Small modifications

src/body/RigidBody.cpp

@@ -401,8 +401,6 @@ void RigidBody::computeMassAndInertiaTensorLocal(Vector3& inertiaTensorLocal, de
 /// mass that has been set with the RigidBody::setInertiaTensorLocal() method.
 void RigidBody::updateLocalInertiaTensorFromColliders() {
 
-    const Vector3 centerOfMassLocal = mWorld.mRigidBodyComponents.getCenterOfMassLocal(mEntity);
-
     // Compute the local-space inertia tensor
     Vector3 inertiaTensorLocal;
     decimal totalMass;

src/systems/CollisionDetectionSystem.cpp

@@ -1329,7 +1329,7 @@ void CollisionDetectionSystem::reduceContactPoints(ContactManifoldInfo& manifold
     }
     nbReducedPoints = 3;
 
-    // Compute the 4th point by choosing the triangle that add the most
+    // Compute the 4th point by choosing the triangle that adds the most
     // triangle area to the previous triangle and has opposite sign area (opposite winding)
 
     decimal largestArea = decimal(0.0); // Largest area (positive or negative)

src/systems/SolveSliderJointSystem.cpp

@@ -496,9 +496,6 @@ void SolveSliderJointSystem::solveVelocityConstraint() {
         Vector3& v1 = mRigidBodyComponents.mConstrainedLinearVelocities[componentIndexBody1];
         Vector3& v2 = mRigidBodyComponents.mConstrainedLinearVelocities[componentIndexBody2];
 
-        Vector3& w1 = mRigidBodyComponents.mConstrainedAngularVelocities[componentIndexBody1];
-        Vector3& w2 = mRigidBodyComponents.mConstrainedAngularVelocities[componentIndexBody2];
-
         decimal inverseMassBody1 = mRigidBodyComponents.mInverseMasses[componentIndexBody1];
         decimal inverseMassBody2 = mRigidBodyComponents.mInverseMasses[componentIndexBody2];
 
@@ -511,6 +508,9 @@ void SolveSliderJointSystem::solveVelocityConstraint() {
 
         if (mSliderJointComponents.mIsLimitEnabled[i]) {
 
+            Vector3& w1 = mRigidBodyComponents.mConstrainedAngularVelocities[componentIndexBody1];
+            Vector3& w2 = mRigidBodyComponents.mConstrainedAngularVelocities[componentIndexBody2];
+
             const decimal inverseMassMatrixLimit = mSliderJointComponents.mInverseMassMatrixLimit[i];
 
             // If the lower limit is violated
@@ -786,9 +786,6 @@ void SolveSliderJointSystem::solvePositionConstraint() {
         const uint32 componentIndexBody1 = mRigidBodyComponents.getEntityIndex(body1Entity);
         const uint32 componentIndexBody2 = mRigidBodyComponents.getEntityIndex(body2Entity);
 
-        Vector3& x1 = mRigidBodyComponents.mConstrainedPositions[componentIndexBody1];
-        Vector3& x2 = mRigidBodyComponents.mConstrainedPositions[componentIndexBody2];
-
         Quaternion& q1 = mRigidBodyComponents.mConstrainedOrientations[componentIndexBody1];
         Quaternion& q2 = mRigidBodyComponents.mConstrainedOrientations[componentIndexBody2];
 
@@ -861,6 +858,9 @@ void SolveSliderJointSystem::solvePositionConstraint() {
 
         if (mSliderJointComponents.mIsLimitEnabled[i]) {
 
+            Vector3& x1 = mRigidBodyComponents.mConstrainedPositions[componentIndexBody1];
+            Vector3& x2 = mRigidBodyComponents.mConstrainedPositions[componentIndexBody2];
+
             const Vector3& r2CrossSliderAxis = mSliderJointComponents.mR2CrossSliderAxis[i];
             const Vector3& r1PlusUCrossSliderAxis = mSliderJointComponents.mR1PlusUCrossSliderAxis[i];
 

src/utils/Profiler.cpp

@@ -292,7 +292,6 @@ void Profiler::printRecursiveNodeReport(ProfileNodeIterator* iterator,
     for (int i=0; i<spacing; i++) outputStream << " ";
     outputStream << "| Profiling : " << iterator->getCurrentParentName() <<
                     " (total running time : " << parentTime << " ms) ---" << std::endl;
-    long double totalTime = 0.0L;
 
     // Recurse over the children of the current node
     int nbChildren = 0;
@@ -307,7 +306,6 @@ void Profiler::printRecursiveNodeReport(ProfileNodeIterator* iterator,
                         fraction << " % | " << (currentTotalTime / (long double) (nbFrames)) <<
                         " ms/frame (" << iterator->getCurrentNbTotalCalls() << " calls)" <<
                         std::endl;
-        totalTime += currentTotalTime;
     }
 
     if (parentTime < accumulatedTime) {

testbed/scenes/joints/JointsScene.cpp

@@ -215,7 +215,6 @@ void JointsScene::createBallAndSocketJoints() {
 
     rp3d::Vector3 positionBox(0, 15, 5);
     openglframework::Vector3 boxDimension(1, 1, 1);
-    const float boxMass = 0.5f;
 
     for (int i=0; i<NB_BALLSOCKETJOINT_BOXES; i++) {
 

testbed/scenes/pile/PileScene.cpp

@@ -164,9 +164,6 @@ PileScene::PileScene(const std::string& name, EngineSettings& settings)
 
     // ---------- Create the triangular mesh ---------- //
 
-    // Position
-    rp3d::decimal mass = 1.0;
-
     // Create a convex mesh and a corresponding rigid in the physics world
     mSandbox = new ConcaveMesh(true, mPhysicsCommon, mPhysicsWorld, meshFolderPath + "sandbox.obj");
 

testbed/src/TestbedApplication.cpp

@@ -301,9 +301,11 @@ void GLAPIENTRY TestbedApplication::onOpenGLError(GLenum source, GLenum type, GL
                               const GLchar* message, const void* userParam ) {
 
     if (type == GL_DEBUG_TYPE_ERROR) {
+        /*
         fprintf( stderr, "GL CALLBACK: %s type = 0x%x, severity = 0x%x, message = %s\n",
                    ("** GL ERROR **" ),
                     type, severity, message );
+         */
     }
 }