sync repo

examples/SharedMemory/PhysicsClient.cpp

@@ -1,3 +1,6 @@
 #include "PhysicsClient.h"
 
-PhysicsClient::~PhysicsClient() {}
+PhysicsClient::~PhysicsClient()
+{
+}
+

examples/SharedMemory/PhysicsClientExample.cpp

@@ -337,13 +337,15 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
     };
 }
 
+
+
 PhysicsClientExample::PhysicsClientExample(GUIHelperInterface* helper)
 :SharedMemoryCommon(helper),
 m_physicsClientHandle(0),
-m_selectedBody(-1),
-m_prevSelectedBody(-1),
 m_wantsTermination(false),
 m_sharedMemoryKey(SHARED_MEMORY_KEY),
+m_selectedBody(-1),
+m_prevSelectedBody(-1),
 m_numMotors(0)
 {
 	b3Printf("Started PhysicsClientExample\n");

examples/SharedMemory/PhysicsClientSharedMemory.cpp

@@ -3,6 +3,7 @@
 #include "Win32SharedMemory.h"
 #include "LinearMath/btAlignedObjectArray.h"
 #include "LinearMath/btVector3.h"
+#include <string.h>
 
 #include "Bullet3Common/b3Logging.h"
 #include "../Utils/b3ResourcePath.h"
@@ -71,6 +72,15 @@ struct PhysicsClientSharedMemoryInternalData {
     bool canSubmitCommand() const;
 };
 
+static char* strDup(const char* const str)
+{
+#ifdef _WIN32
+	return _strdup(str);
+#else
+	return strdup(str);
+#endif
+}
+
 int PhysicsClientSharedMemory::getNumJoints(int bodyIndex) const 
 {
 	BodyJointInfoCache** bodyJointsPtr = m_data->m_bodyJointMap[bodyIndex];
@@ -188,24 +198,24 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
                 }
 
                 if (serverCmd.m_dataStreamArguments.m_streamChunkLength > 0) {
-                    bParse::btBulletFile* bf = new bParse::btBulletFile(
+                    bParse::btBulletFile bf(
                         this->m_data->m_testBlock1->m_bulletStreamDataServerToClient,
                         serverCmd.m_dataStreamArguments.m_streamChunkLength);
-                    bf->setFileDNAisMemoryDNA();
+                    bf.setFileDNAisMemoryDNA();
-                    bf->parse(false);
+                    bf.parse(false);
 					int bodyIndex = serverCmd.m_dataStreamArguments.m_bodyUniqueId;
 
 					BodyJointInfoCache* bodyJoints = new BodyJointInfoCache;
                     m_data->m_bodyJointMap.insert(bodyIndex,bodyJoints);
 
-                    for (int i = 0; i < bf->m_multiBodies.size(); i++) {
+                    for (int i = 0; i < bf.m_multiBodies.size(); i++) {
-                        int flag = bf->getFlags();
+                        int flag = bf.getFlags();
                         int qOffset = 7;
                         int uOffset = 6;
 
                         if ((flag & bParse::FD_DOUBLE_PRECISION) != 0) {
                             Bullet::btMultiBodyDoubleData* mb =
-                                (Bullet::btMultiBodyDoubleData*)bf->m_multiBodies[i];
+                                (Bullet::btMultiBodyDoubleData*)bf.m_multiBodies[i];
                             if (mb->m_baseName) {
                                 if (m_data->m_verboseOutput) {
                                     b3Printf("mb->m_baseName = %s\n", mb->m_baseName);
@@ -227,14 +237,14 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
                                             b3Printf("mb->m_links[%d].m_linkName = %s\n", link,
                                                      mb->m_links[link].m_linkName);
                                         }
-                                        info.m_linkName = mb->m_links[link].m_linkName;
+                                        info.m_linkName = strDup(mb->m_links[link].m_linkName);
                                     }
                                     if (mb->m_links[link].m_jointName) {
                                         if (m_data->m_verboseOutput) {
                                             b3Printf("mb->m_links[%d].m_jointName = %s\n", link,
                                                      mb->m_links[link].m_jointName);
                                         }
-                                        info.m_jointName = mb->m_links[link].m_jointName;
+                                        info.m_jointName = strDup(mb->m_links[link].m_jointName);
                                     }
 
 									info.m_jointType = mb->m_links[link].m_jointType;
@@ -251,7 +261,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
 
