bullet: fix warnings here and there.

src/bullet/Bullet3Dynamics/ConstraintSolver/b3PgsJacobiSolver.cpp

@@ -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)
 {
 
 }
@@ -1811,4 +1812,4 @@ b3Scalar b3PgsJacobiSolver::solveGroupCacheFriendlyFinish(b3RigidBodyData* bodie
 void	b3PgsJacobiSolver::reset()
 {
 	m_btSeed2 = 0;
-}
+}

src/bullet/Bullet3Dynamics/b3CpuRigidBodyPipeline.cpp

@@ -254,9 +254,9 @@ 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; }

src/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuGridBroadphase.cpp

@@ -38,8 +38,8 @@ 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)
 {
 
 	
@@ -279,7 +279,7 @@ void  b3GpuGridBroadphase::calculateOverlappingPairs(int maxPairs)
 
 				int sz = m_gpuPairs.size();
 				printf("m_gpuPairs.size()=%d\n",sz);
-				for (int i=0;i<m_gpuPairs.size();i++)
+				for (unsigned int i=0;i<m_gpuPairs.size();i++)
 				{
 					printf("pair %d = %d,%d\n",i,pairsCpu[i].x,pairsCpu[i].y);
 				}

src/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.cpp

@@ -19,17 +19,6 @@ b3GpuSapBroadphase::b3GpuSapBroadphase(cl_context ctx,cl_device_id device, cl_co
 :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 +34,18 @@ 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;
     
@@ -565,7 +565,7 @@ void  b3GpuSapBroadphase::calculateOverlappingPairsHostIncremental3Sap()
 					if (dmin!=0)
 					{
 						int stepMin = dmin<0 ? -1 : 1;
-						for (int j=prevMinIndex;j!=curMinIndex;j+=stepMin)
+						for (unsigned int j=prevMinIndex;j!=curMinIndex;j+=stepMin)
 						{
 							int otherIndex2 = m_sortedAxisCPU[axis][otherbuffer][j].y;
 							int otherIndex = otherIndex2/2;
@@ -648,7 +648,7 @@ void  b3GpuSapBroadphase::calculateOverlappingPairsHostIncremental3Sap()
 					if (dmax!=0)
 					{
 						int stepMax = dmax<0 ? -1 : 1;
-						for (int j=prevMaxIndex;j!=curMaxIndex;j+=stepMax)
+						for (unsigned int j=prevMaxIndex;j!=curMaxIndex;j+=stepMax)
 						{
 							int otherIndex2 = m_sortedAxisCPU[axis][otherbuffer][j].y;
 							int otherIndex = otherIndex2/2;
@@ -1024,7 +1024,7 @@ void  b3GpuSapBroadphase::calculateOverlappingPairs(int maxPairs)
 
 	bool syncOnHost = false;
 
-	int numSmallAabbs = m_smallAabbsMappingCPU.size();
+	unsigned int numSmallAabbs = m_smallAabbsMappingCPU.size();
 	if (m_prefixScanFloat4 && numSmallAabbs)
 	{
 		B3_PROFILE("GPU compute best variance axis");

src/bullet/Bullet3OpenCL/Initialize/b3OpenCLUtils.cpp

@@ -168,11 +168,10 @@ cl_platform_id b3OpenCLUtils_getPlatform(int platformIndex0, cl_int* pErrNum)
 #endif
 
 	cl_platform_id platform = 0;
-	unsigned int platformIndex = (unsigned int )platformIndex0;
 	cl_uint numPlatforms;
 	cl_int ciErrNum = clGetPlatformIDs(0, NULL, &numPlatforms);
 
-	if (platformIndex>=0 && platformIndex<numPlatforms)
+	if (platformIndex0>=0 && (cl_uint)platformIndex0<numPlatforms)
 	{
 		cl_platform_id* platforms = (cl_platform_id*) malloc (sizeof(cl_platform_id)*numPlatforms);
 		ciErrNum = clGetPlatformIDs(numPlatforms, platforms, NULL);
@@ -183,7 +182,7 @@ cl_platform_id b3OpenCLUtils_getPlatform(int platformIndex0, cl_int* pErrNum)
 			return platform;
 		}
 
