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Code Issues Releases Wiki Activity

fix many warnings

Browse Source 
remove btMultiSapBroadphase.*
make collisionFilterGroup/collisionFilterMark int (instead of short int)
This commit is contained in:
Erwin Coumans 2017-01-15 22:26:11 -08:00
parent e3df00d5f1
commit c0c4c8ba3f
146 changed files with 830 additions and 1431 deletions
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26
Extras/ConvexDecomposition/concavity.cpp
View File

@ -705,6 +705,7 @@ float computeConcavity(unsigned int vcount,
}
}
#if 0
if ( ftris.size() && 0 )
{
@ -725,17 +726,17 @@ float computeConcavity(unsigned int vcount,
do
{
found = false;
CTriVector::iterator i;
for (i=ftris.begin(); i!=ftris.end(); ++i)
{
CTri &t = (*i);
if ( isFeatureTri(t,flist,maxc,callback,color) )
{
found = true;
totalarea+=t.area();
}
}
found = false;
CTriVector::iterator i;
for (i=ftris.begin(); i!=ftris.end(); ++i)
{
CTri &t = (*i);
if ( isFeatureTri(t,flist,maxc,callback,color) )
{
found = true;
totalarea+=t.area();
}
}
} while ( found );
@ -759,6 +760,7 @@ float computeConcavity(unsigned int vcount,
}
}
}
}
unsigned int color = getDebugColor();
@ -786,7 +788,7 @@ float computeConcavity(unsigned int vcount,
hl.ReleaseResult(result);
}
#endif
return cret;
}

3
Extras/Serialize/BulletFileLoader/bDNA.cpp
View File

@ -349,7 +349,8 @@ static int name_is_array(char* name, int* dim1, int* dim2) {
void bDNA::init(char *data, int len, bool swap)
{
int *intPtr=0;short *shtPtr=0;
char *cp = 0;int dataLen =0;long nr=0;
char *cp = 0;int dataLen =0;
//long nr=0;
intPtr = (int*)data;
/*

10
Extras/Serialize/BulletFileLoader/bFile.cpp
View File

@ -411,7 +411,7 @@ void bFile::swapDNA(char* ptr)
// void bDNA::init(char *data, int len, bool swap)
int *intPtr=0;short *shtPtr=0;
char *cp = 0;int dataLen =0;long nr=0;
char *cp = 0;int dataLen =0;
intPtr = (int*)data;
/*
@ -573,7 +573,7 @@ void bFile::writeFile(const char* fileName)
void bFile::preSwap()
{
const bool brokenDNA = (mFlags&FD_BROKEN_DNA)!=0;
//const bool brokenDNA = (mFlags&FD_BROKEN_DNA)!=0;
//FD_ENDIAN_SWAP
//byte 8 determines the endianness of the file, little (v) versus big (V)
int littleEndian= 1;
@ -1285,7 +1285,7 @@ int bFile::resolvePointersStructRecursive(char *strcPtr, int dna_nr, int verbose
}
//skip the *
printf("<%s type=\"pointer\"> ",&memName[1]);
printf("%d ", array[a]);
printf("%p ", array[a]);
printf("</%s>\n",&memName[1]);
}
@ -1303,7 +1303,7 @@ int bFile::resolvePointersStructRecursive(char *strcPtr, int dna_nr, int verbose
printf(" ");
}
printf("<%s type=\"pointer\"> ",&memName[1]);
printf("%d ", ptr);
printf("%p ", ptr);
printf("</%s>\n",&memName[1]);
}
ptr = findLibPointer(ptr);
@ -1484,7 +1484,7 @@ void bFile::resolvePointers(int verboseMode)
char* oldType = fileDna->getType(oldStruct[0]);
if (verboseMode & FD_VERBOSE_EXPORT_XML)
printf(" <%s pointer=%d>\n",oldType,dataChunk.oldPtr);
printf(" <%s pointer=%p>\n",oldType,dataChunk.oldPtr);
resolvePointersChunk(dataChunk, verboseMode);

2
Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.cpp
View File

@ -307,8 +307,6 @@ bool btBulletWorldImporter::convertAllObjects( bParse::btBulletFile* bulletFile
for (i=0;i<bulletFile2->m_constraints.size();i++)
{
btTypedConstraintData2* constraintData = (btTypedConstraintData2*)bulletFile2->m_constraints[i];
btTypedConstraintFloatData* singleC = (btTypedConstraintFloatData*)bulletFile2->m_constraints[i];
btTypedConstraintDoubleData* doubleC = (btTypedConstraintDoubleData*)bulletFile2->m_constraints[i];
btCollisionObject** colAptr = m_bodyMap.find(constraintData->m_rbA);
btCollisionObject** colBptr = m_bodyMap.find(constraintData->m_rbB);

7
Extras/Serialize/BulletWorldImporter/btWorldImporter.cpp
View File

@ -468,14 +468,11 @@ btCollisionShape* btWorldImporter::convertCollisionShape( btCollisionShapeData*
btCompoundShapeData* compoundData = (btCompoundShapeData*)shapeData;
btCompoundShape* compoundShape = createCompoundShape();
btCompoundShapeChildData* childShapeDataArray = &compoundData->m_childShapePtr[0];
btAlignedObjectArray<btCollisionShape*> childShapes;
for (int i=0;i<compoundData->m_numChildShapes;i++)
{
btCompoundShapeChildData* ptr = &compoundData->m_childShapePtr[i];
btCollisionShapeData* cd = compoundData->m_childShapePtr[i].m_childShape;
btCollisionShape* childShape = convertCollisionShape(cd);

92
Extras/Serialize/BulletXmlWorldImporter/btBulletXmlWorldImporter.cpp
View File

@ -18,6 +18,16 @@ subject to the following restrictions:
#include "btBulletDynamicsCommon.h"
#include "string_split.h"
struct MyLocalCaster
{
void* m_ptr;
int m_int;
MyLocalCaster()
:m_ptr(0)
{
}
};
btBulletXmlWorldImporter::btBulletXmlWorldImporter(btDynamicsWorld* world)
:btWorldImporter(world),
@ -32,7 +42,7 @@ btBulletXmlWorldImporter::~btBulletXmlWorldImporter()
}
#if 0
static int get_double_attribute_by_name(const TiXmlElement* pElement, const char* attribName,double* value)
{
if ( !pElement )
@ -48,7 +58,7 @@ static int get_double_attribute_by_name(const TiXmlElement* pElement, const char
}
return 0;
}
#endif
static int get_int_attribute_by_name(const TiXmlElement* pElement, const char* attribName,int* value)
{
@ -130,7 +140,9 @@ void btBulletXmlWorldImporter::deSerializeVector3FloatData(TiXmlNode* pParent,bt
if (node)\
{\
const char* txt = (node)->ToElement()->GetText();\
(targetdata).argname= (pointertype) (int) atof(txt);\
MyLocalCaster cast;\
cast.m_int = (int) atof(txt);\
(targetdata).argname= (pointertype)cast.m_ptr;\
}\
}
@ -216,8 +228,8 @@ void btBulletXmlWorldImporter::deSerializeCollisionShapeData(TiXmlNode* pParent,
void btBulletXmlWorldImporter::deSerializeConvexHullShapeData(TiXmlNode* pParent)
{
int ptr;
get_int_attribute_by_name(pParent->ToElement(),"pointer",&ptr);
MyLocalCaster cast;
get_int_attribute_by_name(pParent->ToElement(),"pointer",&cast.m_int);
btConvexHullShapeData* convexHullData = (btConvexHullShapeData*)btAlignedAlloc(sizeof(btConvexHullShapeData), 16);
@ -233,18 +245,33 @@ void btBulletXmlWorldImporter::deSerializeConvexHullShapeData(TiXmlNode* pParent
SET_VECTOR4_VALUE(xmlConvexInt,&convexHullData->m_convexInternalShapeData,m_localScaling)
SET_VECTOR4_VALUE(xmlConvexInt,&convexHullData->m_convexInternalShapeData,m_implicitShapeDimensions)
//convexHullData->m_unscaledPointsFloatPtr
//#define SET_POINTER_VALUE(xmlnode, targetdata, argname, pointertype)
{
TiXmlNode* node = pParent->FirstChild("m_unscaledPointsFloatPtr");
btAssert(node);
if (node)
{
const char* txt = (node)->ToElement()->GetText();
MyLocalCaster cast;
cast.m_int = (int) atof(txt);
(*convexHullData).m_unscaledPointsFloatPtr= (btVector3FloatData*) cast.m_ptr;
}
}
SET_POINTER_VALUE(pParent,*convexHullData,m_unscaledPointsFloatPtr,btVector3FloatData*);
SET_POINTER_VALUE(pParent,*convexHullData,m_unscaledPointsDoublePtr,btVector3DoubleData*);
SET_INT_VALUE(pParent,convexHullData,m_numUnscaledPoints);
m_collisionShapeData.push_back((btCollisionShapeData*)convexHullData);
m_pointerLookup.insert((void*)ptr,convexHullData);
m_pointerLookup.insert(cast.m_ptr,convexHullData);
}
void btBulletXmlWorldImporter::deSerializeCompoundShapeChildData(TiXmlNode* pParent)
{
int ptr;
get_int_attribute_by_name(pParent->ToElement(),"pointer",&ptr);
MyLocalCaster cast;
get_int_attribute_by_name(pParent->ToElement(),"pointer",&cast.m_int);
int numChildren = 0;
btAlignedObjectArray<btCompoundShapeChildData>* compoundChildArrayPtr = new btAlignedObjectArray<btCompoundShapeChildData>;
@ -262,7 +289,9 @@ void btBulletXmlWorldImporter::deSerializeCompoundShapeChildData(TiXmlNode* pPar
SET_MATRIX33_VALUE(transNode,&compoundChildArrayPtr->at(i).m_transform,m_basis)
const char* txt = (colShapeNode)->ToElement()->GetText();
compoundChildArrayPtr->at(i).m_childShape = (btCollisionShapeData*) (int) atof(txt);
MyLocalCaster cast;
cast.m_int = (int) atof(txt);
compoundChildArrayPtr->at(i).m_childShape = (btCollisionShapeData*) cast.m_ptr;
btAssert(childTypeNode->ToElement());
if (childTypeNode->ToElement())
@ -292,15 +321,15 @@ void btBulletXmlWorldImporter::deSerializeCompoundShapeChildData(TiXmlNode* pPar
{
m_compoundShapeChildDataArrays.push_back(compoundChildArrayPtr);
btCompoundShapeChildData* cd = &compoundChildArrayPtr->at(0);
m_pointerLookup.insert((void*)ptr,cd);
m_pointerLookup.insert(cast.m_ptr,cd);
}
}
void btBulletXmlWorldImporter::deSerializeCompoundShapeData(TiXmlNode* pParent)
{
int ptr;
get_int_attribute_by_name(pParent->ToElement(),"pointer",&ptr);
MyLocalCaster cast;
get_int_attribute_by_name(pParent->ToElement(),"pointer",&cast.m_int);
btCompoundShapeData* compoundData = (btCompoundShapeData*) btAlignedAlloc(sizeof(btCompoundShapeData),16);
@ -319,7 +348,9 @@ void btBulletXmlWorldImporter::deSerializeCompoundShapeData(TiXmlNode* pParent)
while (node)
{
const char* txt = (node)->ToElement()->GetText();
compoundData->m_childShapePtr = (btCompoundShapeChildData*) (int) atof(txt);
MyLocalCaster cast;
cast.m_int = (int) atof(txt);
compoundData->m_childShapePtr = (btCompoundShapeChildData*) cast.m_ptr;
node = node->NextSibling("m_childShapePtr");
}
//SET_POINTER_VALUE(xmlColShape, *compoundData,m_childShapePtr,btCompoundShapeChildData*);
@ -328,14 +359,14 @@ void btBulletXmlWorldImporter::deSerializeCompoundShapeData(TiXmlNode* pParent)
SET_FLOAT_VALUE(pParent, compoundData,m_collisionMargin);
m_collisionShapeData.push_back((btCollisionShapeData*)compoundData);
m_pointerLookup.insert((void*)ptr,compoundData);
m_pointerLookup.insert(cast.m_ptr,compoundData);
}
void btBulletXmlWorldImporter::deSerializeStaticPlaneShapeData(TiXmlNode* pParent)
{
int ptr;
get_int_attribute_by_name(pParent->ToElement(),"pointer",&ptr);
MyLocalCaster cast;
get_int_attribute_by_name(pParent->ToElement(),"pointer",&cast.m_int);
btStaticPlaneShapeData* planeData = (btStaticPlaneShapeData*) btAlignedAlloc(sizeof(btStaticPlaneShapeData),16);
@ -348,7 +379,7 @@ void btBulletXmlWorldImporter::deSerializeStaticPlaneShapeData(TiXmlNode* pParen
SET_FLOAT_VALUE(pParent, planeData,m_planeConstant);
m_collisionShapeData.push_back((btCollisionShapeData*)planeData);
m_pointerLookup.insert((void*)ptr,planeData);
m_pointerLookup.insert(cast.m_ptr,planeData);
}
@ -364,8 +395,8 @@ void btBulletXmlWorldImporter::deSerializeDynamicsWorldData(TiXmlNode* pParent)
void btBulletXmlWorldImporter::deSerializeConvexInternalShapeData(TiXmlNode* pParent)
{
int ptr=0;
get_int_attribute_by_name(pParent->ToElement(),"pointer",&ptr);
MyLocalCaster cast;
get_int_attribute_by_name(pParent->ToElement(),"pointer",&cast.m_int);
btConvexInternalShapeData* convexShape = (btConvexInternalShapeData*) btAlignedAlloc(sizeof(btConvexInternalShapeData),16);
@ -382,7 +413,7 @@ void btBulletXmlWorldImporter::deSerializeConvexInternalShapeData(TiXmlNode* pPa
SET_VECTOR4_VALUE(pParent,convexShape,m_implicitShapeDimensions)
m_collisionShapeData.push_back((btCollisionShapeData*)convexShape);
m_pointerLookup.insert((void*)ptr,convexShape);
m_pointerLookup.insert(cast.m_ptr,convexShape);
}
@ -404,8 +435,8 @@ enum btTypedConstraintType
void btBulletXmlWorldImporter::deSerializeGeneric6DofConstraintData(TiXmlNode* pParent)
{
int ptr=0;
get_int_attribute_by_name(pParent->ToElement(),"pointer",&ptr);
MyLocalCaster cast;
get_int_attribute_by_name(pParent->ToElement(),"pointer",&cast.m_int);
btGeneric6DofConstraintData2* dof6Data = (btGeneric6DofConstraintData2*)btAlignedAlloc(sizeof(btGeneric6DofConstraintData2),16);
@ -439,13 +470,14 @@ void btBulletXmlWorldImporter::deSerializeGeneric6DofConstraintData(TiXmlNode* p
SET_INT_VALUE(pParent, dof6Data,m_useOffsetForConstraintFrame);
m_constraintData.push_back((btTypedConstraintData2*)dof6Data);
m_pointerLookup.insert((void*)ptr,dof6Data);
m_pointerLookup.insert(cast.m_ptr,dof6Data);
}
void btBulletXmlWorldImporter::deSerializeRigidBodyFloatData(TiXmlNode* pParent)
{
int ptr=0;
if (!get_int_attribute_by_name(pParent->ToElement(),"pointer",&ptr))
MyLocalCaster cast;
if (!get_int_attribute_by_name(pParent->ToElement(),"pointer",&cast.m_int))
{
m_fileOk = false;
return;
@ -506,7 +538,7 @@ void btBulletXmlWorldImporter::deSerializeRigidBodyFloatData(TiXmlNode* pParent)
m_rigidBodyData.push_back(rbData);
m_pointerLookup.insert((void*)ptr,rbData);
m_pointerLookup.insert(cast.m_ptr,rbData);
// rbData->m_collisionObjectData.m_collisionShape = (void*) (int)atof(txt);
}
@ -641,8 +673,8 @@ void btBulletXmlWorldImporter::auto_serialize_root_level_children(TiXmlNode* pPa
// printf("child Name=%s\n", pChild->Value());
if (!strcmp(pChild->Value(),"btVector3FloatData"))
{
int ptr;
get_int_attribute_by_name(pChild->ToElement(),"pointer",&ptr);
MyLocalCaster cast;
get_int_attribute_by_name(pChild->ToElement(),"pointer",&cast.m_int);
btAlignedObjectArray<btVector3FloatData> v;
deSerializeVector3FloatData(pChild,v);
@ -651,7 +683,7 @@ void btBulletXmlWorldImporter::auto_serialize_root_level_children(TiXmlNode* pPa
for (int i=0;i<numVectors;i++)
vectors[i] = v[i];
m_floatVertexArrays.push_back(vectors);
m_pointerLookup.insert((void*)ptr,vectors);
m_pointerLookup.insert(cast.m_ptr,vectors);
continue;
}
@ -790,7 +822,7 @@ void btBulletXmlWorldImporter::auto_serialize_root_level_children(TiXmlNode* pPa
for (int i=0;i<m_constraintData.size();i++)
{
btTypedConstraintData2* tcd = m_constraintData[i];
bool isDoublePrecision = false;
// bool isDoublePrecision = false;
btRigidBody* rbA = 0;
btRigidBody* rbB = 0;
{

16
data/kuka_iiwa/model.sdf
View File

@ -21,7 +21,7 @@
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>meshes/coarse/link_0.stl</uri>
<uri>meshes/link_0.stl</uri>
</mesh>
</geometry>
</collision>
@ -60,7 +60,7 @@
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>meshes/coarse/link_1.stl</uri>
<uri>meshes/link_1.stl</uri>
</mesh>
</geometry>
</collision>
@ -119,7 +119,7 @@
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>meshes/coarse/link_2.stl</uri>
<uri>meshes/link_2.stl</uri>
</mesh>
</geometry>
</collision>
@ -178,7 +178,7 @@
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>meshes/coarse/link_3.stl</uri>
<uri>meshes/link_3.stl</uri>
</mesh>
</geometry>
</collision>
@ -237,7 +237,7 @@
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>meshes/coarse/link_4.stl</uri>
<uri>meshes/link_4.stl</uri>
</mesh>
</geometry>
</collision>
@ -296,7 +296,7 @@
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>meshes/coarse/link_5.stl</uri>
<uri>meshes/link_5.stl</uri>
</mesh>
</geometry>
</collision>
@ -355,7 +355,7 @@
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>meshes/coarse/link_6.stl</uri>
<uri>meshes/link_6.stl</uri>
</mesh>
</geometry>
</collision>
@ -414,7 +414,7 @@
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>meshes/coarse/link_7.stl</uri>
<uri>meshes/link_7.stl</uri>
</mesh>
</geometry>
</collision>

BIN
data/multibody.bullet
View File

Binary file not shown.

