelView1(modelView),
+	m_localScaling(localScaling),
-    m_lightModelView(lightModelView),
+	m_lightModelView(lightModelView),
-    m_projectionMat(projectionMat),
+	m_colorRGBA(colorRGBA),
-    m_modelMat(modelMat),
+	m_viewportMat(viewportMat),
-    m_viewportMat(viewportMat),
+	m_ambient_coefficient(ambient_coefficient),
-    m_localScaling(localScaling),
+	m_diffuse_coefficient(diffuse_coefficient),
-    m_colorRGBA(colorRGBA),
+	m_specular_coefficient(specular_coefficient),
-    m_width(width),
+
-    m_height(height),
+	m_shadowBuffer(shadowBuffer),
-    m_shadowBuffer(shadowBuffer)
+	m_width(width),
+    m_height(height)
+   
     {
         m_invModelMat = m_modelMat.invert_transpose();
     }
@@ -157,11 +159,12 @@ struct Shader : public IShader {
 };
 
 TinyRenderObjectData::TinyRenderObjectData(TGAImage& rgbColorBuffer,b3AlignedObjectArray<float>&depthBuffer,b3AlignedObjectArray<float>* shadowBuffer)
-:m_rgbColorBuffer(rgbColorBuffer),
+:
+m_model(0),
+m_rgbColorBuffer(rgbColorBuffer),
 m_depthBuffer(depthBuffer),
 m_shadowBuffer(shadowBuffer),
 m_segmentationMaskBufferPtr(0),
-m_model(0),
 m_userData(0),
 m_userIndex(-1),
 m_objectIndex(-1)
@@ -180,11 +183,11 @@ m_objectIndex(-1)
 }
 
 TinyRenderObjectData::TinyRenderObjectData(TGAImage& rgbColorBuffer,b3AlignedObjectArray<float>&depthBuffer, b3AlignedObjectArray<float>* shadowBuffer, b3AlignedObjectArray<int>* segmentationMaskBuffer, int objectIndex)
-:m_rgbColorBuffer(rgbColorBuffer),
+:m_model(0),
+m_rgbColorBuffer(rgbColorBuffer),
 m_depthBuffer(depthBuffer),
 m_shadowBuffer(shadowBuffer),
 m_segmentationMaskBufferPtr(segmentationMaskBuffer),
-m_model(0),
 m_userData(0),
 m_userIndex(-1),
 m_objectIndex(objectIndex)
@@ -203,10 +206,10 @@ m_objectIndex(objectIndex)
 }
 
 TinyRenderObjectData::TinyRenderObjectData(TGAImage& rgbColorBuffer,b3AlignedObjectArray<float>&depthBuffer)
-:m_rgbColorBuffer(rgbColorBuffer),
+:m_model(0),
+m_rgbColorBuffer(rgbColorBuffer),
 m_depthBuffer(depthBuffer),
 m_segmentationMaskBufferPtr(0),
-m_model(0),
 m_userData(0),
 m_userIndex(-1),
 m_objectIndex(-1)
@@ -225,10 +228,10 @@ m_objectIndex(-1)
 }
 
 TinyRenderObjectData::TinyRenderObjectData(TGAImage& rgbColorBuffer,b3AlignedObjectArray<float>&depthBuffer, b3AlignedObjectArray<int>* segmentationMaskBuffer, int objectIndex)
-:m_rgbColorBuffer(rgbColorBuffer),
+:m_model(0),
+m_rgbColorBuffer(rgbColorBuffer),
 m_depthBuffer(depthBuffer),
 m_segmentationMaskBufferPtr(segmentationMaskBuffer),
-m_model(0),
 m_userData(0),
 m_userIndex(-1),
 m_objectIndex(objectIndex)

examples/Tutorial/Dof6ConstraintTutorial.cpp

@@ -457,8 +457,8 @@ void Dof6ConstraintTutorial::animate()
 /////// servo motor: flip its target periodically
 #ifdef USE_6DOF2
 		static float servoNextFrame = -1;
-		btScalar pos = m_data->m_ServoMotorConstraint->getRotationalLimitMotor(2)->m_currentPosition;
+		//btScalar pos = m_data->m_ServoMotorConstraint->getRotationalLimitMotor(2)->m_currentPosition;
-		btScalar target = m_data->m_ServoMotorConstraint->getRotationalLimitMotor(2)->m_servoTarget;
+		//btScalar target = m_data->m_ServoMotorConstraint->getRotationalLimitMotor(2)->m_servoTarget;
 		if(servoNextFrame < 0)
 		{
 			m_data->m_ServoMotorConstraint->getRotationalLimitMotor(2)->m_servoTarget *= -1;
@@ -510,7 +510,7 @@ void Dof6ConstraintTutorial::stepSimulation(float deltaTime)
 	//animate();
 	
 
-	float time = m_data->m_timeSeriesCanvas->getCurrentTime();
+	//float time = m_data->m_timeSeriesCanvas->getCurrentTime();
 	
 	float prevPos = m_data->m_TranslateSpringBody->getWorldTransform().getOrigin().x();
 	m_dynamicsWorld->stepSimulation(deltaTime);

examples/Tutorial/Tutorial.cpp

@@ -292,11 +292,11 @@ public:
     :m_app(guiHelper->getAppInterface()),
 	m_guiHelper(guiHelper),
 	m_tutorialIndex(tutorialIndex),
-	m_stage(0),
-	m_counter(0),
 	m_timeSeriesCanvas0(0),
-	m_timeSeriesCanvas1(0)
+	m_timeSeriesCanvas1(0),
-    {
+	m_stage(0),
+	m_counter(0)	
+	{
 		int numBodies = 1;
 		
 		m_app->setUpAxis(1);

examples/Vehicles/Hinge2Vehicle.cpp

@@ -158,9 +158,9 @@ static btScalar loadMass = 350.f;//
 #endif
 
 
-static int rightIndex = 0;
+//static int rightIndex = 0;
-static int upIndex = 1;
+//static int upIndex = 1;
-static int forwardIndex = 2;
+//static int forwardIndex = 2;
 static btVector3 wheelDirectionCS0(0,-1,0);
 static btVector3 wheelAxleCS(-1,0,0);
 
@@ -173,8 +173,8 @@ static bool useMCLPSolver = false;//true;
 #include "Hinge2Vehicle.h"
 
 
-static const int maxProxies = 32766;
+//static const int maxProxies = 32766;
-static const int maxOverlap = 65535;
+//static const int maxOverlap = 65535;
 
 static float	gEngineForce = 0.f;
 
@@ -182,21 +182,21 @@ static float	defaultBreakingForce = 10.f;
 static float	gBreakingForce = 100.f;
 
 static float	maxEngineForce = 1000.f;//this should be engine/velocity dependent
-static float	maxBreakingForce = 100.f;
+//static float	maxBreakingForce = 100.f;
 
 static float	gVehicleSteering = 0.f;
 static float	steeringIncrement = 0.04f;
 static float	steeringClamp = 0.3f;
 static float	wheelRadius = 0.5f;
 static float	wheelWidth = 0.4f;
-static float	wheelFriction = 1000;//BT_LARGE_FLOAT;
+//static float	wheelFriction = 1000;//BT_LARGE_FLOAT;
-static float	suspensionStiffness = 20.f;
+//static float	suspensionStiffness = 20.f;
-static float	suspensionDamping = 2.3f;
+//static float	suspensionDamping = 2.3f;
-static float	suspensionCompression = 4.4f;
+//static float	suspensionCompression = 4.4f;
-static float	rollInfluence = 0.1f;//1.0f;
+//static float	rollInfluence = 0.1f;//1.0f;
 
 
-static btScalar suspensionRestLength(0.6);
+//static btScalar suspensionRestLength(0.6);
 
 #define CUBE_HALF_EXTENTS 1
 
@@ -209,8 +209,8 @@ static btScalar suspensionRestLength(0.6);
 
