remove a few warnings, fix GLInstancingRenderer::drawLines

btgui/OpenGLWindow/GLInstancingRenderer.cpp

@@ -92,7 +92,7 @@ struct b3GraphicsInstance
 	int m_vertexArrayOffset;
 	int	m_primitiveType;
 
-	b3GraphicsInstance() 
+	b3GraphicsInstance()
 	:m_cube_vao(-1),
 		m_index_vbo(-1),
 		m_texturehandle(0),
@@ -158,7 +158,7 @@ struct InternalDataRenderer : public GLInstanceRendererInternalData
 	int m_rightMouseButton;
 
 
-	
+
 
 	GLuint				m_defaultTexturehandle;
 	b3AlignedObjectArray<GLuint>	m_textureHandles;
@@ -509,7 +509,7 @@ void GLInstancingRenderer::writeSingleInstanceTransformToGPU(float* position, fl
 
 void GLInstancingRenderer::writeTransforms()
 {
-	
+
 	b3Assert(glGetError() ==GL_NO_ERROR);
 
 
@@ -517,7 +517,7 @@ void GLInstancingRenderer::writeTransforms()
 	glFlush();
 
 	b3Assert(glGetError() ==GL_NO_ERROR);
-	
+
 
 	char* orgBase =  (char*)glMapBuffer( GL_ARRAY_BUFFER,GL_READ_WRITE);
 	if (orgBase)
@@ -661,7 +661,7 @@ int	GLInstancingRenderer::registerTexture(const unsigned char* texels, int width
 	glBindTexture(GL_TEXTURE_2D,textureHandle);
 
 	b3Assert(glGetError() ==GL_NO_ERROR);
-	
+
 	glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, width,height,0,GL_RGB,GL_UNSIGNED_BYTE,image);
 
 
@@ -863,7 +863,7 @@ void GLInstancingRenderer::init()
 {
 	b3Assert(glGetError() ==GL_NO_ERROR);
 
-    
+
 	glEnable(GL_DEPTH_TEST);
 	glDepthFunc(GL_LESS);
 
@@ -919,7 +919,7 @@ void GLInstancingRenderer::init()
 				glGenTextures(1,(GLuint*)&m_data->m_defaultTexturehandle);
 				glBindTexture(GL_TEXTURE_2D,m_data->m_defaultTexturehandle);
 				b3Assert(glGetError() ==GL_NO_ERROR);
-				
+
 				glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, 256,256,0,GL_RGB,GL_UNSIGNED_BYTE,image);
 				glGenerateMipmap(GL_TEXTURE_2D);
 
@@ -1084,7 +1084,7 @@ void GLInstancingRenderer::updateCamera(int upAxis)
     default:
     b3Assert(0);
 	};
-	
+
 
     float m_frustumZNear=1;
     float m_frustumZFar=10000.f;
@@ -1246,7 +1246,7 @@ void GLInstancingRenderer::getMouseDirection(float* dir, int x, int y)
 #include "OpenGLTrueTypeFont/stb_image_write.h"
 void writeTextureToPng(int textureWidth, int textureHeight, const char* fileName, int numComponents)
 {
-	
+
 	b3Assert(glGetError() ==GL_NO_ERROR);
 	glPixelStorei(GL_PACK_ALIGNMENT,4);
 
@@ -1314,7 +1314,7 @@ void GLInstancingRenderer::renderScene()
 
 	if (useShadowMap)
 	{
-		
+
 		renderSceneInternal(B3_CREATE_SHADOWMAP_RENDERMODE);
 	//	glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT);
 		renderSceneInternal(B3_USE_SHADOWMAP_RENDERMODE);
@@ -1335,7 +1335,7 @@ void GLInstancingRenderer::drawPoints(const float* positions, const float color[
 
