Bullet fixes: copying compound shapes, compile warnings, motion state alignment

panda/src/bullet/bulletBodyNode.cxx

@@ -45,7 +45,16 @@ BulletBodyNode(const BulletBodyNode &copy) :
   _shapes(copy._shapes)
 {
   if (copy._shape && copy._shape->getShapeType() == COMPOUND_SHAPE_PROXYTYPE) {
-    _shape = new btCompoundShape(copy._shape);
+    // btCompoundShape does not define a copy constructor.  Manually copy.
+    btCompoundShape *shape = new btCompoundShape;
+    _shape = shape;
+
+    btCompoundShape *copy_shape = (btCompoundShape *)copy._shape;
+    int num_children = copy_shape->getNumChildShapes();
+    for (int i = 0; i < num_children; ++i) {
+      shape->addChildShape(copy_shape->getChildTransform(i),
+                           copy_shape->getChildShape(i));
+    }
   }
   else if (copy._shape && copy._shape->getShapeType() == EMPTY_SHAPE_PROXYTYPE) {
     _shape = new btEmptyShape();

panda/src/bullet/bulletGhostNode.cxx

@@ -55,7 +55,7 @@ void BulletGhostNode::
 parents_changed() {
 
   Parents parents = get_parents();
-  for (int i=0; i < parents.get_num_parents(); ++i) {
+  for (size_t i = 0; i < parents.get_num_parents(); ++i) {
     PandaNode *parent = parents.get_parent(i);
     TypeHandle type = parent->get_type();
 

panda/src/bullet/bulletRigidBodyNode.I

@@ -18,7 +18,6 @@ INLINE BulletRigidBodyNode::
 ~BulletRigidBodyNode() {
 
   delete _rigid;
-  delete _motion;
 }
 
 /**

panda/src/bullet/bulletRigidBodyNode.cxx

@@ -21,16 +21,12 @@ TypeHandle BulletRigidBodyNode::_type_handle;
  */
 BulletRigidBodyNode::
 BulletRigidBodyNode(const char *name) : BulletBodyNode(name) {
-
-  // Motion state
-  _motion = new MotionState();
-
   // Mass properties
   btScalar mass(0.0);
   btVector3 inertia(0, 0, 0);
 
   // construction info
-  btRigidBody::btRigidBodyConstructionInfo ci(mass, _motion, _shape, inertia);
+  btRigidBody::btRigidBodyConstructionInfo ci(mass, &_motion, _shape, inertia);
 
   // Additional damping
   if (bullet_additional_damping) {
@@ -52,13 +48,13 @@ BulletRigidBodyNode(const char *name) : BulletBodyNode(name) {
  */
 BulletRigidBodyNode::
 BulletRigidBodyNode(const BulletRigidBodyNode &copy) :
-  BulletBodyNode(copy)
+  BulletBodyNode(copy),
+  _motion(copy._motion)
 {
-  _motion = new MotionState(*copy._motion);
   _rigid = new btRigidBody(*copy._rigid);
   _rigid->setUserPointer(this);
   _rigid->setCollisionShape(_shape);
-  _rigid->setMotionState(_motion);
+  _rigid->setMotionState(&_motion);
 }
 
 /**
@@ -280,7 +276,7 @@ apply_central_impulse(const LVector3 &impulse) {
 void BulletRigidBodyNode::
 transform_changed() {
 
-  if (_motion->sync_disabled()) return;
+  if (_motion.sync_disabled()) return;
 
   NodePath np = NodePath::any_path((PandaNode *)this);
   CPT(TransformState) ts = np.get_net_transform();
@@ -290,7 +286,7 @@ transform_changed() {
   // transform within the motion state.  For dynamic bodies we need to store
   // the net scale within the motion state, since Bullet might update the
   // transform via MotionState::setWorldTransform.
-  _motion->set_net_transform(ts);
+  _motion.set_net_transform(ts);
 
   // For dynamic or static bodies we directly apply the new transform.
   if (!is_kinematic()) {
@@ -334,7 +330,7 @@ sync_p2b() {
 void BulletRigidBodyNode::
 sync_b2p() {
 
-  _motion->sync_b2p((PandaNode *)this);
+  _motion.sync_b2p((PandaNode *)this);
 }
 
 /**
@@ -589,7 +585,7 @@ pick_dirty_flag() {
 bool BulletRigidBodyNode::
 pick_dirty_flag() {
 
-  return _motion->pick_dirty_flag();
+  return _motion.pick_dirty_flag();
 }
 
 /**

panda/src/bullet/bulletRigidBodyNode.h

@@ -124,7 +124,7 @@ private:
     bool _was_dirty;
   };
 
-  MotionState *_motion;
+  MotionState _motion;
   btRigidBody *_rigid;
 
 public: