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Code Issues Releases Wiki Activity

fix more warnings in BulletCollision, and fix CMakeLists for Linux

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This commit is contained in:
Erwin Coumans 2014-08-21 15:54:50 -07:00
parent 143c2da254
commit 5834547368
27 changed files with 1277 additions and 1246 deletions
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9
Demos3/AllBullet2Demos/CMakeLists.txt
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@ -6,7 +6,6 @@ INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/btgui/lua-5.2.3/src
)
SET(App_AllBullet2Demos_SRCS
main.cpp
BulletDemoInterface.h
@ -93,7 +92,13 @@ ELSE(WIN32)
MESSAGE(${COCOA})
link_libraries(${COCOA})
ELSE(APPLE)
LINK_LIBRARIES( pthread GLEW)
ADD_DEFINITIONS("-DGLEW_INIT_OPENGL11_FUNCTIONS=1")
ADD_DEFINITIONS("-DGLEW_STATIC")
ADD_DEFINITIONS("-DGLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1")
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/btgui/OpenGLWindow/GlewWindows
)
LINK_LIBRARIES( pthread dl)
ENDIF(APPLE)
ENDIF(WIN32)

2
Demos3/AllBullet2Demos/premake4.lua
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@ -106,5 +106,5 @@ if os.is("Linux") then
initX11()
end
if os.is("MacOSX") then
links{"Cocoa.framework"}
links{"Cocoa.framework"}
end

11
Demos3/GpuDemos/CMakeLists.txt
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@ -50,7 +50,16 @@ ELSE(WIN32)
MESSAGE(${COCOA})
link_libraries(${COCOA})
ELSE(APPLE)
LINK_LIBRARIES( GLEW X11 pthread dl)
SET(App_Bullet3_OpenCL_Demos_SRCS ${App_Bullet3_OpenCL_Demos_SRCS} ${App_Bullet3_OpenCL_Demos_Common_SRCS} ../../btgui/OpenGLWindow/GlewWindows/glew.c)
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/btgui/OpenGLWindow/GlewWindows
)
ADD_DEFINITIONS("-DGLEW_INIT_OPENGL11_FUNCTIONS=1")
ADD_DEFINITIONS("-DGLEW_STATIC")
ADD_DEFINITIONS("-DGLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1")
LINK_LIBRARIES( X11 pthread dl)
ENDIF(APPLE)
ENDIF(WIN32)

10
Demos3/SimpleOpenGL3/CMakeLists.txt
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@ -27,7 +27,15 @@ ELSE(WIN32)
MESSAGE(${COCOA})
link_libraries(${COCOA})
ELSE(APPLE)
LINK_LIBRARIES( GLEW X11 pthread dl Xext)
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/btgui/OpenGLWindow/GlewWindows
)
ADD_DEFINITIONS("-DGLEW_INIT_OPENGL11_FUNCTIONS=1")
ADD_DEFINITIONS("-DGLEW_STATIC")
ADD_DEFINITIONS("-DGLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1")
LINK_LIBRARIES( X11 pthread dl Xext)
ENDIF(APPLE)
ENDIF(WIN32)

9
btgui/OpenGLWindow/CMakeLists.txt
View File

@ -32,7 +32,14 @@ ENDIF(APPLE)
#no Linux detection?
IF(NOT WIN32 AND NOT APPLE)
SET(OpenGLWindow_SRCS ${OpenGLWindowLinux_CPP} ${OpenGLWindowCommon_CPP} )
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/btgui/OpenGLWindow/GlewWindows
)
ADD_DEFINITIONS(-DGLEW_STATIC)
ADD_DEFINITIONS("-DGLEW_INIT_OPENGL11_FUNCTIONS=1")
ADD_DEFINITIONS("-DGLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1")
SET(OpenGLWindow_SRCS ${OpenGLWindowLinux_CPP} ${BULLET_PHYSICS_SOURCE_DIR}/btgui/OpenGLWindow/GlewWindows/glew.c ${OpenGLWindowCommon_CPP} )
ENDIF()