2
examples/BasicDemo/CMakeLists.txt
View File

@ -74,7 +74,7 @@ ELSE(WIN32)
IF(APPLE)
find_library(COCOA NAMES Cocoa)
MESSAGE(${COCOA})
link_libraries(${COCOA})
link_libraries(${COCOA} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY})
ELSE(APPLE)
INCLUDE_DIRECTORIES(

5
examples/Benchmarks/BenchmarkDemo.cpp
View File

@ -228,9 +228,10 @@ public:
struct CastRaysLoopBody
{
btRaycastBar2* mRaycasts;
btCollisionWorld* mWorld;
CastRaysLoopBody(btCollisionWorld* cw, btRaycastBar2* rb) : mWorld(cw), mRaycasts(rb) {}
btRaycastBar2* mRaycasts;
CastRaysLoopBody(btCollisionWorld* cw, btRaycastBar2* rb) : mWorld(cw), mRaycasts(rb) {}
void forLoop( int iBegin, int iEnd ) const
{

12
examples/Collision/CollisionTutorialBullet2.cpp
View File

@ -61,8 +61,8 @@ class CollisionTutorialBullet2 : public CommonExampleInterface
plCollisionSdkHandle m_collisionSdkHandle;
plCollisionWorldHandle m_collisionWorldHandle;
int m_stage;
int m_counter;
// int m_stage;
// int m_counter;
public:
@ -70,11 +70,11 @@ public:
:m_app(guiHelper->getAppInterface()),
m_guiHelper(guiHelper),
m_tutorialIndex(tutorialIndex),
m_timeSeriesCanvas0(0),
m_collisionSdkHandle(0),
m_collisionWorldHandle(0),
m_stage(0),
m_counter(0),
m_timeSeriesCanvas0(0)
m_collisionWorldHandle(0)
// m_stage(0),
// m_counter(0)
{
gTotalPoints = 0;

9
examples/Collision/Internal/Bullet2CollisionSdk.cpp
View File

@ -6,13 +6,14 @@ struct Bullet2CollisionSdkInternalData
btCollisionConfiguration* m_collisionConfig;
btCollisionDispatcher* m_dispatcher;
btBroadphaseInterface* m_aabbBroadphase;
btCollisionWorld* m_collisionWorld;
Bullet2CollisionSdkInternalData()
:m_aabbBroadphase(0),
m_dispatcher(0),
m_collisionWorld(0)
:
m_collisionConfig(0),
m_dispatcher(0),
m_aabbBroadphase(0),
m_collisionWorld(0)
{
}
};

25
examples/Collision/Internal/RealTimeBullet3CollisionSdk.cpp
View File

@ -53,13 +53,19 @@ struct RTB3CollisionWorld
b3AlignedObjectArray<b3Aabb> m_worldSpaceAabbs;
b3AlignedObjectArray<b3GpuFace> m_planeFaces;
b3AlignedObjectArray<b3CompoundOverlappingPair> m_compoundOverlappingPairs;
int m_nextFreeShapeIndex;
union
{
int m_nextFreeShapeIndex;
void* m_nextFreeShapePtr;
};
int m_nextFreeCollidableIndex;
int m_nextFreePlaneFaceIndex;
RTB3CollisionWorld()
:m_nextFreeCollidableIndex(START_COLLIDABLE_INDEX),
:
m_nextFreeShapeIndex(START_SHAPE_INDEX),
m_nextFreeCollidableIndex(START_COLLIDABLE_INDEX),
m_nextFreePlaneFaceIndex(0)//this value is never exposed to the user, so we can start from 0
{
}
@ -125,7 +131,8 @@ plCollisionShapeHandle RealTimeBullet3CollisionSdk::createSphereShape(plCollisio
shape.m_childOrientation.setValue(0,0,0,1);
shape.m_radius = radius;
shape.m_shapeType = RTB3_SHAPE_SPHERE;
return (plCollisionShapeHandle) world->m_nextFreeShapeIndex++;
world->m_nextFreeShapeIndex++;
return (plCollisionShapeHandle) world->m_nextFreeShapePtr;
}
return 0;
}
@ -147,7 +154,8 @@ plCollisionShapeHandle RealTimeBullet3CollisionSdk::createPlaneShape(plCollision
world->m_planeFaces[world->m_nextFreePlaneFaceIndex].m_plane = b3MakeVector4(planeNormalX,planeNormalY,planeNormalZ,planeConstant);
shape.m_shapeIndex = world->m_nextFreePlaneFaceIndex++;
shape.m_shapeType = RTB3_SHAPE_PLANE;
return (plCollisionShapeHandle) world->m_nextFreeShapeIndex++;
world->m_nextFreeShapeIndex++;
return (plCollisionShapeHandle)world->m_nextFreeShapePtr ;
}
return 0;
}
@ -169,7 +177,8 @@ plCollisionShapeHandle RealTimeBullet3CollisionSdk::createCapsuleShape(plCollisi
shape.m_height = height;
shape.m_shapeIndex = capsuleAxis;
shape.m_shapeType = RTB3_SHAPE_CAPSULE;
return (plCollisionShapeHandle) world->m_nextFreeShapeIndex++;
world->m_nextFreeShapeIndex++;
return (plCollisionShapeHandle) world->m_nextFreeShapePtr;
}
return 0;
}
@ -186,7 +195,8 @@ plCollisionShapeHandle RealTimeBullet3CollisionSdk::createCompoundShape(plCollis
shape.m_childOrientation.setValue(0,0,0,1);
shape.m_numChildShapes = 0;
shape.m_shapeType = RTB3_SHAPE_COMPOUND_INTERNAL;
return (plCollisionShapeHandle) world->m_nextFreeShapeIndex++;
world->m_nextFreeShapeIndex++;
return (plCollisionShapeHandle) world->m_nextFreeShapePtr;
}
return 0;
}
@ -265,7 +275,8 @@ plCollisionObjectHandle RealTimeBullet3CollisionSdk::createCollisionObject( plC
collidable.m_shapeIndex = shape.m_shapeIndex;
break;
*/
return (plCollisionObjectHandle)world->m_nextFreeCollidableIndex++;
world->m_nextFreeCollidableIndex++;
return (plCollisionObjectHandle)world->m_nextFreeShapePtr;
}
return 0;
}

13
examples/Constraints/ConstraintDemo.cpp
View File

@ -56,7 +56,7 @@ class AllConstraintDemo : public CommonRigidBodyBase
m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
}
virtual void keyboardCallback(unsigned char key, int x, int y);
virtual bool keyboardCallback(int key, int state);
// for cone-twist motor driving
float m_Time;
@ -66,7 +66,6 @@ class AllConstraintDemo : public CommonRigidBodyBase
const int numObjects = 3;
#define ENABLE_ALL_DEMOS 1
@ -839,10 +838,11 @@ void AllConstraintDemo::displayCallback(void) {
}
#endif
void AllConstraintDemo::keyboardCallback(unsigned char key, int x, int y)
bool AllConstraintDemo::keyboardCallback(int key, int state)
{
(void)x;
(void)y;
bool handled = false;
switch (key)
{
case 'O' :
@ -870,6 +870,7 @@ void AllConstraintDemo::keyboardCallback(unsigned char key, int x, int y)
printf("Slider6Dof %s frame offset\n", offectOnOff ? "uses" : "does not use");
}
}
handled = true;
break;
default :
{
@ -877,6 +878,8 @@ void AllConstraintDemo::keyboardCallback(unsigned char key, int x, int y)
}
break;
}
return handled;
}
class CommonExampleInterface* AllConstraintCreateFunc(struct CommonExampleOptions& options)

2
examples/Constraints/Dof6Spring2Setup.cpp
View File

@ -443,8 +443,6 @@ void Dof6Spring2Setup::animate()
/////// servo motor: flip its target periodically
#ifdef USE_6DOF2
static float servoNextFrame = -1;
btScalar pos = m_data->m_ServoMotorConstraint->getRotationalLimitMotor(2)->m_currentPosition;
btScalar target = m_data->m_ServoMotorConstraint->getRotationalLimitMotor(2)->m_servoTarget;
if(servoNextFrame < 0)
{
m_data->m_ServoMotorConstraint->getRotationalLimitMotor(2)->m_servoTarget *= -1;

10
examples/Constraints/TestHingeTorque.cpp
View File

@ -4,8 +4,8 @@
#include "../CommonInterfaces/CommonRigidBodyBase.h"
#include "../CommonInterfaces/CommonParameterInterface.h"
short collisionFilterGroup = short(btBroadphaseProxy::CharacterFilter);
short collisionFilterMask = short(btBroadphaseProxy::AllFilter ^ (btBroadphaseProxy::CharacterFilter));
int collisionFilterGroup = int(btBroadphaseProxy::CharacterFilter);
int collisionFilterMask = int(btBroadphaseProxy::AllFilter ^ (btBroadphaseProxy::CharacterFilter));
static btScalar radius(0.2);
struct TestHingeTorque : public CommonRigidBodyBase
@ -123,9 +123,7 @@ void TestHingeTorque::initPhysics()
{ // create a door using hinge constraint attached to the world
int numLinks = 2;
bool spherical = false; //set it ot false -to use 1DoF hinges instead of 3DoF sphericals
bool canSleep = false;
bool selfCollide = false;
// bool selfCollide = false;
btVector3 linkHalfExtents(0.05, 0.37, 0.1);
btVector3 baseHalfExtents(0.05, 0.37, 0.1);
@ -223,7 +221,7 @@ void TestHingeTorque::initPhysics()
btTransform start; start.setIdentity();
btVector3 groundOrigin(-0.4f, 3.f, 0.f);
btVector3 basePosition = btVector3(-0.4f, 3.f, 0.f);
// btVector3 basePosition = btVector3(-0.4f, 3.f, 0.f);
btQuaternion groundOrn(btVector3(0,1,0),0.25*SIMD_PI);
groundOrigin[upAxis] -=.5;

12
examples/Evolution/NN3DWalkers.cpp
View File

@ -118,10 +118,10 @@ public:
:NN3DWalkersTimeWarpBase(helper),
m_Time(0),
m_SpeedupTimestamp(0),
m_motorStrength(0.5f),
m_targetFrequency(3),
m_targetAccumulator(0),
m_evaluationsQty(0),
m_targetFrequency(3),
m_motorStrength(0.5f),
m_evaluationsQty(0),
m_nextReaped(0),
m_timeSeriesCanvas(0)
{
@ -729,9 +729,9 @@ bool NN3DWalkersExample::detectCollisions()
btManifoldPoint& pt = contactManifold->getContactPoint(j);
if (pt.getDistance()<0.f)
{
const btVector3& ptA = pt.getPositionWorldOnA();
const btVector3& ptB = pt.getPositionWorldOnB();
const btVector3& normalOnB = pt.m_normalWorldOnB;
//const btVector3& ptA = pt.getPositionWorldOnA();
//const btVector3& ptB = pt.getPositionWorldOnB();
//const btVector3& normalOnB = pt.m_normalWorldOnB;
if(!DRAW_INTERPENETRATIONS){
return collisionDetected;

2
examples/Evolution/NN3DWalkersTimeWarpBase.h
View File

@ -593,7 +593,7 @@ struct NN3DWalkersTimeWarpBase: public CommonRigidBodyBase {
timeWarpSimulation(deltaTime);
if(mLoopTimer.getTimeSeconds() - speedUpPrintTimeStamp > 1){
// on reset, we calculate the performed speed up
double speedUp = ((double)performedTime*1000.0)/((double)(mLoopTimer.getTimeMilliseconds()-performanceTimestamp));
//double speedUp = ((double)performedTime*1000.0)/((double)(mLoopTimer.getTimeMilliseconds()-performanceTimestamp));
// b3Printf("Avg Effective speedup: %f",speedUp);
performedTime = 0;
performanceTimestamp = mLoopTimer.getTimeMilliseconds();

11
examples/ExampleBrowser/GwenGUISupport/GwenParameterInterface.cpp
View File

@ -36,12 +36,13 @@ struct MySliderEventHandler : public Gwen::Event::Handler
bool m_showValue;
MySliderEventHandler(const char* varName, Gwen::Controls::TextBox* label, Gwen::Controls::Slider* pSlider,T* target, SliderParamChangedCallback callback, void* userPtr)
:m_label(label),
: m_callback(callback),
m_userPointer(userPtr),
m_label(label),
m_pSlider(pSlider),
m_targetValue(target),
m_showValue(true),
m_callback(callback),
m_userPointer(userPtr)
m_targetValue(target),
m_showValue(true)
{
memcpy(m_variableName,varName,strlen(varName)+1);
}

5
examples/ExampleBrowser/InProcessExampleBrowser.cpp
View File

@ -233,7 +233,7 @@ void ExampleBrowserThreadFunc(void* userPtr,void* lsMemory)
ExampleBrowserThreadLocalStorage* localStorage = (ExampleBrowserThreadLocalStorage*) lsMemory;
ExampleBrowserArgs* args = (ExampleBrowserArgs*) userPtr;
int workLeft = true;
//int workLeft = true;
b3CommandLineArgs args2(args->m_argc,args->m_argv);
b3Clock clock;
@ -411,7 +411,8 @@ btInProcessExampleBrowserMainThreadInternalData* btCreateInProcessExampleBrowser
data->m_exampleBrowser = new DefaultBrowser(&data->m_examples);
data->m_sharedMem = new InProcessMemory;
data->m_exampleBrowser->setSharedMemoryInterface(data->m_sharedMem );
bool init = data->m_exampleBrowser->init(argc,argv);
bool init;
init = data->m_exampleBrowser->init(argc,argv);
data->m_clock.reset();
return data;
}

2
examples/ExampleBrowser/OpenGLExampleBrowser.cpp
View File

@ -721,7 +721,7 @@ static void saveCurrentSettings(int currentEntry,const char* startFileName)
static void loadCurrentSettings(const char* startFileName, b3CommandLineArgs& args)
{
int currentEntry= 0;
//int currentEntry= 0;
FILE* f = fopen(startFileName,"r");
if (f)
{

4
examples/ForkLift/ForkLiftDemo.cpp
View File

@ -46,6 +46,7 @@ class btCollisionShape;
class ForkLiftDemo : public CommonExampleInterface
{
public:
GUIHelperInterface* m_guiHelper;
/* extra stuff*/
btVector3 m_cameraPosition;
@ -57,7 +58,6 @@ class ForkLiftDemo : public CommonExampleInterface
btRigidBody* m_carChassis;
btRigidBody* localCreateRigidBody(btScalar mass, const btTransform& worldTransform, btCollisionShape* colSape);
GUIHelperInterface* m_guiHelper;
int m_wheelInstances[4];
//----------------------------
@ -195,8 +195,6 @@ bool useMCLPSolver = true;
#include "ForkLiftDemo.h"
const int maxProxies = 32766;
const int maxOverlap = 65535;
///btRaycastVehicle is the interface for the constraint that implements the raycast vehicle
///notice that for higher-quality slow-moving vehicles, another approach might be better

6
examples/FractureDemo/btFractureDynamicsWorld.cpp
View File

@ -529,7 +529,7 @@ void btFractureDynamicsWorld::fractureCallback( )
{
int j=f0;
btCollisionObject* colOb = (btCollisionObject*)manifold->getBody1();
// btCollisionObject* colOb = (btCollisionObject*)manifold->getBody1();
// btRigidBody* otherOb = btRigidBody::upcast(colOb);
// if (!otherOb->getInvMass())
// continue;
@ -562,8 +562,8 @@ void btFractureDynamicsWorld::fractureCallback( )
{
int j=f1;
{
btCollisionObject* colOb = (btCollisionObject*)manifold->getBody0();
btRigidBody* otherOb = btRigidBody::upcast(colOb);
//btCollisionObject* colOb = (btCollisionObject*)manifold->getBody0();
//btRigidBody* otherOb = btRigidBody::upcast(colOb);
// if (!otherOb->getInvMass())
// continue;

2
examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp
View File

@ -336,7 +336,7 @@ void readLibraryGeometries(TiXmlDocument& doc, btAlignedObjectArray<GLInstanceGr
void readNodeHierarchy(TiXmlElement* node,btHashMap<btHashString,int>& name2Shape, btAlignedObjectArray<ColladaGraphicsInstance>& visualShapeInstances, const btMatrix4x4& parentTransMat)
{
const char* nodeName = node->Attribute("id");
//const char* nodeName = node->Attribute("id");
//printf("processing node %s\n", nodeName);

11
examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
View File

@ -157,7 +157,6 @@ struct BulletMJCFImporterInternalData
//rudimentary 'default' support, would need more work for better feature coverage
for (TiXmlElement* child_xml = root_xml->FirstChildElement() ; child_xml ; child_xml = child_xml->NextSiblingElement())
{
bool handled = false;
std::string n = child_xml->Value();
if (n=="inertial")
{
@ -412,7 +411,7 @@ struct BulletMJCFImporterInternalData
const char* rgba = link_xml->Attribute("rgba");
// const char* rgba = link_xml->Attribute("rgba");
const char* gType = link_xml->Attribute("type");
const char* sz = link_xml->Attribute("size");
const char* posS = link_xml->Attribute("pos");
@ -713,7 +712,7 @@ struct BulletMJCFImporterInternalData
const char* bodyName = link_xml->Attribute("name");
int orgChildLinkIndex = createBody(modelIndex,bodyName);
int curChildLinkIndex = orgChildLinkIndex;
// int curChildLinkIndex = orgChildLinkIndex;
std::string bodyN;
if (bodyName)
@ -727,7 +726,7 @@ struct BulletMJCFImporterInternalData
}
btTransform orgLinkTransform = parseTransform(link_xml,logger);
// btTransform orgLinkTransform = parseTransform(link_xml,logger);
btTransform linkTransform = parseTransform(link_xml,logger);
UrdfLink* linkPtr = getLink(modelIndex,orgChildLinkIndex);
@ -739,7 +738,7 @@ struct BulletMJCFImporterInternalData
btQuaternion inertialOrn(0,0,0,1);
btScalar mass = 0.f;
btVector3 localInertiaDiag(0,0,0);
int thisLinkIndex = -2;
// int thisLinkIndex = -2;
bool hasJoint = false;
btTransform jointTrans;
jointTrans.setIdentity();
@ -1331,7 +1330,7 @@ class btCompoundShape* BulletMJCFImporter::convertLinkCollisionShapes(int linkIn
btVector3 f = col->m_geometry.m_capsuleFrom;
btVector3 t = col->m_geometry.m_capsuleTo;
//MuJoCo seems to take the average of the spheres as center?
btVector3 c = (f+t)*0.5;
//btVector3 c = (f+t)*0.5;
//f-=c;
//t-=c;
btVector3 fromto[2] = {f,t};

19
examples/Importers/ImportMJCFDemo/ImportMJCFSetup.cpp
View File

@ -147,25 +147,8 @@ ImportMJCFSetup::~ImportMJCFSetup()
delete m_data;
}
static btVector4 colors[4] =
{
btVector4(1,0,0,1),
btVector4(0,1,0,1),
btVector4(0,1,1,1),
btVector4(1,1,0,1),
};
static btVector3 selectColor()
{
static int curColor = 0;
btVector4 color = colors[curColor];
curColor++;
curColor&=3;
return color;
}
void ImportMJCFSetup::setFileName(const char* mjcfFileName)
{
memcpy(m_fileName,mjcfFileName,strlen(mjcfFileName)+1);
@ -229,7 +212,7 @@ void ImportMJCFSetup::initPhysics()
//todo: move these internal API called inside the 'ConvertURDF2Bullet' call, hidden from the user
int rootLinkIndex = importer.getRootLinkIndex();
//int rootLinkIndex = importer.getRootLinkIndex();
//b3Printf("urdf root link index = %d\n",rootLinkIndex);
MyMultiBodyCreator creation(m_guiHelper);

2
examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp
View File

@ -30,7 +30,7 @@ bool b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(const std::string&
GLInstanceGraphicsShape* gfxShape = btgCreateGraphicsShapeFromWavefrontObj(shapes);
int textureIndex = -1;
//int textureIndex = -1;
//try to load some texture
for (int i=0;i<shapes.size();i++)
{

19
examples/Importers/ImportSDFDemo/ImportSDFSetup.cpp
View File

@ -155,25 +155,8 @@ ImportSDFSetup::~ImportSDFSetup()
delete m_data;
}
static btVector4 colors[4] =
{
btVector4(1,0,0,1),
btVector4(0,1,0,1),
btVector4(0,1,1,1),
btVector4(1,1,0,1),
};
static btVector3 selectColor()
{
static int curColor = 0;
btVector4 color = colors[curColor];
curColor++;
curColor&=3;
return color;
}
void ImportSDFSetup::setFileName(const char* urdfFileName)
{
memcpy(m_fileName,urdfFileName,strlen(urdfFileName)+1);
@ -227,7 +210,7 @@ void ImportSDFSetup::initPhysics()
//todo: move these internal API called inside the 'ConvertURDF2Bullet' call, hidden from the user
int rootLinkIndex = u2b.getRootLinkIndex();
//int rootLinkIndex = u2b.getRootLinkIndex();
//b3Printf("urdf root link index = %d\n",rootLinkIndex);
MyMultiBodyCreator creation(m_guiHelper);

19
examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp
View File

@ -159,25 +159,8 @@ ImportUrdfSetup::~ImportUrdfSetup()
delete m_data;
}
static btVector4 colors[4] =
{
btVector4(1,0,0,1),
btVector4(0,1,0,1),
btVector4(0,1,1,1),
btVector4(1,1,0,1),
};
static btVector3 selectColor()
{
static int curColor = 0;
btVector4 color = colors[curColor];
curColor++;
curColor&=3;
return color;
}
void ImportUrdfSetup::setFileName(const char* urdfFileName)
{
memcpy(m_fileName,urdfFileName,strlen(urdfFileName)+1);
@ -237,7 +220,7 @@ void ImportUrdfSetup::initPhysics()
//todo: move these internal API called inside the 'ConvertURDF2Bullet' call, hidden from the user
int rootLinkIndex = u2b.getRootLinkIndex();
//int rootLinkIndex = u2b.getRootLinkIndex();
//b3Printf("urdf root link index = %d\n",rootLinkIndex);
MyMultiBodyCreator creation(m_guiHelper);

8
examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
View File

@ -11,8 +11,8 @@
#include "MultiBodyCreationInterface.h"
#include <string>
static int bodyCollisionFilterGroup=btBroadphaseProxy::CharacterFilter;
static int bodyCollisionFilterMask=btBroadphaseProxy::AllFilter&(~btBroadphaseProxy::CharacterFilter);
//static int bodyCollisionFilterGroup=btBroadphaseProxy::CharacterFilter;
//static int bodyCollisionFilterMask=btBroadphaseProxy::AllFilter&(~btBroadphaseProxy::CharacterFilter);
static bool enableConstraints = true;
static btVector4 colors[4] =
@ -446,8 +446,8 @@ void ConvertURDF2BulletInternal(
//base and fixed? -> static, otherwise flag as dynamic
bool isDynamic = (mbLinkIndex<0 && cache.m_bulletMultiBody->hasFixedBase())? false : true;
short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(btBroadphaseProxy::StaticFilter);
short collisionFilterMask = isDynamic? short(btBroadphaseProxy::AllFilter) : short(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
int collisionFilterGroup = isDynamic? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
int collisionFilterMask = isDynamic? int(btBroadphaseProxy::AllFilter) : int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
int colGroup=0, colMask=0;
int flags = u2b.getCollisionGroupAndMask(urdfLinkIndex,colGroup, colMask);

6
examples/InverseDynamics/InverseDynamicsExample.cpp
View File

@ -225,13 +225,13 @@ void InverseDynamicsExample::initPhysics()
{
qd[dof] = 0;
char tmp[25];
sprintf(tmp,"q_desired[%u]",dof);
sprintf(tmp,"q_desired[%lu]",dof);
qd_name[dof] = tmp;
SliderParams slider(qd_name[dof].c_str(),&qd[dof]);
slider.m_minVal=-3.14;
slider.m_maxVal=3.14;
sprintf(tmp,"q[%u]",dof);
sprintf(tmp,"q[%lu]",dof);
q_name[dof] = tmp;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
btVector4 color = sJointCurveColors[dof&7];
@ -343,6 +343,7 @@ void InverseDynamicsExample::stepSimulation(float deltaTime)
btAlignedObjectArray<btQuaternion> scratch_q;
btAlignedObjectArray<btVector3> scratch_m;
m_multiBody->forwardKinematics(scratch_q, scratch_m);
#if 0
for (int i = 0; i < m_multiBody->getNumLinks(); i++)
{
//btVector3 pos = m_multiBody->getLink(i).m_cachedWorldTransform.getOrigin();
@ -355,6 +356,7 @@ void InverseDynamicsExample::stepSimulation(float deltaTime)
}
#endif
}
}

16
examples/InverseKinematics/InverseKinematicsExample.cpp
View File

@ -155,10 +155,7 @@ class InverseKinematicsExample : public CommonExampleInterface
b3AlignedObjectArray<Node*> m_ikNodes;
Jacobian* m_ikJacobian;
float m_x;
float m_y;
float m_z;
b3AlignedObjectArray<int> m_movingInstances;
b3AlignedObjectArray<int> m_movingInstances;
int m_targetInstance;
enum
{
@ -169,12 +166,9 @@ public:
InverseKinematicsExample(CommonGraphicsApp* app, int option)
:m_app(app),
m_x(0),
m_y(0),
m_z(0),
m_targetInstance(-1),
m_ikMethod(option)
{
m_ikMethod(option),
m_targetInstance(-1)
{
m_app->setUpAxis(2);
{
@ -336,7 +330,7 @@ public:
void InverseKinematicsExample::BuildKukaIIWAShape()
{
const VectorR3& unitx = VectorR3::UnitX;
//const VectorR3& unitx = VectorR3::UnitX;
const VectorR3& unity = VectorR3::UnitY;
const VectorR3& unitz = VectorR3::UnitZ;
const VectorR3 unit1(sqrt(14.0) / 8.0, 1.0 / 8.0, 7.0 / 8.0);

14
examples/MultiBody/InvertedPendulumPDControl.cpp
View File

@ -211,11 +211,11 @@ btMultiBody* createInvertedPendulumMultiBody(btMultiBodyDynamicsWorld* world, GU
local_origin.resize(pMultiBody->getNumLinks() + 1);
world_to_local[0] = pMultiBody->getWorldToBaseRot();
local_origin[0] = pMultiBody->getBasePos();
double friction = 1;
// double friction = 1;
{
// float pos[4]={local_origin[0].x(),local_origin[0].y(),local_origin[0].z(),1};
float quat[4]={-world_to_local[0].x(),-world_to_local[0].y(),-world_to_local[0].z(),world_to_local[0].w()};
// float quat[4]={-world_to_local[0].x(),-world_to_local[0].y(),-world_to_local[0].z(),world_to_local[0].w()};
if (1)
@ -238,8 +238,8 @@ btMultiBody* createInvertedPendulumMultiBody(btMultiBodyDynamicsWorld* world, GU
col->setWorldTransform(tr);
bool isDynamic = (baseMass > 0 && !fixedBase);
short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(btBroadphaseProxy::StaticFilter);
short collisionFilterMask = isDynamic? short(btBroadphaseProxy::AllFilter) : short(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
int collisionFilterGroup = isDynamic? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
int collisionFilterMask = isDynamic? int(btBroadphaseProxy::AllFilter) : int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
world->addCollisionObject(col,collisionFilterGroup,collisionFilterMask);//, 2,1+2);
@ -291,8 +291,8 @@ btMultiBody* createInvertedPendulumMultiBody(btMultiBodyDynamicsWorld* world, GU
col->setWorldTransform(tr);
// col->setFriction(friction);
bool isDynamic = 1;//(linkMass > 0);
short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(btBroadphaseProxy::StaticFilter);
short collisionFilterMask = isDynamic? short(btBroadphaseProxy::AllFilter) : short(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
int collisionFilterGroup = isDynamic? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
int collisionFilterMask = isDynamic? int(btBroadphaseProxy::AllFilter) : int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
//if (i==0||i>numLinks-2)
{
@ -450,7 +450,7 @@ void InvertedPendulumPDControl::stepSimulation(float deltaTime)
m_multiBody->getBaseOmega()[2]
);
*/
btScalar jointVel =m_multiBody->getJointVel(0);
// btScalar jointVel =m_multiBody->getJointVel(0);
// b3Printf("child angvel = %f",jointVel);

16
examples/MultiBody/MultiBodyConstraintFeedback.cpp
View File

@ -91,7 +91,7 @@ void MultiBodyConstraintFeedbackSetup::initPhysics()
m_guiHelper->createCollisionShapeGraphicsObject(box);
btTransform start; start.setIdentity();
btVector3 groundOrigin(-0.4f, 3.f, 0.f);
btVector3 basePosition = btVector3(-0.4f, 3.f, 0.f);
//btVector3 basePosition = btVector3(-0.4f, 3.f, 0.f);
groundOrigin[upAxis] -=.5;
groundOrigin[2]-=0.6;
start.setOrigin(groundOrigin);
@ -263,11 +263,11 @@ void MultiBodyConstraintFeedbackSetup::initPhysics()
local_origin.resize(pMultiBody->getNumLinks() + 1);
world_to_local[0] = pMultiBody->getWorldToBaseRot();
local_origin[0] = pMultiBody->getBasePos();
double friction = 1;
// double friction = 1;
{
// float pos[4]={local_origin[0].x(),local_origin[0].y(),local_origin[0].z(),1};
float quat[4]={-world_to_local[0].x(),-world_to_local[0].y(),-world_to_local[0].z(),world_to_local[0].w()};
// float quat[4]={-world_to_local[0].x(),-world_to_local[0].y(),-world_to_local[0].z(),world_to_local[0].w()};
if (1)
@ -290,8 +290,8 @@ void MultiBodyConstraintFeedbackSetup::initPhysics()
col->setWorldTransform(tr);
bool isDynamic = (baseMass > 0 && floating);
short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(btBroadphaseProxy::StaticFilter);
short collisionFilterMask = isDynamic? short(btBroadphaseProxy::AllFilter) : short(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
int collisionFilterGroup = isDynamic? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
int collisionFilterMask = isDynamic? int(btBroadphaseProxy::AllFilter) : int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
world->addCollisionObject(col,collisionFilterGroup,collisionFilterMask);//, 2,1+2);
@ -343,8 +343,8 @@ void MultiBodyConstraintFeedbackSetup::initPhysics()
col->setWorldTransform(tr);
// col->setFriction(friction);
bool isDynamic = 1;//(linkMass > 0);
short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(btBroadphaseProxy::StaticFilter);
short collisionFilterMask = isDynamic? short(btBroadphaseProxy::AllFilter) : short(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
int collisionFilterGroup = isDynamic? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
int collisionFilterMask = isDynamic? int(btBroadphaseProxy::AllFilter) : int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
//if (i==0||i>numLinks-2)
{
@ -416,7 +416,7 @@ void MultiBodyConstraintFeedbackSetup::stepSimulation(float deltaTime)
m_multiBody->getBaseOmega()[2]
);
*/
btScalar jointVel =m_multiBody->getJointVel(0);
// btScalar jointVel =m_multiBody->getJointVel(0);
// b3Printf("child angvel = %f",jointVel);

6
examples/MultiBody/MultiBodySoftContact.cpp
View File

@ -7,7 +7,7 @@
#include "../CommonInterfaces/CommonMultiBodyBase.h"
#include "../Utils/b3ResourcePath.h"
static btScalar radius(0.2);
//static btScalar radius(0.2);
struct MultiBodySoftContact : public CommonMultiBodyBase
{
@ -126,8 +126,8 @@ void MultiBodySoftContact::initPhysics()
col->setCollisionShape(childShape);
pMultiBody->setBaseCollider(col);
bool isDynamic = (mass > 0 && !isFixed);
short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(btBroadphaseProxy::StaticFilter);
short collisionFilterMask = isDynamic? short(btBroadphaseProxy::AllFilter) : short(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
int collisionFilterGroup = isDynamic? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
int collisionFilterMask = isDynamic? int(btBroadphaseProxy::AllFilter) : int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
m_dynamicsWorld->addCollisionObject(col,collisionFilterGroup,collisionFilterMask);//, 2,1+2);

2
examples/MultiBody/MultiDofDemo.cpp
View File

@ -242,7 +242,7 @@ void MultiDofDemo::initPhysics()
if (multibodyConstraint) {
btVector3 pointInA = -linkHalfExtents;
btVector3 pointInB = halfExtents;
// btVector3 pointInB = halfExtents;
btMatrix3x3 frameInA;
btMatrix3x3 frameInB;
frameInA.setIdentity();

4
examples/MultiBody/Pendulum.cpp
View File

@ -150,8 +150,8 @@ void Pendulum::initPhysics()
btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(pMultiBody, i);
col->setCollisionShape(shape);
bool isDynamic = 1;
short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(btBroadphaseProxy::StaticFilter);
short collisionFilterMask = isDynamic? short(btBroadphaseProxy::AllFilter) : short(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
int collisionFilterGroup = isDynamic? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
int collisionFilterMask = isDynamic? int(btBroadphaseProxy::AllFilter) : int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
world->addCollisionObject(col,collisionFilterGroup,collisionFilterMask);//,2,1+2);
btVector4 color(1,0,0,1);
m_guiHelper->createCollisionObjectGraphicsObject(col,color);

8
examples/MultiBody/TestJointTorqueSetup.cpp
View File

@ -294,8 +294,8 @@ void TestJointTorqueSetup::initPhysics()
col->setWorldTransform(tr);
bool isDynamic = (baseMass > 0 && floating);
short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(btBroadphaseProxy::StaticFilter);
short collisionFilterMask = isDynamic? short(btBroadphaseProxy::AllFilter) : short(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
int collisionFilterGroup = isDynamic? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
int collisionFilterMask = isDynamic? int(btBroadphaseProxy::AllFilter) : int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
world->addCollisionObject(col,collisionFilterGroup,collisionFilterMask);//, 2,1+2);
@ -347,8 +347,8 @@ void TestJointTorqueSetup::initPhysics()
col->setWorldTransform(tr);
// col->setFriction(friction);
bool isDynamic = 1;//(linkMass > 0);
short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(btBroadphaseProxy::StaticFilter);
short collisionFilterMask = isDynamic? short(btBroadphaseProxy::AllFilter) : short(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
int collisionFilterGroup = isDynamic? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
int collisionFilterMask = isDynamic? int(btBroadphaseProxy::AllFilter) : int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
//if (i==0||i>numLinks-2)
{

4
examples/MultiThreadedDemo/ParallelFor.h
View File

@ -224,12 +224,12 @@ private:
extern TaskManager gTaskMgr;
static void initTaskScheduler()
inline static void initTaskScheduler()
{
gTaskMgr.init();
}
static void cleanupTaskScheduler()
inline static void cleanupTaskScheduler()
{
gTaskMgr.shutdown();
}

6
examples/MultiThreading/MultiThreadingExample.cpp
View File

@ -163,8 +163,6 @@ void* SamplelsMemoryFunc()
class MultiThreadingExample : public CommonExampleInterface
{
CommonGraphicsApp* m_app;
GUIHelperInterface* m_guiHelper;
int m_exampleIndex;
b3ThreadSupportInterface* m_threadSupport;
btAlignedObjectArray<SampleJob1*> m_jobs;
int m_numThreads;
@ -172,12 +170,10 @@ public:
MultiThreadingExample(GUIHelperInterface* guiHelper, int tutorialIndex)
:m_app(guiHelper->getAppInterface()),
m_guiHelper(guiHelper),
m_exampleIndex(tutorialIndex),
m_threadSupport(0),
m_numThreads(8)
{
int numBodies = 1;
//int numBodies = 1;
m_app->setUpAxis(1);
m_app->m_renderer->enableBlend(true);

4
examples/OpenCL/CommonOpenCL/CommonOpenCLBase.h
View File

@ -43,8 +43,8 @@ struct CommonOpenCLBase : public CommonExampleInterface
virtual void initCL(int preferredDeviceIndex, int preferredPlatformIndex)
{
void* glCtx=0;
void* glDC = 0;
// void* glCtx=0;
// void* glDC = 0;

25
examples/OpenCL/broadphase/PairBench.cpp
View File

@ -208,9 +208,6 @@ void PairBench::initPhysics()
useShadowMap = false;
int startItem = 0;
initCL(gPreferredOpenCLDeviceIndex,gPreferredOpenCLPlatformIndex);
if (m_clData->m_clContext)
@ -298,7 +295,7 @@ void PairBench::createBroadphase(int arraySizeX, int arraySizeY, int arraySizeZ)
char * patloc;
for (oriptr = buf; patloc = strstr(oriptr, pattern); oriptr = patloc + patlen)
for (oriptr = buf; (patloc = strstr(oriptr, pattern)); oriptr = patloc + patlen)
{
if (patloc)
{
@ -335,12 +332,14 @@ void PairBench::createBroadphase(int arraySizeX, int arraySizeY, int arraySizeZ)
if (l>500)
{
b3Vector4 color=b3MakeVector4(0,1,0,0.1);
int id = m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId,position,orn,color,scaling);
int id;
id = m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId,position,orn,color,scaling);
m_data->m_broadphaseGPU->createLargeProxy(aabbMin,aabbMax,index,group,mask);
} else
{
b3Vector4 color=b3MakeVector4(1,0,0,1);
int id = m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId,position,orn,color,scaling);
int id;
id = m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId,position,orn,color,scaling);
m_data->m_broadphaseGPU->createProxy(aabbMin,aabbMax,index,group,mask);
index++;
}
@ -403,7 +402,8 @@ void PairBench::createBroadphase(int arraySizeX, int arraySizeY, int arraySizeZ)
}*/
int id = m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId,position,orn,color,scaling);
int id;
id = m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId,position,orn,color,scaling);
b3Vector3 aabbMin = position-scaling;
@ -486,7 +486,7 @@ void PairBench::stepSimulation(float deltaTime)
return;
bool animate=true;
//bool animate=true;
int numObjects= 0;
{
B3_PROFILE("Num Objects");
@ -503,7 +503,7 @@ void PairBench::stepSimulation(float deltaTime)
int arraySizeInBytes = numObjects * (3)*sizeof(b3Vector4);
glBindBuffer(GL_ARRAY_BUFFER, vbo);
cl_bool blocking= CL_TRUE;
// cl_bool blocking= CL_TRUE;
char* hostPtr= 0;
{
B3_PROFILE("glMapBufferRange");
@ -583,7 +583,7 @@ void PairBench::stepSimulation(float deltaTime)
B3_PROFILE("updateOnCpu");
if (!gPairBenchFileName)
{
int allAabbs = m_data->m_broadphaseGPU->getAllAabbsCPU().size();
// int allAabbs = m_data->m_broadphaseGPU->getAllAabbsCPU().size();
b3AlignedObjectArray<b3Vector4> posOrnColorsCpu;
@ -625,11 +625,12 @@ void PairBench::stepSimulation(float deltaTime)
b3Clock cl;
dt = cl.getTimeMicroseconds();
B3_PROFILE("calculateOverlappingPairs");
int sz = sizeof(b3Int4)*64*numObjects;
//int sz = sizeof(b3Int4)*64*numObjects;
m_data->m_broadphaseGPU->calculateOverlappingPairs(maxOverlap);
int numPairs = m_data->m_broadphaseGPU->getNumOverlap();
int numPairs;
numPairs = m_data->m_broadphaseGPU->getNumOverlap();
//printf("numPairs = %d\n", numPairs);
dt = cl.getTimeMicroseconds()-dt;

