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make Bullet compile on Visual Studio 6

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This commit is contained in:
erwin.coumans
2010-01-30 23:10:12 +00:00
parent 788f48643b
commit e57f03599a
12 changed files with 515 additions and 481 deletions
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2
CMakeLists.txt
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@@ -36,7 +36,7 @@ ADD_DEFINITIONS( -DUSE_GRAPHICAL_BENCHMARK)
ENDIF (USE_GRAPHICAL_BENCHMARK) ENDIF (USE_GRAPHICAL_BENCHMARK)
IF (WIN32) IF (WIN32)
OPTION(USE_GLUT "Use Glut" OFF) OPTION(USE_GLUT "Use Glut" ON)
ADD_DEFINITIONS( -D_IRR_STATIC_LIB_ ) ADD_DEFINITIONS( -D_IRR_STATIC_LIB_ )
ADD_DEFINITIONS( -D_CRT_SECURE_NO_WARNINGS ) ADD_DEFINITIONS( -D_CRT_SECURE_NO_WARNINGS )
ADD_DEFINITIONS( -D_CRT_SECURE_NO_DEPRECATE ) ADD_DEFINITIONS( -D_CRT_SECURE_NO_DEPRECATE )

2
Demos/CollisionInterfaceDemo/CollisionInterfaceDemo.cpp
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@@ -254,7 +254,7 @@ void CollisionInterfaceDemo::clientResetScene()
{ {
objects[0].getWorldTransform().setOrigin(btVector3(0.0f,3.f,0.f)); objects[0].getWorldTransform().setOrigin(btVector3(0.0f,3.f,0.f));
btQuaternion rotA(0.739,-0.204,0.587,0.257); btQuaternion rotA(0.739f,-0.204f,0.587f,0.257f);
rotA.normalize(); rotA.normalize();
objects[0].getWorldTransform().setRotation(rotA); objects[0].getWorldTransform().setRotation(rotA);

8
Demos/GenericJointDemo/Ragdoll.cpp
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@@ -97,9 +97,9 @@ btScalar(0.)));
// Setup some damping on the m_bodies // Setup some damping on the m_bodies
for (int i = 0; i < BODYPART_COUNT; ++i) for (int i = 0; i < BODYPART_COUNT; ++i)
{ {
m_bodies[i]->setDamping(0.05, 0.85); m_bodies[i]->setDamping(0.05f, 0.85f);
m_bodies[i]->setDeactivationTime(0.8); m_bodies[i]->setDeactivationTime(0.8f);
m_bodies[i]->setSleepingThresholds(1.6, 2.5); m_bodies[i]->setSleepingThresholds(1.6f, 2.5f);
} }
///////////////////////////// SETTING THE CONSTRAINTS /////////////////////////////////////////////7777 ///////////////////////////// SETTING THE CONSTRAINTS /////////////////////////////////////////////7777
@@ -191,7 +191,7 @@ btScalar(0.)));
joint6DOF->setAngularUpperLimit(btVector3(SIMD_EPSILON,SIMD_EPSILON,SIMD_EPSILON)); joint6DOF->setAngularUpperLimit(btVector3(SIMD_EPSILON,SIMD_EPSILON,SIMD_EPSILON));
#else #else
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON)); joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
joint6DOF->setAngularUpperLimit(btVector3(SIMD_PI*0.7,SIMD_EPSILON,SIMD_EPSILON)); joint6DOF->setAngularUpperLimit(btVector3(SIMD_PI*0.7f,SIMD_EPSILON,SIMD_EPSILON));
#endif #endif
m_joints[JOINT_LEFT_ELBOW] = joint6DOF; m_joints[JOINT_LEFT_ELBOW] = joint6DOF;
m_ownerWorld->addConstraint(m_joints[JOINT_LEFT_ELBOW], true); m_ownerWorld->addConstraint(m_joints[JOINT_LEFT_ELBOW], true);