8
src/BulletCollision/BroadphaseCollision/btDbvt.cpp
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@ -38,8 +38,9 @@ static DBVT_INLINE btDbvtVolume merge( const btDbvtVolume& a,
const btDbvtVolume& b)
{
#if (DBVT_MERGE_IMPL==DBVT_IMPL_SSE)
ATTRIBUTE_ALIGNED16(char locals[sizeof(btDbvtAabbMm)]);
btDbvtVolume& res=*(btDbvtVolume*)locals;
ATTRIBUTE_ALIGNED16( char locals[sizeof(btDbvtAabbMm)]);
btDbvtVolume* ptr = (btDbvtVolume*) locals;
btDbvtVolume& res=*ptr;
#else
btDbvtVolume res;
#endif
@ -250,7 +251,8 @@ static btDbvtVolume bounds( const tNodeArray& leaves)
{
#if DBVT_MERGE_IMPL==DBVT_IMPL_SSE
ATTRIBUTE_ALIGNED16(char locals[sizeof(btDbvtVolume)]);
btDbvtVolume& volume=*(btDbvtVolume*)locals;
btDbvtVolume* ptr = (btDbvtVolume*) locals;
btDbvtVolume& volume=*ptr;
volume=leaves[0]->volume;
#else
btDbvtVolume volume=leaves[0]->volume;

3
src/BulletCollision/CollisionDispatch/btCollisionObject.cpp
View File

@ -31,11 +31,10 @@ btCollisionObject::btCollisionObject()
m_activationState1(1),
m_deactivationTime(btScalar(0.)),
m_friction(btScalar(0.5)),
m_rollingFriction(0.0f),
m_restitution(btScalar(0.)),
m_rollingFriction(0.0f),
m_internalType(CO_COLLISION_OBJECT),
m_userObjectPointer(0),
m_userIndex(-1),
m_hitFraction(btScalar(1.)),
m_ccdSweptSphereRadius(btScalar(0.)),
m_ccdMotionThreshold(btScalar(0.)),

7
src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
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@ -292,7 +292,7 @@ void btCollisionWorld::rayTestSingleInternal(const btTransform& rayFromTrans,con
btGjkConvexCast gjkConvexCaster(castShape,convexShape,&simplexSolver);
//btContinuousConvexCollision convexCaster(castShape,convexShape,&simplexSolver,0);
bool condition = true;
btConvexCast* convexCasterPtr = 0;
//use kF_UseSubSimplexConvexCastRaytest by default
if (resultCallback.m_flags & btTriangleRaycastCallback::kF_UseGjkConvexCastRaytest)
@ -1245,7 +1245,10 @@ public:
void btCollisionWorld::debugDrawObject(const btTransform& worldTransform, const btCollisionShape* shape, const btVector3& color)
{
// Draw a small simplex at the center of the object
getDebugDrawer()->drawTransform(worldTransform,1);
if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawFrames)
{
getDebugDrawer()->drawTransform(worldTransform,1);
}
if (shape->getShapeType() == COMPOUND_SHAPE_PROXYTYPE)
{

8
src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
View File

@ -123,7 +123,7 @@ public:
//backup
btTransform orgTrans = m_compoundColObjWrap->getWorldTransform();
btTransform orgInterpolationTrans = m_compoundColObjWrap->getWorldTransform();
const btTransform& childTrans = compoundShape->getChildTransform(index);
btTransform newChildWorldTrans = orgTrans*childTrans ;
@ -294,7 +294,7 @@ void btCompoundCollisionAlgorithm::processCollision (const btCollisionObjectWrap
btManifoldArray manifoldArray;
const btCollisionShape* childShape = 0;
btTransform orgTrans;
btTransform orgInterpolationTrans;
btTransform newChildWorldTrans;
btVector3 aabbMin0,aabbMax0,aabbMin1,aabbMax1;
@ -304,8 +304,8 @@ void btCompoundCollisionAlgorithm::processCollision (const btCollisionObjectWrap
{
childShape = compoundShape->getChildShape(i);
//if not longer overlapping, remove the algorithm
orgTrans = colObjWrap->getWorldTransform();
orgInterpolationTrans = colObjWrap->getWorldTransform();
orgTrans = colObjWrap->getWorldTransform();
const btTransform& childTrans = compoundShape->getChildTransform(i);
newChildWorldTrans = orgTrans*childTrans ;