 Hinge2Vehicle::Hinge2Vehicle(struct GUIHelperInterface* helper)
 :CommonRigidBodyBase(helper),
-m_guiHelper(helper),
 m_carChassis(0),
+m_guiHelper(helper),
 m_liftBody(0),
 m_forkBody(0),
 m_loadBody(0),
@@ -378,10 +378,10 @@ tr.setOrigin(btVector3(0,-3,0));
 	m_wheelShape = new btCylinderShapeX(btVector3(wheelWidth,wheelRadius,wheelRadius));
 	
 
-	const float position[4]={0,10,10,0};
+	//const float position[4]={0,10,10,0};
-	const float quaternion[4]={0,0,0,1};
+	//const float quaternion[4]={0,0,0,1};
-	const float color[4]={0,1,0,1};
+	//const float color[4]={0,1,0,1};
-	const float scaling[4] = {1,1,1,1};
+	//const float scaling[4] = {1,1,1,1};
 
 	btVector3 wheelPos[4] = {
 		btVector3(btScalar(-1.), btScalar(-0.25), btScalar(1.25)),

examples/pybullet/pybullet.c

@@ -354,7 +354,6 @@ static PyObject* pybullet_disconnectPhysicsServer(PyObject* self,
 }
 
 static PyObject* pybullet_saveWorld(PyObject* self, PyObject* args,PyObject *keywds) {
-	int size = PySequence_Size(args);
 	const char* worldFileName = "";
 
 	b3PhysicsClientHandle sm = 0;
@@ -398,7 +397,6 @@ static PyObject* pybullet_saveWorld(PyObject* self, PyObject* args,PyObject *key
 #define MAX_SDF_BODIES 512
 static PyObject* pybullet_loadBullet(PyObject* self, PyObject* args,PyObject *keywds)
 {
-	int size = PySequence_Size(args);
 	const char* bulletFileName = "";
 	b3SharedMemoryStatusHandle statusHandle;
 	int statusType;
@@ -452,7 +450,6 @@ static PyObject* pybullet_loadBullet(PyObject* self, PyObject* args,PyObject *ke
 
 static PyObject* pybullet_saveBullet(PyObject* self, PyObject* args, PyObject* keywds)
 {
-	int size = PySequence_Size(args);
 	const char* bulletFileName = "";
 	b3SharedMemoryStatusHandle statusHandle;
 	int statusType;
@@ -489,7 +486,6 @@ static PyObject* pybullet_saveBullet(PyObject* self, PyObject* args, PyObject* k
 
 static PyObject* pybullet_loadMJCF(PyObject* self, PyObject* args, PyObject* keywds)
 {
-	int size = PySequence_Size(args);
 	const char* mjcfFileName = "";
 	b3SharedMemoryStatusHandle statusHandle;
 	int statusType;
@@ -614,7 +610,6 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
 // loadURDF(pos_x, pos_y, pos_z, orn_x, orn_y, orn_z, orn_w)
 static PyObject* pybullet_loadURDF(PyObject* self, PyObject* args, PyObject *keywds) 
 {
-  int size = PySequence_Size(args);
   int physicsClientId = 0;
 	
   static char *kwlist[] = { "fileName", "basePosition", "baseOrientation", "useMaximalCoordinates","useFixedBase","physicsClientId", NULL };
@@ -753,7 +748,6 @@ b3PhysicsClientHandle sm=0;
 
 static PyObject* pybullet_loadSDF(PyObject* self, PyObject* args, PyObject *keywds) {
   const char* sdfFileName = "";
-  int size = PySequence_Size(args);
   int numBodies = 0;
   int i;
   int bodyIndicesOut[MAX_SDF_BODIES];
@@ -1577,8 +1571,7 @@ static PyObject* pybullet_getBodyInfo(PyObject* self, PyObject* args, PyObject*
 	
 	{
     int bodyUniqueId= -1;
-    int numJoints = 0;
+ 	b3PhysicsClientHandle sm = 0;
-	b3PhysicsClientHandle sm = 0;
 
     	int physicsClientId = 0;
 	static char *kwlist[] = { "bodyUniqueId", "physicsClientId", NULL };
@@ -2128,15 +2121,13 @@ b3PhysicsClientHandle sm = 0;
 
 static PyObject* pybullet_addUserDebugText(PyObject* self, PyObject* args, PyObject *keywds) 
 {
-  int size = PySequence_Size(args);
   
   b3SharedMemoryCommandHandle commandHandle;
   b3SharedMemoryStatusHandle statusHandle;
   int statusType;
   int res = 0;
 
-  PyObject* pyResultList = 0;
+char* text;
-	char* text;
   double posXYZ[3];
   double colorRGB[3]={1,1,1};
 
@@ -2198,15 +2189,13 @@ static PyObject* pybullet_addUserDebugText(PyObject* self, PyObject* args, PyObj
 
 static PyObject* pybullet_addUserDebugLine(PyObject* self, PyObject* args, PyObject *keywds) 
 {
-  int size = PySequence_Size(args);
   
   b3SharedMemoryCommandHandle commandHandle;
   b3SharedMemoryStatusHandle statusHandle;
   int statusType;
   int res = 0;
 
-  PyObject* pyResultList = 0;
+ 
-
   double fromXYZ[3];
   double toXYZ[3];
   double colorRGB[3]={1,1,1};
@@ -2704,7 +2693,6 @@ static PyObject* pybullet_getVisualShapeData(PyObject* self, PyObject* args, PyO
 					PyTuple_SetItem(visualShapeObList, 6, vec);
 				}
 
-		visualShapeInfo.m_visualShapeData[0].m_rgbaColor[0];	
 
 				PyTuple_SetItem(pyResultList, i, visualShapeObList);
 			}
@@ -2767,7 +2755,6 @@ static PyObject* pybullet_resetVisualShapeData(PyObject* self, PyObject* args,Py
 
 static PyObject* pybullet_loadTexture(PyObject* self, PyObject* args, PyObject* keywds)
 {
-    int size = PySequence_Size(args);
     const char* filename = 0;
     b3SharedMemoryCommandHandle commandHandle;
     b3SharedMemoryStatusHandle statusHandle;
@@ -2970,7 +2957,6 @@ static PyObject* pybullet_getOverlappingObjects(PyObject* self, PyObject* args,
 
 static PyObject* pybullet_getClosestPointData(PyObject* self, PyObject* args, PyObject *keywds) 
 {
-  int size = PySequence_Size(args);
   int bodyUniqueIdA = -1;
   int bodyUniqueIdB = -1;
   int linkIndexA = -2;
@@ -2982,7 +2968,6 @@ static PyObject* pybullet_getClosestPointData(PyObject* self, PyObject* args, Py
   struct b3ContactInformation contactPointData;
   b3SharedMemoryStatusHandle statusHandle;
   int statusType;
-  PyObject* pyResultList = 0;
   int physicsClientId = 0;
   b3PhysicsClientHandle sm = 0;
   static char *kwlist[] = { "bodyA", "bodyB", "distance", "linkIndexA","linkIndexB","physicsClientId", NULL };
@@ -3111,9 +3096,6 @@ static PyObject* pybullet_updateUserConstraint(PyObject* self, PyObject* args, P
 
 static PyObject* pybullet_createUserConstraint(PyObject* self, PyObject* args, PyObject *keywds) 
 {
-	int size = PySequence_Size(args);
-	int bodyUniqueIdA = -1;
-	int bodyUniqueIdB = -1;
   
 	b3SharedMemoryCommandHandle commandHandle;
 	int parentBodyUniqueId=-1;
@@ -3135,7 +3117,6 @@ static PyObject* pybullet_createUserConstraint(PyObject* self, PyObject* args, P
 	struct b3JointInfo jointInfo;
 	b3SharedMemoryStatusHandle statusHandle;
 	int statusType;
-	PyObject* pyResultList = 0;
 	int physicsClientId = 0;
 	b3PhysicsClientHandle sm = 0;
 	static char *kwlist[] = { "parentBodyUniqueId", "parentLinkIndex",
@@ -3218,7 +3199,6 @@ static PyObject* pybullet_createUserConstraint(PyObject* self, PyObject* args, P
 }
 
 static PyObject* pybullet_getContactPointData(PyObject* self, PyObject* args, PyObject *keywds) {
-  int size = PySequence_Size(args);
   int bodyUniqueIdA = -1;
   int bodyUniqueIdB = -1;
   