 	glActiveTexture(GL_TEXTURE0);
 	glBindTexture(GL_TEXTURE_2D,0);
-	
+
 	b3Assert(glGetError() ==GL_NO_ERROR);glUseProgram(linesShader);
 	glUniformMatrix4fv(lines_ProjectionMatrix, 1, false, &projectionMatrix[0]);
 	glUniformMatrix4fv(lines_ModelViewMatrix, 1, false, &modelviewMatrix[0]);
@@ -1383,7 +1383,7 @@ void GLInstancingRenderer::drawLines(const float* positions, const float color[4
 
 	glActiveTexture(GL_TEXTURE0);
 	glBindTexture(GL_TEXTURE_2D,0);
-	
+
 	b3Assert(glGetError() ==GL_NO_ERROR);glUseProgram(linesShader);
 	glUniformMatrix4fv(lines_ProjectionMatrix, 1, false, &projectionMatrix[0]);
 	glUniformMatrix4fv(lines_ModelViewMatrix, 1, false, &modelviewMatrix[0]);
@@ -1406,8 +1406,8 @@ void GLInstancingRenderer::drawLines(const float* positions, const float color[4
 		glEnableVertexAttribArray(0);
 
 		b3Assert(glGetError() ==GL_NO_ERROR);
-		int numFloats = pointStrideInBytes / sizeof(float);
+		int numFloats = 3;
-		glVertexAttribPointer(0, numFloats, GL_FLOAT, GL_FALSE, 0, 0);
+		glVertexAttribPointer(0, numFloats, GL_FLOAT, GL_FALSE, pointStrideInBytes, 0);
 		b3Assert(glGetError() ==GL_NO_ERROR);
 
 		glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, linesIndexVbo);
@@ -1427,7 +1427,7 @@ void GLInstancingRenderer::drawLines(const float* positions, const float color[4
 	glBindVertexArray(0);
 	b3Assert(glGetError() ==GL_NO_ERROR);
 	glPointSize(1);
-b3Assert(glGetError() ==GL_NO_ERROR);
+    b3Assert(glGetError() ==GL_NO_ERROR);
 
 }
 
@@ -1439,7 +1439,7 @@ void GLInstancingRenderer::drawLine(const float from[4], const float to[4], cons
 	glBindTexture(GL_TEXTURE_2D,0);
 	b3Assert(glGetError() ==GL_NO_ERROR);
 
-	
+
 
 	glUseProgram(linesShader);
 
@@ -1505,13 +1505,13 @@ struct PointerCaster
 		int m_baseIndex;
 		GLvoid* m_pointer;
 	};
-	
+
 	PointerCaster()
 	:m_pointer(0)
 		{
 		}
-	
+
-	
+
 };
 void GLInstancingRenderer::renderSceneInternal(int renderMode)
 {
@@ -1593,7 +1593,7 @@ void GLInstancingRenderer::renderSceneInternal(int renderMode)
 		//glCullFace(GL_BACK);
 
 	}
-	
+
 	b3CreateOrtho(-shadowMapWorldSize,shadowMapWorldSize,-shadowMapWorldSize,shadowMapWorldSize,1,300,depthProjectionMatrix);//-14,14,-14,14,1,200, depthProjectionMatrix);
 	float depthViewMatrix[4][4];
 	b3Vector3 center = b3MakeVector3(0,0,0);
@@ -1692,12 +1692,12 @@ b3Assert(glGetError() ==GL_NO_ERROR);
 		int vertexStride = 9*sizeof(float);
 		PointerCaster vertex;
 		vertex.m_baseIndex = gfxObj->m_vertexArrayOffset*vertexStride;
-		
+
 
 		glVertexAttribPointer(0, 4, GL_FLOAT, GL_FALSE, 9*sizeof(float), vertex.m_pointer);
 		glVertexAttribPointer(1, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid *)(curOffset*4*sizeof(float)+m_maxShapeCapacityInBytes));
 		glVertexAttribPointer(2, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid *)(curOffset*4*sizeof(float)+m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE));
-		
+
 		PointerCaster uv;
 		uv.m_baseIndex = 7*sizeof(float)+vertex.m_baseIndex;
 

btgui/OpenGLWindow/SimpleOpenGL3App.cpp

@@ -20,8 +20,8 @@
 #include "Bullet3Common/b3Vector3.h"
 #include "Bullet3Common/b3Logging.h"
 