5
src/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp
View File

@ -112,10 +112,9 @@ struct btCompoundCompoundLeafCallback : btDbvt::ICollide
btManifoldResult* resultOut,
btHashedSimplePairCache* childAlgorithmsCache,
btPersistentManifold* sharedManifold)
:m_compound0ColObjWrap(compound1ObjWrap),m_compound1ColObjWrap(compound0ObjWrap),m_dispatcher(dispatcher),m_dispatchInfo(dispatchInfo),m_resultOut(resultOut),
:m_numOverlapPairs(0),m_compound0ColObjWrap(compound1ObjWrap),m_compound1ColObjWrap(compound0ObjWrap),m_dispatcher(dispatcher),m_dispatchInfo(dispatchInfo),m_resultOut(resultOut),
m_childCollisionAlgorithmCache(childAlgorithmsCache),
m_sharedManifold(sharedManifold),
m_numOverlapPairs(0)
m_sharedManifold(sharedManifold)
{
}

7
src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
View File

@ -88,20 +88,19 @@ partId, int triangleIndex)
//just for debugging purposes
//printf("triangle %d",m_triangleCount++);
const btCollisionObject* ob = const_cast<btCollisionObject*>(m_triBodyWrap->getCollisionObject());
btCollisionAlgorithmConstructionInfo ci;
ci.m_dispatcher1 = m_dispatcher;
//const btCollisionObject* ob = static_cast<btCollisionObject*>(m_triBodyWrap->getCollisionObject());
#if 0
///debug drawing of the overlapping triangles
if (m_dispatchInfoPtr && m_dispatchInfoPtr->m_debugDraw && (m_dispatchInfoPtr->m_debugDraw->getDebugMode() &btIDebugDraw::DBG_DrawWireframe ))
{
const btCollisionObject* ob = const_cast<btCollisionObject*>(m_triBodyWrap->getCollisionObject());
btVector3 color(1,1,0);
btTransform& tr = ob->getWorldTransform();
m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[0]),tr(triangle[1]),color);

3
src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp
View File

@ -105,8 +105,7 @@ btDefaultCollisionConfiguration::btDefaultCollisionConfiguration(const btDefault
int maxSize = sizeof(btConvexConvexAlgorithm);
int maxSize2 = sizeof(btConvexConcaveCollisionAlgorithm);
int maxSize3 = sizeof(btCompoundCollisionAlgorithm);
int sl = sizeof(btConvexSeparatingDistanceUtil);
sl = sizeof(btGjkPairDetector);
int collisionAlgorithmMaxElementSize = btMax(maxSize,constructionInfo.m_customCollisionAlgorithmMaxElementSize);
collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize2);
collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize3);

9
src/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp
View File

@ -114,7 +114,6 @@ struct btConnectivityProcessor : public btTriangleCallback
if(numshared >= 3)
return;
}
switch (numshared)
{
case 0:
@ -203,6 +202,7 @@ struct btConnectivityProcessor : public btTriangleCallback
ang4 = 0.f;
} else
{
calculatedEdge.normalize();
btVector3 calculatedNormalA = calculatedEdge.cross(edgeCrossA);
calculatedNormalA.normalize();
@ -213,7 +213,7 @@ struct btConnectivityProcessor : public btTriangleCallback
isConvex = (dotA<0.);
correctedAngle = isConvex ? ang4 : -ang4;
btQuaternion orn2 = btQuaternion(btVector3(calculatedEdge.x(), calculatedEdge.y(), calculatedEdge.z()),-correctedAngle);
btQuaternion orn2(calculatedEdge,-correctedAngle);
calculatedNormalB = btMatrix3x3(orn2)*normalA;
@ -301,6 +301,11 @@ struct btConnectivityProcessor : public btTriangleCallback
break;
}
default:
{
// printf("warning: duplicate triangle\n");
}
}
}
};