47
examples/OpenCL/rigidbody/GpuConvexScene.cpp
View File

@ -223,8 +223,8 @@ int GpuConvexScene::createDynamicsObjects2( const float* vertices, int numVertic
}
int shapeId = m_guiHelper->getRenderInterface()->registerShape(&vertices[0],numVertices,indices,numIndices,B3_GL_TRIANGLES,textureIndex);
int group=1;
int mask=1;
//int group=1;
//int mask=1;
int index=0;
@ -237,7 +237,7 @@ int GpuConvexScene::createDynamicsObjects2( const float* vertices, int numVertic
int curColor = 0;
float scaling[4] = {1,1,1,1};
int prevBody = -1;
int insta = 0;
//int insta = 0;
b3ConvexUtility* utilPtr = new b3ConvexUtility();
@ -290,9 +290,11 @@ int GpuConvexScene::createDynamicsObjects2( const float* vertices, int numVertic
b3Vector4 color = colors[curColor];
curColor++;
curColor&=3;
b3Vector4 scalin=b3MakeVector4(1,1,1,1);
int id = m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId,position,orn,color,scaling);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass,position,orn,colIndex,index,false);
// b3Vector4 scaling=b3MakeVector4(1,1,1,1);
int id;
id= m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId,position,orn,color,scaling);
int pid;
pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass,position,orn,colIndex,index,false);
if (prevBody>=0)
@ -319,8 +321,8 @@ void GpuConvexScene::createStaticEnvironment()
int numIndices = sizeof(cube_indices)/sizeof(int);
//int shapeId = ci.m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
int shapeId = m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
int group=1;
int mask=1;
//int group=1;
//int mask=1;
int index=0;
@ -332,8 +334,10 @@ void GpuConvexScene::createStaticEnvironment()
b3Vector4 color=b3MakeVector4(0,0,1,1);
int id = m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(0.f,position,orn,colIndex,index,false);
int id;
id = m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
int pid;
pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(0.f,position,orn,colIndex,index,false);
}
}
@ -345,8 +349,8 @@ void GpuConvexPlaneScene::createStaticEnvironment()
int numIndices = sizeof(cube_indices)/sizeof(int);
//int shapeId = ci.m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
int shapeId = m_guiHelper->getRenderInterface()->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
int group=1;
int mask=1;
// int group=1;
// int mask=1;
int index=0;
@ -358,8 +362,10 @@ void GpuConvexPlaneScene::createStaticEnvironment()
b3Vector4 color=b3MakeVector4(0,0,1,1);
int id = m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId,position,orn,color,scaling);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(0.f,position,orn,colIndex,index,false);
int id;
id = m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId,position,orn,color,scaling);
int pid;
pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(0.f,position,orn,colIndex,index,false);
}
@ -535,8 +541,8 @@ void GpuTetraScene::createFromTetGenData(const char* ele,
int numVertices = sizeof(mytetra_vertices)/strideInBytes;
int numIndices = sizeof(mytetra_indices)/sizeof(int);
int shapeId = m_instancingRenderer->registerShape(&mytetra_vertices[0],numVertices,mytetra_indices,numIndices);
int group=1;
int mask=1;
// int group=1;
// int mask=1;
@ -553,8 +559,10 @@ void GpuTetraScene::createFromTetGenData(const char* ele,
b3Vector4 color = colors[curColor++];
curColor&=3;
int id = m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(1.f,position,orn,colIndex,0,false);
int id;
id = m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
int pid;
pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(1.f,position,orn,colIndex,0,false);
//rigidBodyIds.push_back(pid);
}
@ -620,7 +628,8 @@ void GpuTetraScene::createFromTetGenData(const char* ele,
bool useGPU = true;
if (useGPU)
{
int cid = m_data->m_rigidBodyPipeline->createFixedConstraint(bodyIndexA,bodyIndexB,pivotInA,pivotInB,relTargetAB,breakingThreshold);
int cid;
cid = m_data->m_rigidBodyPipeline->createFixedConstraint(bodyIndexA,bodyIndexB,pivotInA,pivotInB,relTargetAB,breakingThreshold);
} else
{
b3FixedConstraint* c = new b3FixedConstraint(bodyIndexA,bodyIndexB,frameInA,frameInB);

8
examples/OpenCL/rigidbody/GpuRigidBodyDemo.cpp
View File

@ -233,7 +233,7 @@ void GpuRigidBodyDemo::stepSimulation(float deltaTime)
GLuint vbo = m_instancingRenderer->getInternalData()->m_vbo;
int arraySizeInBytes = numObjects * (3)*sizeof(b3Vector4);
glBindBuffer(GL_ARRAY_BUFFER, vbo);
cl_bool blocking= CL_TRUE;
// cl_bool blocking= CL_TRUE;
positions= (b3Vector4*)glMapBufferRange( GL_ARRAY_BUFFER,m_instancingRenderer->getMaxShapeCapacity(),arraySizeInBytes, GL_MAP_READ_BIT );//GL_READ_WRITE);//GL_WRITE_ONLY
GLint err = glGetError();
assert(err==GL_NO_ERROR);
@ -296,7 +296,7 @@ void GpuRigidBodyDemo::stepSimulation(float deltaTime)
int arraySizeInBytes = numObjects * (3)*sizeof(b3Vector4);
glBindBuffer(GL_ARRAY_BUFFER, vbo);
cl_bool blocking= CL_TRUE;
// cl_bool blocking= CL_TRUE;
positions= (b3Vector4*)glMapBufferRange( GL_ARRAY_BUFFER,m_instancingRenderer->getMaxShapeCapacity(),arraySizeInBytes, GL_MAP_WRITE_BIT );//GL_READ_WRITE);//GL_WRITE_ONLY
err = glGetError();
assert(err==GL_NO_ERROR);
@ -329,7 +329,7 @@ b3Vector3 GpuRigidBodyDemo::getRayTo(int x,int y)
float farPlane = 10000.f;
rayForward*= farPlane;
b3Vector3 rightOffset;
// b3Vector3 rightOffset;
b3Vector3 m_cameraUp=b3MakeVector3(0,1,0);
b3Vector3 vertical = m_cameraUp;
@ -401,7 +401,7 @@ bool GpuRigidBodyDemo::mouseMoveCallback(float x,float y)
m_data->m_rigidBodyPipeline->removeConstraintByUid(m_data->m_pickConstraint);
b3Vector3 newRayTo = getRayTo(x,y);
b3Vector3 rayFrom;
b3Vector3 oldPivotInB = m_data->m_pickPivotInB;
// b3Vector3 oldPivotInB = m_data->m_pickPivotInB;
b3Vector3 newPivotB;
m_guiHelper->getRenderInterface()->getActiveCamera()->getCameraPosition(rayFrom);
b3Vector3 dir = newRayTo-rayFrom;

8
examples/OpenGLWindow/GLInstancingRenderer.cpp
View File

@ -163,10 +163,10 @@ struct InternalDataRenderer : public GLInstanceRendererInternalData
InternalDataRenderer() :
m_activeCamera(&m_defaultCamera1),
m_shadowMap(0),
m_shadowTexture(0),
m_renderFrameBuffer(0),
m_activeCamera(&m_defaultCamera1)
m_renderFrameBuffer(0)
{
//clear to zero to make it obvious if the matrix is used uninitialized
for (int i=0;i<16;i++)
@ -616,7 +616,7 @@ int GLInstancingRenderer::registerTexture(const unsigned char* texels, int width
b3Assert(glGetError() ==GL_NO_ERROR);
glActiveTexture(GL_TEXTURE0);
int textureIndex = m_data->m_textureHandles.size();
const GLubyte* image= (const GLubyte*)texels;
// const GLubyte* image= (const GLubyte*)texels;
GLuint textureHandle;
glGenTextures(1,(GLuint*)&textureHandle);
glBindTexture(GL_TEXTURE_2D,textureHandle);
@ -661,7 +661,7 @@ void GLInstancingRenderer::updateTexture(int textureIndex, const unsigned cha
glBindTexture(GL_TEXTURE_2D,h.m_glTexture);
b3Assert(glGetError() ==GL_NO_ERROR);
const GLubyte* image= (const GLubyte*)texels;
// const GLubyte* image= (const GLubyte*)texels;
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, h.m_width,h.m_height,0,GL_RGB,GL_UNSIGNED_BYTE,&flippedTexels[0]);
b3Assert(glGetError() ==GL_NO_ERROR);
glGenerateMipmap(GL_TEXTURE_2D);

4
examples/OpenGLWindow/GLPrimitiveRenderer.cpp
View File

@ -456,7 +456,7 @@ void GLPrimitiveRenderer::drawTexturedRect2a(float x0, float y0, float x1, float
PrimVertex( PrimVec4( -1.f+2.f*x1/float(m_screenWidth), 1.f-2.f*y0/float(m_screenHeight), 0.f, 1.f ), PrimVec4( color[0], color[1], color[2], color[3] ) ,PrimVec2(u1,v0))
};
int sz = m_data2->m_numVerticesText;
// int sz = m_data2->m_numVerticesText;
m_data2->m_verticesRect[m_data2->m_numVerticesRect++]=vertexData[0];
m_data2->m_verticesRect[m_data2->m_numVerticesRect++]=vertexData[1];
@ -492,7 +492,7 @@ void GLPrimitiveRenderer::drawTexturedRect2(float x0, float y0, float x1, float
PrimVertex( PrimVec4( -1.f+2.f*x1/float(m_screenWidth), 1.f-2.f*y0/float(m_screenHeight), 0.f, 1.f ), PrimVec4( color[0], color[1], color[2], color[3] ) ,PrimVec2(u1,v0))
};
int sz = m_data2->m_numVerticesText;
// int sz = m_data2->m_numVerticesText;
m_data2->m_verticesText[m_data2->m_numVerticesText++]=vertexData[0];
m_data2->m_verticesText[m_data2->m_numVerticesText++]=vertexData[1];

6
examples/OpenGLWindow/MacOpenGLWindow.mm
View File

@ -223,8 +223,8 @@ MacOpenGLWindow::MacOpenGLWindow()
m_mouseX(0),
m_mouseY(0),
m_modifierFlags(0),
m_mouseMoveCallback(0),
m_mouseButtonCallback(0),
m_mouseMoveCallback(0),
m_wheelCallback(0),
m_keyboardCallback(0),
m_retinaScaleFactor(1),
@ -334,10 +334,10 @@ void MacOpenGLWindow::createWindow(const b3gWindowConstructionInfo& ci)
// add Edit menu
NSMenuItem *editMenuItem = [[NSMenuItem new] autorelease];
NSMenu *menu = [[NSMenu allocWithZone:[NSMenu menuZone]]initWithTitle:@"Edit"];
NSMenu *menu = [[NSMenu alloc]initWithTitle:@"Edit"];
[editMenuItem setSubmenu: menu];
NSMenuItem *copyItem = [[NSMenuItem allocWithZone:[NSMenu menuZone]]initWithTitle:@"Copy" action:@selector(copy:) keyEquivalent:@"c"];
NSMenuItem *copyItem = [[NSMenuItem alloc]initWithTitle:@"Copy" action:@selector(copy:) keyEquivalent:@"c"];
[menu addItem:copyItem];
[menubar addItem:editMenuItem];

10
examples/RenderingExamples/DynamicTexturedCubeDemo.cpp
View File

@ -20,10 +20,7 @@
class DynamicTexturedCubeDemo : public CommonExampleInterface
{
CommonGraphicsApp* m_app;
float m_x;
float m_y;
float m_z;
b3AlignedObjectArray<int> m_movingInstances;
b3AlignedObjectArray<int> m_movingInstances;
TinyVRGui* m_tinyVrGUI;
@ -37,10 +34,7 @@ public:
DynamicTexturedCubeDemo(CommonGraphicsApp* app)
:m_app(app),
m_x(0),
m_y(0),
m_z(0),
m_tinyVrGUI(0)
m_tinyVrGUI(0)
{
m_app->setUpAxis(2);

16
examples/RenderingExamples/RaytracerSetup.cpp
View File

@ -76,16 +76,16 @@ struct RaytracerInternalData
RaytracerInternalData()
:m_canvasIndex(-1),
m_canvas(0),
m_roll(0),
m_pitch(0),
m_yaw(0),
#ifdef _DEBUG
m_width(64),
m_height(64)
m_width(64),
m_height(64),
#else
m_width(128),
m_height(128)
m_width(128),
m_height(128),
#endif
m_pitch(0),
m_roll(0),
m_yaw(0)
{
btConeShape* cone = new btConeShape(1,1);
btSphereShape* sphere = new btSphereShape(1);
@ -300,7 +300,7 @@ void RaytracerPhysicsSetup::stepSimulation(float deltaTime)
int mode = 0;
// int mode = 0;
int x,y;
for (x=0;x<m_internalData->m_width;x++)

2
examples/RenderingExamples/TimeSeriesCanvas.cpp
View File

@ -298,7 +298,7 @@ void TimeSeriesCanvas::insertDataAtCurrentTime(float orgV, int dataSourceIndex,
float amp = m_internalData->m_pixelsPerUnit;
//insert some new value(s) in the right-most column
{
float time = m_internalData->getTime();
// float time = m_internalData->getTime();
float v = zero+amp*orgV;

14
examples/RenderingExamples/TinyRendererSetup.cpp
View File

@ -43,14 +43,14 @@ struct TinyRendererSetupInternalData
int m_animateRenderer;
TinyRendererSetupInternalData(int width, int height)
:m_roll(0),
m_pitch(0),
m_yaw(0),
m_width(width),
m_height(height),
:
m_rgbColorBuffer(width,height,TGAImage::RGB),
m_textureHandle(0),
m_width(width),
m_height(height),
m_pitch(0),
m_roll(0),
m_yaw(0),
m_textureHandle(0),
m_animateRenderer(0)
{
m_depthBuffer.resize(m_width*m_height);

7
examples/RenderingExamples/TinyVRGui.cpp
View File

@ -19,9 +19,10 @@ struct TestCanvasInterface2 : public Common2dCanvasInterface
int m_height;
TestCanvasInterface2(b3AlignedObjectArray<unsigned char>& texelsRGB, int width, int height)
:m_width(width),
m_height(height),
m_texelsRGB(texelsRGB)
:
m_texelsRGB(texelsRGB),
m_width(width),
m_height(height)
{
}

3
examples/RigidBody/RigidBodySoftContact.cpp
View File

@ -157,7 +157,8 @@ void RigidBodySoftContact::initPhysics()
btScalar(2.0*j)));
btRigidBody* body = createRigidBody(mass,startTransform,colShape);
btRigidBody* body;
body = createRigidBody(mass,startTransform,colShape);
//body->setAngularVelocity(btVector3(1,1,1));

14
examples/RoboticsLearning/GripperGraspExample.cpp
View File

@ -25,13 +25,9 @@ class GripperGraspExample : public CommonExampleInterface
GUIHelperInterface* m_guiHelper;
b3RobotSimAPI m_robotSim;
int m_options;
int m_r2d2Index;
int m_gripperIndex;
float m_x;
float m_y;
float m_z;
b3AlignedObjectArray<int> m_movingInstances;
b3AlignedObjectArray<int> m_movingInstances;
enum
{
numCubesX = 20,
@ -43,12 +39,8 @@ public:
:m_app(helper->getAppInterface()),
m_guiHelper(helper),
m_options(options),
m_r2d2Index(-1),
m_gripperIndex(-1),
m_x(0),
m_y(0),
m_z(0)
{
m_gripperIndex(-1)
{
m_app->setUpAxis(2);
}
virtual ~GripperGraspExample()

6
examples/RoboticsLearning/KukaGraspExample.cpp
View File

@ -30,7 +30,7 @@ class KukaGraspExample : public CommonExampleInterface
b3Vector4 m_targetOri;
b3Vector4 m_worldOri;
double m_time;
int m_options;
// int m_options;
b3AlignedObjectArray<int> m_movingInstances;
enum
@ -40,10 +40,10 @@ class KukaGraspExample : public CommonExampleInterface
};
public:
KukaGraspExample(GUIHelperInterface* helper, int options)
KukaGraspExample(GUIHelperInterface* helper, int /* options */)
:m_app(helper->getAppInterface()),
m_guiHelper(helper),
m_options(options),
// m_options(options),
m_kukaIndex(-1),
m_time(0)
{

10
examples/RoboticsLearning/R2D2GraspExample.cpp
View File

@ -23,9 +23,6 @@ class R2D2GraspExample : public CommonExampleInterface
int m_options;
int m_r2d2Index;
float m_x;
float m_y;
float m_z;
b3AlignedObjectArray<int> m_movingInstances;
enum
{
@ -38,10 +35,7 @@ public:
:m_app(helper->getAppInterface()),
m_guiHelper(helper),
m_options(options),
m_r2d2Index(-1),
m_x(0),
m_y(0),
m_z(0)
m_r2d2Index(-1)
{
m_app->setUpAxis(2);
}
@ -70,7 +64,7 @@ public:
b3RobotSimLoadFileResults results;
if (m_robotSim.loadFile(args, results) && results.m_uniqueObjectIds.size()==1)
{
int m_r2d2Index = results.m_uniqueObjectIds[0];
m_r2d2Index = results.m_uniqueObjectIds[0];
int numJoints = m_robotSim.getNumJoints(m_r2d2Index);
b3Printf("numJoints = %d",numJoints);

39
examples/RoboticsLearning/b3RobotSimAPI.cpp
View File

@ -106,10 +106,10 @@ struct RobotSimThreadLocalStorage
void RobotThreadFunc(void* userPtr,void* lsMemory)
{
printf("RobotThreadFunc thread started\n");
RobotSimThreadLocalStorage* localStorage = (RobotSimThreadLocalStorage*) lsMemory;
// RobotSimThreadLocalStorage* localStorage = (RobotSimThreadLocalStorage*) lsMemory;
RobotSimArgs* args = (RobotSimArgs*) userPtr;
int workLeft = true;
// int workLeft = true;
b3Clock clock;
clock.reset();
bool init = true;
@ -157,7 +157,7 @@ void* RobotlsMemoryFunc()
ATTRIBUTE_ALIGNED16(class) MultiThreadedOpenGLGuiHelper2 : public GUIHelperInterface
{
CommonGraphicsApp* m_app;
// CommonGraphicsApp* m_app;
b3CriticalSection* m_cs;
@ -188,9 +188,8 @@ public:
int m_instanceId;
MultiThreadedOpenGLGuiHelper2(CommonGraphicsApp* app, GUIHelperInterface* guiHelper)
:m_app(app)
,m_cs(0),
MultiThreadedOpenGLGuiHelper2( GUIHelperInterface* guiHelper)
: m_cs(0),
m_texels(0),
m_textureId(-1)
{
@ -439,11 +438,13 @@ struct b3RobotSimAPI_InternalData
bool m_connected;
b3RobotSimAPI_InternalData()
:m_threadSupport(0),
m_multiThreadedHelper(0),
m_clientServerDirect(0),
m_physicsClient(0),
m_useMultiThreading(false),
:
m_physicsClient(0),
m_threadSupport(0),
m_multiThreadedHelper(0),
m_clientServerDirect(0),
m_useMultiThreading(false),
m_connected(false)
{
}
@ -695,7 +696,7 @@ bool b3RobotSimAPI::getJointStates(int bodyUniqueId, b3JointStates& state)
if (statusHandle)
{
double rootInertialFrame[7];
// double rootInertialFrame[7];
const double* rootLocalInertialFrame;
const double* actualStateQ;
const double* actualStateQdot;
@ -843,7 +844,8 @@ bool b3RobotSimAPI::loadFile(const struct b3RobotSimLoadFileArgs& args, b3RobotS
if (numBodies)
{
results.m_uniqueObjectIds.resize(numBodies);
int numBodies = b3GetStatusBodyIndices(statusHandle, &results.m_uniqueObjectIds[0],results.m_uniqueObjectIds.size());
int numBodies;
numBodies = b3GetStatusBodyIndices(statusHandle, &results.m_uniqueObjectIds[0],results.m_uniqueObjectIds.size());
}
statusOk = true;
@ -865,11 +867,7 @@ bool b3RobotSimAPI::connect(GUIHelperInterface* guiHelper)
{
if (m_data->m_useMultiThreading)
{
m_data->m_multiThreadedHelper = new MultiThreadedOpenGLGuiHelper2(guiHelper->getAppInterface(), guiHelper);
MultiThreadedOpenGLGuiHelper2* guiHelperWrapper = new MultiThreadedOpenGLGuiHelper2(guiHelper->getAppInterface(), guiHelper);
m_data->m_multiThreadedHelper = new MultiThreadedOpenGLGuiHelper2(guiHelper);
m_data->m_threadSupport = createRobotSimThreadSupport(MAX_ROBOT_NUM_THREADS);
@ -892,7 +890,7 @@ bool b3RobotSimAPI::connect(GUIHelperInterface* guiHelper)
int numMoving = 0;
m_data->m_args[w].m_positions.resize(numMoving);
m_data->m_args[w].m_physicsServerPtr = &m_data->m_physicsServer;
int index = 0;
//int index = 0;
m_data->m_threadSupport->runTask(B3_THREAD_SCHEDULE_TASK, (void*)&m_data->m_args[w], w);
while (m_data->m_args[w].m_cs->getSharedParam(0) == eRobotSimIsUnInitialized)
@ -912,7 +910,8 @@ bool b3RobotSimAPI::connect(GUIHelperInterface* guiHelper)
{
PhysicsServerCommandProcessor* sdk = new PhysicsServerCommandProcessor;
m_data->m_clientServerDirect = new PhysicsDirect(sdk,true);
bool connected = m_data->m_clientServerDirect->connect(guiHelper);
bool connected;
connected = m_data->m_clientServerDirect->connect(guiHelper);
m_data->m_physicsClient = (b3PhysicsClientHandle)m_data->m_clientServerDirect;
}

8
examples/SharedMemory/PhysicsClientExample.cpp
View File

@ -514,13 +514,13 @@ m_wantsTermination(false),
m_sharedMemoryKey(SHARED_MEMORY_KEY),
m_selectedBody(-1),
m_prevSelectedBody(-1),
m_numMotors(0),
m_options(options),
m_isOptionalServerConnected(false),
m_canvas(0),
m_canvasRGBIndex(-1),
m_canvasDepthIndex(-1),
m_canvasSegMaskIndex(-1)
m_canvasSegMaskIndex(-1),
m_numMotors(0),
m_options(options),
m_isOptionalServerConnected(false)
{
b3Printf("Started PhysicsClientExample\n");

7
examples/SharedMemory/PhysicsClientSharedMemory.cpp
View File

@ -62,10 +62,9 @@ struct PhysicsClientSharedMemoryInternalData {
: m_sharedMemory(0),
m_ownsSharedMemory(false),
m_testBlock1(0),
m_counter(0),
m_cachedCameraPixelsWidth(0),
m_cachedCameraPixelsHeight(0),
m_counter(0),
m_isConnected(false),
m_waitingForServer(false),
m_hasLastServerStatus(false),
@ -283,7 +282,7 @@ void PhysicsClientSharedMemory::processBodyJointInfo(int bodyUniqueId, const Sha
}
const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
SharedMemoryStatus* stat = 0;
// SharedMemoryStatus* stat = 0;
if (!m_data->m_testBlock1) {
m_data->m_lastServerStatus.m_type = CMD_SHARED_MEMORY_NOT_INITIALIZED;
@ -308,7 +307,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
const SharedMemoryStatus& serverCmd = m_data->m_testBlock1->m_serverCommands[0];
m_data->m_lastServerStatus = serverCmd;
EnumSharedMemoryServerStatus s = (EnumSharedMemoryServerStatus)serverCmd.m_type;
// EnumSharedMemoryServerStatus s = (EnumSharedMemoryServerStatus)serverCmd.m_type;
// consume the command
switch (serverCmd.m_type) {

13
examples/SharedMemory/PhysicsClientUDP.cpp
View File

@ -170,7 +170,7 @@ struct UdpNetworkedInternalData
if (gVerboseNetworkMessagesClient)
{
printf("A packet of length %u containing '%s' was "
printf("A packet of length %lu containing '%s' was "
"received from %s on channel %u.\n",
m_event.packet->dataLength,
m_event.packet->data,
@ -225,7 +225,7 @@ struct UdpNetworkedInternalData
{
if (gVerboseNetworkMessagesClient)
{
printf("A packet of length %u containing '%s' was "
printf("A packet of length %lu containing '%s' was "
"received from %s on channel %u.\n",
m_event.packet->dataLength,
m_event.packet->data,
@ -303,10 +303,10 @@ enum UDPCommandEnums
void UDPThreadFunc(void* userPtr, void* lsMemory)
{
printf("UDPThreadFunc thread started\n");
UDPThreadLocalStorage* localStorage = (UDPThreadLocalStorage*)lsMemory;
// UDPThreadLocalStorage* localStorage = (UDPThreadLocalStorage*)lsMemory;
UdpNetworkedInternalData* args = (UdpNetworkedInternalData*)userPtr;
int workLeft = true;
// int workLeft = true;
b3Clock clock;
clock.reset();
bool init = true;
@ -366,7 +366,8 @@ void UDPThreadFunc(void* userPtr, void* lsMemory)
int sz = sizeof(SharedMemoryCommand);
ENetPacket *packet = enet_packet_create(&args->m_clientCmd, sz, ENET_PACKET_FLAG_RELIABLE);
int res = enet_peer_send(args->m_peer, 0, packet);
int res;
res = enet_peer_send(args->m_peer, 0, packet);
args->m_cs->lock();
args->m_hasCommand = false;
args->m_cs->unlock();
@ -440,7 +441,7 @@ UdpNetworkedPhysicsProcessor::~UdpNetworkedPhysicsProcessor()
bool UdpNetworkedPhysicsProcessor::processCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
int sz = sizeof(SharedMemoryCommand);
// int sz = sizeof(SharedMemoryCommand);
int timeout = 1024 * 1024 * 1024;
m_data->m_cs->lock();

3
examples/SharedMemory/PhysicsClientUDP_C_API.cpp
View File

@ -12,7 +12,8 @@ b3PhysicsClientHandle b3ConnectPhysicsUDP(const char* hostName, int port)
PhysicsDirect* direct = new PhysicsDirect(udp,true);
bool connected = direct->connect();
bool connected;
connected = direct->connect();
printf("direct!\n");
return (b3PhysicsClientHandle)direct;
}

3
examples/SharedMemory/PhysicsDirectC_API.cpp
View File

@ -12,7 +12,8 @@ b3PhysicsClientHandle b3ConnectPhysicsDirect()
PhysicsServerCommandProcessor* sdk = new PhysicsServerCommandProcessor;
PhysicsDirect* direct = new PhysicsDirect(sdk,true);
bool connected = direct->connect();
bool connected;
connected = direct->connect();
return (b3PhysicsClientHandle )direct;
}

3
examples/SharedMemory/PhysicsLoopBackC_API.cpp
View File

@ -9,7 +9,8 @@ b3PhysicsClientHandle b3ConnectPhysicsLoopback(int key)
{
PhysicsLoopBack* loopBack = new PhysicsLoopBack();
loopBack->setSharedMemoryKey(key);
bool connected = loopBack->connect();
bool connected;
connected = loopBack->connect();
return (b3PhysicsClientHandle )loopBack;
}

25
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@ -438,7 +438,7 @@ struct PhysicsServerCommandProcessorInternalData
if (m_firstFreeHandle<0)
{
int curCapacity = m_bodyHandles.size();
//int curCapacity = m_bodyHandles.size();
int additionalCapacity= m_bodyHandles.size();
increaseHandleCapacity(additionalCapacity);
@ -541,14 +541,15 @@ struct PhysicsServerCommandProcessorInternalData
TinyRendererVisualShapeConverter m_visualConverter;
PhysicsServerCommandProcessorInternalData()
:m_hasGround(false),
m_gripperRigidbodyFixed(0),
:
m_allowRealTimeSimulation(false),
m_hasGround(false),
m_gripperRigidbodyFixed(0),
m_gripperMultiBody(0),
m_kukaGripperFixed(0),
m_kukaGripperMultiBody(0),
m_kukaGripperRevolute1(0),
m_kukaGripperRevolute2(0),
m_allowRealTimeSimulation(false),
m_huskyId(-1),
m_KukaId(-1),
m_sphereId(-1),
@ -1336,7 +1337,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
//m_data->m_testBlock1->m_numProcessedClientCommands++;
//no timestamp yet
int timeStamp = 0;
//int timeStamp = 0;
//catch uninitialized cases
serverStatusOut.m_type = CMD_INVALID_STATUS;
@ -2920,9 +2921,9 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
serverCmd.m_type = CMD_REQUEST_AABB_OVERLAP_COMPLETED;
int m_startingOverlappingObjectIndex;
int m_numOverlappingObjectsCopied;
int m_numRemainingOverlappingObjects;
//int m_startingOverlappingObjectIndex;
//int m_numOverlappingObjectsCopied;
//int m_numRemainingOverlappingObjects;
serverCmd.m_sendOverlappingObjectsArgs.m_startingOverlappingObjectIndex = clientCmd.m_requestOverlappingObjectsArgs.m_startingOverlappingObjectIndex;
serverCmd.m_sendOverlappingObjectsArgs.m_numOverlappingObjectsCopied = m_data->m_cachedOverlappingObjects.m_bodyUniqueIds.size();
serverCmd.m_sendOverlappingObjectsArgs.m_numRemainingOverlappingObjects = remainingObjects - curNumObjects;
@ -3133,8 +3134,6 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
///ContactResultCallback is used to report contact points
struct MyContactResultCallback : public btCollisionWorld::ContactResultCallback
{
//short int m_collisionFilterGroup;
//short int m_collisionFilterMask;
int m_bodyUniqueIdA;
int m_bodyUniqueIdB;
int m_linkIndexA;
@ -3789,8 +3788,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
//retrieve the visual shape information for a specific body
int totalNumVisualShapes = m_data->m_visualConverter.getNumVisualShapes(clientCmd.m_requestVisualShapeDataArguments.m_bodyUniqueId);
int totalBytesPerVisualShape = sizeof (b3VisualShapeData);
int visualShapeStorage = bufferSizeInBytes / totalBytesPerVisualShape - 1;
//int totalBytesPerVisualShape = sizeof (b3VisualShapeData);
//int visualShapeStorage = bufferSizeInBytes / totalBytesPerVisualShape - 1;
b3VisualShapeData* visualShapeStoragePtr = (b3VisualShapeData*)bufferServerToClient;
int remain = totalNumVisualShapes - clientCmd.m_requestVisualShapeDataArguments.m_startingVisualShapeIndex;
@ -4084,7 +4083,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
return hasStatus;
}
static int skip=1;
//static int skip=1;
void PhysicsServerCommandProcessor::renderScene()
{

76
examples/SharedMemory/PhysicsServerExample.cpp
View File

@ -56,6 +56,29 @@ const char* startFileNameVR = "0_VRDemoSettings.txt";
#include <vector>
static void loadCurrentSettingsVR(b3CommandLineArgs& args)
{
//int currentEntry = 0;
FILE* f = fopen(startFileNameVR, "r");
if (f)
{
char oneline[1024];
char* argv[] = { 0,&oneline[0] };
while (fgets(oneline, 1024, f) != NULL)
{
char *pos;
if ((pos = strchr(oneline, '\n')) != NULL)
*pos = '\0';
args.addArgs(2, argv);
}
fclose(f);
}
};
#if B3_USE_MIDI
//remember the settings (you don't want to re-tune again and again...)
static void saveCurrentSettingsVR()
{
@ -70,27 +93,6 @@ static void saveCurrentSettingsVR()
}
};
static void loadCurrentSettingsVR(b3CommandLineArgs& args)
{
int currentEntry = 0;
FILE* f = fopen(startFileNameVR, "r");
if (f)
{
char oneline[1024];
char* argv[] = { 0,&oneline[0] };
while (fgets(oneline, 1024, f) != NULL)
{
char *pos;
if ((pos = strchr(oneline, '\n')) != NULL)
*pos = '\0';
args.addArgs(2, argv);
}
fclose(f);
}
};
#if B3_USE_MIDI
static float getParamf(float rangeMin, float rangeMax, int midiVal)
@ -280,10 +282,10 @@ float sleepTimeThreshold = 8./1000.;
void MotionThreadFunc(void* userPtr,void* lsMemory)
{
printf("MotionThreadFunc thread started\n");
MotionThreadLocalStorage* localStorage = (MotionThreadLocalStorage*) lsMemory;
//MotionThreadLocalStorage* localStorage = (MotionThreadLocalStorage*) lsMemory;
MotionArgs* args = (MotionArgs*) userPtr;
int workLeft = true;
//int workLeft = true;
b3Clock clock;
clock.reset();
bool init = true;
@ -494,7 +496,7 @@ struct UserDebugText
class MultiThreadedOpenGLGuiHelper : public GUIHelperInterface
{
CommonGraphicsApp* m_app;
// CommonGraphicsApp* m_app;
b3CriticalSection* m_cs;
b3CriticalSection* m_cs2;
@ -558,8 +560,9 @@ public:
}
MultiThreadedOpenGLGuiHelper(CommonGraphicsApp* app, GUIHelperInterface* guiHelper)
:m_app(app)
,m_cs(0),
:
//m_app(app),
m_cs(0),
m_cs2(0),
m_cs3(0),
m_csGUI(0),
@ -816,7 +819,7 @@ public:
m_tmpText.m_itemUniqueId = m_uidGenerator++;
m_tmpText.m_lifeTime = lifeTime;
m_tmpText.textSize = size;
int len = strlen(txt);
//int len = strlen(txt);
strcpy(m_tmpText.m_text,txt);
m_tmpText.m_textPositionXYZ[0] = positionXYZ[0];
m_tmpText.m_textPositionXYZ[1] = positionXYZ[1];
@ -893,7 +896,7 @@ class PhysicsServerExample : public SharedMemoryCommon
bool m_isConnected;
btClock m_clock;
bool m_replay;
int m_options;
// int m_options;
#ifdef BT_ENABLE_VR
TinyVRGui* m_tinyVrGui;
@ -1123,8 +1126,8 @@ PhysicsServerExample::PhysicsServerExample(MultiThreadedOpenGLGuiHelper* helper,
m_physicsServer(sharedMem),
m_wantsShutdown(false),
m_isConnected(false),
m_replay(false),
m_options(options)
m_replay(false)
//m_options(options)
#ifdef BT_ENABLE_VR
,m_tinyVrGui(0)
#endif
@ -1201,7 +1204,7 @@ void PhysicsServerExample::initPhysics()
int numMoving = 0;
m_args[w].m_positions.resize(numMoving);
m_args[w].m_physicsServerPtr = &m_physicsServer;
int index = 0;
//int index = 0;
m_threadSupport->runTask(B3_THREAD_SCHEDULE_TASK, (void*) &this->m_args[w], w);
@ -1507,8 +1510,8 @@ extern btTransform gVRTrackingObjectTr;
void PhysicsServerExample::drawUserDebugLines()
{
static char line0[1024];
static char line1[1024];
//static char line0[1024];
//static char line1[1024];
//draw all user-debug-lines
@ -1634,15 +1637,16 @@ void PhysicsServerExample::renderScene()
{
static int frameCount=0;
static btScalar prevTime = m_clock.getTimeSeconds();
//static btScalar prevTime = m_clock.getTimeSeconds();
frameCount++;
#if 0
static btScalar worseFps = 1000000;
int numFrames = 200;
static int count = 0;
count++;
#if 0
if (0 == (count & 1))
{
btScalar curTime = m_clock.getTimeSeconds();

1
examples/SharedMemory/SharedMemoryCommandProcessor.cpp
View File

@ -125,7 +125,6 @@ bool SharedMemoryCommandProcessor::processCommand(const struct SharedMemoryComma
bool SharedMemoryCommandProcessor::receiveStatus(struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
SharedMemoryStatus* stat = 0;
m_data->m_lastServerStatus.m_dataStream = 0;
m_data->m_lastServerStatus.m_numDataStreamBytes = 0;

4
examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
View File

@ -546,7 +546,7 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(int linkIndex, const
btAlignedObjectArray<GLInstanceVertex> vertices;
btAlignedObjectArray<int> indices;
btTransform startTrans; startTrans.setIdentity();
int graphicsIndex = -1;
//int graphicsIndex = -1;
const UrdfVisual& vis = link->m_visualArray[v];
btTransform childTrans = vis.m_linkLocalFrame;
@ -660,7 +660,7 @@ int TinyRendererVisualShapeConverter::getVisualShapesData(int bodyUniqueId, int
break;
}
}
int count = 0;
//int count = 0;
if (start >= 0)
{

17
examples/SoftDemo/SoftDemo.cpp
View File

@ -232,15 +232,15 @@ extern float eye[3];
extern int glutScreenWidth;
extern int glutScreenHeight;
static bool sDemoMode = false;
//static bool sDemoMode = false;
const int maxProxies = 32766;
const int maxOverlap = 65535;
//const int maxOverlap = 65535;
static btVector3* gGroundVertices=0;
static int* gGroundIndices=0;
static btBvhTriangleMeshShape* trimeshShape =0;
static btRigidBody* staticBody = 0;
//static btBvhTriangleMeshShape* trimeshShape =0;
//static btRigidBody* staticBody = 0;
static float waveheight = 5.f;
const float TRIANGLE_SIZE=8.f;
@ -249,12 +249,12 @@ int current_demo=20;
#ifdef _DEBUG
const int gNumObjects = 1;
//const int gNumObjects = 1;
#else
const int gNumObjects = 1;//try this in release mode: 3000. never go above 16384, unless you increate maxNumObjects value in DemoApplication.cp
//const int gNumObjects = 1;//try this in release mode: 3000. never go above 16384, unless you increate maxNumObjects value in DemoApplication.cp
#endif
const int maxNumObjects = 32760;
//const int maxNumObjects = 32760;
#define CUBE_HALF_EXTENTS 1.5
#define EXTRA_HEIGHT -10.f
@ -1452,7 +1452,8 @@ static void Init_ClusterRobot(SoftDemo* pdemo)
ls.position=psb2->clusterCom(0);psb2->appendLinearJoint(ls,prb);
btBoxShape* pbox=new btBoxShape(btVector3(20,1,40));
btRigidBody* pgrn=pdemo->createRigidBody(0,btTransform(btQuaternion(0,-SIMD_HALF_PI/2,0),btVector3(0,0,0)),pbox);
btRigidBody* pgrn;
pgrn =pdemo->createRigidBody(0,btTransform(btQuaternion(0,-SIMD_HALF_PI/2,0),btVector3(0,0,0)),pbox);
pdemo->m_autocam=true;

2
examples/ThirdPartyLibs/BussIK/MatrixRmn.cpp
View File

@ -486,7 +486,7 @@ void MatrixRmn::ComputeSVD( MatrixRmn& U, VectorRn& w, MatrixRmn& V ) const
&& U.NumRows==U.NumCols && V.NumRows==V.NumCols
&& w.GetLength()==Min(NumRows,NumCols) );
double temp=0.0;
// double temp=0.0;
VectorRn& superDiag = VectorRn::GetWorkVector( w.GetLength()-1 ); // Some extra work space. Will get passed around.
// Choose larger of U, V to hold intermediate results

10
examples/ThirdPartyLibs/BussIK/Misc.cpp
View File

@ -23,7 +23,7 @@ subject to the following restrictions:
#include <math.h>
#include "LinearR3.h"
#if 0
/****************************************************************
Axes
@ -65,7 +65,7 @@ static float zy[] = {
static int zorder[] = {
1, 2, 3, 4, -5, 6
};
#endif
#define LENFRAC 0.10
#define BASEFRAC 1.10
@ -88,9 +88,9 @@ static int zorder[] = {
/* x, y, z, axes: */
static float axx[3] = { 1., 0., 0. };
static float ayy[3] = { 0., 1., 0. };
static float azz[3] = { 0., 0., 1. };
//static float axx[3] = { 1., 0., 0. };
//static float ayy[3] = { 0., 1., 0. };
//static float azz[3] = { 0., 0., 1. };

2
examples/ThirdPartyLibs/BussIK/Node.h
View File

@ -45,7 +45,7 @@ public:
double GetTheta() const { return theta; }
double AddToTheta( double& delta ) {
double orgTheta = theta;
//double orgTheta = theta;
theta += delta;
#if 0
if (theta < minTheta)

