Fix compilation warnings

src/collision/CollisionDetection.cpp

@@ -117,7 +117,7 @@ void CollisionDetection::reportCollisionBetweenShapes(CollisionCallback* callbac
 
         // For each contact manifold of the overlapping pair
         ContactManifold* manifold = pair->getContactManifold();
-        for (int i=0; i<manifold->getNbContactPoints(); i++) {
+        for (uint i=0; i<manifold->getNbContactPoints(); i++) {
 
             ContactPoint* contactPoint = manifold->getContactPoint(i);
 

src/collision/broadphase/BroadPhaseAlgorithm.cpp

@@ -168,7 +168,7 @@ void BroadPhaseAlgorithm::computeOverlappingPairs() {
     // For all collision shapes that have moved (or have been created) during the
     // last simulation step
     for (uint i=0; i<mNbMovedShapes; i++) {
-        uint shapeID = mMovedShapes[i];
+        int shapeID = mMovedShapes[i];
 
         if (shapeID == -1) continue;
 

src/collision/narrowphase/EPA/EPAAlgorithm.cpp

@@ -50,25 +50,25 @@ int EPAAlgorithm::isOriginInTetrahedron(const Vector3& p1, const Vector3& p2,
 
     // Check vertex 1
     Vector3 normal1 = (p2-p1).cross(p3-p1);
-    if (normal1.dot(p1) > 0.0 == normal1.dot(p4) > 0.0) {
+    if ((normal1.dot(p1) > 0.0) == (normal1.dot(p4) > 0.0)) {
         return 4;
     }
 
     // Check vertex 2
     Vector3 normal2 = (p4-p2).cross(p3-p2);
-    if (normal2.dot(p2) > 0.0 == normal2.dot(p1) > 0.0) {
+    if ((normal2.dot(p2) > 0.0) == (normal2.dot(p1) > 0.0)) {
         return 1;
     }
 
     // Check vertex 3
     Vector3 normal3 = (p4-p3).cross(p1-p3);
-    if (normal3.dot(p3) > 0.0 == normal3.dot(p2) > 0.0) {
+    if ((normal3.dot(p3) > 0.0) == (normal3.dot(p2) > 0.0)) {
         return 2;
     }
 
     // Check vertex 4
     Vector3 normal4 = (p2-p4).cross(p1-p4);
-    if (normal4.dot(p4) > 0.0 == normal4.dot(p3) > 0.0) {
+    if ((normal4.dot(p4) > 0.0) == (normal4.dot(p3) > 0.0)) {
         return 3;
     }
 

src/collision/narrowphase/GJK/GJKAlgorithm.cpp

@@ -336,7 +336,6 @@ bool GJKAlgorithm::testPointInside(const Vector3& localPoint, ProxyShape* collis
 
     Vector3 suppA;             // Support point of object A
     Vector3 w;                 // Support point of Minkowski difference A-B
-    decimal vDotw;
     decimal prevDistSquare;
 
     // Support point of object B (object B is a single point)
@@ -359,8 +358,6 @@ bool GJKAlgorithm::testPointInside(const Vector3& localPoint, ProxyShape* collis
         // Compute the support point for the Minkowski difference A-B
         w = suppA - suppB;
 
-        vDotw = v.dot(w);
-
         // Add the new support point to the simplex
         simplex.addPoint(w, suppA, suppB);
 

src/constraint/Joint.h

@@ -85,13 +85,13 @@ struct JointInfo {
         /// Type of the joint
         JointType type;
 
-        /// True if the two bodies of the joint are allowed to collide with each other
-        bool isCollisionEnabled;
-
         /// Position correction technique used for the constraint (used for joints).
         /// By default, the BAUMGARTE technique is used
         JointsPositionCorrectionTechnique positionCorrectionTechnique;
 
+        /// True if the two bodies of the joint are allowed to collide with each other
+        bool isCollisionEnabled;
+
         /// Constructor
         JointInfo(JointType constraintType)
                       : body1(NULL), body2(NULL), type(constraintType),

src/engine/DynamicsWorld.cpp

@@ -36,16 +36,17 @@ using namespace std;
 