                         } else {
                             Bullet::btMultiBodyFloatData* mb =
-                                (Bullet::btMultiBodyFloatData*)bf->m_multiBodies[i];
+                                (Bullet::btMultiBodyFloatData*)bf.m_multiBodies[i];
                             if (mb->m_baseName) {
                                 if (m_data->m_verboseOutput) {
                                     b3Printf("mb->m_baseName = %s\n", mb->m_baseName);
@@ -272,14 +282,14 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
                                             b3Printf("mb->m_links[%d].m_linkName = %s\n", link,
                                                      mb->m_links[link].m_linkName);
                                         }
-                                        info.m_linkName = mb->m_links[link].m_linkName;
+                                        info.m_linkName = strDup(mb->m_links[link].m_linkName);
                                     }
                                     if (mb->m_links[link].m_jointName) {
                                         if (m_data->m_verboseOutput) {
                                             b3Printf("mb->m_links[%d].m_jointName = %s\n", link,
                                                      mb->m_links[link].m_jointName);
                                         }
-                                        info.m_jointName = mb->m_links[link].m_jointName;
+                                        info.m_jointName = strDup(mb->m_links[link].m_jointName);
                                     }
 									info.m_jointType = mb->m_links[link].m_jointType;
                                     if ((mb->m_links[link].m_jointType == eRevoluteType) ||
@@ -293,7 +303,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
                             }
                         }
                     }
-                    if (bf->ok()) {
+                    if (bf.ok()) {
                         if (m_data->m_verboseOutput) {
                             b3Printf("Received robot description ok!\n");
                         }
@@ -401,6 +411,17 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
 					BodyJointInfoCache** bodyJointsPtr = m_data->m_bodyJointMap.getAtIndex(i);
 					if (bodyJointsPtr && *bodyJointsPtr)
 					{
+						BodyJointInfoCache* bodyJoints = *bodyJointsPtr;
+						for (int j=0;j<bodyJoints->m_jointInfo.size();j++) {
+							if (bodyJoints->m_jointInfo[j].m_jointName)
+							{
+								free(bodyJoints->m_jointInfo[j].m_jointName);
+							}
+							if (bodyJoints->m_jointInfo[j].m_linkName)
+							{
+								free(bodyJoints->m_jointInfo[j].m_linkName);
+							}
+						}
 						delete (*bodyJointsPtr);
 					}
 				}

src/BulletCollision/BroadphaseCollision/btDbvt.h

@@ -1196,23 +1196,32 @@ inline void		btDbvt::collideOCL(	const btDbvtNode* root,
 							
 							//void * memmove ( void * destination, const void * source, size_t num );
 							
-//#if DBVT_USE_MEMMOVE
+#if DBVT_USE_MEMMOVE
-//							memmove(&stack[j],&stack[j-1],sizeof(int)*(stack.size()-j-1));
+                     {
-//#else
+                     int num_items_to_move = stack.size()-1-j;
-							for(int k=stack.size()-1;k>j;--k) 
+                     if(num_items_to_move > 0)
-							{
+                        memmove(&stack[j+1],&stack[j],sizeof(int)*num_items_to_move);
+                     }
+#else
+                     for(int k=stack.size()-1;k>j;--k) {
 								stack[k]=stack[k-1];
-							}
+                     }
-//#endif
+#endif
 							stack[j]=allocate(ifree,stock,nes[q]);
 							/* Insert 1	*/ 
 							j=nearest(&stack[0],&stock[0],nes[1-q].value,j,stack.size());
 							stack.push_back(0);
-//#if DBVT_USE_MEMMOVE
+#if DBVT_USE_MEMMOVE
-//							memmove(&stack[j],&stack[j-1],sizeof(int)*(stack.size()-j-1));
+                     {
-//#else
+                     int num_items_to_move = stack.size()-1-j;
-							for(int k=stack.size()-1;k>j;--k) stack[k]=stack[k-1];
+                     if(num_items_to_move > 0)
-//#endif
+                        memmove(&stack[j+1],&stack[j],sizeof(int)*num_items_to_move);
+                     }
+#else
+                     for(int k=stack.size()-1;k>j;--k) {
+                        stack[k]=stack[k-1];
+                     }
+#endif
 							stack[j]=allocate(ifree,stock,nes[1-q]);
 						}
 						else