53
examples/TinyRenderer/TinyRenderer.cpp
View File

@ -31,11 +31,11 @@ struct DepthShader : public IShader {
DepthShader(Model* model, Matrix& lightModelView, Matrix& projectionMat, Matrix& modelMat, Vec3f localScaling, float lightDistance)
:m_model(model),
m_lightModelView(lightModelView),
m_projectionMat(projectionMat),
m_modelMat(modelMat),
m_localScaling(localScaling),
m_lightDistance(lightDistance)
m_projectionMat(projectionMat),
m_localScaling(localScaling),
m_lightModelView(lightModelView),
m_lightDistance(lightDistance)
{
m_invModelMat = m_modelMat.invert_transpose();
}
@ -92,19 +92,21 @@ struct Shader : public IShader {
:m_model(model),
m_light_dir_local(light_dir_local),
m_light_color(light_color),
m_ambient_coefficient(ambient_coefficient),
m_diffuse_coefficient(diffuse_coefficient),
m_specular_coefficient(specular_coefficient),
m_modelView1(modelView),
m_lightModelView(lightModelView),
m_projectionMat(projectionMat),
m_modelMat(modelMat),
m_viewportMat(viewportMat),
m_localScaling(localScaling),
m_colorRGBA(colorRGBA),
m_width(width),
m_height(height),
m_shadowBuffer(shadowBuffer)
m_modelMat(modelMat),
m_modelView1(modelView),
m_projectionMat(projectionMat),
m_localScaling(localScaling),
m_lightModelView(lightModelView),
m_colorRGBA(colorRGBA),
m_viewportMat(viewportMat),
m_ambient_coefficient(ambient_coefficient),
m_diffuse_coefficient(diffuse_coefficient),
m_specular_coefficient(specular_coefficient),
m_shadowBuffer(shadowBuffer),
m_width(width),
m_height(height)
{
m_invModelMat = m_modelMat.invert_transpose();
}
@ -157,11 +159,12 @@ struct Shader : public IShader {
};
TinyRenderObjectData::TinyRenderObjectData(TGAImage& rgbColorBuffer,b3AlignedObjectArray<float>&depthBuffer,b3AlignedObjectArray<float>* shadowBuffer)
:m_rgbColorBuffer(rgbColorBuffer),
:
m_model(0),
m_rgbColorBuffer(rgbColorBuffer),
m_depthBuffer(depthBuffer),
m_shadowBuffer(shadowBuffer),
m_segmentationMaskBufferPtr(0),
m_model(0),
m_userData(0),
m_userIndex(-1),
m_objectIndex(-1)
@ -180,11 +183,11 @@ m_objectIndex(-1)
}
TinyRenderObjectData::TinyRenderObjectData(TGAImage& rgbColorBuffer,b3AlignedObjectArray<float>&depthBuffer, b3AlignedObjectArray<float>* shadowBuffer, b3AlignedObjectArray<int>* segmentationMaskBuffer, int objectIndex)
:m_rgbColorBuffer(rgbColorBuffer),
:m_model(0),
m_rgbColorBuffer(rgbColorBuffer),
m_depthBuffer(depthBuffer),
m_shadowBuffer(shadowBuffer),
m_segmentationMaskBufferPtr(segmentationMaskBuffer),
m_model(0),
m_userData(0),
m_userIndex(-1),
m_objectIndex(objectIndex)
@ -203,10 +206,10 @@ m_objectIndex(objectIndex)
}
TinyRenderObjectData::TinyRenderObjectData(TGAImage& rgbColorBuffer,b3AlignedObjectArray<float>&depthBuffer)
:m_rgbColorBuffer(rgbColorBuffer),
:m_model(0),
m_rgbColorBuffer(rgbColorBuffer),
m_depthBuffer(depthBuffer),
m_segmentationMaskBufferPtr(0),
m_model(0),
m_userData(0),
m_userIndex(-1),
m_objectIndex(-1)
@ -225,10 +228,10 @@ m_objectIndex(-1)
}
TinyRenderObjectData::TinyRenderObjectData(TGAImage& rgbColorBuffer,b3AlignedObjectArray<float>&depthBuffer, b3AlignedObjectArray<int>* segmentationMaskBuffer, int objectIndex)
:m_rgbColorBuffer(rgbColorBuffer),
:m_model(0),
m_rgbColorBuffer(rgbColorBuffer),
m_depthBuffer(depthBuffer),
m_segmentationMaskBufferPtr(segmentationMaskBuffer),
m_model(0),
m_userData(0),
m_userIndex(-1),
m_objectIndex(objectIndex)

6
examples/Tutorial/Dof6ConstraintTutorial.cpp
View File

@ -457,8 +457,8 @@ void Dof6ConstraintTutorial::animate()
/////// servo motor: flip its target periodically
#ifdef USE_6DOF2
static float servoNextFrame = -1;
btScalar pos = m_data->m_ServoMotorConstraint->getRotationalLimitMotor(2)->m_currentPosition;
btScalar target = m_data->m_ServoMotorConstraint->getRotationalLimitMotor(2)->m_servoTarget;
//btScalar pos = m_data->m_ServoMotorConstraint->getRotationalLimitMotor(2)->m_currentPosition;
//btScalar target = m_data->m_ServoMotorConstraint->getRotationalLimitMotor(2)->m_servoTarget;
if(servoNextFrame < 0)
{
m_data->m_ServoMotorConstraint->getRotationalLimitMotor(2)->m_servoTarget *= -1;
@ -510,7 +510,7 @@ void Dof6ConstraintTutorial::stepSimulation(float deltaTime)
//animate();
float time = m_data->m_timeSeriesCanvas->getCurrentTime();
//float time = m_data->m_timeSeriesCanvas->getCurrentTime();
float prevPos = m_data->m_TranslateSpringBody->getWorldTransform().getOrigin().x();
m_dynamicsWorld->stepSimulation(deltaTime);

8
examples/Tutorial/Tutorial.cpp
View File

@ -292,11 +292,11 @@ public:
:m_app(guiHelper->getAppInterface()),
m_guiHelper(guiHelper),
m_tutorialIndex(tutorialIndex),
m_stage(0),
m_counter(0),
m_timeSeriesCanvas0(0),
m_timeSeriesCanvas1(0)
{
m_timeSeriesCanvas1(0),
m_stage(0),
m_counter(0)
{
int numBodies = 1;
m_app->setUpAxis(1);

34
examples/Vehicles/Hinge2Vehicle.cpp
View File

@ -158,9 +158,9 @@ static btScalar loadMass = 350.f;//
#endif
static int rightIndex = 0;
static int upIndex = 1;
static int forwardIndex = 2;
//static int rightIndex = 0;
//static int upIndex = 1;
//static int forwardIndex = 2;
static btVector3 wheelDirectionCS0(0,-1,0);
static btVector3 wheelAxleCS(-1,0,0);
@ -173,8 +173,8 @@ static bool useMCLPSolver = false;//true;
#include "Hinge2Vehicle.h"
static const int maxProxies = 32766;
static const int maxOverlap = 65535;
//static const int maxProxies = 32766;
//static const int maxOverlap = 65535;
static float gEngineForce = 0.f;
@ -182,21 +182,21 @@ static float defaultBreakingForce = 10.f;
static float gBreakingForce = 100.f;
static float maxEngineForce = 1000.f;//this should be engine/velocity dependent
static float maxBreakingForce = 100.f;
//static float maxBreakingForce = 100.f;
static float gVehicleSteering = 0.f;
static float steeringIncrement = 0.04f;
static float steeringClamp = 0.3f;
static float wheelRadius = 0.5f;
static float wheelWidth = 0.4f;
static float wheelFriction = 1000;//BT_LARGE_FLOAT;
static float suspensionStiffness = 20.f;
static float suspensionDamping = 2.3f;
static float suspensionCompression = 4.4f;
static float rollInfluence = 0.1f;//1.0f;
//static float wheelFriction = 1000;//BT_LARGE_FLOAT;
//static float suspensionStiffness = 20.f;
//static float suspensionDamping = 2.3f;
//static float suspensionCompression = 4.4f;
//static float rollInfluence = 0.1f;//1.0f;
static btScalar suspensionRestLength(0.6);
//static btScalar suspensionRestLength(0.6);
#define CUBE_HALF_EXTENTS 1
@ -209,8 +209,8 @@ static btScalar suspensionRestLength(0.6);
Hinge2Vehicle::Hinge2Vehicle(struct GUIHelperInterface* helper)
:CommonRigidBodyBase(helper),
m_guiHelper(helper),
m_carChassis(0),
m_guiHelper(helper),
m_liftBody(0),
m_forkBody(0),
m_loadBody(0),
@ -378,10 +378,10 @@ tr.setOrigin(btVector3(0,-3,0));
m_wheelShape = new btCylinderShapeX(btVector3(wheelWidth,wheelRadius,wheelRadius));
const float position[4]={0,10,10,0};
const float quaternion[4]={0,0,0,1};
const float color[4]={0,1,0,1};
const float scaling[4] = {1,1,1,1};
//const float position[4]={0,10,10,0};
//const float quaternion[4]={0,0,0,1};
//const float color[4]={0,1,0,1};
//const float scaling[4] = {1,1,1,1};
btVector3 wheelPos[4] = {
btVector3(btScalar(-1.), btScalar(-0.25), btScalar(1.25)),

32
examples/pybullet/pybullet.c
View File

@ -354,7 +354,6 @@ static PyObject* pybullet_disconnectPhysicsServer(PyObject* self,
}
static PyObject* pybullet_saveWorld(PyObject* self, PyObject* args,PyObject *keywds) {
int size = PySequence_Size(args);
const char* worldFileName = "";
b3PhysicsClientHandle sm = 0;
@ -398,7 +397,6 @@ static PyObject* pybullet_saveWorld(PyObject* self, PyObject* args,PyObject *key
#define MAX_SDF_BODIES 512
static PyObject* pybullet_loadBullet(PyObject* self, PyObject* args,PyObject *keywds)
{
int size = PySequence_Size(args);
const char* bulletFileName = "";
b3SharedMemoryStatusHandle statusHandle;
int statusType;
@ -452,7 +450,6 @@ static PyObject* pybullet_loadBullet(PyObject* self, PyObject* args,PyObject *ke
static PyObject* pybullet_saveBullet(PyObject* self, PyObject* args, PyObject* keywds)
{
int size = PySequence_Size(args);
const char* bulletFileName = "";
b3SharedMemoryStatusHandle statusHandle;
int statusType;
@ -489,7 +486,6 @@ static PyObject* pybullet_saveBullet(PyObject* self, PyObject* args, PyObject* k
static PyObject* pybullet_loadMJCF(PyObject* self, PyObject* args, PyObject* keywds)
{
int size = PySequence_Size(args);
const char* mjcfFileName = "";
b3SharedMemoryStatusHandle statusHandle;
int statusType;
@ -614,7 +610,6 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
// loadURDF(pos_x, pos_y, pos_z, orn_x, orn_y, orn_z, orn_w)
static PyObject* pybullet_loadURDF(PyObject* self, PyObject* args, PyObject *keywds)
{
int size = PySequence_Size(args);
int physicsClientId = 0;
static char *kwlist[] = { "fileName", "basePosition", "baseOrientation", "useMaximalCoordinates","useFixedBase","physicsClientId", NULL };
@ -753,7 +748,6 @@ b3PhysicsClientHandle sm=0;
static PyObject* pybullet_loadSDF(PyObject* self, PyObject* args, PyObject *keywds) {
const char* sdfFileName = "";
int size = PySequence_Size(args);
int numBodies = 0;
int i;
int bodyIndicesOut[MAX_SDF_BODIES];
@ -1577,8 +1571,7 @@ static PyObject* pybullet_getBodyInfo(PyObject* self, PyObject* args, PyObject*
{
int bodyUniqueId= -1;
int numJoints = 0;
b3PhysicsClientHandle sm = 0;
b3PhysicsClientHandle sm = 0;
int physicsClientId = 0;
static char *kwlist[] = { "bodyUniqueId", "physicsClientId", NULL };
@ -2128,15 +2121,13 @@ b3PhysicsClientHandle sm = 0;
static PyObject* pybullet_addUserDebugText(PyObject* self, PyObject* args, PyObject *keywds)
{
int size = PySequence_Size(args);
b3SharedMemoryCommandHandle commandHandle;
b3SharedMemoryStatusHandle statusHandle;
int statusType;
int res = 0;
PyObject* pyResultList = 0;
char* text;
char* text;
double posXYZ[3];
double colorRGB[3]={1,1,1};
@ -2198,15 +2189,13 @@ static PyObject* pybullet_addUserDebugText(PyObject* self, PyObject* args, PyObj
static PyObject* pybullet_addUserDebugLine(PyObject* self, PyObject* args, PyObject *keywds)
{
int size = PySequence_Size(args);
b3SharedMemoryCommandHandle commandHandle;
b3SharedMemoryStatusHandle statusHandle;
int statusType;
int res = 0;
PyObject* pyResultList = 0;
double fromXYZ[3];
double toXYZ[3];
double colorRGB[3]={1,1,1};
@ -2704,7 +2693,6 @@ static PyObject* pybullet_getVisualShapeData(PyObject* self, PyObject* args, PyO
PyTuple_SetItem(visualShapeObList, 6, vec);
}
visualShapeInfo.m_visualShapeData[0].m_rgbaColor[0];
PyTuple_SetItem(pyResultList, i, visualShapeObList);
}
@ -2767,7 +2755,6 @@ static PyObject* pybullet_resetVisualShapeData(PyObject* self, PyObject* args,Py
static PyObject* pybullet_loadTexture(PyObject* self, PyObject* args, PyObject* keywds)
{
int size = PySequence_Size(args);
const char* filename = 0;
b3SharedMemoryCommandHandle commandHandle;
b3SharedMemoryStatusHandle statusHandle;
@ -2970,7 +2957,6 @@ static PyObject* pybullet_getOverlappingObjects(PyObject* self, PyObject* args,
static PyObject* pybullet_getClosestPointData(PyObject* self, PyObject* args, PyObject *keywds)
{
int size = PySequence_Size(args);
int bodyUniqueIdA = -1;
int bodyUniqueIdB = -1;
int linkIndexA = -2;
@ -2982,7 +2968,6 @@ static PyObject* pybullet_getClosestPointData(PyObject* self, PyObject* args, Py
struct b3ContactInformation contactPointData;
b3SharedMemoryStatusHandle statusHandle;
int statusType;
PyObject* pyResultList = 0;
int physicsClientId = 0;
b3PhysicsClientHandle sm = 0;
static char *kwlist[] = { "bodyA", "bodyB", "distance", "linkIndexA","linkIndexB","physicsClientId", NULL };
@ -3111,9 +3096,6 @@ static PyObject* pybullet_updateUserConstraint(PyObject* self, PyObject* args, P
static PyObject* pybullet_createUserConstraint(PyObject* self, PyObject* args, PyObject *keywds)
{
int size = PySequence_Size(args);
int bodyUniqueIdA = -1;
int bodyUniqueIdB = -1;
b3SharedMemoryCommandHandle commandHandle;
int parentBodyUniqueId=-1;
@ -3135,7 +3117,6 @@ static PyObject* pybullet_createUserConstraint(PyObject* self, PyObject* args, P
struct b3JointInfo jointInfo;
b3SharedMemoryStatusHandle statusHandle;
int statusType;
PyObject* pyResultList = 0;
int physicsClientId = 0;
b3PhysicsClientHandle sm = 0;
static char *kwlist[] = { "parentBodyUniqueId", "parentLinkIndex",
@ -3218,7 +3199,6 @@ static PyObject* pybullet_createUserConstraint(PyObject* self, PyObject* args, P
}
static PyObject* pybullet_getContactPointData(PyObject* self, PyObject* args, PyObject *keywds) {
int size = PySequence_Size(args);
int bodyUniqueIdA = -1;
int bodyUniqueIdB = -1;
@ -3226,7 +3206,6 @@ static PyObject* pybullet_getContactPointData(PyObject* self, PyObject* args, Py
struct b3ContactInformation contactPointData;
b3SharedMemoryStatusHandle statusHandle;
int statusType;
PyObject* pyResultList = 0;
static char *kwlist[] = { "bodyA", "bodyB","physicsClientId", NULL };
@ -3273,7 +3252,6 @@ static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObjec
struct b3CameraImageData imageData;
PyObject* objViewMat = 0, *objProjMat = 0, *lightDirObj = 0, *lightColorObj = 0;
int width, height;
int size = PySequence_Size(args);
float viewMatrix[16];
float projectionMatrix[16];
float lightDir[3];
@ -3852,8 +3830,7 @@ static PyObject* pybullet_applyExternalForce(PyObject* self, PyObject* args,PyOb
b3SharedMemoryCommandHandle command;
b3SharedMemoryStatusHandle statusHandle;
int size = PySequence_Size(args);
int physicsClientId = 0;
int physicsClientId = 0;
b3PhysicsClientHandle sm = 0;
static char *kwlist[] = { "objectUniqueId", "linkIndex",
"forceObj", "posObj", "flags", "physicsClientId", NULL };
@ -4156,7 +4133,6 @@ static PyObject* pybullet_calculateInverseKinematics(PyObject* self,
{
int szInBytes = sizeof(double) * numJoints;
int i;
PyObject* pylist = 0;
lowerLimits = (double*)malloc(szInBytes);
upperLimits = (double*)malloc(szInBytes);
jointRanges = (double*)malloc(szInBytes);

5
src/Bullet3Collision/BroadPhaseCollision/b3DynamicBvh.h
View File

@ -1021,9 +1021,10 @@ inline void b3DynamicBvh::rayTest( const b3DbvtNode* root,
unsigned int signs[3] = { rayDirectionInverse[0] < 0.0, rayDirectionInverse[1] < 0.0, rayDirectionInverse[2] < 0.0};
b3Scalar lambda_max = rayDir.dot(rayTo-rayFrom);
#ifdef COMPARE_BTRAY_AABB2
b3Vector3 resultNormal;
#endif//COMPARE_BTRAY_AABB2
b3AlignedObjectArray<const b3DbvtNode*> stack;
int depth=1;

4
src/Bullet3Collision/BroadPhaseCollision/b3DynamicBvhBroadphase.cpp
View File

@ -164,8 +164,8 @@ b3BroadphaseProxy* b3DynamicBvhBroadphase::createProxy( const b3Vector3& aabb
const b3Vector3& aabbMax,
int objectId,
void* userPtr,
short int collisionFilterGroup,
short int collisionFilterMask)
int collisionFilterGroup,
int collisionFilterMask)
{
b3DbvtProxy* mem = &m_proxies[objectId];
b3DbvtProxy* proxy=new(mem) b3DbvtProxy( aabbMin,aabbMax,userPtr,

14
src/Bullet3Collision/BroadPhaseCollision/b3DynamicBvhBroadphase.h
View File

@ -61,9 +61,8 @@ B3_DECLARE_ALIGNED_ALLOCATOR();
//Usually the client b3CollisionObject or Rigidbody class
void* m_clientObject;
short int m_collisionFilterGroup;
short int m_collisionFilterMask;
void* m_multiSapParentProxy;
int m_collisionFilterGroup;
int m_collisionFilterMask;
int m_uniqueId;//m_uniqueId is introduced for paircache. could get rid of this, by calculating the address offset etc.
b3Vector3 m_aabbMin;
@ -75,18 +74,17 @@ B3_DECLARE_ALIGNED_ALLOCATOR();
}
//used for memory pools
b3BroadphaseProxy() :m_clientObject(0),m_multiSapParentProxy(0)
b3BroadphaseProxy() :m_clientObject(0)
{
}
b3BroadphaseProxy(const b3Vector3& aabbMin,const b3Vector3& aabbMax,void* userPtr,short int collisionFilterGroup, short int collisionFilterMask,void* multiSapParentProxy=0)
b3BroadphaseProxy(const b3Vector3& aabbMin,const b3Vector3& aabbMax,void* userPtr, int collisionFilterGroup, int collisionFilterMask)
:m_clientObject(userPtr),
m_collisionFilterGroup(collisionFilterGroup),
m_collisionFilterMask(collisionFilterMask),
m_aabbMin(aabbMin),
m_aabbMax(aabbMax)
{
m_multiSapParentProxy = multiSapParentProxy;
}
};
@ -107,7 +105,7 @@ struct b3DbvtProxy : b3BroadphaseProxy
/* ctor */
explicit b3DbvtProxy() {}
b3DbvtProxy(const b3Vector3& aabbMin,const b3Vector3& aabbMax,void* userPtr,short int collisionFilterGroup, short int collisionFilterMask) :
b3DbvtProxy(const b3Vector3& aabbMin,const b3Vector3& aabbMax,void* userPtr, int collisionFilterGroup, int collisionFilterMask) :
b3BroadphaseProxy(aabbMin,aabbMax,userPtr,collisionFilterGroup,collisionFilterMask)
{
links[0]=links[1]=0;
@ -165,7 +163,7 @@ struct b3DynamicBvhBroadphase
void optimize();
/* b3BroadphaseInterface Implementation */
b3BroadphaseProxy* createProxy(const b3Vector3& aabbMin,const b3Vector3& aabbMax,int objectIndex,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask);
b3BroadphaseProxy* createProxy(const b3Vector3& aabbMin,const b3Vector3& aabbMax,int objectIndex,void* userPtr, int collisionFilterGroup, int collisionFilterMask);
virtual void destroyProxy(b3BroadphaseProxy* proxy,b3Dispatcher* dispatcher);
virtual void setAabb(int objectId,const b3Vector3& aabbMin,const b3Vector3& aabbMax,b3Dispatcher* dispatcher);
virtual void rayTest(const b3Vector3& rayFrom,const b3Vector3& rayTo, b3BroadphaseRayCallback& rayCallback, const b3Vector3& aabbMin=b3MakeVector3(0,0,0), const b3Vector3& aabbMax = b3MakeVector3(0,0,0));