@@ -3226,7 +3206,6 @@ static PyObject* pybullet_getContactPointData(PyObject* self, PyObject* args, Py
   struct b3ContactInformation contactPointData;
   b3SharedMemoryStatusHandle statusHandle;
   int statusType;
-  PyObject* pyResultList = 0;
 
 
   static char *kwlist[] = { "bodyA", "bodyB","physicsClientId", NULL };
@@ -3273,7 +3252,6 @@ static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObjec
 	struct b3CameraImageData imageData;
 	PyObject* objViewMat = 0, *objProjMat = 0, *lightDirObj = 0, *lightColorObj = 0;
 	int width, height;
-	int size = PySequence_Size(args);
 	float viewMatrix[16];
 	float projectionMatrix[16];
 	float lightDir[3];
@@ -3852,8 +3830,7 @@ static PyObject* pybullet_applyExternalForce(PyObject* self, PyObject* args,PyOb
 
     b3SharedMemoryCommandHandle command;
     b3SharedMemoryStatusHandle statusHandle;
-    int size = PySequence_Size(args);
+  	int physicsClientId = 0;
-	int physicsClientId = 0;
 	b3PhysicsClientHandle sm = 0;
 	static char *kwlist[] = { "objectUniqueId", "linkIndex",
                             "forceObj", "posObj", "flags", "physicsClientId", NULL };
@@ -4156,7 +4133,6 @@ static PyObject* pybullet_calculateInverseKinematics(PyObject* self,
 		{
 			int szInBytes = sizeof(double) * numJoints;
 			int i;
-			PyObject* pylist = 0;
 			lowerLimits = (double*)malloc(szInBytes);
 			upperLimits = (double*)malloc(szInBytes);
 			jointRanges = (double*)malloc(szInBytes);

src/Bullet3Collision/BroadPhaseCollision/b3DynamicBvh.h

@@ -1021,9 +1021,10 @@ inline void		b3DynamicBvh::rayTest(	const b3DbvtNode* root,
 			unsigned int signs[3] = { rayDirectionInverse[0] < 0.0, rayDirectionInverse[1] < 0.0, rayDirectionInverse[2] < 0.0};
 
 			b3Scalar lambda_max = rayDir.dot(rayTo-rayFrom);
-
+#ifdef COMPARE_BTRAY_AABB2
 			b3Vector3 resultNormal;
-
+#endif//COMPARE_BTRAY_AABB2
+			
 			b3AlignedObjectArray<const b3DbvtNode*>	stack;
 
 			int								depth=1;

src/Bullet3Collision/BroadPhaseCollision/b3DynamicBvhBroadphase.cpp

@@ -164,8 +164,8 @@ b3BroadphaseProxy*				b3DynamicBvhBroadphase::createProxy(	const b3Vector3& aabb
 															  const b3Vector3& aabbMax,
 															  int objectId,
 															  void* userPtr,
-															  short int collisionFilterGroup,
+															   int collisionFilterGroup,
-															  short int collisionFilterMask)
+																int collisionFilterMask)
 {
 	b3DbvtProxy* mem = &m_proxies[objectId];
 	b3DbvtProxy*		proxy=new(mem) b3DbvtProxy(	aabbMin,aabbMax,userPtr,

src/Bullet3Collision/BroadPhaseCollision/b3DynamicBvhBroadphase.h

@@ -61,9 +61,8 @@ B3_DECLARE_ALIGNED_ALLOCATOR();
 
 	//Usually the client b3CollisionObject or Rigidbody class
 	void*	m_clientObject;
-	short int m_collisionFilterGroup;
+	int m_collisionFilterGroup;
-	short int m_collisionFilterMask;
+	int m_collisionFilterMask;
-	void*	m_multiSapParentProxy;		
 	int			m_uniqueId;//m_uniqueId is introduced for paircache. could get rid of this, by calculating the address offset etc.
 
 	b3Vector3	m_aabbMin;
@@ -75,18 +74,17 @@ B3_DECLARE_ALIGNED_ALLOCATOR();
 	}
 
 	//used for memory pools
-	b3BroadphaseProxy() :m_clientObject(0),m_multiSapParentProxy(0)
+	b3BroadphaseProxy() :m_clientObject(0)
 	{
 	}
 
-	b3BroadphaseProxy(const b3Vector3& aabbMin,const b3Vector3& aabbMax,void* userPtr,short int collisionFilterGroup, short int collisionFilterMask,void* multiSapParentProxy=0)
+	b3BroadphaseProxy(const b3Vector3& aabbMin,const b3Vector3& aabbMax,void* userPtr, int collisionFilterGroup,  int collisionFilterMask)
 		:m_clientObject(userPtr),
 		m_collisionFilterGroup(collisionFilterGroup),
 		m_collisionFilterMask(collisionFilterMask),
 		m_aabbMin(aabbMin),
 		m_aabbMax(aabbMax)
 	{
-		m_multiSapParentProxy = multiSapParentProxy;
 	}
 };
 
@@ -107,7 +105,7 @@ struct b3DbvtProxy : b3BroadphaseProxy
 	/* ctor			*/ 
 
 	explicit b3DbvtProxy() {}
-	b3DbvtProxy(const b3Vector3& aabbMin,const b3Vector3& aabbMax,void* userPtr,short int collisionFilterGroup, short int collisionFilterMask) :
+	b3DbvtProxy(const b3Vector3& aabbMin,const b3Vector3& aabbMax,void* userPtr, int collisionFilterGroup,  int collisionFilterMask) :
 	b3BroadphaseProxy(aabbMin,aabbMax,userPtr,collisionFilterGroup,collisionFilterMask)
 	{
 		links[0]=links[1]=0;
@@ -165,7 +163,7 @@ struct	b3DynamicBvhBroadphase
 	void							optimize();
 	
 	/* b3BroadphaseInterface Implementation	*/
-	b3BroadphaseProxy*				createProxy(const b3Vector3& aabbMin,const b3Vector3& aabbMax,int objectIndex,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask);
+	b3BroadphaseProxy*				createProxy(const b3Vector3& aabbMin,const b3Vector3& aabbMax,int objectIndex,void* userPtr, int collisionFilterGroup, int collisionFilterMask);
 	virtual void					destroyProxy(b3BroadphaseProxy* proxy,b3Dispatcher* dispatcher);
 	virtual void					setAabb(int objectId,const b3Vector3& aabbMin,const b3Vector3& aabbMax,b3Dispatcher* dispatcher);
 	virtual void					rayTest(const b3Vector3& rayFrom,const b3Vector3& rayTo, b3BroadphaseRayCallback& rayCallback, const b3Vector3& aabbMin=b3MakeVector3(0,0,0), const b3Vector3& aabbMax = b3MakeVector3(0,0,0));

src/Bullet3Collision/BroadPhaseCollision/b3OverlappingPairCache.cpp

@@ -32,8 +32,8 @@ int b3g_findPairs =0;
 
 
 b3HashedOverlappingPairCache::b3HashedOverlappingPairCache():
-	m_overlapFilterCallback(0),
+	m_overlapFilterCallback(0)
-	m_blockedForChanges(false)
+//,	m_blockedForChanges(false)
 {
 	int initialAllocatedSize= 2;
 	m_overlappingPairArray.reserve(initialAllocatedSize);

src/Bullet3Collision/BroadPhaseCollision/b3OverlappingPairCache.h

@@ -98,7 +98,7 @@ class b3HashedOverlappingPairCache : public b3OverlappingPairCache
 {
 	b3BroadphasePairArray	m_overlappingPairArray;
 	b3OverlapFilterCallback* m_overlapFilterCallback;
-	bool		m_blockedForChanges;
+//	bool		m_blockedForChanges;
 
 
 public:

src/Bullet3Collision/NarrowPhaseCollision/shared/b3ClipFaces.h

@@ -108,7 +108,7 @@ __kernel void   clipFacesAndFindContactsKernel(    __global const b3Float4* sepa
             