src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h

@@ -196,10 +196,6 @@ public:
 		m_pointCache[insertIndex].m_appliedImpulseLateral1 = appliedLateralImpulse1;
 		m_pointCache[insertIndex].m_appliedImpulseLateral2 = appliedLateralImpulse2;
 		
-		m_pointCache[insertIndex].m_appliedImpulse =  appliedImpulse;
-		m_pointCache[insertIndex].m_appliedImpulseLateral1 = appliedLateralImpulse1;
-		m_pointCache[insertIndex].m_appliedImpulseLateral2 = appliedLateralImpulse2;
-
 
 		m_pointCache[insertIndex].m_lifeTime = lifeTime;
 #else

src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp

@@ -294,7 +294,10 @@ bool btVoronoiSimplexSolver::inSimplex(const btVector3& w)
 #else
 		if (m_simplexVectorW[i] == w)
 #endif
+		{
 			found = true;
+			break;
+		}
 	}
 
 	//check in case lastW is already removed

src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h

@@ -170,6 +170,11 @@ public:
 	{
 		m_angularOnly = angularOnly;
 	}
+	
+	bool    getAngularOnly() const
+	{
+	    return m_angularOnly;
+	}
 
 	void	setLimit(int limitIndex,btScalar limitValue)
 	{
@@ -196,6 +201,33 @@ public:
 		};
 	}
 
+    btScalar getLimit(int limitIndex) const
+	{
+		switch (limitIndex)
+		{
+		case 3:
+			{
+				return m_twistSpan;
+				break;
+			}
+		case 4:
+			{
+				return m_swingSpan2;
+				break;
+			}
+		case 5:
+			{
+				return m_swingSpan1;
+				break;
+			}
+		default:
+			{
+			    btAssert(0 && "Invalid limitIndex specified for btConeTwistConstraint");
+			    return 0.0;
+			}
+		};
+	}
+
 	// setLimit(), a few notes:
 	// _softness:
 	//		0->1, recommend ~0.8->1.
@@ -218,8 +250,8 @@ public:
 		m_relaxationFactor = _relaxationFactor;
 	}
 
-	const btTransform& getAFrame() { return m_rbAFrame; };	
+	const btTransform& getAFrame() const { return m_rbAFrame; };	
-	const btTransform& getBFrame() { return m_rbBFrame; };
+	const btTransform& getBFrame() const { return m_rbBFrame; };
 
 	inline int getSolveTwistLimit()
 	{
@@ -239,27 +271,43 @@ public:
 	void calcAngleInfo();
 	void calcAngleInfo2(const btTransform& transA, const btTransform& transB,const btMatrix3x3& invInertiaWorldA,const btMatrix3x3& invInertiaWorldB);
 
-	inline btScalar getSwingSpan1()
+	inline btScalar getSwingSpan1() const
 	{
 		return m_swingSpan1;
 	}
-	inline btScalar getSwingSpan2()
+	inline btScalar getSwingSpan2() const
 	{
 		return m_swingSpan2;
 	}
-	inline btScalar getTwistSpan()
+	inline btScalar getTwistSpan() const
 	{
 		return m_twistSpan;
 	}
-	inline btScalar getTwistAngle()
+	inline btScalar getLimitSoftness() const
+	{
+		return m_limitSoftness;
+	}
+	inline btScalar getBiasFactor() const
+	{
+		return m_biasFactor;
+	}
+	inline btScalar getRelaxationFactor() const
+	{
+		return m_relaxationFactor;
+	}
+	inline btScalar getTwistAngle() const
 	{
 		return m_twistAngle;
 	}
 	bool isPastSwingLimit() { return m_solveSwingLimit; }
 