4
src/Bullet3Collision/BroadPhaseCollision/b3OverlappingPairCache.cpp
View File

@ -32,8 +32,8 @@ int b3g_findPairs =0;
b3HashedOverlappingPairCache::b3HashedOverlappingPairCache():
m_overlapFilterCallback(0),
m_blockedForChanges(false)
m_overlapFilterCallback(0)
//, m_blockedForChanges(false)
{
int initialAllocatedSize= 2;
m_overlappingPairArray.reserve(initialAllocatedSize);

2
src/Bullet3Collision/BroadPhaseCollision/b3OverlappingPairCache.h
View File

@ -98,7 +98,7 @@ class b3HashedOverlappingPairCache : public b3OverlappingPairCache
{
b3BroadphasePairArray m_overlappingPairArray;
b3OverlapFilterCallback* m_overlapFilterCallback;
bool m_blockedForChanges;
// bool m_blockedForChanges;
public:

2
src/Bullet3Collision/NarrowPhaseCollision/shared/b3ClipFaces.h
View File

@ -108,7 +108,7 @@ __kernel void clipFacesAndFindContactsKernel( __global const b3Float4* sepa
int closestFaceA = clippingFaces[pairIndex].x;
int closestFaceB = clippingFaces[pairIndex].y;
// int closestFaceB = clippingFaces[pairIndex].y;
int numVertsInA = clippingFaces[pairIndex].z;
int numVertsInB = clippingFaces[pairIndex].w;

9
src/Bullet3Collision/NarrowPhaseCollision/shared/b3ContactConvexConvexSAT.h
View File

@ -112,7 +112,7 @@ inline int b3ClipFaceAgainstHull(const b3Float4& separatingNormal, const b3Conve
b3GpuFace polyA = facesA[hullA->m_faceOffset+closestFaceA];
// clip polygon to back of planes of all faces of hull A that are adjacent to witness face
int numContacts = numWorldVertsB1;
//int numContacts = numWorldVertsB1;
int numVerticesA = polyA.m_numIndices;
for(int e0=0;e0<numVerticesA;e0++)
{
@ -193,7 +193,7 @@ inline int b3ClipHullAgainstHull(const b3Float4& separatingNormal,
B3_PROFILE("clipHullAgainstHull");
float curMaxDist=maxDist;
//float curMaxDist=maxDist;
int closestFaceB=-1;
float dmax = -FLT_MAX;
@ -399,7 +399,7 @@ inline int b3ClipHullHullSingle(
contact.m_frictionCoeffCmp = 45874;
contact.m_restituitionCoeffCmp = 0;
float distance = 0.f;
// float distance = 0.f;
for (int p=0;p<numPoints;p++)
{
contact.m_worldPosB[p] = contactsOut[contactIdx.s[p]];//check if it is actually on B
@ -461,9 +461,6 @@ inline int b3ContactConvexConvexSAT(
//printf("numvertsB = %d\n",hullB.m_numVertices);
// b3Float4 contactsOut[B3_MAX_VERTS];
int contactCapacity = B3_MAX_VERTS;
int numContactsOut=0;
#ifdef _WIN32

8
src/Bullet3Collision/NarrowPhaseCollision/shared/b3FindConcaveSatAxis.h
View File

@ -323,7 +323,7 @@ bool b3FindSeparatingAxisEdgeEdge( const b3ConvexPolyhedronData* hullA, __global
b3Float4 posB = posB1;
posB.w = 0.f;
int curPlaneTests=0;
// int curPlaneTests=0;
int curEdgeEdge = 0;
// Test edges
@ -577,7 +577,7 @@ __kernel void b3FindConcaveSeparatingAxisKernel( __global b3Int4* concavePairs
hasSeparatingNormals[i] = 0;
int numFacesA = convexShapes[shapeIndexA].m_numFaces;
// int numFacesA = convexShapes[shapeIndexA].m_numFaces;
int numActualConcaveConvexTests = 0;
int f = concavePairs[i].z;
@ -620,7 +620,7 @@ __kernel void b3FindConcaveSeparatingAxisKernel( __global b3Int4* concavePairs
int hasSeparatingAxis=5;
b3Float4 sepAxis=b3MakeFloat4(1,2,3,4);
int localCC=0;
// int localCC=0;
numActualConcaveConvexTests++;
//a triangle has 3 unique edges
@ -665,7 +665,7 @@ __kernel void b3FindConcaveSeparatingAxisKernel( __global b3Int4* concavePairs
indicesA[5]=0;
curUsedIndices+=3;
float c = b3Dot(normal,verticesA[0]);
float c1 = -face.m_plane.w;
// float c1 = -face.m_plane.w;
facesA[fidx].m_plane.x = -normal.x;
facesA[fidx].m_plane.y = -normal.y;
facesA[fidx].m_plane.z = -normal.z;

2
src/Bullet3Collision/NarrowPhaseCollision/shared/b3FindSeparatingAxis.h
View File

@ -16,7 +16,7 @@ inline void b3ProjectAxis(const b3ConvexPolyhedronData& hull, const b3Float4& p
{
//b3Vector3 pt = trans * vertices[m_vertexOffset+i];
//b3Scalar dp = pt.dot(dir);
b3Vector3 vertex = vertices[hull.m_vertexOffset+i];
//b3Vector3 vertex = vertices[hull.m_vertexOffset+i];
b3Scalar dp = b3Dot3F4((b3Float4&)vertices[hull.m_vertexOffset+i],localDir);
//b3Assert(dp==dpL);
if(dp < min) min = dp;

2
src/Bullet3Collision/NarrowPhaseCollision/shared/b3MprPenetration.h
View File

@ -180,7 +180,7 @@ B3_STATIC void b3MprConvexSupport(int pairIndex,int bodyIndex, b3ConstArray(b3R
{
b3Float4 supVec = b3MakeFloat4(0,0,0,0);
// b3Float4 supVec = b3MakeFloat4(0,0,0,0);
float maxDot = -B3_LARGE_FLOAT;
if( 0 < hull->m_numVertices )

7
src/Bullet3Dynamics/ConstraintSolver/b3PgsJacobiSolver.cpp
View File

@ -142,8 +142,9 @@ int getNumContacts(b3Contact4* contact)
}
b3PgsJacobiSolver::b3PgsJacobiSolver(bool usePgs)
:m_btSeed2(0),m_usePgs(usePgs),
m_numSplitImpulseRecoveries(0)
:m_usePgs(usePgs),
m_numSplitImpulseRecoveries(0),
m_btSeed2(0)
{
}
@ -1084,7 +1085,7 @@ b3Scalar b3PgsJacobiSolver::solveGroupCacheFriendlySetup(b3RigidBodyData* bodies
m_deltaAngularVelocities.resize(0);
m_deltaAngularVelocities.resize(numBodies,b3MakeVector3(0,0,0));
int totalBodies = 0;
//int totalBodies = 0;
for (int i=0;i<numConstraints;i++)
{

2
src/Bullet3Dynamics/ConstraintSolver/b3Point2PointConstraint.cpp
View File

@ -83,7 +83,7 @@ void b3Point2PointConstraint::getInfo2NonVirtual (b3ConstraintInfo2* info, const
info->m_J1linearAxis[2*info->rowskip+2] = 1;
b3Vector3 a1 = body0_trans.getBasis()*getPivotInA();
b3Vector3 a1a = b3QuatRotate(body0_trans.getRotation(),getPivotInA());
//b3Vector3 a1a = b3QuatRotate(body0_trans.getRotation(),getPivotInA());
{
b3Vector3* angular0 = (b3Vector3*)(info->m_J1angularAxis);

16
src/Bullet3Dynamics/b3CpuRigidBodyPipeline.cpp
View File

@ -254,9 +254,12 @@ struct b3SolveTask// : public ThreadPool::Task
int maxNumBatches,
b3AlignedObjectArray<int>* wgUsedBodies, int curWgidx
)
: m_bodies( bodies ), m_shapes( shapes ), m_constraints( constraints ), m_start( start ), m_nConstraints( nConstraints ),
m_solveFriction( true ),m_maxNumBatches(maxNumBatches),
m_wgUsedBodies(wgUsedBodies),m_curWgidx(curWgidx)
: m_bodies( bodies ), m_shapes( shapes ), m_constraints( constraints ),
m_wgUsedBodies(wgUsedBodies),m_curWgidx(curWgidx),
m_start( start ),
m_nConstraints( nConstraints ),
m_solveFriction( true ),
m_maxNumBatches(maxNumBatches)
{}
unsigned short int getType(){ return 0; }
@ -281,10 +284,11 @@ struct b3SolveTask// : public ThreadPool::Task
float frictionCoeff = b3GetFrictionCoeff(&m_constraints[i]);
int aIdx = (int)m_constraints[i].m_bodyA;
int bIdx = (int)m_constraints[i].m_bodyB;
int localBatch = m_constraints[i].m_batchIdx;
//int localBatch = m_constraints[i].m_batchIdx;
b3RigidBodyData& bodyA = m_bodies[aIdx];
b3RigidBodyData& bodyB = m_bodies[bIdx];
#if 0
if ((bodyA.m_invMass) && (bodyB.m_invMass))
{
// printf("aIdx=%d, bIdx=%d\n", aIdx,bIdx);
@ -293,7 +297,7 @@ struct b3SolveTask// : public ThreadPool::Task
{
//printf("ic(b)=%d, localBatch=%d\n",ic,localBatch);
}
#endif
if (aIdx==10)
{
//printf("ic(a)=%d, localBatch=%d\n",ic,localBatch);
@ -393,7 +397,7 @@ void b3CpuRigidBodyPipeline::solveContactConstraints()
int m_nIterations = 4;
b3AlignedObjectArray<b3ContactConstraint4> contactConstraints;
const b3AlignedObjectArray<b3Contact4Data>& contacts = m_data->m_np->getContacts();
// const b3AlignedObjectArray<b3Contact4Data>& contacts = m_data->m_np->getContacts();
int n = contactConstraints.size();
//convert contacts...

4
src/Bullet3OpenCL/BroadphaseCollision/b3GpuBroadphaseInterface.h
View File

@ -19,8 +19,8 @@ public:
{
}
virtual void createProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr ,short int collisionFilterGroup,short int collisionFilterMask)=0;
virtual void createLargeProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr ,short int collisionFilterGroup,short int collisionFilterMask)=0;
virtual void createProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr , int collisionFilterGroup, int collisionFilterMask)=0;
virtual void createLargeProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr , int collisionFilterGroup, int collisionFilterMask)=0;
virtual void calculateOverlappingPairs(int maxPairs)=0;
virtual void calculateOverlappingPairsHost(int maxPairs)=0;

9
src/Bullet3OpenCL/BroadphaseCollision/b3GpuGridBroadphase.cpp
View File

@ -38,8 +38,9 @@ m_largeAabbsMappingGPU(ctx,q),
m_gpuPairs(ctx,q),
m_hashGpu(ctx,q),
m_paramsGPU(ctx,q),
m_cellStartGpu(ctx,q)
m_cellStartGpu(ctx,q),
m_paramsGPU(ctx,q)
{
@ -110,7 +111,7 @@ b3GpuGridBroadphase::~b3GpuGridBroadphase()
void b3GpuGridBroadphase::createProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr ,short int collisionFilterGroup,short int collisionFilterMask)
void b3GpuGridBroadphase::createProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr , int collisionFilterGroup, int collisionFilterMask)
{
b3SapAabb aabb;
aabb.m_minVec = aabbMin;
@ -122,7 +123,7 @@ void b3GpuGridBroadphase::createProxy(const b3Vector3& aabbMin, const b3Vector3
m_allAabbsCPU1.push_back(aabb);
}
void b3GpuGridBroadphase::createLargeProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr ,short int collisionFilterGroup,short int collisionFilterMask)
void b3GpuGridBroadphase::createLargeProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr , int collisionFilterGroup, int collisionFilterMask)
{
b3SapAabb aabb;
aabb.m_minVec = aabbMin;

4
src/Bullet3OpenCL/BroadphaseCollision/b3GpuGridBroadphase.h
View File

@ -63,8 +63,8 @@ public:
virtual void createProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr ,short int collisionFilterGroup,short int collisionFilterMask);
virtual void createLargeProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr ,short int collisionFilterGroup,short int collisionFilterMask);
virtual void createProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr , int collisionFilterGroup, int collisionFilterMask);
virtual void createLargeProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr , int collisionFilterGroup, int collisionFilterMask);
virtual void calculateOverlappingPairs(int maxPairs);
virtual void calculateOverlappingPairsHost(int maxPairs);

4
src/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvhBroadphase.cpp
View File

@ -24,7 +24,7 @@ b3GpuParallelLinearBvhBroadphase::b3GpuParallelLinearBvhBroadphase(cl_context co
{
}
void b3GpuParallelLinearBvhBroadphase::createProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr, short int collisionFilterGroup, short int collisionFilterMask)
void b3GpuParallelLinearBvhBroadphase::createProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr, int collisionFilterGroup, int collisionFilterMask)
{
int newAabbIndex = m_aabbsCpu.size();
@ -39,7 +39,7 @@ void b3GpuParallelLinearBvhBroadphase::createProxy(const b3Vector3& aabbMin, con
m_aabbsCpu.push_back(aabb);
}
void b3GpuParallelLinearBvhBroadphase::createLargeProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr, short int collisionFilterGroup, short int collisionFilterMask)
void b3GpuParallelLinearBvhBroadphase::createLargeProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr, int collisionFilterGroup, int collisionFilterMask)
{
int newAabbIndex = m_aabbsCpu.size();

4
src/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvhBroadphase.h
View File

@ -36,8 +36,8 @@ public:
b3GpuParallelLinearBvhBroadphase(cl_context context, cl_device_id device, cl_command_queue queue);
virtual ~b3GpuParallelLinearBvhBroadphase() {}
virtual void createProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr, short int collisionFilterGroup, short int collisionFilterMask);
virtual void createLargeProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr, short int collisionFilterGroup, short int collisionFilterMask);
virtual void createProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr, int collisionFilterGroup, int collisionFilterMask);
virtual void createLargeProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr, int collisionFilterGroup, int collisionFilterMask);
virtual void calculateOverlappingPairs(int maxPairs);
virtual void calculateOverlappingPairsHost(int maxPairs);

92
src/Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.cpp
View File

@ -14,22 +14,53 @@ bool searchIncremental3dSapOnGpu = true;
#define B3_BROADPHASE_SAP_PATH "src/Bullet3OpenCL/BroadphaseCollision/kernels/sap.cl"
/*
b3OpenCLArray<int> m_pairCount;
b3OpenCLArray<b3SapAabb> m_allAabbsGPU;
b3AlignedObjectArray<b3SapAabb> m_allAabbsCPU;
virtual b3OpenCLArray<b3SapAabb>& getAllAabbsGPU()
{
return m_allAabbsGPU;
}
virtual b3AlignedObjectArray<b3SapAabb>& getAllAabbsCPU()
{
return m_allAabbsCPU;
}
b3OpenCLArray<b3Vector3> m_sum;
b3OpenCLArray<b3Vector3> m_sum2;
b3OpenCLArray<b3Vector3> m_dst;
b3OpenCLArray<int> m_smallAabbsMappingGPU;
b3AlignedObjectArray<int> m_smallAabbsMappingCPU;
b3OpenCLArray<int> m_largeAabbsMappingGPU;
b3AlignedObjectArray<int> m_largeAabbsMappingCPU;
b3OpenCLArray<b3Int4> m_overlappingPairs;
//temporary gpu work memory
b3OpenCLArray<b3SortData> m_gpuSmallSortData;
b3OpenCLArray<b3SapAabb> m_gpuSmallSortedAabbs;
class b3PrefixScanFloat4CL* m_prefixScanFloat4;
*/
b3GpuSapBroadphase::b3GpuSapBroadphase(cl_context ctx,cl_device_id device, cl_command_queue q , b3GpuSapKernelType kernelType)
:m_context(ctx),
m_device(device),
m_queue(q),
m_allAabbsGPU(ctx,q),
m_smallAabbsMappingGPU(ctx,q),
m_largeAabbsMappingGPU(ctx,q),
m_pairCount(ctx,q),
m_overlappingPairs(ctx,q),
m_gpuSmallSortData(ctx,q),
m_gpuSmallSortedAabbs(ctx,q),
m_sum(ctx,q),
m_sum2(ctx,q),
m_dst(ctx,q),
m_currentBuffer(-1),
m_objectMinMaxIndexGPUaxis0(ctx,q),
m_objectMinMaxIndexGPUaxis1(ctx,q),
m_objectMinMaxIndexGPUaxis2(ctx,q),
@ -45,7 +76,18 @@ m_sortedAxisGPU2prev(ctx,q),
m_addedHostPairsGPU(ctx,q),
m_removedHostPairsGPU(ctx,q),
m_addedCountGPU(ctx,q),
m_removedCountGPU(ctx,q)
m_removedCountGPU(ctx,q),
m_currentBuffer(-1),
m_pairCount(ctx,q),
m_allAabbsGPU(ctx,q),
m_sum(ctx,q),
m_sum2(ctx,q),
m_dst(ctx,q),
m_smallAabbsMappingGPU(ctx,q),
m_largeAabbsMappingGPU(ctx,q),
m_overlappingPairs(ctx,q),
m_gpuSmallSortData(ctx,q),
m_gpuSmallSortedAabbs(ctx,q)
{
const char* sapSrc = sapCL;
@ -191,7 +233,7 @@ void b3GpuSapBroadphase::init3dSap()
for (int axis=0;axis<3;axis++)
{
int totalNumAabbs = m_allAabbsCPU.size();
//int totalNumAabbs = m_allAabbsCPU.size();
int numEndPoints = m_sortedAxisCPU[axis][m_currentBuffer].size();
m_objectMinMaxIndexCPU[axis][m_currentBuffer].resize(numEndPoints);
for (int i=0;i<numEndPoints;i++)
@ -240,7 +282,7 @@ b3AlignedObjectArray<b3SapAabb> preAabbs;
void b3GpuSapBroadphase::calculateOverlappingPairsHostIncremental3Sap()
{
static int framepje = 0;
//static int framepje = 0;
//printf("framepje=%d\n",framepje++);
@ -371,6 +413,7 @@ void b3GpuSapBroadphase::calculateOverlappingPairsHostIncremental3Sap()
m_sorter->executeHost(m_sortedAxisCPU[axis][m_currentBuffer]);
}
#if 0
if (0)
{
for (int axis=0;axis<3;axis++)
@ -378,14 +421,14 @@ void b3GpuSapBroadphase::calculateOverlappingPairsHostIncremental3Sap()
//printf("axis %d\n",axis);
for (int i=0;i<m_sortedAxisCPU[axis][m_currentBuffer].size();i++)
{
int key = m_sortedAxisCPU[axis][m_currentBuffer][i].m_key;
int value = m_sortedAxisCPU[axis][m_currentBuffer][i].m_value;
//int key = m_sortedAxisCPU[axis][m_currentBuffer][i].m_key;
//int value = m_sortedAxisCPU[axis][m_currentBuffer][i].m_value;
//printf("[%d]=%d\n",i,value);
}
}
}
#endif
{
B3_PROFILE("assign m_objectMinMaxIndexCPU");
@ -409,7 +452,7 @@ void b3GpuSapBroadphase::calculateOverlappingPairsHostIncremental3Sap()
}
}
#if 0
if (0)
{
printf("==========================\n");
@ -440,6 +483,7 @@ void b3GpuSapBroadphase::calculateOverlappingPairsHostIncremental3Sap()
}
}
#endif
int a = m_objectMinMaxIndexCPU[0][m_currentBuffer].size();
@ -654,7 +698,7 @@ void b3GpuSapBroadphase::calculateOverlappingPairsHostIncremental3Sap()
int otherIndex = otherIndex2/2;
if (otherIndex!=i)
{
bool otherIsMin = ((otherIndex2&1)==0);
//bool otherIsMin = ((otherIndex2&1)==0);
//if (otherIsMin)
{
//bool overlap = TestAabbAgainstAabb2((const b3Vector3&)m_allAabbsCPU[i].m_min, (const b3Vector3&)m_allAabbsCPU[i].m_max,(const b3Vector3&)m_allAabbsCPU[otherIndex].m_min,(const b3Vector3&)m_allAabbsCPU[otherIndex].m_max);
@ -906,7 +950,7 @@ void b3GpuSapBroadphase::calculateOverlappingPairsHost(int maxPairs)
for (int i=0;i<numSmallAabbs;i++)
{
b3SapAabb smallAabbi = m_allAabbsCPU[m_smallAabbsMappingCPU[i]];
float reference = smallAabbi.m_max[axis];
//float reference = smallAabbi.m_max[axis];
for (int j=i+1;j<numSmallAabbs;j++)
{
@ -941,7 +985,7 @@ void b3GpuSapBroadphase::calculateOverlappingPairsHost(int maxPairs)
{
b3SapAabb smallAabbi = m_allAabbsCPU[m_smallAabbsMappingCPU[i]];
float reference = smallAabbi.m_max[axis];
//float reference = smallAabbi.m_max[axis];
int numLargeAabbs = m_largeAabbsMappingCPU.size();
for (int j=0;j<numLargeAabbs;j++)
@ -1022,7 +1066,7 @@ void b3GpuSapBroadphase::calculateOverlappingPairs(int maxPairs)
{
bool syncOnHost = false;
//bool syncOnHost = false;
int numSmallAabbs = m_smallAabbsMappingCPU.size();
if (m_prefixScanFloat4 && numSmallAabbs)
@ -1261,7 +1305,7 @@ void b3GpuSapBroadphase::writeAabbsToGpu()
}
void b3GpuSapBroadphase::createLargeProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr ,short int collisionFilterGroup,short int collisionFilterMask)
void b3GpuSapBroadphase::createLargeProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr , int collisionFilterGroup, int collisionFilterMask)
{
int index = userPtr;
b3SapAabb aabb;
@ -1277,7 +1321,7 @@ void b3GpuSapBroadphase::createLargeProxy(const b3Vector3& aabbMin, const b3Vec
m_allAabbsCPU.push_back(aabb);
}
void b3GpuSapBroadphase::createProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr ,short int collisionFilterGroup,short int collisionFilterMask)
void b3GpuSapBroadphase::createProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr , int collisionFilterGroup, int collisionFilterMask)
{
int index = userPtr;
b3SapAabb aabb;