                 
                 int closestFaceA = clippingFaces[pairIndex].x;
-                int closestFaceB = clippingFaces[pairIndex].y;
+               // int closestFaceB = clippingFaces[pairIndex].y;
                 int numVertsInA = clippingFaces[pairIndex].z;
                 int numVertsInB = clippingFaces[pairIndex].w;
                 

src/Bullet3Collision/NarrowPhaseCollision/shared/b3ContactConvexConvexSAT.h

@@ -112,7 +112,7 @@ inline int b3ClipFaceAgainstHull(const b3Float4& separatingNormal, const b3Conve
 	b3GpuFace polyA = facesA[hullA->m_faceOffset+closestFaceA];
 
 	// clip polygon to back of planes of all faces of hull A that are adjacent to witness face
-	int numContacts = numWorldVertsB1;
+	//int numContacts = numWorldVertsB1;
 	int numVerticesA = polyA.m_numIndices;
 	for(int e0=0;e0<numVerticesA;e0++)
 	{
@@ -193,7 +193,7 @@ inline int	b3ClipHullAgainstHull(const b3Float4& separatingNormal,
 	
 	B3_PROFILE("clipHullAgainstHull");
 
-	float curMaxDist=maxDist;
+	//float curMaxDist=maxDist;
 	int closestFaceB=-1;
 	float dmax = -FLT_MAX;
 
@@ -399,7 +399,7 @@ inline int b3ClipHullHullSingle(
 				contact.m_frictionCoeffCmp = 45874;
 				contact.m_restituitionCoeffCmp = 0;
 					
-				float distance = 0.f;
+			//	float distance = 0.f;
 				for (int p=0;p<numPoints;p++)
 				{
 					contact.m_worldPosB[p] = contactsOut[contactIdx.s[p]];//check if it is actually on B
@@ -461,9 +461,6 @@ inline int b3ContactConvexConvexSAT(
     //printf("numvertsB = %d\n",hullB.m_numVertices);
     
 	
-//	b3Float4 contactsOut[B3_MAX_VERTS];
-	int contactCapacity = B3_MAX_VERTS;
-	int numContactsOut=0;
 
 
 #ifdef _WIN32

src/Bullet3Collision/NarrowPhaseCollision/shared/b3FindConcaveSatAxis.h

@@ -323,7 +323,7 @@ bool b3FindSeparatingAxisEdgeEdge(	const b3ConvexPolyhedronData* hullA, __global
 	b3Float4 posB = posB1;
 	posB.w = 0.f;
 
-	int curPlaneTests=0;
+//	int curPlaneTests=0;
 
 	int curEdgeEdge = 0;
 	// Test edges
@@ -577,7 +577,7 @@ __kernel void   b3FindConcaveSeparatingAxisKernel( __global b3Int4* concavePairs
 
 	hasSeparatingNormals[i] = 0;
 
-	int numFacesA = convexShapes[shapeIndexA].m_numFaces;
+//	int numFacesA = convexShapes[shapeIndexA].m_numFaces;
 	int numActualConcaveConvexTests = 0;
 	
 	int f = concavePairs[i].z;
@@ -620,7 +620,7 @@ __kernel void   b3FindConcaveSeparatingAxisKernel( __global b3Int4* concavePairs
 		int hasSeparatingAxis=5;
 		b3Float4 sepAxis=b3MakeFloat4(1,2,3,4);
 
-		int localCC=0;
+	//	int localCC=0;
 		numActualConcaveConvexTests++;
 
 		//a triangle has 3 unique edges
@@ -665,7 +665,7 @@ __kernel void   b3FindConcaveSeparatingAxisKernel( __global b3Int4* concavePairs
 			indicesA[5]=0;
 			curUsedIndices+=3;
 			float c = b3Dot(normal,verticesA[0]);
-			float c1 = -face.m_plane.w;
+		//	float c1 = -face.m_plane.w;
 			facesA[fidx].m_plane.x = -normal.x;
 			facesA[fidx].m_plane.y = -normal.y;
 			facesA[fidx].m_plane.z = -normal.z;

src/Bullet3Collision/NarrowPhaseCollision/shared/b3FindSeparatingAxis.h

@@ -16,7 +16,7 @@ inline void b3ProjectAxis(const b3ConvexPolyhedronData& hull,  const b3Float4& p
 	{
 		//b3Vector3 pt = trans * vertices[m_vertexOffset+i];
 		//b3Scalar dp = pt.dot(dir);
-		b3Vector3 vertex = vertices[hull.m_vertexOffset+i];
+		//b3Vector3 vertex = vertices[hull.m_vertexOffset+i];
 		b3Scalar dp = b3Dot3F4((b3Float4&)vertices[hull.m_vertexOffset+i],localDir);
 		//b3Assert(dp==dpL);
 		if(dp < min)	min = dp;

src/Bullet3Collision/NarrowPhaseCollision/shared/b3MprPenetration.h

@@ -180,7 +180,7 @@ B3_STATIC void b3MprConvexSupport(int pairIndex,int bodyIndex,  b3ConstArray(b3R
 	{
 
 
-		b3Float4 supVec = b3MakeFloat4(0,0,0,0);
+	//	b3Float4 supVec = b3MakeFloat4(0,0,0,0);
 		float maxDot = -B3_LARGE_FLOAT;
 
 		if( 0 < hull->m_numVertices )

src/Bullet3Dynamics/ConstraintSolver/b3PgsJacobiSolver.cpp

@@ -142,8 +142,9 @@ int	getNumContacts(b3Contact4* contact)
 }
 
 b3PgsJacobiSolver::b3PgsJacobiSolver(bool usePgs)
-:m_btSeed2(0),m_usePgs(usePgs),
+:m_usePgs(usePgs),
-m_numSplitImpulseRecoveries(0)
+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++)
 	{

src/Bullet3Dynamics/ConstraintSolver/b3Point2PointConstraint.cpp

@@ -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);

src/Bullet3Dynamics/b3CpuRigidBodyPipeline.cpp

@@ -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_bodies( bodies ), m_shapes( shapes ), m_constraints( constraints ), 
-		m_solveFriction( true ),m_maxNumBatches(maxNumBatches),
+		m_wgUsedBodies(wgUsedBodies),m_curWgidx(curWgidx),
-		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...
 

src/Bullet3OpenCL/BroadphaseCollision/b3GpuBroadphaseInterface.h

@@ -19,8 +19,8 @@ public:
 	{
 	}
 
-	virtual void createProxy(const b3Vector3& aabbMin,  const b3Vector3& aabbMax, int userPtr ,short int collisionFilterGroup,short int collisionFilterMask)=0;
+	virtual void createProxy(const b3Vector3& aabbMin,  const b3Vector3& aabbMax, int userPtr , int collisionFilterGroup, int collisionFilterMask)=0;
-	virtual void createLargeProxy(const b3Vector3& aabbMin,  const b3Vector3& aabbMax, int userPtr ,short int collisionFilterGroup,short int collisionFilterMask)=0;
+	virtual void createLargeProxy(const b3Vector3& aabbMin,  const b3Vector3& aabbMax, int userPtr , int collisionFilterGroup, int collisionFilterMask)=0;
 
 	virtual void  calculateOverlappingPairs(int maxPairs)=0;
 	virtual void  calculateOverlappingPairsHost(int maxPairs)=0;

src/Bullet3OpenCL/BroadphaseCollision/b3GpuGridBroadphase.cpp

@@ -38,8 +38,9 @@ m_largeAabbsMappingGPU(ctx,q),
 m_gpuPairs(ctx,q),
 
 m_hashGpu(ctx,q),
-m_paramsGPU(ctx,q),
+
-m_cellStartGpu(ctx,q)
+m_cellStartGpu(ctx,q),
+m_paramsGPU(ctx,q)
 {
 
 	
@@ -110,7 +111,7 @@ b3GpuGridBroadphase::~b3GpuGridBroadphase()
 
 
 
-void b3GpuGridBroadphase::createProxy(const b3Vector3& aabbMin,  const b3Vector3& aabbMax, int userPtr ,short int collisionFilterGroup,short int collisionFilterMask)
+void b3GpuGridBroadphase::createProxy(const b3Vector3& aabbMin,  const b3Vector3& aabbMax, int userPtr , int collisionFilterGroup, int collisionFilterMask)
 {
 	b3SapAabb aabb;
 	aabb.m_minVec = aabbMin;
@@ -122,7 +123,7 @@ void b3GpuGridBroadphase::createProxy(const b3Vector3& aabbMin,  const b3Vector3
 	m_allAabbsCPU1.push_back(aabb);
 