-		platform = platforms[platformIndex];
+		platform = platforms[platformIndex0];
 
 		free (platforms);
 	}
@@ -310,7 +309,6 @@ cl_context b3OpenCLUtils_createContextFromType(cl_device_type deviceType, cl_int
 
 	cl_uint numPlatforms;
 	cl_context retContext = 0;
-	unsigned int i;
 
 	cl_int ciErrNum = clGetPlatformIDs(0, NULL, &numPlatforms);
 	if(ciErrNum != CL_SUCCESS)
@@ -332,7 +330,7 @@ cl_context b3OpenCLUtils_createContextFromType(cl_device_type deviceType, cl_int
 
 
 
-		for ( i = 0; i < numPlatforms; ++i)
+		for (int i = 0; (cl_uint)i < numPlatforms; ++i)
 		{
 			char pbuf[128];
 			ciErrNum = clGetPlatformInfo(	platforms[i],
@@ -346,7 +344,7 @@ cl_context b3OpenCLUtils_createContextFromType(cl_device_type deviceType, cl_int
 				return NULL;
 			}
 
-			if (preferredPlatformIndex>=0 && i==preferredPlatformIndex)
+			if (i==preferredPlatformIndex)
 			{
 				cl_platform_id tmpPlatform = platforms[0];
 				platforms[0] = platforms[i];
@@ -363,7 +361,7 @@ cl_context b3OpenCLUtils_createContextFromType(cl_device_type deviceType, cl_int
 			}
 		}
 
-		for (i = 0; i < numPlatforms; ++i)
+		for (int i = 0; (cl_uint)i < numPlatforms; ++i)
 		{
 			cl_platform_id platform = platforms[i];
 			assert(platform);
@@ -583,7 +581,7 @@ 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++;
 	  }

src/bullet/Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.cpp

@@ -108,8 +108,10 @@ 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),
@@ -117,9 +119,7 @@ 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);
 	
@@ -404,7 +404,7 @@ inline bool IsPointInPolygon(const float4& p,
 	float4 v0 = baseVertex[convexIndices[face->m_indexOffset + face->m_numIndices-1]];
 	b = v0;
 
-    for(unsigned i=0; i != face->m_numIndices; ++i)
+    for(int i=0; i != face->m_numIndices; ++i)
     {
 		a = b;
 		float4 vi = baseVertex[convexIndices[face->m_indexOffset + i]];

src/bullet/Bullet3OpenCL/ParallelPrimitives/b3PrefixScanCL.cpp

@@ -38,7 +38,7 @@ template<class T>
 T b3NextPowerOf2(T n)
 {
 	n -= 1;
-	for(int i=0; i<sizeof(T)*8; i++)
+	for(unsigned int i=0; i<sizeof(T)*8; i++)
 		n = n | (n>>i);
 	return n+1;
 }
@@ -123,4 +123,4 @@ void b3PrefixScanCL::executeHost(b3AlignedObjectArray<unsigned int>& src, b3Alig
 	{
 		*sum = dst[n-1];
 	}
-}
+}

src/bullet/Bullet3OpenCL/ParallelPrimitives/b3PrefixScanFloat4CL.cpp

@@ -38,7 +38,7 @@ template<class T>
 T b3NextPowerOf2(T n)
 {
 	n -= 1;
-	for(int i=0; i<sizeof(T)*8; i++)
+	for(unsigned int i=0; i<sizeof(T)*8; i++)
 		n = n | (n>>i);
 	return n+1;
 }
@@ -123,4 +123,4 @@ void b3PrefixScanFloat4CL::executeHost(b3AlignedObjectArray<b3Vector3>& src, b3A
 	{
 		*sum = dst[n-1];
 	}
-}
+}