6
Demos/OpenGL/GL_DialogDynamicsWorld.cpp
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@@ -110,7 +110,9 @@ void GL_DialogDynamicsWorld::setScreenSize(int width, int height)
{ {
for (int i=0;i<m_dynamicsWorld->getCollisionObjectArray().size();i++) int i;
for ( i=0;i<m_dynamicsWorld->getCollisionObjectArray().size();i++)
{ {
btCollisionObject* colObj = m_dynamicsWorld->getCollisionObjectArray()[i]; btCollisionObject* colObj = m_dynamicsWorld->getCollisionObjectArray()[i];
btRigidBody* body = btRigidBody::upcast(colObj); btRigidBody* body = btRigidBody::upcast(colObj);
@@ -129,7 +131,7 @@ void GL_DialogDynamicsWorld::setScreenSize(int width, int height)
} }
} }
for (int i=0;i<m_dialogs.size();i++) for ( i=0;i<m_dialogs.size();i++)
{ {
m_dialogs[i]->setScreenSize(width,height); m_dialogs[i]->setScreenSize(width,height);
} }

20
Demos/SoftDemo/CMakeLists.txt
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@@ -10,6 +10,7 @@
# You shouldn't have to modify anything below this line # You shouldn't have to modify anything below this line
######################################################## ########################################################
IF (USE_GLUT)
INCLUDE_DIRECTORIES( INCLUDE_DIRECTORIES(
@@ -25,3 +26,22 @@ ADD_EXECUTABLE(AppSoftBodyDemo
SoftDemo.cpp SoftDemo.cpp
) )
IF (WIN32)
IF (CMAKE_CL_64)
ADD_CUSTOM_COMMAND(
TARGET AppSoftBodyDemo
POST_BUILD
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/glut64.dll ${CMAKE_CURRENT_BINARY_DIR}
)
ELSE(CMAKE_CL_64)
ADD_CUSTOM_COMMAND(
TARGET AppSoftBodyDemo
POST_BUILD
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLUT32.DLL ${CMAKE_CURRENT_BINARY_DIR}
)
ENDIF(CMAKE_CL_64)
ENDIF(WIN32)
ELSE(USE_GLUT)
ENDIF (USE_GLUT)

4
Demos/SoftDemo/SoftDemo.cpp
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@@ -218,7 +218,7 @@ void SoftDemo::clientMoveAndDisplay()
#endif //PRINT_CONTACT_STATISTICS #endif //PRINT_CONTACT_STATISTICS
glutSwapBuffers(); swapBuffers();
} }
@@ -232,7 +232,7 @@ void SoftDemo::displayCallback(void) {
renderme(); renderme();
glFlush(); glFlush();
glutSwapBuffers(); swapBuffers();
} }

8
Demos/SoftDemo/SoftDemo.h
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@@ -19,7 +19,13 @@ subject to the following restrictions:
#ifndef SOFT_DEMO_H #ifndef SOFT_DEMO_H
#define SOFT_DEMO_H #define SOFT_DEMO_H
#ifdef _WINDOWS
#include "Win32DemoApplication.h"
#define PlatformDemoApplication Win32DemoApplication
#else
#include "GlutDemoApplication.h" #include "GlutDemoApplication.h"
#define PlatformDemoApplication GlutDemoApplication
#endif
#include "LinearMath/btAlignedObjectArray.h" #include "LinearMath/btAlignedObjectArray.h"
#include "BulletSoftBody/btSoftBody.h" #include "BulletSoftBody/btSoftBody.h"
@@ -41,7 +47,7 @@ class btSoftRigidDynamicsWorld;
///CcdPhysicsDemo shows basic stacking using Bullet physics, and allows toggle of Ccd (using key '1') ///CcdPhysicsDemo shows basic stacking using Bullet physics, and allows toggle of Ccd (using key '1')
class SoftDemo : public GlutDemoApplication class SoftDemo : public PlatformDemoApplication
{ {
public: public:

18
Extras/Serialize/BulletFileLoader/bDNA.cpp
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@@ -177,7 +177,8 @@ void bDNA::initCmpFlags(bDNA *memDNA)
for (int i=0; i<(int)mStructs.size(); i++) int i;
for ( i=0; i<(int)mStructs.size(); i++)
{ {
short *oldStruct = mStructs[i]; short *oldStruct = mStructs[i];
@@ -258,7 +259,7 @@ void bDNA::initCmpFlags(bDNA *memDNA)
// recurse in // recurse in
for (int i=0; i<(int)mStructs.size(); i++) for ( i=0; i<(int)mStructs.size(); i++)
{ {
if (mCMPFlags[i] == FDF_STRUCT_NEQU) if (mCMPFlags[i] == FDF_STRUCT_NEQU)
initRecurseCmpFlags(i); initRecurseCmpFlags(i);
@@ -368,7 +369,8 @@ void bDNA::init(char *data, int len, bool swap)
intPtr++; intPtr++;
cp = (char*)intPtr; cp = (char*)intPtr;
for (int i=0; i<dataLen; i++) int i;
for ( i=0; i<dataLen; i++)
{ {
bNameInfo info; bNameInfo info;
info.m_name = cp; info.m_name = cp;
@@ -406,7 +408,7 @@ void bDNA::init(char *data, int len, bool swap)
intPtr++; intPtr++;
cp = (char*)intPtr; cp = (char*)intPtr;
for (int i=0; i<dataLen; i++) for ( i=0; i<dataLen; i++)
{ {
mTypes.push_back(cp); mTypes.push_back(cp);
while (*cp)cp++; while (*cp)cp++;
@@ -437,7 +439,7 @@ void bDNA::init(char *data, int len, bool swap)
dataLen = (int)mTypes.size(); dataLen = (int)mTypes.size();
shtPtr = (short*)intPtr; shtPtr = (short*)intPtr;
for (int i=0; i<dataLen; i++, shtPtr++) for ( i=0; i<dataLen; i++, shtPtr++)
{ {
if (swap) if (swap)
shtPtr[0] = ChunkUtils::swapShort(shtPtr[0]); shtPtr[0] = ChunkUtils::swapShort(shtPtr[0]);
@@ -467,7 +469,7 @@ void bDNA::init(char *data, int len, bool swap)
shtPtr = (short*)intPtr; shtPtr = (short*)intPtr;
for (int i=0; i<dataLen; i++) for ( i=0; i<dataLen; i++)
{ {
mStructs.push_back (shtPtr); mStructs.push_back (shtPtr);
if (swap) if (swap)
@@ -490,7 +492,7 @@ void bDNA::init(char *data, int len, bool swap)
// build reverse lookups // build reverse lookups
for (int i=0; i<(int)mStructs.size(); i++) for ( i=0; i<(int)mStructs.size(); i++)
{ {
short *strc = mStructs.at(i); short *strc = mStructs.at(i);
if (!mPtrLen && strcmp(mTypes[strc[0]],"ListBase")==0) if (!mPtrLen && strcmp(mTypes[strc[0]],"ListBase")==0)
@@ -539,7 +541,7 @@ void bDNA::dumpTypeDefinitions()
} }
for (int i=0; i<(int)mStructs.size(); i++) for ( i=0; i<(int)mStructs.size(); i++)
{ {
int totalBytes=0; int totalBytes=0;
short *oldStruct = mStructs[i]; short *oldStruct = mStructs[i];