 }
-void b3GpuGridBroadphase::createLargeProxy(const b3Vector3& aabbMin,  const b3Vector3& aabbMax, int userPtr ,short int collisionFilterGroup,short int collisionFilterMask)
+void b3GpuGridBroadphase::createLargeProxy(const b3Vector3& aabbMin,  const b3Vector3& aabbMax, int userPtr , int collisionFilterGroup, int collisionFilterMask)
 {
 	b3SapAabb aabb;
 	aabb.m_minVec = aabbMin;

src/Bullet3OpenCL/BroadphaseCollision/b3GpuGridBroadphase.h

@@ -63,8 +63,8 @@ public:
 	
 
 
-	virtual void createProxy(const b3Vector3& aabbMin,  const b3Vector3& aabbMax, int userPtr ,short int collisionFilterGroup,short int collisionFilterMask);
+	virtual void createProxy(const b3Vector3& aabbMin,  const b3Vector3& aabbMax, int userPtr , int collisionFilterGroup, int collisionFilterMask);
-	virtual void createLargeProxy(const b3Vector3& aabbMin,  const b3Vector3& aabbMax, int userPtr ,short int collisionFilterGroup,short int collisionFilterMask);
+	virtual void createLargeProxy(const b3Vector3& aabbMin,  const b3Vector3& aabbMax, int userPtr , int collisionFilterGroup, int collisionFilterMask);
 
 	virtual void  calculateOverlappingPairs(int maxPairs);
 	virtual void  calculateOverlappingPairsHost(int maxPairs);

src/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvhBroadphase.cpp

@@ -24,7 +24,7 @@ b3GpuParallelLinearBvhBroadphase::b3GpuParallelLinearBvhBroadphase(cl_context co
 {
 }
 
-void b3GpuParallelLinearBvhBroadphase::createProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr, short int collisionFilterGroup, short int collisionFilterMask)
+void b3GpuParallelLinearBvhBroadphase::createProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr,  int collisionFilterGroup,  int collisionFilterMask)
 {
 	int newAabbIndex = m_aabbsCpu.size();
 
@@ -39,7 +39,7 @@ void b3GpuParallelLinearBvhBroadphase::createProxy(const b3Vector3& aabbMin, con
 	
 	m_aabbsCpu.push_back(aabb);
 }
-void b3GpuParallelLinearBvhBroadphase::createLargeProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr, short int collisionFilterGroup, short int collisionFilterMask)
+void b3GpuParallelLinearBvhBroadphase::createLargeProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr,  int collisionFilterGroup,  int collisionFilterMask)
 {
 	int newAabbIndex = m_aabbsCpu.size();
 

src/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvhBroadphase.h

@@ -36,8 +36,8 @@ public:
 	b3GpuParallelLinearBvhBroadphase(cl_context context, cl_device_id device, cl_command_queue queue);
 	virtual ~b3GpuParallelLinearBvhBroadphase() {}
 
-	virtual void createProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr, short int collisionFilterGroup, short int collisionFilterMask);
+	virtual void createProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr,  int collisionFilterGroup,  int collisionFilterMask);
-	virtual void createLargeProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr, short int collisionFilterGroup, short int collisionFilterMask);
+	virtual void createLargeProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr,  int collisionFilterGroup,  int collisionFilterMask);
 	
 	virtual void calculateOverlappingPairs(int maxPairs);
 	virtual void calculateOverlappingPairsHost(int maxPairs);

src/Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.cpp

@@ -14,22 +14,53 @@ bool searchIncremental3dSapOnGpu = true;
 
 #define B3_BROADPHASE_SAP_PATH "src/Bullet3OpenCL/BroadphaseCollision/kernels/sap.cl"
 
+/*
+	
+ 
+	
+	
+	
+ 
+	b3OpenCLArray<int> m_pairCount;
+ 
+ 
+	b3OpenCLArray<b3SapAabb>	m_allAabbsGPU;
+	b3AlignedObjectArray<b3SapAabb>	m_allAabbsCPU;
+ 
+	virtual b3OpenCLArray<b3SapAabb>&	getAllAabbsGPU()
+	{
+ return m_allAabbsGPU;
+	}
+	virtual b3AlignedObjectArray<b3SapAabb>&	getAllAabbsCPU()
+	{
+ return m_allAabbsCPU;
+	}
+ 
+	b3OpenCLArray<b3Vector3>	m_sum;
+	b3OpenCLArray<b3Vector3>	m_sum2;
+	b3OpenCLArray<b3Vector3>	m_dst;
+ 
+	b3OpenCLArray<int>	m_smallAabbsMappingGPU;
+	b3AlignedObjectArray<int> m_smallAabbsMappingCPU;
+ 
+	b3OpenCLArray<int>	m_largeAabbsMappingGPU;
+	b3AlignedObjectArray<int> m_largeAabbsMappingCPU;
+ 
+	
+	b3OpenCLArray<b3Int4>		m_overlappingPairs;
+ 
+	//temporary gpu work memory
+	b3OpenCLArray<b3SortData>	m_gpuSmallSortData;
+	b3OpenCLArray<b3SapAabb>	m_gpuSmallSortedAabbs;
+ 
+	class b3PrefixScanFloat4CL*		m_prefixScanFloat4;
+ */
 
 b3GpuSapBroadphase::b3GpuSapBroadphase(cl_context ctx,cl_device_id device, cl_command_queue  q , b3GpuSapKernelType kernelType)
 :m_context(ctx),
 m_device(device),
 m_queue(q),
-m_allAabbsGPU(ctx,q),
+
-m_smallAabbsMappingGPU(ctx,q),
-m_largeAabbsMappingGPU(ctx,q),
-m_pairCount(ctx,q),
-m_overlappingPairs(ctx,q),
-m_gpuSmallSortData(ctx,q),
-m_gpuSmallSortedAabbs(ctx,q),
-m_sum(ctx,q),
-m_sum2(ctx,q),
-m_dst(ctx,q),
-m_currentBuffer(-1),
 m_objectMinMaxIndexGPUaxis0(ctx,q),
 m_objectMinMaxIndexGPUaxis1(ctx,q),
 m_objectMinMaxIndexGPUaxis2(ctx,q),
@@ -45,7 +76,18 @@ m_sortedAxisGPU2prev(ctx,q),
 m_addedHostPairsGPU(ctx,q),
 m_removedHostPairsGPU(ctx,q),
 m_addedCountGPU(ctx,q),
-m_removedCountGPU(ctx,q)
+m_removedCountGPU(ctx,q),
+m_currentBuffer(-1),
+m_pairCount(ctx,q),
+m_allAabbsGPU(ctx,q),
+m_sum(ctx,q),
+m_sum2(ctx,q),
+m_dst(ctx,q),
+m_smallAabbsMappingGPU(ctx,q),
+m_largeAabbsMappingGPU(ctx,q),
+m_overlappingPairs(ctx,q),
+m_gpuSmallSortData(ctx,q),
+m_gpuSmallSortedAabbs(ctx,q)
 {
 	const char* sapSrc = sapCL;
     
@@ -191,7 +233,7 @@ void  b3GpuSapBroadphase::init3dSap()
 
 		for (int axis=0;axis<3;axis++)
 		{
-			int totalNumAabbs = m_allAabbsCPU.size();
+			//int totalNumAabbs = m_allAabbsCPU.size();
 			int numEndPoints = m_sortedAxisCPU[axis][m_currentBuffer].size();
 			m_objectMinMaxIndexCPU[axis][m_currentBuffer].resize(numEndPoints);
 			for (int i=0;i<numEndPoints;i++)
@@ -240,7 +282,7 @@ b3AlignedObjectArray<b3SapAabb>	preAabbs;
 
 void  b3GpuSapBroadphase::calculateOverlappingPairsHostIncremental3Sap()
 {
-	static int framepje = 0;
+	//static int framepje = 0;
 	//printf("framepje=%d\n",framepje++);
 	