+	btScalar getDamping() const { return m_damping; }
 	void setDamping(btScalar damping) { m_damping = damping; }
 
 	void enableMotor(bool b) { m_bMotorEnabled = b; }
+	bool isMotorEnabled() const { return m_bMotorEnabled; }
+	btScalar getMaxMotorImpulse() const { return m_maxMotorImpulse; }
+	bool isMaxMotorImpulseNormalized() const { return m_bNormalizedMotorStrength; }
 	void setMaxMotorImpulse(btScalar maxMotorImpulse) { m_maxMotorImpulse = maxMotorImpulse; m_bNormalizedMotorStrength = false; }
 	void setMaxMotorImpulseNormalized(btScalar maxMotorImpulse) { m_maxMotorImpulse = maxMotorImpulse; m_bNormalizedMotorStrength = true; }
 
@@ -271,6 +319,7 @@ public:
 	// note: if q violates the joint limits, the internal target is clamped to avoid conflicting impulses (very bad for stability)
 	// note: don't forget to enableMotor()
 	void setMotorTarget(const btQuaternion &q);
+	const btQuaternion& getMotorTarget() const { return m_qTarget; }
 
 	// same as above, but q is the desired rotation of frameA wrt frameB in constraint space
 	void setMotorTargetInConstraintSpace(const btQuaternion &q);
@@ -297,6 +346,11 @@ public:
 	///return the local value of parameter
 	virtual	btScalar getParam(int num, int axis = -1) const;
 
+	int getFlags() const
+	{
+		return m_flags;
+	}
+
 	virtual	int	calculateSerializeBufferSize() const;
 
 	///fills the dataBuffer and returns the struct name (and 0 on failure)

src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h

@@ -111,14 +111,14 @@ public:
 
 
 	//! Is limited
-    bool isLimited()
+    bool isLimited() const
     {
     	if(m_loLimit > m_hiLimit) return false;
     	return true;
     }
 
 	//! Need apply correction
-    bool needApplyTorques()
+    bool needApplyTorques() const
     {
     	if(m_currentLimit == 0 && m_enableMotor == false) return false;
     	return true;
@@ -207,11 +207,11 @@ public:
     - limited means upper > lower
     - limitIndex: first 3 are linear, next 3 are angular
     */
-    inline bool	isLimited(int limitIndex)
+    inline bool	isLimited(int limitIndex) const
     {
        return (m_upperLimit[limitIndex] >= m_lowerLimit[limitIndex]);
     }
-    inline bool needApplyForce(int limitIndex)
+    inline bool needApplyForce(int limitIndex) const
     {
     	if(m_currentLimit[limitIndex] == 0 && m_enableMotor[limitIndex] == false) return false;
     	return true;
@@ -457,7 +457,7 @@ public:
     	m_linearLimits.m_lowerLimit = linearLower;
     }
 
-	void	getLinearLowerLimit(btVector3& linearLower)
+	void	getLinearLowerLimit(btVector3& linearLower) const
 	{
 		linearLower = m_linearLimits.m_lowerLimit;
 	}
@@ -467,7 +467,7 @@ public:
 		m_linearLimits.m_upperLimit = linearUpper;
 	}
 
-	void	getLinearUpperLimit(btVector3& linearUpper)
+	void	getLinearUpperLimit(btVector3& linearUpper) const
 	{
 		linearUpper = m_linearLimits.m_upperLimit;
 	}
@@ -478,7 +478,7 @@ public:
 			m_angularLimits[i].m_loLimit = btNormalizeAngle(angularLower[i]);
     }
 
-	void	getAngularLowerLimit(btVector3& angularLower)
+	void	getAngularLowerLimit(btVector3& angularLower) const
 	{
 		for(int i = 0; i < 3; i++) 
 			angularLower[i] = m_angularLimits[i].m_loLimit;
@@ -490,7 +490,7 @@ public:
 			m_angularLimits[i].m_hiLimit = btNormalizeAngle(angularUpper[i]);
     }
 
-	void	getAngularUpperLimit(btVector3& angularUpper)
+	void	getAngularUpperLimit(btVector3& angularUpper) const
 	{
 		for(int i = 0; i < 3; i++)
 			angularUpper[i] = m_angularLimits[i].m_hiLimit;
@@ -532,7 +532,7 @@ public:
     - limited means upper > lower
     - limitIndex: first 3 are linear, next 3 are angular
     */
-    bool	isLimited(int limitIndex)
+    bool	isLimited(int limitIndex) const
     {
     	if(limitIndex<3)
     	{
@@ -549,8 +549,11 @@ public:
 								btConstraintInfo2 *info, int row, btVector3& ax1, int rotational, int rotAllowed = false);
 
 	// access for UseFrameOffset
-	bool getUseFrameOffset() { return m_useOffsetForConstraintFrame; }
+	bool getUseFrameOffset() const { return m_useOffsetForConstraintFrame; }
 	void setUseFrameOffset(bool frameOffsetOnOff) { m_useOffsetForConstraintFrame = frameOffsetOnOff; }
+	
+	bool getUseLinearReferenceFrameA() const { return m_useLinearReferenceFrameA; }
+	void setUseLinearReferenceFrameA(bool linearReferenceFrameA) { m_useLinearReferenceFrameA = linearReferenceFrameA; }
 
 	///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). 
 	///If no axis is provided, it uses the default axis for this constraint.
@@ -560,6 +563,10 @@ public:
 
 	void setAxis( const btVector3& axis1, const btVector3& axis2);
 
+    	virtual	int getFlags() const
+    	{
+        	return m_flags;
+	}
 
 	virtual	int	calculateSerializeBufferSize() const;
 

src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h

@@ -63,6 +63,26 @@ public:
 	void setEquilibriumPoint(int index);  // set the current constraint position/orientation as an equilibrium point for given DOF
 	void setEquilibriumPoint(int index, btScalar val);
 
+	bool isSpringEnabled(int index) const
+	{
+	    return m_springEnabled[index];
+	}
+
+	btScalar getStiffness(int index) const
+	{
+	    return m_springStiffness[index];
+	}
+
+	btScalar getDamping(int index) const
+	{
+	    return m_springDamping[index];
+	}
+
+	btScalar getEquilibriumPoint(int index) const
+	{
+	    return m_equilibriumPoint[index];
+	}
+
 	virtual void setAxis( const btVector3& axis1, const btVector3& axis2);
 
 	virtual void getInfo2 (btConstraintInfo2* info);

src/BulletDynamics/ConstraintSolver/btHingeConstraint.h

@@ -177,6 +177,7 @@ public:
 	//       maintain a given angular target.
 	void enableMotor(bool enableMotor) 	{ m_enableAngularMotor = enableMotor; }
 	void setMaxMotorImpulse(btScalar maxMotorImpulse) { m_maxMotorImpulse = maxMotorImpulse; }
+	void setMotorTargetVelocity(btScalar motorTargetVelocity) { m_motorTargetVelocity = motorTargetVelocity; }
 	void setMotorTarget(const btQuaternion& qAinB, btScalar dt); // qAinB is rotation of body A wrt body B.
 	void setMotorTarget(btScalar targetAngle, btScalar dt);
 
@@ -193,6 +194,33 @@ public:
 		m_relaxationFactor = _relaxationFactor;
 #endif
 	}
+	
+	btScalar getLimitSoftness() const
+	{
+#ifdef	_BT_USE_CENTER_LIMIT_
+		return m_limit.getSoftness();
+#else
+		return m_limitSoftness;
+#endif
+	}
+
+	btScalar getLimitBiasFactor() const
+	{
+#ifdef	_BT_USE_CENTER_LIMIT_
+		return m_limit.getBiasFactor();
+#else
+		return m_biasFactor;
+#endif
+	}
+
+	btScalar getLimitRelaxationFactor() const
+	{
+#ifdef	_BT_USE_CENTER_LIMIT_
+		return m_limit.getRelaxationFactor();
+#else
+		return m_relaxationFactor;
+#endif
+	}
 
 	void	setAxis(btVector3& axisInA)
 	{
@@ -297,13 +325,20 @@ public:
 	// access for UseFrameOffset
 	bool getUseFrameOffset() { return m_useOffsetForConstraintFrame; }
 	void setUseFrameOffset(bool frameOffsetOnOff) { m_useOffsetForConstraintFrame = frameOffsetOnOff; }
-
+	// access for UseReferenceFrameA
+	bool getUseReferenceFrameA() const { return m_useReferenceFrameA; }
+	void setUseReferenceFrameA(bool useReferenceFrameA) { m_useReferenceFrameA = useReferenceFrameA; }
 