-#include "../btgui/OpenGLTrueTypeFont/fontstash.h"
+#include "OpenGLTrueTypeFont/fontstash.h"
-#include "../btgui/OpenGLWindow/TwFonts.h"
+#include "OpenGLWindow/TwFonts.h"
 #include "OpenGLTrueTypeFont/opengl_fontstashcallbacks.h"
 #include <assert.h>
 
@@ -81,7 +81,7 @@ SimpleOpenGL3App::SimpleOpenGL3App(	const char* title, int width,int height)
 
 	 b3Assert(glGetError() ==GL_NO_ERROR);
 
-	glClearColor(1,1,1,1);
+	glClearColor(0.9,0.9,1,1);
 	m_window->startRendering();
 	b3Assert(glGetError() ==GL_NO_ERROR);
 
@@ -91,7 +91,7 @@ SimpleOpenGL3App::SimpleOpenGL3App(	const char* title, int width,int height)
     glewExperimental = GL_TRUE;
 #endif
 
-    
+
     if (glewInit() != GLEW_OK)
         exit(1); // or handle the error in a nicer way
     if (!GLEW_VERSION_2_1)  // check that the machine supports the 2.1 API.
@@ -99,7 +99,7 @@ SimpleOpenGL3App::SimpleOpenGL3App(	const char* title, int width,int height)
 
 #endif
     glGetError();//don't remove this call, it is needed for Ubuntu
-    
+
     b3Assert(glGetError() ==GL_NO_ERROR);
 
 	m_primRenderer = new GLPrimitiveRenderer(width,height);
@@ -125,9 +125,9 @@ SimpleOpenGL3App::SimpleOpenGL3App(	const char* title, int width,int height)
 
 
 	{
-		
 
-	
+
+
 	m_data->m_renderCallbacks = new OpenGL2RenderCallbacks(m_primRenderer);
 	m_data->m_fontStash = sth_create(512,512,m_data->m_renderCallbacks);//256,256);//,1024);//512,512);
     b3Assert(glGetError() ==GL_NO_ERROR);
@@ -137,7 +137,7 @@ SimpleOpenGL3App::SimpleOpenGL3App(	const char* title, int width,int height)
 		b3Warning("Could not create stash");
 		//fprintf(stderr, "Could not create stash.\n");
 	}
-	
+
 
 	char* data2 = OpenSansData;
 	unsigned char* data = (unsigned char*) data2;
@@ -302,11 +302,20 @@ int	SimpleOpenGL3App::registerGraphicsSphereShape(float radius, bool usePointSpr
 	return graphicsShapeIndex;
 }
 
-void SimpleOpenGL3App::drawGrid(int gridSize, float upOffset, int upAxis)
+void SimpleOpenGL3App::drawGrid(DrawGridData data)
 {
+    int gridSize = data.gridSize;
+    float upOffset = data.upOffset;
+    int upAxis = data.upAxis;
+    float gridColor[4];
+    gridColor[0] = data.gridColor[0];
+    gridColor[1] = data.gridColor[1];
+    gridColor[2] = data.gridColor[2];
+    gridColor[3] = data.gridColor[3];
+
 	int sideAxis=-1;
 	int forwardAxis=-1;
-	
+
 	switch (upAxis)
 	{
 		case 1:
@@ -320,8 +329,8 @@ void SimpleOpenGL3App::drawGrid(int gridSize, float upOffset, int upAxis)
 		default:
 			b3Assert(0);
 	};
-	b3Vector3 gridColor = b3MakeVector3(0.5,0.5,0.5);
+	//b3Vector3 gridColor = b3MakeVector3(0.5,0.5,0.5);
-	
+
 	 b3AlignedObjectArray<unsigned int> indices;
 		 b3AlignedObjectArray<b3Vector3> vertices;
 	int lineIndex=0;
@@ -346,7 +355,7 @@ void SimpleOpenGL3App::drawGrid(int gridSize, float upOffset, int upAxis)
 