10
Extras/Serialize/BulletFileLoader/bFile.cpp
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@@ -855,14 +855,15 @@ void bFile::resolvePointersStructRecursive(char *strcPtr, int dna_nr, bool verbo
dbPtr = &dbarray[0]; dbPtr = &dbarray[0];
if (dbPtr) if (dbPtr)
{ {
int i;
getElement(arrayLen, newtype,memType, tmp, (char*)dbPtr); getElement(arrayLen, newtype,memType, tmp, (char*)dbPtr);
for (int i=0;i<recursion;i++) for (i=0;i<recursion;i++)
printf(" "); printf(" ");
if (arrayLen==1) if (arrayLen==1)
printf("<%s type=\"%s\">",memName,memType); printf("<%s type=\"%s\">",memName,memType);
else else
printf("<%s type=\"%s\" count=%d>",memName,memType,arrayLen); printf("<%s type=\"%s\" count=%d>",memName,memType,arrayLen);
for (int i=0;i<arrayLen;i++) for (i=0;i<arrayLen;i++)
printf(" %d ",dbPtr[i]); printf(" %d ",dbPtr[i]);
printf("</%s>\n",memName); printf("</%s>\n",memName);
} }
@@ -875,14 +876,15 @@ void bFile::resolvePointersStructRecursive(char *strcPtr, int dna_nr, bool verbo
dbPtr = &dbarray[0]; dbPtr = &dbarray[0];
if (dbPtr) if (dbPtr)
{ {
int i;
getElement(arrayLen, newtype,memType, tmp, (char*)dbPtr); getElement(arrayLen, newtype,memType, tmp, (char*)dbPtr);
for (int i=0;i<recursion;i++) for (i=0;i<recursion;i++)
printf(" "); printf(" ");
if (arrayLen==1) if (arrayLen==1)
printf("<%s type=\"%s\">",memName,memType); printf("<%s type=\"%s\">",memName,memType);
else else
printf("<%s type=\"%s\" count=%d>",memName,memType,arrayLen); printf("<%s type=\"%s\" count=%d>",memName,memType,arrayLen);
for (int i=0;i<arrayLen;i++) for (i=0;i<arrayLen;i++)
printf(" %f ",dbPtr[i]); printf(" %f ",dbPtr[i]);
printf("</%s>\n",memName); printf("</%s>\n",memName);
} }

8
Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.cpp
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@@ -216,7 +216,8 @@ btCollisionShape* btBulletWorldImporter::convertCollisionShape( btCollisionShap
btAlignedObjectArray<btScalar> radii; btAlignedObjectArray<btScalar> radii;
radii.resize(numSpheres); radii.resize(numSpheres);
tmpPos.resize(numSpheres); tmpPos.resize(numSpheres);
for (int i=0;i<numSpheres;i++) int i;
for ( i=0;i<numSpheres;i++)
{ {
tmpPos[i].deSerializeFloat(mss->m_localPositionArrayPtr[i].m_pos); tmpPos[i].deSerializeFloat(mss->m_localPositionArrayPtr[i].m_pos);
radii[i] = mss->m_localPositionArrayPtr[i].m_radius; radii[i] = mss->m_localPositionArrayPtr[i].m_radius;
@@ -234,7 +235,8 @@ btCollisionShape* btBulletWorldImporter::convertCollisionShape( btCollisionShap
btAlignedObjectArray<btVector3> tmpPoints; btAlignedObjectArray<btVector3> tmpPoints;
tmpPoints.resize(numPoints); tmpPoints.resize(numPoints);
for (int i=0;i<numPoints;i++) int i;
for ( i=0;i<numPoints;i++)
{ {
#ifdef BT_USE_DOUBLE_PRECISION #ifdef BT_USE_DOUBLE_PRECISION
if (convexData->m_unscaledPointsDoublePtr) if (convexData->m_unscaledPointsDoublePtr)
@@ -249,7 +251,7 @@ btCollisionShape* btBulletWorldImporter::convertCollisionShape( btCollisionShap
#endif //BT_USE_DOUBLE_PRECISION #endif //BT_USE_DOUBLE_PRECISION
} }
btConvexHullShape* hullShape = createConvexHullShape(); btConvexHullShape* hullShape = createConvexHullShape();
for (int i=0;i<numPoints;i++) for (i=0;i<numPoints;i++)
{ {
hullShape->addPoint(tmpPoints[i]); hullShape->addPoint(tmpPoints[i]);
} }