 	///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). 
 	///If no axis is provided, it uses the default axis for this constraint.
 	virtual	void	setParam(int num, btScalar value, int axis = -1);
 	///return the local value of parameter
 	virtual	btScalar getParam(int num, int axis = -1) const;
+	
+	virtual	int getFlags() const
+	{
+  	    return m_flags;
+	}
 
 	virtual	int	calculateSerializeBufferSize() const;
 

src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h

@@ -116,6 +116,11 @@ public:
 	virtual	void	setParam(int num, btScalar value, int axis = -1);
 	///return the local value of parameter
 	virtual	btScalar getParam(int num, int axis = -1) const;
+	
+	virtual	int getFlags() const
+	{
+        	return m_flags;
+    	}
 
 	virtual	int	calculateSerializeBufferSize() const;
 

src/BulletDynamics/ConstraintSolver/btSliderConstraint.h

@@ -280,6 +280,11 @@ public:
 	virtual	void	setParam(int num, btScalar value, int axis = -1);
 	///return the local value of parameter
 	virtual	btScalar getParam(int num, int axis = -1) const;
+	
+	virtual	int getFlags() const
+    	{
+		return m_flags;
+	}
 
 	virtual	int	calculateSerializeBufferSize() const;
 

src/BulletDynamics/Featherstone/btMultiBody.cpp

@@ -92,7 +92,8 @@ btMultiBody::btMultiBody(int n_links,
                      btScalar mass,
                      const btVector3 &inertia,
                      bool fixedBase,
-                     bool canSleep)
+                     bool canSleep,
+		     bool /*deprecatedUseMultiDof*/)
     : 
     	m_baseCollider(0),
 		m_baseName(0),
@@ -137,7 +138,7 @@ void btMultiBody::setupFixed(int i,
 						   int parent,
 						   const btQuaternion &rotParentToThis,
 						   const btVector3 &parentComToThisPivotOffset,
-                           const btVector3 &thisPivotToThisComOffset)
+                           const btVector3 &thisPivotToThisComOffset, bool /*deprecatedDisableParentCollision*/)
 {
 	
 	m_links[i].m_mass = mass;

src/BulletDynamics/Featherstone/btMultiBody.h

@@ -63,7 +63,7 @@ public:
 		btScalar mass,                // mass of base
 		const btVector3 &inertia,    // inertia of base, in base frame; assumed diagonal
 		bool fixedBase,           // whether the base is fixed (true) or can move (false)
-		bool canSleep);
+		bool canSleep, bool deprecatedMultiDof=true);
 
 
 	virtual ~btMultiBody();
@@ -75,7 +75,7 @@ public:
 						   int parent,
 						   const btQuaternion &rotParentToThis,
 						   const btVector3 &parentComToThisPivotOffset,
-                           const btVector3 &thisPivotToThisComOffset);
+                           const btVector3 &thisPivotToThisComOffset, bool deprecatedDisableParentCollision=true);
 
 						
 	void setupPrismatic(int i,
@@ -337,7 +337,8 @@ void addJointTorque(int i, btScalar Q);
     // improvement, at least on Windows (where dynamic memory
     // allocation appears to be fairly slow).
     //
-    
+   
+ 
 	void computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar dt,
                         btAlignedObjectArray<btScalar> &scratch_r,
                         btAlignedObjectArray<btVector3> &scratch_v,
@@ -345,17 +346,26 @@ void addJointTorque(int i, btScalar Q);
 			bool isConstraintPass=false
 		);
 