4
src/Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.h
View File

@ -133,8 +133,8 @@ public:
void init3dSap();
virtual void calculateOverlappingPairsHostIncremental3Sap();
virtual void createProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr ,short int collisionFilterGroup,short int collisionFilterMask);
virtual void createLargeProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr ,short int collisionFilterGroup,short int collisionFilterMask);
virtual void createProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr , int collisionFilterGroup, int collisionFilterMask);
virtual void createLargeProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr , int collisionFilterGroup, int collisionFilterMask);
//call writeAabbsToGpu after done making all changes (createProxy etc)
virtual void writeAabbsToGpu();

10
src/Bullet3OpenCL/Initialize/b3OpenCLUtils.cpp
View File

@ -172,7 +172,7 @@ cl_platform_id b3OpenCLUtils_getPlatform(int platformIndex0, cl_int* pErrNum)
cl_uint numPlatforms;
cl_int ciErrNum = clGetPlatformIDs(0, NULL, &numPlatforms);
if (platformIndex>=0 && platformIndex<numPlatforms)
if (platformIndex<numPlatforms)
{
cl_platform_id* platforms = (cl_platform_id*) malloc (sizeof(cl_platform_id)*numPlatforms);
ciErrNum = clGetPlatformIDs(numPlatforms, platforms, NULL);
@ -583,7 +583,7 @@ static const char* strip2(const char* name, const char* pattern)
const char * oriptr;
const char * patloc;
// find how many times the pattern occurs in the original string
for (oriptr = name; patloc = strstr(oriptr, pattern); oriptr = patloc + patlen)
for (oriptr = name; (patloc = strstr(oriptr, pattern)); oriptr = patloc + patlen)
{
patcnt++;
}
@ -608,8 +608,9 @@ cl_program b3OpenCLUtils_compileCLProgramFromString(cl_context clContext, cl_dev
char driverVersion[256];
const char* strippedName;
int fileUpToDate = 0;
#ifdef _WIN32
int binaryFileValid=0;
#endif
if (!disableBinaryCaching && clFileNameForCaching)
{
clGetDeviceInfo(device, CL_DEVICE_NAME, 256, &deviceName, NULL);
@ -862,7 +863,8 @@ cl_program b3OpenCLUtils_compileCLProgramFromString(cl_context clContext, cl_dev
int kernelSize = ftell( file );
rewind( file );
kernelSrc = (char*)malloc(kernelSize+1);
int readBytes = fread((void*)kernelSrc,1,kernelSize, file);
int readBytes;
readBytes = fread((void*)kernelSrc,1,kernelSize, file);
kernelSrc[kernelSize] = 0;
fclose(file);
kernelSource = kernelSrc;

83
src/Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.cpp
View File

@ -105,21 +105,29 @@ GpuSatCollision::GpuSatCollision(cl_context ctx,cl_device_id device, cl_command_
:m_context(ctx),
m_device(device),
m_queue(q),
m_findSeparatingAxisKernel(0),
m_findSeparatingAxisVertexFaceKernel(0),
m_findSeparatingAxisEdgeEdgeKernel(0),
m_unitSphereDirections(m_context,m_queue),
m_totalContactsOut(m_context, m_queue),
m_sepNormals(m_context, m_queue),
m_dmins(m_context,m_queue),
m_hasSeparatingNormals(m_context, m_queue),
m_concaveSepNormals(m_context, m_queue),
m_concaveHasSeparatingNormals(m_context,m_queue),
m_numConcavePairsOut(m_context, m_queue),
m_gpuCompoundPairs(m_context, m_queue),
m_gpuCompoundSepNormals(m_context, m_queue),
m_gpuHasCompoundSepNormals(m_context, m_queue),
m_numCompoundPairsOut(m_context, m_queue),
m_dmins(m_context,m_queue),
m_unitSphereDirections(m_context,m_queue)
m_numCompoundPairsOut(m_context, m_queue)
{
m_totalContactsOut.push_back(0);
@ -553,7 +561,7 @@ inline void project(const b3ConvexPolyhedronData& hull, const float4& pos, cons
{
//b3Vector3 pt = trans * vertices[m_vertexOffset+i];
//b3Scalar dp = pt.dot(dir);
b3Vector3 vertex = vertices[hull.m_vertexOffset+i];
//b3Vector3 vertex = vertices[hull.m_vertexOffset+i];
b3Scalar dp = dot3F4((float4&)vertices[hull.m_vertexOffset+i],localDir);
//b3Assert(dp==dpL);
if(dp < min) min = dp;
@ -764,7 +772,7 @@ bool findSeparatingAxisEdgeEdge( __global const b3ConvexPolyhedronData* hullA, _
float4 posB = posB1;
posB.w = 0.f;
int curPlaneTests=0;
//int curPlaneTests=0;
int curEdgeEdge = 0;
// Test edges
@ -927,7 +935,7 @@ int clipFaceAgainstHull(const float4& separatingNormal, const b3ConvexPolyhedron
b3GpuFace polyA = facesA[hullA->m_faceOffset+closestFaceA];
// clip polygon to back of planes of all faces of hull A that are adjacent to witness face
int numContacts = numWorldVertsB1;
// int numContacts = numWorldVertsB1;
int numVerticesA = polyA.m_numIndices;
for(int e0=0;e0<numVerticesA;e0++)
{
@ -1008,7 +1016,7 @@ static int clipHullAgainstHull(const float4& separatingNormal,
B3_PROFILE("clipHullAgainstHull");
float curMaxDist=maxDist;
// float curMaxDist=maxDist;
int closestFaceB=-1;
float dmax = -FLT_MAX;
@ -1318,7 +1326,7 @@ int clipHullHullSingle(
contact.m_frictionCoeffCmp = 45874;
contact.m_restituitionCoeffCmp = 0;
float distance = 0.f;
// float distance = 0.f;
for (int p=0;p<numPoints;p++)
{
contact.m_worldPosB[p] = contactsOut[contactIdx.s[p]];//check if it is actually on B
@ -1362,8 +1370,8 @@ void computeContactPlaneConvex(int pairIndex,
b3Vector3 posA = rigidBodies[bodyIndexA].m_pos;
b3Quaternion ornA = rigidBodies[bodyIndexA].m_quat;
int numContactsOut = 0;
int numWorldVertsB1= 0;
// int numContactsOut = 0;
// int numWorldVertsB1= 0;
b3Vector3 planeEq = faces[collidables[collidableIndexA].m_shapeIndex].m_plane;
b3Vector3 planeNormal=b3MakeVector3(planeEq.x,planeEq.y,planeEq.z);
@ -1518,7 +1526,7 @@ __kernel void findCompoundPairsKernel(
{
numAabbChecks=0;
maxNumAabbChecks=0;
int i = pairIndex;
// int i = pairIndex;
{
@ -1590,10 +1598,10 @@ __kernel void findCompoundPairsKernel(
{
int startNodeIndexA = subtreeA.m_rootNodeIndex+bvhInfoCPU[bvhA].m_nodeOffset;
int endNodeIndexA = startNodeIndexA+subtreeA.m_subtreeSize;
// int endNodeIndexA = startNodeIndexA+subtreeA.m_subtreeSize;
int startNodeIndexB = subtreeB.m_rootNodeIndex+bvhInfoCPU[bvhB].m_nodeOffset;
int endNodeIndexB = startNodeIndexB+subtreeB.m_subtreeSize;
// int endNodeIndexB = startNodeIndexB+subtreeB.m_subtreeSize;
b3AlignedObjectArray<b3Int2> nodeStack;
b3Int2 node0;
@ -1790,19 +1798,21 @@ __kernel void findCompoundPairsKernel(
{
if (1)
{
int numFacesA = convexShapes[shapeIndexA].m_numFaces;
float dmin = FLT_MAX;
// int numFacesA = convexShapes[shapeIndexA].m_numFaces;
// float dmin = FLT_MAX;
float4 posA = newPosA;
posA.w = 0.f;
float4 posB = rigidBodies[bodyIndexB].m_pos;
posB.w = 0.f;
float4 c0local = convexShapes[shapeIndexA].m_localCenter;
b3Quat ornA = newOrnA;
float4 c0 = transform(&c0local, &posA, &ornA);
float4 c0;
c0 = transform(&c0local, &posA, &ornA);
float4 c1local = convexShapes[shapeIndexB].m_localCenter;
b3Quat ornB = rigidBodies[bodyIndexB].m_quat;
float4 c1 = transform(&c1local,&posB,&ornB);
const float4 DeltaC2 = c0 - c1;
float4 c1;
c1 = transform(&c1local,&posB,&ornB);
// const float4 DeltaC2 = c0 - c1;
{
int compoundPairIdx = b3AtomicInc(numCompoundPairsOut);
@ -1838,19 +1848,21 @@ __kernel void findCompoundPairsKernel(
if (1)
{
int numFacesA = convexShapes[shapeIndexA].m_numFaces;
float dmin = FLT_MAX;
// int numFacesA = convexShapes[shapeIndexA].m_numFaces;
// float dmin = FLT_MAX;
float4 posA = rigidBodies[bodyIndexA].m_pos;
posA.w = 0.f;
float4 posB = newPosB;
posB.w = 0.f;
float4 c0local = convexShapes[shapeIndexA].m_localCenter;
b3Quat ornA = rigidBodies[bodyIndexA].m_quat;
float4 c0 = transform(&c0local, &posA, &ornA);
float4 c0;
c0 = transform(&c0local, &posA, &ornA);
float4 c1local = convexShapes[shapeIndexB].m_localCenter;
b3Quat ornB =newOrnB;
float4 c1 = transform(&c1local,&posB,&ornB);
const float4 DeltaC2 = c0 - c1;
float4 c1;
c1 = transform(&c1local,&posB,&ornB);
// const float4 DeltaC2 = c0 - c1;
{//
int compoundPairIdx = b3AtomicInc(numCompoundPairsOut);
if (compoundPairIdx<maxNumCompoundPairsCapacity)
@ -1948,7 +1960,7 @@ __kernel void processCompoundPairsKernel( __global const b3Int4* gpuCompoundPa
int hasSeparatingAxis = 5;
int numFacesA = convexShapes[shapeIndexA].m_numFaces;
// int numFacesA = convexShapes[shapeIndexA].m_numFaces;
float dmin = FLT_MAX;
posA.w = 0.f;
posB.w = 0.f;
@ -2326,8 +2338,8 @@ void computeContactPlaneCompound(int pairIndex,
b3Vector3 posA = rigidBodies[bodyIndexA].m_pos;
b3Quaternion ornA = rigidBodies[bodyIndexA].m_quat;
int numContactsOut = 0;
int numWorldVertsB1= 0;
// int numContactsOut = 0;
// int numWorldVertsB1= 0;
b3Vector3 planeEq = faces[collidables[collidableIndexA].m_shapeIndex].m_plane;
b3Vector3 planeNormal=b3MakeVector3(planeEq.x,planeEq.y,planeEq.z);
@ -2475,7 +2487,7 @@ void computeContactSphereConvex(int pairIndex,
int shapeIndex = collidables[collidableIndex].m_shapeIndex;
int numFaces = convexShapes[shapeIndex].m_numFaces;
float4 closestPnt = b3MakeVector3(0, 0, 0, 0);
float4 hitNormalWorld = b3MakeVector3(0, 0, 0, 0);
// float4 hitNormalWorld = b3MakeVector3(0, 0, 0, 0);
float minDist = -1000000.f; // TODO: What is the largest/smallest float?
bool bCollide = true;
int region = -1;
@ -2641,7 +2653,7 @@ int computeContactConvexConvex( b3AlignedObjectArray<b3Int4>& pairs,
int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;
int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;
int sz = sizeof(b3Contact4);
//int sz = sizeof(b3Contact4);
bool result2 = getClosestPoints(&gjkDetector, transA, transB,
convexShapes[shapeIndexA], convexShapes[shapeIndexB],
@ -2709,8 +2721,8 @@ int computeContactConvexConvex( b3AlignedObjectArray<b3Int4>& pairs,
{
resultPointOnBWorld.w = distance2;
newContact.m_worldPosB[p] = resultPointOnBWorld;
b3Vector3 resultPointOnAWorld = resultPointOnBWorld+distance2*sepAxis2;
#ifdef PERSISTENT_CONTACTS_HOST
b3Vector3 resultPointOnAWorld = resultPointOnBWorld+distance2*sepAxis2;
newContact.m_localPosA[p] = transA.inverse()*resultPointOnAWorld;
newContact.m_localPosB[p] = transB.inverse()*resultPointOnBWorld;
#endif
@ -2774,8 +2786,8 @@ int computeContactConvexConvex2(
hullB = convexShapes[colB.m_shapeIndex];
//printf("numvertsB = %d\n",hullB.m_numVertices);
int contactCapacity = MAX_VERTS;
int numContactsOut=0;
// int contactCapacity = MAX_VERTS;
//int numContactsOut=0;
#ifdef _WIN32
@ -3488,7 +3500,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
//add contact point
int contactIndex = nGlobalContactsOut;
//int contactIndex = nGlobalContactsOut;
b3Contact4& newContact = hostContacts.at(nGlobalContactsOut);
nGlobalContactsOut++;
newContact.m_batchIdx = 0;//i;
@ -3511,7 +3523,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
resultPointOnBWorld.w = -depth;
newContact.m_worldPosB[0] = resultPointOnBWorld;
b3Vector3 resultPointOnAWorld = resultPointOnBWorld+depth*sepAxis2;
//b3Vector3 resultPointOnAWorld = resultPointOnBWorld+depth*sepAxis2;
newContact.m_worldNormalOnB = sepAxis2;
newContact.m_worldNormalOnB.w = (b3Scalar)1;
} else
@ -3527,7 +3539,8 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
int result = computeContactConvexConvex( hostPairs,
int result;
result = computeContactConvexConvex( hostPairs,
pairIndex,
bodyIndexA, bodyIndexB,
collidableIndexA, collidableIndexB,
@ -3893,7 +3906,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
b3AlignedObjectArray<b3Int4> triangleConvexPairsOutHost;
triangleConvexPairsOutHost.resize(maxTriConvexPairCapacity);
int numTriConvexPairsOutHost=0;
//int numTriConvexPairsOutHost=0;
numConcavePairs = 0;
//m_numConcavePairsOut

12
src/Bullet3OpenCL/NarrowphaseCollision/b3GjkPairDetector.cpp
View File

@ -97,7 +97,7 @@ inline void project(const b3ConvexPolyhedronData& hull, const float4& pos, cons
{
//b3Vector3 pt = trans * vertices[m_vertexOffset+i];
//b3Scalar dp = pt.dot(dir);
b3Vector3 vertex = vertices[hull.m_vertexOffset+i];
//b3Vector3 vertex = vertices[hull.m_vertexOffset+i];
b3Scalar dp = dot3F4((float4&)vertices[hull.m_vertexOffset+i],localDir);
//b3Assert(dp==dpL);
if(dp < min) min = dp;
@ -113,7 +113,7 @@ inline void project(const b3ConvexPolyhedronData& hull, const float4& pos, cons
max += offset;
}
#if 0
static bool TestSepAxis(const b3ConvexPolyhedronData& hullA, const b3ConvexPolyhedronData& hullB,
const float4& posA,const b3Quaternion& ornA,
const float4& posB,const b3Quaternion& ornB,
@ -143,7 +143,7 @@ static bool TestSepAxis(const b3ConvexPolyhedronData& hullA, const b3ConvexPolyh
return true;
}
#endif
bool getClosestPoints(b3GjkPairDetector* gjkDetector, const b3Transform& transA, const b3Transform& transB,
const b3ConvexPolyhedronData& hullA, const b3ConvexPolyhedronData& hullB,
@ -198,11 +198,11 @@ bool getClosestPoints(b3GjkPairDetector* gjkDetector, const b3Transform& transA,
{
b3Scalar squaredDistance = B3_LARGE_FLOAT;
b3Scalar delta = -1e30f;//b3Scalar(0.);
b3Scalar prevDelta = -1e30f;//b3Scalar(0.);
// b3Scalar prevDelta = -1e30f;//b3Scalar(0.);
b3Scalar margin = marginA + marginB;
b3Scalar bestDeltaN = -1e30f;
b3Vector3 bestSepAxis= b3MakeVector3(0,0,0);
// b3Scalar bestDeltaN = -1e30f;
// b3Vector3 bestSepAxis= b3MakeVector3(0,0,0);

2
src/Bullet3OpenCL/NarrowphaseCollision/b3QuantizedBvh.h
View File

@ -157,7 +157,7 @@ typedef b3AlignedObjectArray<b3BvhSubtreeInfo> BvhSubtreeInfoArray;
///The b3QuantizedBvh class stores an AABB tree that can be quickly traversed on CPU and Cell SPU.
///It is used by the b3BvhTriangleMeshShape as midphase, and by the b3MultiSapBroadphase.
///It is used by the b3BvhTriangleMeshShape as midphase
///It is recommended to use quantization for better performance and lower memory requirements.
B3_ATTRIBUTE_ALIGNED16(class) b3QuantizedBvh
{

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