Add support for childshape index for btCompoundShape during ContactAddedCallback,

see example in Bullet/Demos/ConvexDecompositionDemo
Removed some warnings

src/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h

@@ -33,8 +33,9 @@ struct btDiscreteCollisionDetectorInterface
 	
 		virtual ~Result(){}	
 
-		///setShapeIdentifiers provides experimental support for per-triangle material / custom material combiner
-		virtual void setShapeIdentifiers(int partId0,int index0,	int partId1,int index1)=0;
+		///setShapeIdentifiersA/B provides experimental support for per-triangle material / custom material combiner
+		virtual void setShapeIdentifiersA(int partId0,int index0)=0;
+		virtual void setShapeIdentifiersB(int partId1,int index1)=0;
 		virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth)=0;
 	};
 

src/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp

@@ -297,6 +297,9 @@ namespace gjkepa2_impl
 				{
 				case	eStatus::Valid:		m_distance=m_ray.length();break;
 				case	eStatus::Inside:	m_distance=0;break;
+				default:
+					{
+					}
 				}	
 				return(m_status);
 			}
@@ -415,8 +418,8 @@ namespace gjkepa2_impl
 				if(l>GJK_SIMPLEX3_EPS)
 				{
 					btScalar	mindist=-1;
-					btScalar	subw[2];
-					U			subm;
+					btScalar	subw[2]={0.f,0.f};
+					U			subm(0);
 					for(U i=0;i<3;++i)
 					{
 						if(btDot(*vt[i],btCross(dl[i],n))>0)
@@ -462,8 +465,8 @@ namespace gjkepa2_impl
 				if(ng&&(btFabs(vl)>GJK_SIMPLEX4_EPS))
 				{
 					btScalar	mindist=-1;
-					btScalar	subw[3];
-					U			subm;
+					btScalar	subw[3]={0.f,0.f,0.f};
+					U			subm(0);
 					for(U i=0;i<3;++i)
 					{
 						const U			j=imd3[i];
@@ -892,6 +895,9 @@ bool	btGjkEpaSolver2::Penetration(	const btConvexShape*	shape0,
 	case	GJK::eStatus::Failed:
 		results.status=sResults::GJK_Failed;
 		break;
+		default:
+					{
+					}
 	}
 	return(false);
 }

src/BulletCollision/NarrowPhaseCollision/btGjkEpa2.h

@@ -55,7 +55,7 @@ static bool		Penetration(const btConvexShape* shape0,const btTransform& wtrs0,
 							const btVector3& guess,
 							sResults& results,
 							bool usemargins=true);
-
+#ifndef __SPU__
 static btScalar	SignedDistance(	const btVector3& position,
 								btScalar margin,
 								const btConvexShape* shape,
@@ -66,6 +66,8 @@ static bool		SignedDistance(	const btConvexShape* shape0,const btTransform& wtrs
 								const btConvexShape* shape1,const btTransform& wtrs1,
 								const btVector3& guess,
 								sResults& results);
+#endif //__SPU__
+
 };
 
 #endif

src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp

@@ -32,7 +32,7 @@ bool btGjkEpaPenetrationDepthSolver::calcPenDepth( btSimplexSolverInterface& sim
 	(void)v;
 	(void)simplexSolver;
 
-	const btScalar				radialmargin(btScalar(0.));
+//	const btScalar				radialmargin(btScalar(0.));
 	
 	btVector3	guessVector(transformA.getOrigin()-transformB.getOrigin());
 	btGjkEpaSolver2::sResults	results;

src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp

@@ -91,10 +91,13 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
 		btScalar m_depth;
 		bool	m_hasResult;
 
-		virtual void setShapeIdentifiers(int partId0,int index0,	int partId1,int index1)
+		virtual void setShapeIdentifiersA(int partId0,int index0)
 		{
 			(void)partId0;
 			(void)index0;
+		}
+		virtual void setShapeIdentifiersB(int partId1,int index1)
+		{
 			(void)partId1;
 			(void)index1;
 		}

src/BulletCollision/NarrowPhaseCollision/btPointCollector.h

@@ -35,13 +35,16 @@ struct btPointCollector : public btDiscreteCollisionDetectorInterface::Result
 	{
 	}
 
-	virtual void setShapeIdentifiers(int partId0,int index0,	int partId1,int index1)
+	virtual void setShapeIdentifiersA(int partId0,int index0)
 	{
 		(void)partId0;
 		(void)index0;
+			
+	}
+	virtual void setShapeIdentifiersB(int partId1,int index1)
+	{
 		(void)partId1;
 		(void)index1;
-		//??
 	}
 
 	virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth)