remove a few warnings, fix GLInstancingRenderer::drawLines

btgui/OpenGLWindow/GLInstancingRenderer.cpp

@@ -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);
-		glVertexAttribPointer(0, numFloats, GL_FLOAT, GL_FALSE, 0, 0);
+		int numFloats = 3;
+		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);
 
 }
 

btgui/OpenGLWindow/SimpleOpenGL3App.cpp

@@ -20,8 +20,8 @@
 #include "Bullet3Common/b3Vector3.h"
 #include "Bullet3Common/b3Logging.h"
 
-#include "../btgui/OpenGLTrueTypeFont/fontstash.h"
-#include "../btgui/OpenGLWindow/TwFonts.h"
+#include "OpenGLTrueTypeFont/fontstash.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);
 
@@ -302,8 +302,17 @@ 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;
 
@@ -320,7 +329,7 @@ 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;

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;
@@ -19,7 +38,7 @@ struct 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);
+			}
 		}
 	}
 };