 		b3Assert(glGetError() ==GL_NO_ERROR);
 		{
-			
+
 			b3Assert(glGetError() ==GL_NO_ERROR);
 			b3Vector3 from=b3MakeVector3(0,0,0);
 			from[sideAxis] = float(-gridSize);
@@ -360,12 +369,12 @@ void SimpleOpenGL3App::drawGrid(int gridSize, float upOffset, int upAxis)
 			indices.push_back(lineIndex++);
 			vertices.push_back(to);
 			indices.push_back(lineIndex++);
-			m_instancingRenderer->drawLine(from,to,gridColor);	
+			m_instancingRenderer->drawLine(from,to,gridColor);
 		}
-		
+
 	}
 
-		
+
 	/*m_instancingRenderer->drawLines(&vertices[0].x,
 			gridColor,
 			vertices.size(),sizeof(b3Vector3),&indices[0],indices.size(),1);

btgui/OpenGLWindow/SimpleOpenGL3App.h

@@ -5,6 +5,25 @@
 #include "OpenGLWindow/GLPrimitiveRenderer.h"
 #include "OpenGLWindow/b3gWindowInterface.h"
 
+struct DrawGridData
+{
+    int gridSize;
+    float upOffset;
+    int upAxis;
+    float gridColor[4];
+
+    DrawGridData()
+    :gridSize(10),
+    upOffset(0.001f),
+    upAxis(1)
+    {
+        gridColor[0] = 0.6f;
+        gridColor[1] = 0.6f;
+        gridColor[2] = 0.6f;
+        gridColor[3] = 1.f;
+    }
+};
+
 struct SimpleOpenGL3App
 {
 	struct SimpleInternalData* m_data;
@@ -15,11 +34,11 @@ struct SimpleOpenGL3App
 
 	SimpleOpenGL3App(const char* title, int width,int height);
 	virtual ~SimpleOpenGL3App();
-	
+
 	int	registerCubeShape(float halfExtentsX=1.f,float halfExtentsY=1.f, float halfExtentsZ = 1.f);
 	int	registerGraphicsSphereShape(float radius, bool usePointSprites=true, int largeSphereThreshold=100, int mediumSphereThreshold=10);
 
-	void drawGrid(int gridSize=10, float upOffset=0.001, int upAxis=1);
+	void drawGrid(DrawGridData data=DrawGridData());
 	void swapBuffer();
 	void drawText( const char* txt, int posX, int posY);
 	struct sth_stash* getFontStash();

src/BulletDynamics/Featherstone/btMultiBody.cpp

@@ -819,6 +819,9 @@ void btMultiBody::stepVelocitiesMultiDof(btScalar dt,
 
 				break;
 			}
+			default:
+			{
+			}
 		}
 		
 
@@ -1329,6 +1332,10 @@ void btMultiBody::stepVelocitiesMultiDof(btScalar dt,
 
 				break;
 			}
+			default:
+			{
+			
+			}
 		}
 
 		//determine h*D^{-1}
@@ -2589,6 +2596,10 @@ void btMultiBody::stepPositionsMultiDof(btScalar dt, btScalar *pq, btScalar *pqd
 				break;
 			}
 #endif
+			default:
+			{
+			}
+
 		}
 
 		m_links[i].updateCacheMultiDof(pq);
@@ -2709,6 +2720,9 @@ void btMultiBody::filConstraintJacobianMultiDof(int link,
 					break;
 				}
 #endif
+				default:
+				{
+				}
 			}
             
         }

src/BulletDynamics/Featherstone/btMultiBodyLink.h

@@ -507,6 +507,11 @@ struct btMultibodyLink
 				break;
 			}
 #endif
+			default:
+			{
+				//invalid type
+				btAssert(0);
+			}
 		}
 	}
 };