 // Constructor
 DynamicsWorld::DynamicsWorld(const Vector3 &gravity, decimal timeStep = DEFAULT_TIMESTEP)
-              : CollisionWorld(), mTimer(timeStep), mGravity(gravity), mIsGravityEnabled(true),
+              : CollisionWorld(), mTimer(timeStep),
-                mConstrainedLinearVelocities(NULL), mConstrainedAngularVelocities(NULL),
-                mConstrainedPositions(NULL), mConstrainedOrientations(NULL),
                 mContactSolver(mMapBodyToConstrainedVelocityIndex),
                 mConstraintSolver(mMapBodyToConstrainedVelocityIndex),
                 mNbVelocitySolverIterations(DEFAULT_VELOCITY_SOLVER_NB_ITERATIONS),
                 mNbPositionSolverIterations(DEFAULT_POSITION_SOLVER_NB_ITERATIONS),
-                mIsSleepingEnabled(SPLEEPING_ENABLED), mSplitLinearVelocities(NULL),
+                mIsSleepingEnabled(SPLEEPING_ENABLED), mGravity(gravity),
-                mSplitAngularVelocities(NULL), mNbIslands(0), mNbIslandsCapacity(0),
+                mIsGravityEnabled(true), mConstrainedLinearVelocities(NULL),
-                mIslands(NULL), mNbBodiesCapacity(0),
+                mConstrainedAngularVelocities(NULL), mSplitLinearVelocities(NULL),
+                mSplitAngularVelocities(NULL), mConstrainedPositions(NULL),
+                mConstrainedOrientations(NULL), mNbIslands(0),
+                mNbIslandsCapacity(0), mIslands(NULL), mNbBodiesCapacity(0),
                 mSleepLinearVelocity(DEFAULT_SLEEP_LINEAR_VELOCITY),
                 mSleepAngularVelocity(DEFAULT_SLEEP_ANGULAR_VELOCITY),
                 mTimeBeforeSleep(DEFAULT_TIME_BEFORE_SLEEP) {

src/engine/Impulse.h

@@ -51,12 +51,12 @@ struct Impulse {
         /// Linear impulse applied to the first body
         const Vector3 linearImpulseBody1;
 
-        /// Linear impulse applied to the second body
-        const Vector3 linearImpulseBody2;
-
         /// Angular impulse applied to the first body
         const Vector3 angularImpulseBody1;
 
+        /// Linear impulse applied to the second body
+        const Vector3 linearImpulseBody2;
+
         /// Angular impulse applied to the second body
         const Vector3 angularImpulseBody2;
 

src/memory/MemoryAllocator.cpp

@@ -43,8 +43,8 @@ MemoryAllocator::MemoryAllocator() {
     mNbCurrentMemoryBlocks = 0;
     const size_t sizeToAllocate = mNbAllocatedMemoryBlocks * sizeof(MemoryBlock);
     mMemoryBlocks = (MemoryBlock*) malloc(sizeToAllocate);
-    memset(mMemoryBlocks, NULL, sizeToAllocate);
+    memset(mMemoryBlocks, 0, sizeToAllocate);
-    memset(mFreeMemoryUnits, NULL, sizeof(mFreeMemoryUnits));
+    memset(mFreeMemoryUnits, 0, sizeof(mFreeMemoryUnits));
 
 #ifndef NDEBUG
         mNbTimesAllocateMethodCalled = 0;
@@ -55,7 +55,7 @@ MemoryAllocator::MemoryAllocator() {
 
         // Initialize the array that contains the sizes the memory units that will
         // be allocated in each different heap
-        for (uint i=0; i < NB_HEAPS; i++) {
+        for (int i=0; i < NB_HEAPS; i++) {
             mUnitSizes[i] = (i+1) * 8;
         }
 

src/memory/MemoryAllocator.h

@@ -78,7 +78,7 @@ class MemoryAllocator {
         // -------------------- Constants -------------------- //
 
         /// Number of heaps
-        static const uint NB_HEAPS = 128;
+        static const int NB_HEAPS = 128;
 
         /// Maximum memory unit size. An allocation request of a size smaller or equal to
         /// this size will be handled using the small block allocator. However, for an