 
@@ -371,6 +413,7 @@ void  b3GpuSapBroadphase::calculateOverlappingPairsHostIncremental3Sap()
 			m_sorter->executeHost(m_sortedAxisCPU[axis][m_currentBuffer]);
 	}
 
+#if 0
 	if (0)
 	{
 		for (int axis=0;axis<3;axis++)
@@ -378,14 +421,14 @@ void  b3GpuSapBroadphase::calculateOverlappingPairsHostIncremental3Sap()
 			//printf("axis %d\n",axis);
 			for (int i=0;i<m_sortedAxisCPU[axis][m_currentBuffer].size();i++)
 			{
-				int key = m_sortedAxisCPU[axis][m_currentBuffer][i].m_key;
+				//int key = m_sortedAxisCPU[axis][m_currentBuffer][i].m_key;
-				int value = m_sortedAxisCPU[axis][m_currentBuffer][i].m_value;
+				//int value = m_sortedAxisCPU[axis][m_currentBuffer][i].m_value;
 				//printf("[%d]=%d\n",i,value);
 			}
 
 		}
 	}
-
+#endif
 
 	{
 		B3_PROFILE("assign m_objectMinMaxIndexCPU");
@@ -409,7 +452,7 @@ void  b3GpuSapBroadphase::calculateOverlappingPairsHostIncremental3Sap()
 		}
 	}
 
-
+#if 0
 	if (0)
 	{	
 		printf("==========================\n");
@@ -440,6 +483,7 @@ void  b3GpuSapBroadphase::calculateOverlappingPairsHostIncremental3Sap()
 		}
 
 	}
+#endif
 
 
 	int a = m_objectMinMaxIndexCPU[0][m_currentBuffer].size();
@@ -654,7 +698,7 @@ void  b3GpuSapBroadphase::calculateOverlappingPairsHostIncremental3Sap()
 							int otherIndex = otherIndex2/2;
 							if (otherIndex!=i)
 							{
-								bool otherIsMin = ((otherIndex2&1)==0);
+								//bool otherIsMin = ((otherIndex2&1)==0);
 								//if (otherIsMin)
 								{
 									//bool overlap = TestAabbAgainstAabb2((const b3Vector3&)m_allAabbsCPU[i].m_min, (const b3Vector3&)m_allAabbsCPU[i].m_max,(const b3Vector3&)m_allAabbsCPU[otherIndex].m_min,(const b3Vector3&)m_allAabbsCPU[otherIndex].m_max);
@@ -906,7 +950,7 @@ void  b3GpuSapBroadphase::calculateOverlappingPairsHost(int maxPairs)
 		for (int i=0;i<numSmallAabbs;i++)
 		{
 			b3SapAabb smallAabbi = m_allAabbsCPU[m_smallAabbsMappingCPU[i]];
-			float reference = smallAabbi.m_max[axis];
+			//float reference = smallAabbi.m_max[axis];
 
 			for (int j=i+1;j<numSmallAabbs;j++)
 			{
@@ -941,7 +985,7 @@ void  b3GpuSapBroadphase::calculateOverlappingPairsHost(int maxPairs)
 		{
 			b3SapAabb smallAabbi = m_allAabbsCPU[m_smallAabbsMappingCPU[i]];
 
-			float reference = smallAabbi.m_max[axis];
+			//float reference = smallAabbi.m_max[axis];
 			int numLargeAabbs = m_largeAabbsMappingCPU.size();
 
 			for (int j=0;j<numLargeAabbs;j++)
@@ -1022,7 +1066,7 @@ void  b3GpuSapBroadphase::calculateOverlappingPairs(int maxPairs)
 
 	{
 
-	bool syncOnHost = false;
+	//bool syncOnHost = false;
 
 	int numSmallAabbs = m_smallAabbsMappingCPU.size();
 	if (m_prefixScanFloat4 && numSmallAabbs)
@@ -1261,7 +1305,7 @@ void b3GpuSapBroadphase::writeAabbsToGpu()
 
 }
 
-void b3GpuSapBroadphase::createLargeProxy(const b3Vector3& aabbMin,  const b3Vector3& aabbMax, int userPtr ,short int collisionFilterGroup,short int collisionFilterMask)
+void b3GpuSapBroadphase::createLargeProxy(const b3Vector3& aabbMin,  const b3Vector3& aabbMax, int userPtr , int collisionFilterGroup, int collisionFilterMask)
 {
 	int index = userPtr;
 	b3SapAabb aabb;
@@ -1277,7 +1321,7 @@ void b3GpuSapBroadphase::createLargeProxy(const b3Vector3& aabbMin,  const b3Vec
 	m_allAabbsCPU.push_back(aabb);
 }
 
-void b3GpuSapBroadphase::createProxy(const b3Vector3& aabbMin,  const b3Vector3& aabbMax, int userPtr ,short int collisionFilterGroup,short int collisionFilterMask)
+void b3GpuSapBroadphase::createProxy(const b3Vector3& aabbMin,  const b3Vector3& aabbMax, int userPtr , int collisionFilterGroup, int collisionFilterMask)
 {
 	int index = userPtr;
 	b3SapAabb aabb;

src/Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.h

@@ -133,8 +133,8 @@ public:
 	void init3dSap();
 	virtual void calculateOverlappingPairsHostIncremental3Sap();
 
-	virtual void createProxy(const b3Vector3& aabbMin,  const b3Vector3& aabbMax, int userPtr ,short int collisionFilterGroup,short int collisionFilterMask);
+	virtual void createProxy(const b3Vector3& aabbMin,  const b3Vector3& aabbMax, int userPtr , int collisionFilterGroup, int collisionFilterMask);
-	virtual void createLargeProxy(const b3Vector3& aabbMin,  const b3Vector3& aabbMax, int userPtr ,short int collisionFilterGroup,short int collisionFilterMask);
+	virtual void createLargeProxy(const b3Vector3& aabbMin,  const b3Vector3& aabbMax, int userPtr , int collisionFilterGroup, int collisionFilterMask);
 
 	//call writeAabbsToGpu after done making all changes (createProxy etc)
 	virtual void writeAabbsToGpu();

src/Bullet3OpenCL/Initialize/b3OpenCLUtils.cpp

@@ -172,7 +172,7 @@ cl_platform_id b3OpenCLUtils_getPlatform(int platformIndex0, cl_int* pErrNum)
 	cl_uint numPlatforms;
 	cl_int ciErrNum = clGetPlatformIDs(0, NULL, &numPlatforms);
 
-	if (platformIndex>=0 && platformIndex<numPlatforms)
+	if (platformIndex<numPlatforms)
 	{
 		cl_platform_id* platforms = (cl_platform_id*) malloc (sizeof(cl_platform_id)*numPlatforms);
 		ciErrNum = clGetPlatformIDs(numPlatforms, platforms, NULL);
@@ -583,7 +583,7 @@ static const char* strip2(const char* name, const char* pattern)
 	  const char * oriptr;
 	  const char * patloc;
 		// find how many times the pattern occurs in the original string
-	  for (oriptr = name; patloc = strstr(oriptr, pattern); oriptr = patloc + patlen)
+	  for (oriptr = name; (patloc = strstr(oriptr, pattern)); oriptr = patloc + patlen)
 	  {
 		patcnt++;
 	  }
@@ -608,8 +608,9 @@ cl_program b3OpenCLUtils_compileCLProgramFromString(cl_context clContext, cl_dev
 	char driverVersion[256];
 	const char* strippedName;
 	int fileUpToDate = 0;
+#ifdef _WIN32
 	int binaryFileValid=0;
-	
+#endif	
 	if (!disableBinaryCaching && clFileNameForCaching)
 	{
 		clGetDeviceInfo(device, CL_DEVICE_NAME, 256, &deviceName, NULL);
@@ -862,7 +863,8 @@ cl_program b3OpenCLUtils_compileCLProgramFromString(cl_context clContext, cl_dev
 					int kernelSize = ftell( file );
 					rewind( file );
 					kernelSrc = (char*)malloc(kernelSize+1);
-					int readBytes = fread((void*)kernelSrc,1,kernelSize, file);
+					int readBytes;
+					readBytes = fread((void*)kernelSrc,1,kernelSize, file);
 					kernelSrc[kernelSize] = 0;
 					fclose(file);
 					kernelSource = kernelSrc;