src/bullet/Bullet3OpenCL/Raycast/b3GpuRaycast.cpp

@@ -311,7 +311,7 @@ void b3GpuRaycast::castRays(const b3AlignedObjectArray<b3RayInfo>& rays,	b3Align
 		
 		int numRayRigidPairs = -1;
 		m_data->m_gpuNumRayRigidPairs->copyToHostPointer(&numRayRigidPairs, 1);
-		if( numRayRigidPairs > m_data->m_gpuRayRigidPairs->size() )
+		if( numRayRigidPairs > (int)m_data->m_gpuRayRigidPairs->size() )
 		{
 			numRayRigidPairs = m_data->m_gpuRayRigidPairs->size();
 			m_data->m_gpuNumRayRigidPairs->copyFromHostPointer(&numRayRigidPairs, 1);
@@ -388,4 +388,4 @@ void b3GpuRaycast::castRays(const b3AlignedObjectArray<b3RayInfo>& rays,	b3Align
 		m_data->m_gpuHitResults->copyToHost(hitResults);
 	}
 
-}
+}

src/bullet/Bullet3OpenCL/RigidBody/b3GpuJacobiContactSolver.cpp

@@ -562,7 +562,7 @@ void b3GpuJacobiContactSolver::solveGroupHost(b3RigidBodyData* bodies,b3InertiaD
 	b3AlignedObjectArray<b3Vector3> deltaAngularVelocities;
 	deltaLinearVelocities.resize(totalNumSplitBodies);
 	deltaAngularVelocities.resize(totalNumSplitBodies);
-	for (int i=0;i<totalNumSplitBodies;i++)
+	for (unsigned int i=0;i<totalNumSplitBodies;i++)
 	{
 		deltaLinearVelocities[i].setZero();
 		deltaAngularVelocities[i].setZero();

src/bullet/Bullet3OpenCL/RigidBody/b3Solver.cpp

@@ -87,11 +87,11 @@ public:
 
 
 b3Solver::b3Solver(cl_context ctx, cl_device_id device, cl_command_queue queue, int pairCapacity)
-			:m_nIterations(4),
-			m_context(ctx),
+			:m_context(ctx),
 			m_device(device),
 			m_queue(queue),
-			m_batchSizes(ctx,queue)
+			m_batchSizes(ctx,queue),
+			m_nIterations(4)
 {
 	m_sort32 = new b3RadixSort32CL(ctx,device,queue);
 	m_scan = new b3PrefixScanCL(ctx,device,queue,B3_SOLVER_N_CELLS);
@@ -362,11 +362,15 @@ struct SolveTask// : public ThreadPool::Task
 {
 	SolveTask(b3AlignedObjectArray<b3RigidBodyData>& bodies,  b3AlignedObjectArray<b3InertiaData>& shapes, b3AlignedObjectArray<b3GpuConstraint4>& constraints,
 		int start, int nConstraints,int maxNumBatches,b3AlignedObjectArray<int>* wgUsedBodies, int curWgidx, b3AlignedObjectArray<int>* batchSizes, int cellIndex)
-		: m_bodies( bodies ), m_shapes( shapes ), m_constraints( constraints ), m_start( start ), m_nConstraints( nConstraints ),
-		m_solveFriction( true ),m_maxNumBatches(maxNumBatches),
-		m_curWgidx(curWgidx),
+		: m_bodies( bodies ), m_shapes( shapes ),
+		m_constraints( constraints ),
 		m_batchSizes(batchSizes),
-		m_cellIndex(cellIndex)
+		m_cellIndex(cellIndex),
+		m_curWgidx(curWgidx),
+		m_start( start ),
+		m_nConstraints( nConstraints ),
+		m_solveFriction( true ),
+		m_maxNumBatches(maxNumBatches)
 	{}
 
 	unsigned short int getType(){ return 0; }

src/bullet/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp

@@ -151,8 +151,8 @@ static btScalar EdgeSeparation(const btBox2dShape* poly1, const btTransform& xf1
 	int index = 0;
 	btScalar minDot = BT_LARGE_FLOAT;
 