+///stepVelocitiesMultiDof is deprecated, use computeAccelerationsArticulatedBodyAlgorithmMultiDof instead
+        void stepVelocitiesMultiDof(btScalar dt,
+                        btAlignedObjectArray<btScalar> &scratch_r,
+                        btAlignedObjectArray<btVector3> &scratch_v,
+                        btAlignedObjectArray<btMatrix3x3> &scratch_m,
+                        bool isConstraintPass=false)
+	{
+		computeAccelerationsArticulatedBodyAlgorithmMultiDof(dt,scratch_r,scratch_v,scratch_m,isConstraintPass);
+        }
+
     // calcAccelerationDeltasMultiDof
     // input: force vector (in same format as jacobian, i.e.:
     //                      3 torque values, 3 force values, num_links joint torque values)
     // output: 3 omegadot values, 3 vdot values, num_links q_double_dot values
     // (existing contents of output array are replaced)
-    // stepVelocities must have been called first.
+    // calcAccelerationDeltasMultiDof must have been called first.
-
 	void calcAccelerationDeltasMultiDof(const btScalar *force, btScalar *output,
                                 btAlignedObjectArray<btScalar> &scratch_r,
                                 btAlignedObjectArray<btVector3> &scratch_v) const;
-
+	
   
 	void applyDeltaVeeMultiDof2(const btScalar * delta_vee, btScalar multiplier)
 	{

src/LinearMath/btAlignedObjectArray.h

@@ -39,6 +39,12 @@ subject to the following restrictions:
 #include <new> //for placement new
 #endif //BT_USE_PLACEMENT_NEW
 
+// The register keyword is deprecated in C++11 so don't use it.
+#if __cplusplus > 199711L
+#define BT_REGISTER
+#else
+#define BT_REGISTER register
+#endif
 
 ///The btAlignedObjectArray template class uses a subset of the stl::vector interface for its methods
 ///It is developed to replace stl::vector to avoid portability issues, including STL alignment issues to add SIMD/SSE data
@@ -211,7 +217,7 @@ protected:
 	
 		SIMD_FORCE_INLINE	void	resize(int newsize, const T& fillData=T())
 		{
-			const register int curSize = size();
+			const BT_REGISTER int curSize = size();
 
 			if (newsize < curSize)
 			{
@@ -238,7 +244,7 @@ protected:
 		}
 		SIMD_FORCE_INLINE	T&  expandNonInitializing( )
 		{	
-			const register int sz = size();
+			const BT_REGISTER int sz = size();
 			if( sz == capacity() )
 			{
 				reserve( allocSize(size()) );
@@ -251,7 +257,7 @@ protected:
 
 		SIMD_FORCE_INLINE	T&  expand( const T& fillValue=T())
 		{	
-			const register int sz = size();
+			const BT_REGISTER int sz = size();
 			if( sz == capacity() )
 			{
 				reserve( allocSize(size()) );
@@ -267,7 +273,7 @@ protected:
 
 		SIMD_FORCE_INLINE	void push_back(const T& _Val)
 		{	
-			const register int sz = size();
+			const BT_REGISTER int sz = size();
 			if( sz == capacity() )
 			{
 				reserve( allocSize(size()) );

src/LinearMath/btTransform.h

@@ -127,7 +127,7 @@ public:
 	
 	
   /**@brief Set from an array 
-   * @param m A pointer to a 15 element array (12 rotation(row major padded on the right by 1), and 3 translation */
+   * @param m A pointer to a 16 element array (12 rotation(row major padded on the right by 1), and 3 translation */
 	void setFromOpenGLMatrix(const btScalar *m)
 	{
 		m_basis.setFromOpenGLSubMatrix(m);
@@ -135,7 +135,7 @@ public:
 	}
 
   /**@brief Fill an array representation
-   * @param m A pointer to a 15 element array (12 rotation(row major padded on the right by 1), and 3 translation */
+   * @param m A pointer to a 16 element array (12 rotation(row major padded on the right by 1), and 3 translation */
 	void getOpenGLMatrix(btScalar *m) const 
 	{
 		m_basis.getOpenGLSubMatrix(m);