14
src/BulletCollision/CollisionShapes/btCollisionShape.h
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@ -28,18 +28,14 @@ ATTRIBUTE_ALIGNED16(class) btCollisionShape
{
protected:
int m_shapeType;
union
{
void* m_userPointer;
int m_userIndex;
};
void* m_userPointer;
int m_userIndex;
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
btCollisionShape() : m_shapeType (INVALID_SHAPE_PROXYTYPE), m_userPointer(0)
btCollisionShape() : m_shapeType (INVALID_SHAPE_PROXYTYPE), m_userPointer(0), m_userIndex(-1)
{
}
@ -135,17 +131,17 @@ public:
{
return m_userPointer;
}
void setUserIndex(int index)
{
m_userIndex = index;
}
int getUserIndex() const
int getUserIndex() const
{
return m_userIndex;
}
virtual int calculateSerializeBufferSize() const;
///fills the dataBuffer and returns the struct name (and 0 on failure)

5
src/BulletCollision/CollisionShapes/btCompoundShape.cpp
View File

@ -303,7 +303,7 @@ void btCompoundShape::createAabbTreeFromChildren()
m_dynamicAabbTree = new(mem) btDbvt();
btAssert(mem==m_dynamicAabbTree);
for ( size_t index = 0; index < m_children.size(); index++ )
for ( int index = 0; index < m_children.size(); index++ )
{
btCompoundShapeChild &child = m_children[index];
@ -312,7 +312,8 @@ void btCompoundShape::createAabbTreeFromChildren()
child.m_childShape->getAabb(child.m_transform,localAabbMin,localAabbMax);
const btDbvtVolume bounds=btDbvtVolume::FromMM(localAabbMin,localAabbMax);
child.m_node = m_dynamicAabbTree->insert(bounds, reinterpret_cast<void*>(index) );
size_t index2 = index;
child.m_node = m_dynamicAabbTree->insert(bounds, reinterpret_cast<void*>(index2) );
}
}
}

2
src/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.cpp
View File

@ -313,7 +313,7 @@ bool btPolyhedralContactClipping::findSeparatingAxis( const btConvexPolyhedron&
int edgeB=-1;
btVector3 worldEdgeA;
btVector3 worldEdgeB;
btVector3 witnessPointA,witnessPointB;
btVector3 witnessPointA(0,0,0),witnessPointB(0,0,0);
int curEdgeEdge = 0;

3
src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.h
View File

@ -21,7 +21,6 @@ subject to the following restrictions:
struct btBroadphaseProxy;
class btConvexShape;
class btTriangleRaycastCallback: public btTriangleCallback
{
public:
@ -33,7 +32,7 @@ public:
//@BP Mod - allow backface filtering and unflipped normals
enum EFlags
{
kF_None = 0,
kF_None = 0,
kF_FilterBackfaces = 1 << 0,
kF_KeepUnflippedNormal = 1 << 1, // Prevents returned face normal getting flipped when a ray hits a back-facing triangle
///SubSimplexConvexCastRaytest is the default, even if kF_None is set.

10
src/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp
View File

@ -65,10 +65,10 @@ bool btSubsimplexConvexCast::calcTimeOfImpact(
btVector3 n;
n.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
bool hasResult = false;
btVector3 c;
btScalar lastLambda = lambda;
btScalar dist2 = v.length2();
@ -109,9 +109,9 @@ bool btSubsimplexConvexCast::calcTimeOfImpact(
//m_simplexSolver->reset();
//check next line
w = supVertexA-supVertexB;
lastLambda = lambda;
n = v;
hasResult = true;
}
}
///Just like regular GJK only add the vertex if it isn't already (close) to current vertex, it would lead to divisions by zero and NaN etc.
@ -121,7 +121,7 @@ bool btSubsimplexConvexCast::calcTimeOfImpact(
if (m_simplexSolver->closest(v))
{
dist2 = v.length2();
hasResult = true;
//todo: check this normal for validity
//n=v;
//printf("V=%f , %f, %f\n",v[0],v[1],v[2]);