From 0e1052a1cc6abdd06c00fc3470f2e7558ae15bc1 Mon Sep 17 00:00:00 2001
From: "Addisu Z. Taddese" <addisu@openrobotics.org>
Date: Tue, 17 Jan 2023 22:10:04 -0600
Subject: [PATCH 1/2] Fix windows warnings related to bullet

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
---
 bullet/src/Base.hh        | 20 ++++++++------------
 bullet/src/SDFFeatures.cc |  8 ++++----
 bullet/src/plugin.cc      | 11 ++++++++++-
 3 files changed, 22 insertions(+), 17 deletions(-)

diff --git a/bullet/src/Base.hh b/bullet/src/Base.hh
index e8cd7e878..8d83be30a 100644
--- a/bullet/src/Base.hh
+++ b/bullet/src/Base.hh
@@ -111,14 +111,18 @@ struct JointInfo
 
 inline btMatrix3x3 convertMat(Eigen::Matrix3d mat)
 {
-  return btMatrix3x3(mat(0, 0), mat(0, 1), mat(0, 2),
-                     mat(1, 0), mat(1, 1), mat(1, 2),
-                     mat(2, 0), mat(2, 1), mat(2, 2));
+  return btMatrix3x3(
+      static_cast<btScalar>(mat(0, 0)), static_cast<btScalar>(mat(0, 1)),
+      static_cast<btScalar>(mat(0, 2)), static_cast<btScalar>(mat(1, 0)),
+      static_cast<btScalar>(mat(1, 1)), static_cast<btScalar>(mat(1, 2)),
+      static_cast<btScalar>(mat(2, 0)), static_cast<btScalar>(mat(2, 1)),
+      static_cast<btScalar>(mat(2, 2)));
 }
 
 inline btVector3 convertVec(Eigen::Vector3d vec)
 {
-  return btVector3(vec(0), vec(1), vec(2));
+  return btVector3(static_cast<btScalar>(vec(0)), static_cast<btScalar>(vec(1)),
+                   static_cast<btScalar>(vec(2)));
 }
 
 inline Eigen::Matrix3d convert(btMatrix3x3 mat)
@@ -146,14 +150,6 @@ class Base : public Implements3d<FeatureList<Feature>>
     return entityCount++;
   }
 
-  public: inline Identity InitiateEngine(std::size_t /*_engineID*/) override
-  {
-    const auto id = this->GetNextEntity();
-    assert(id == 0);
-
-    return this->GenerateIdentity(0);
-  }
-
   public: inline std::size_t idToIndexInContainer(std::size_t _id) const
   {
     auto it = this->childIdToParentId.find(_id);
diff --git a/bullet/src/SDFFeatures.cc b/bullet/src/SDFFeatures.cc
index 7183b6056..d98cce98d 100644
--- a/bullet/src/SDFFeatures.cc
+++ b/bullet/src/SDFFeatures.cc
@@ -224,14 +224,14 @@ Identity SDFFeatures::ConstructSdfCollision(
   else if (geom->SphereShape())
   {
     const auto sphere = geom->SphereShape();
-    const auto radius = sphere->Radius();
+    const auto radius = static_cast<btScalar>(sphere->Radius());
     shape = std::make_shared<btSphereShape>(radius);
   }
   else if (geom->CylinderShape())
   {
     const auto cylinder = geom->CylinderShape();
-    const auto radius = cylinder->Radius();
-    const auto halfLength = cylinder->Length()*0.5;
+    const auto radius = static_cast<btScalar>(cylinder->Radius());
+    const auto halfLength = static_cast<btScalar>(cylinder->Length() * 0.5);
     shape =
       std::make_shared<btCylinderShapeZ>(btVector3(radius, radius, halfLength));
   }
@@ -239,7 +239,7 @@ Identity SDFFeatures::ConstructSdfCollision(
   {
     const auto plane = geom->PlaneShape();
     const auto normal = convertVec(math::eigen3::convert(plane->Normal()));
-    shape = std::make_shared<btStaticPlaneShape>(normal, 0);
+    shape = std::make_shared<btStaticPlaneShape>(normal, 0.0f);
   }
 
   // TODO(lobotuerk/blast545) Add additional friction parameters for bullet
diff --git a/bullet/src/plugin.cc b/bullet/src/plugin.cc
index f565a4d9a..5873c6170 100644
--- a/bullet/src/plugin.cc
+++ b/bullet/src/plugin.cc
@@ -53,7 +53,16 @@ class Plugin :
     public virtual SDFFeatures,
     public virtual ShapeFeatures,
     public virtual JointFeatures
-{};
+{
+  public: Identity InitiateEngine(std::size_t /*_engineID*/) override
+  {
+    const auto id = this->GetNextEntity();
+    assert(id == 0);
+
+    return this->GenerateIdentity(0);
+  }
+
+};
 
 IGN_PHYSICS_ADD_PLUGIN(Plugin, FeaturePolicy3d, BulletFeatures)
 

From 2f7111a4d3781f83009a9f92d61e215254107c8d Mon Sep 17 00:00:00 2001
From: "Addisu Z. Taddese" <addisu@openrobotics.org>
Date: Thu, 19 Jan 2023 10:04:35 -0600
Subject: [PATCH 2/2] Remove extra newline

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
---
 bullet/src/plugin.cc | 1 -
 1 file changed, 1 deletion(-)

diff --git a/bullet/src/plugin.cc b/bullet/src/plugin.cc
index 5873c6170..6de6bdb7e 100644
--- a/bullet/src/plugin.cc
+++ b/bullet/src/plugin.cc
@@ -61,7 +61,6 @@ class Plugin :
 
     return this->GenerateIdentity(0);
   }
-
 };
 
 IGN_PHYSICS_ADD_PLUGIN(Plugin, FeaturePolicy3d, BulletFeatures)