src/Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.cpp

@@ -105,21 +105,29 @@ GpuSatCollision::GpuSatCollision(cl_context ctx,cl_device_id device, cl_command_
 :m_context(ctx),
 m_device(device),
 m_queue(q),
+
 m_findSeparatingAxisKernel(0),
 m_findSeparatingAxisVertexFaceKernel(0),
 m_findSeparatingAxisEdgeEdgeKernel(0),
+m_unitSphereDirections(m_context,m_queue),
+
 m_totalContactsOut(m_context, m_queue),
 m_sepNormals(m_context, m_queue),
+m_dmins(m_context,m_queue),
+
 m_hasSeparatingNormals(m_context, m_queue),
 m_concaveSepNormals(m_context, m_queue),
 m_concaveHasSeparatingNormals(m_context,m_queue),
 m_numConcavePairsOut(m_context, m_queue),
+
+
 m_gpuCompoundPairs(m_context, m_queue),
+
+
 m_gpuCompoundSepNormals(m_context, m_queue),
 m_gpuHasCompoundSepNormals(m_context, m_queue),
-m_numCompoundPairsOut(m_context, m_queue),
+
-m_dmins(m_context,m_queue),
+m_numCompoundPairsOut(m_context, m_queue)
-m_unitSphereDirections(m_context,m_queue)
 {
 	m_totalContactsOut.push_back(0);
 	
@@ -553,7 +561,7 @@ inline void project(const b3ConvexPolyhedronData& hull,  const float4& pos, cons
 	{
 		//b3Vector3 pt = trans * vertices[m_vertexOffset+i];
 		//b3Scalar dp = pt.dot(dir);
-		b3Vector3 vertex = vertices[hull.m_vertexOffset+i];
+		//b3Vector3 vertex = vertices[hull.m_vertexOffset+i];
 		b3Scalar dp = dot3F4((float4&)vertices[hull.m_vertexOffset+i],localDir);
 		//b3Assert(dp==dpL);
 		if(dp < min)	min = dp;
@@ -764,7 +772,7 @@ bool findSeparatingAxisEdgeEdge(	__global const b3ConvexPolyhedronData* hullA, _
 	float4 posB = posB1;
 	posB.w = 0.f;
 
-	int curPlaneTests=0;
+	//int curPlaneTests=0;
 
 	int curEdgeEdge = 0;
 	// Test edges
@@ -927,7 +935,7 @@ int clipFaceAgainstHull(const float4& separatingNormal, const b3ConvexPolyhedron
 	b3GpuFace polyA = facesA[hullA->m_faceOffset+closestFaceA];
 
 	// clip polygon to back of planes of all faces of hull A that are adjacent to witness face
-	int numContacts = numWorldVertsB1;
+//	int numContacts = numWorldVertsB1;
 	int numVerticesA = polyA.m_numIndices;
 	for(int e0=0;e0<numVerticesA;e0++)
 	{
@@ -1008,7 +1016,7 @@ static int	clipHullAgainstHull(const float4& separatingNormal,
 	
 	B3_PROFILE("clipHullAgainstHull");
 
-	float curMaxDist=maxDist;
+//	float curMaxDist=maxDist;
 	int closestFaceB=-1;
 	float dmax = -FLT_MAX;
 
@@ -1318,7 +1326,7 @@ int clipHullHullSingle(
 				contact.m_frictionCoeffCmp = 45874;
 				contact.m_restituitionCoeffCmp = 0;
 					
-				float distance = 0.f;
+	//			float distance = 0.f;
 				for (int p=0;p<numPoints;p++)
 				{
 					contact.m_worldPosB[p] = contactsOut[contactIdx.s[p]];//check if it is actually on B
@@ -1362,8 +1370,8 @@ void computeContactPlaneConvex(int pairIndex,
 	b3Vector3 posA = rigidBodies[bodyIndexA].m_pos;
 	b3Quaternion ornA = rigidBodies[bodyIndexA].m_quat;
 
-	int numContactsOut = 0;
+//	int numContactsOut = 0;
-	int numWorldVertsB1= 0;
+//	int numWorldVertsB1= 0;
 
 	b3Vector3 planeEq = faces[collidables[collidableIndexA].m_shapeIndex].m_plane;
 	b3Vector3 planeNormal=b3MakeVector3(planeEq.x,planeEq.y,planeEq.z);
@@ -1518,7 +1526,7 @@ __kernel void   findCompoundPairsKernel(
 {
 	numAabbChecks=0;
 	maxNumAabbChecks=0;
-	int i = pairIndex;
+//	int i = pairIndex;
 	{
 		
 
@@ -1590,10 +1598,10 @@ __kernel void   findCompoundPairsKernel(
 					{
 						
 						int startNodeIndexA = subtreeA.m_rootNodeIndex+bvhInfoCPU[bvhA].m_nodeOffset;
-						int endNodeIndexA = startNodeIndexA+subtreeA.m_subtreeSize;
+		//				int endNodeIndexA = startNodeIndexA+subtreeA.m_subtreeSize;
 
 						int startNodeIndexB = subtreeB.m_rootNodeIndex+bvhInfoCPU[bvhB].m_nodeOffset;
-						int endNodeIndexB = startNodeIndexB+subtreeB.m_subtreeSize;
+		//				int endNodeIndexB = startNodeIndexB+subtreeB.m_subtreeSize;
 
 						b3AlignedObjectArray<b3Int2> nodeStack;
 						b3Int2 node0;
@@ -1790,19 +1798,21 @@ __kernel void   findCompoundPairsKernel(
 					{
 						if (1)
 						{
-							int numFacesA = convexShapes[shapeIndexA].m_numFaces;
+						//	int numFacesA = convexShapes[shapeIndexA].m_numFaces;
-							float dmin = FLT_MAX;
+						//	float dmin = FLT_MAX;
 							float4 posA = newPosA;
 							posA.w = 0.f;
 							float4 posB = rigidBodies[bodyIndexB].m_pos;
 							posB.w = 0.f;
 							float4 c0local = convexShapes[shapeIndexA].m_localCenter;
 							b3Quat ornA = newOrnA;
-							float4 c0 = transform(&c0local, &posA, &ornA);
+							float4 c0;
+							c0 = transform(&c0local, &posA, &ornA);
 							float4 c1local = convexShapes[shapeIndexB].m_localCenter;
 							b3Quat ornB = rigidBodies[bodyIndexB].m_quat;
-							float4 c1 = transform(&c1local,&posB,&ornB);
+							float4 c1;
-							const float4 DeltaC2 = c0 - c1;
+							c1 = transform(&c1local,&posB,&ornB);
+						//	const float4 DeltaC2 = c0 - c1;
 
 							{
 								int compoundPairIdx = b3AtomicInc(numCompoundPairsOut);
@@ -1838,19 +1848,21 @@ __kernel void   findCompoundPairsKernel(
 
 					if (1)
 					{
-						int numFacesA = convexShapes[shapeIndexA].m_numFaces;
+					//	int numFacesA = convexShapes[shapeIndexA].m_numFaces;
-						float dmin = FLT_MAX;
+					//	float dmin = FLT_MAX;
 						float4 posA = rigidBodies[bodyIndexA].m_pos;
 						posA.w = 0.f;
 						float4 posB = newPosB;
 						posB.w = 0.f;
 						float4 c0local = convexShapes[shapeIndexA].m_localCenter;
 						b3Quat ornA = rigidBodies[bodyIndexA].m_quat;
-						float4 c0 = transform(&c0local, &posA, &ornA);
+						float4 c0;
+						c0 = transform(&c0local, &posA, &ornA);
 						float4 c1local = convexShapes[shapeIndexB].m_localCenter;
 						b3Quat ornB =newOrnB;
-						float4 c1 = transform(&c1local,&posB,&ornB);
+						float4 c1;
-						const float4 DeltaC2 = c0 - c1;
+						c1 = transform(&c1local,&posB,&ornB);
+					//	const float4 DeltaC2 = c0 - c1;
 						{//
 							int compoundPairIdx = b3AtomicInc(numCompoundPairsOut);
 							if (compoundPairIdx<maxNumCompoundPairsCapacity)
@@ -1948,7 +1960,7 @@ __kernel void   processCompoundPairsKernel( __global const b3Int4* gpuCompoundPa
 
 		int hasSeparatingAxis = 5;
 							