6
src/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp
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@@ -135,14 +135,13 @@ static int ClipSegmentToLine(ClipVertex vOut[2], ClipVertex vIn[2],
static btScalar EdgeSeparation(const btBox2dShape* poly1, const btTransform& xf1, int edge1, static btScalar EdgeSeparation(const btBox2dShape* poly1, const btTransform& xf1, int edge1,
const btBox2dShape* poly2, const btTransform& xf2) const btBox2dShape* poly2, const btTransform& xf2)
{ {
//int count1 = poly1->getVertexCount();
const btVector3* vertices1 = poly1->getVertices(); const btVector3* vertices1 = poly1->getVertices();
const btVector3* normals1 = poly1->getNormals(); const btVector3* normals1 = poly1->getNormals();
int count2 = poly2->getVertexCount(); int count2 = poly2->getVertexCount();
const btVector3* vertices2 = poly2->getVertices(); const btVector3* vertices2 = poly2->getVertices();
btAssert(0 <= edge1 && edge1 < count1); btAssert(0 <= edge1 && edge1 < poly1->getVertexCount());
// Convert normal from poly1's frame into poly2's frame. // Convert normal from poly1's frame into poly2's frame.
btVector3 normal1World = b2Mul(xf1.getBasis(), normals1[edge1]); btVector3 normal1World = b2Mul(xf1.getBasis(), normals1[edge1]);
@@ -271,14 +270,13 @@ static void FindIncidentEdge(ClipVertex c[2],
const btBox2dShape* poly1, const btTransform& xf1, int edge1, const btBox2dShape* poly1, const btTransform& xf1, int edge1,
const btBox2dShape* poly2, const btTransform& xf2) const btBox2dShape* poly2, const btTransform& xf2)
{ {
//int count1 = poly1->getVertexCount();
const btVector3* normals1 = poly1->getNormals(); const btVector3* normals1 = poly1->getNormals();
int count2 = poly2->getVertexCount(); int count2 = poly2->getVertexCount();
const btVector3* vertices2 = poly2->getVertices(); const btVector3* vertices2 = poly2->getVertices();
const btVector3* normals2 = poly2->getNormals(); const btVector3* normals2 = poly2->getNormals();
btAssert(0 <= edge1 && edge1 < count1); btAssert(0 <= edge1 && edge1 < poly1->getVertexCount());
// Get the normal of the reference edge in poly2's frame. // Get the normal of the reference edge in poly2's frame.
btVector3 normal1 = b2MulT(xf2.getBasis(), b2Mul(xf1.getBasis(), normals1[edge1])); btVector3 normal1 = b2MulT(xf2.getBasis(), b2Mul(xf1.getBasis(), normals1[edge1]));

12
src/LinearMath/btSerializer.h
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@@ -172,7 +172,8 @@ protected:
intPtr++; intPtr++;
cp = (char*)intPtr; cp = (char*)intPtr;
for (int i=0; i<dataLen; i++) int i;
for ( i=0; i<dataLen; i++)
{ {
while (*cp)cp++; while (*cp)cp++;
@@ -204,8 +205,9 @@ protected:
dataLen = *intPtr; dataLen = *intPtr;
intPtr++; intPtr++;
cp = (char*)intPtr; cp = (char*)intPtr;
for (int i=0; i<dataLen; i++) for (i=0; i<dataLen; i++)
{ {
mTypes.push_back(cp); mTypes.push_back(cp);
while (*cp)cp++; while (*cp)cp++;
@@ -236,7 +238,7 @@ protected:
dataLen = (int)mTypes.size(); dataLen = (int)mTypes.size();
shtPtr = (short*)intPtr; shtPtr = (short*)intPtr;
for (int i=0; i<dataLen; i++, shtPtr++) for (i=0; i<dataLen; i++, shtPtr++)
{ {
if (!littleEndian) if (!littleEndian)
shtPtr[0] = btSwapEndian(shtPtr[0]); shtPtr[0] = btSwapEndian(shtPtr[0]);
@@ -267,7 +269,7 @@ protected:
shtPtr = (short*)intPtr; shtPtr = (short*)intPtr;
for (int i=0; i<dataLen; i++) for (i=0; i<dataLen; i++)
{ {
mStructs.push_back (shtPtr); mStructs.push_back (shtPtr);
@@ -292,7 +294,7 @@ protected:
} }
// build reverse lookups // build reverse lookups
for (int i=0; i<(int)mStructs.size(); i++) for (i=0; i<(int)mStructs.size(); i++)
{ {
short *strc = mStructs.at(i); short *strc = mStructs.at(i);
mStructReverse.insert(strc[0], i); mStructReverse.insert(strc[0], i);