-    if( count2 > 0 )
-        index = (int) normal1.minDot( vertices2, count2, minDot);
+	if( count2 > 0 )
+		index = (int) normal1.minDot( vertices2, count2, minDot);
 
 	btVector3 v1 = b2Mul(xf1, vertices1[edge1]);
 	btVector3 v2 = b2Mul(xf2, vertices2[index]);
@@ -174,9 +174,9 @@ static btScalar FindMaxSeparation(int* edgeIndex,
 
 	// Find edge normal on poly1 that has the largest projection onto d.
 	int edge = 0;
-    btScalar maxDot;
-    if( count1 > 0 )
-        edge = (int) dLocal1.maxDot( normals1, count1, maxDot);
+	btScalar maxDot;
+	if( count1 > 0 )
+		edge = (int) dLocal1.maxDot( normals1, count1, maxDot);
 
 	// Get the separation for the edge normal.
 	btScalar s = EdgeSeparation(poly1, xf1, edge, poly2, xf2);

src/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp

@@ -232,8 +232,8 @@ void btCompoundCollisionAlgorithm::processCollision (const btCollisionObjectWrap
 		m_compoundShapeRevision = compoundShape->getUpdateRevision();
 	}
 
-    if (m_childCollisionAlgorithms.size()==0)
-        return;
+	if (m_childCollisionAlgorithms.size()==0)
+		return;
     
 	const btDbvt* tree = compoundShape->getDynamicAabbTree();
 	//use a dynamic aabb tree to cull potential child-overlaps

src/bullet/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp

@@ -29,8 +29,8 @@ subject to the following restrictions:
 
 btConvexConcaveCollisionAlgorithm::btConvexConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped)
 : btActivatingCollisionAlgorithm(ci,body0Wrap,body1Wrap),
-m_isSwapped(isSwapped),
-m_btConvexTriangleCallback(ci.m_dispatcher1,body0Wrap,body1Wrap,isSwapped)
+m_btConvexTriangleCallback(ci.m_dispatcher1, body0Wrap, body1Wrap, isSwapped),
+m_isSwapped(isSwapped)
 {
 }
 

src/bullet/BulletInverseDynamics/details/IDLinearMathInterface.hpp

@@ -22,7 +22,7 @@ public:
 	vec3(const btVector3& btv) { *this = btv; }
 	idScalar& operator()(int i) { return (*this)[i]; }
 	const idScalar& operator()(int i) const { return (*this)[i]; }
-	const int size() const { return 3; }
+	int size() const { return 3; }
 	const vec3& operator=(const btVector3& rhs) {
 		*static_cast<btVector3*>(this) = rhs;
 		return *this;
@@ -113,7 +113,7 @@ inline vecx operator/(const vecx& a, const idScalar& s) {
 class mat3x : public matxx {
 public:
     mat3x(){}
-    mat3x(const mat3x&rhs) {
+    mat3x(const mat3x&rhs): matxx() {
         matxx::resize(rhs.rows(), rhs.cols());
         *this = rhs;
     }

src/bullet/Makefile.am

@@ -6,9 +6,7 @@ noinst_LIBRARIES = liblol-bullet.a
 # Only remove flags that were actually set, because we don't know
 # what the compiler actually accepts.
 disable_cflags = $(filter $(AM_CPPFLAGS:-W%=-Wno-%), \
-    -Wno-shadow -Wno-unused -Wno-cast-qual -Wno-strict-aliasing \
-    -Wno-reorder -Wno-maybe-uninitialized -Wno-narrowing \
-    -Wno-parentheses)
+    -Wno-shadow -Wno-unused -Wno-cast-qual -Wno-strict-aliasing)
 
 liblol_bullet_a_SOURCES = $(bullet_sources)
 liblol_bullet_a_CPPFLAGS = -DB3_USE_CLEW $(AM_CPPFLAGS) -I$(srcdir) $(disable_cflags)