-		int numFacesA = convexShapes[shapeIndexA].m_numFaces;
+	//	int numFacesA = convexShapes[shapeIndexA].m_numFaces;
 		float dmin = FLT_MAX;
 		posA.w = 0.f;
 		posB.w = 0.f;
@@ -2326,8 +2338,8 @@ void computeContactPlaneCompound(int pairIndex,
 		b3Vector3 posA = rigidBodies[bodyIndexA].m_pos;
 		b3Quaternion ornA = rigidBodies[bodyIndexA].m_quat;
 
-		int numContactsOut = 0;
+	//	int numContactsOut = 0;
-		int numWorldVertsB1= 0;
+	//	int numWorldVertsB1= 0;
 
 		b3Vector3 planeEq = faces[collidables[collidableIndexA].m_shapeIndex].m_plane;
 		b3Vector3 planeNormal=b3MakeVector3(planeEq.x,planeEq.y,planeEq.z);
@@ -2475,7 +2487,7 @@ void	computeContactSphereConvex(int pairIndex,
 	int shapeIndex = collidables[collidableIndex].m_shapeIndex;
 	int numFaces = convexShapes[shapeIndex].m_numFaces;
 	float4 closestPnt = b3MakeVector3(0, 0, 0, 0);
-	float4 hitNormalWorld = b3MakeVector3(0, 0, 0, 0);
+//	float4 hitNormalWorld = b3MakeVector3(0, 0, 0, 0);
 	float minDist = -1000000.f; // TODO: What is the largest/smallest float?
 	bool bCollide = true;
 	int region = -1;
@@ -2641,7 +2653,7 @@ int computeContactConvexConvex( b3AlignedObjectArray<b3Int4>& pairs,
 	int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;
 	int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;
 
-	int sz = sizeof(b3Contact4);
+	//int sz = sizeof(b3Contact4);
 
 	bool result2 = getClosestPoints(&gjkDetector, transA, transB,
 		convexShapes[shapeIndexA], convexShapes[shapeIndexB],
@@ -2709,8 +2721,8 @@ int computeContactConvexConvex( b3AlignedObjectArray<b3Int4>& pairs,
 			{
 				resultPointOnBWorld.w = distance2;
 				newContact.m_worldPosB[p] = resultPointOnBWorld;
-				b3Vector3 resultPointOnAWorld = resultPointOnBWorld+distance2*sepAxis2;
 #ifdef PERSISTENT_CONTACTS_HOST
+				b3Vector3 resultPointOnAWorld = resultPointOnBWorld+distance2*sepAxis2;
 				newContact.m_localPosA[p] = transA.inverse()*resultPointOnAWorld;
 				newContact.m_localPosB[p] = transB.inverse()*resultPointOnBWorld;
 #endif
@@ -2774,8 +2786,8 @@ int computeContactConvexConvex2(
     hullB = convexShapes[colB.m_shapeIndex];
     //printf("numvertsB = %d\n",hullB.m_numVertices);
 
-	int contactCapacity = MAX_VERTS;
+//	int contactCapacity = MAX_VERTS;
-	int numContactsOut=0;
+	//int numContactsOut=0;
 
 
 #ifdef _WIN32
@@ -3488,7 +3500,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
 
 								//add contact point
 
-								int contactIndex = nGlobalContactsOut;
+								//int contactIndex = nGlobalContactsOut;
 								b3Contact4& newContact = hostContacts.at(nGlobalContactsOut);
 								nGlobalContactsOut++;
 								newContact.m_batchIdx = 0;//i;
@@ -3511,7 +3523,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
 
 								resultPointOnBWorld.w = -depth;
 								newContact.m_worldPosB[0] = resultPointOnBWorld;
-								b3Vector3 resultPointOnAWorld = resultPointOnBWorld+depth*sepAxis2;
+								//b3Vector3 resultPointOnAWorld = resultPointOnBWorld+depth*sepAxis2;
 								newContact.m_worldNormalOnB = sepAxis2;
 								newContact.m_worldNormalOnB.w = (b3Scalar)1;
 							} else
@@ -3527,7 +3539,8 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
 			
 				
 				
-						int result = computeContactConvexConvex( hostPairs,
+							int result;
+							result = computeContactConvexConvex( hostPairs,
 													   pairIndex,
 													bodyIndexA, bodyIndexB,
 													   collidableIndexA, collidableIndexB,
@@ -3893,7 +3906,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
 					b3AlignedObjectArray<b3Int4> triangleConvexPairsOutHost;
 					triangleConvexPairsOutHost.resize(maxTriConvexPairCapacity);
 
-					int numTriConvexPairsOutHost=0;
+					//int numTriConvexPairsOutHost=0;
 					numConcavePairs = 0;
 					//m_numConcavePairsOut
 

src/Bullet3OpenCL/NarrowphaseCollision/b3GjkPairDetector.cpp

@@ -97,7 +97,7 @@ inline void project(const b3ConvexPolyhedronData& hull,  const float4& pos, cons
 	{
 		//b3Vector3 pt = trans * vertices[m_vertexOffset+i];
 		//b3Scalar dp = pt.dot(dir);
-		b3Vector3 vertex = vertices[hull.m_vertexOffset+i];
+		//b3Vector3 vertex = vertices[hull.m_vertexOffset+i];
 		b3Scalar dp = dot3F4((float4&)vertices[hull.m_vertexOffset+i],localDir);
 		//b3Assert(dp==dpL);
 		if(dp < min)	min = dp;
@@ -113,7 +113,7 @@ inline void project(const b3ConvexPolyhedronData& hull,  const float4& pos, cons
 	max += offset;
 }
 
-
+#if 0
 static bool TestSepAxis(const b3ConvexPolyhedronData& hullA, const b3ConvexPolyhedronData& hullB, 
 	const float4& posA,const b3Quaternion& ornA,
 	const float4& posB,const b3Quaternion& ornB,
@@ -143,7 +143,7 @@ static bool TestSepAxis(const b3ConvexPolyhedronData& hullA, const b3ConvexPolyh
 	
 	return true;
 }
-
+#endif
 
 bool getClosestPoints(b3GjkPairDetector* gjkDetector, const b3Transform&	transA, const b3Transform&	transB,
 	const b3ConvexPolyhedronData& hullA, const b3ConvexPolyhedronData& hullB, 
@@ -198,11 +198,11 @@ bool getClosestPoints(b3GjkPairDetector* gjkDetector, const b3Transform&	transA,
 	{
 		b3Scalar squaredDistance = B3_LARGE_FLOAT;
 		b3Scalar delta = -1e30f;//b3Scalar(0.);
-		b3Scalar prevDelta = -1e30f;//b3Scalar(0.);
+	//	b3Scalar prevDelta = -1e30f;//b3Scalar(0.);
 		
 		b3Scalar margin = marginA + marginB;
-		b3Scalar bestDeltaN = -1e30f;
+	//	b3Scalar bestDeltaN = -1e30f;
-		b3Vector3 bestSepAxis= b3MakeVector3(0,0,0);
+	//	b3Vector3 bestSepAxis= b3MakeVector3(0,0,0);
 		
 		
 

src/Bullet3OpenCL/NarrowphaseCollision/b3QuantizedBvh.h

@@ -157,7 +157,7 @@ typedef b3AlignedObjectArray<b3BvhSubtreeInfo>		BvhSubtreeInfoArray;
 
 
 ///The b3QuantizedBvh class stores an AABB tree that can be quickly traversed on CPU and Cell SPU.
-///It is used by the b3BvhTriangleMeshShape as midphase, and by the b3MultiSapBroadphase.
+///It is used by the b3BvhTriangleMeshShape as midphase
 ///It is recommended to use quantization for better performance and lower memory requirements.
 B3_ATTRIBUTE_ALIGNED16(class) b3QuantizedBvh
 {