Fixes bullet-related warnings on Windows

src/chrono/collision/bullet/BulletCollision/CollisionShapes/btBarrelShape.cpp

@@ -38,11 +38,11 @@ btBarrelShape::btBarrelShape(btScalar sY_low, btScalar sY_high, btScalar sR_vert
 
 	// suppport point on the lathed ellipse?
 	btScalar pY = vec0.y();
-	btScalar pR = sqrt (vec0.z()*vec0.z() + vec0.x()*vec0.x() );
+	btScalar pR = std::sqrt (vec0.z()*vec0.z() + vec0.x()*vec0.x() );
 	btScalar pH = pR;
 	btScalar dX = vec0.x()/pR;
 	btScalar dZ = vec0.z()/pR;
-	btScalar tpar = atan((pY*R_vert)/(pH*R_hor));
+	btScalar tpar = std::atan((pY*R_vert)/(pH*R_hor));
 	btScalar sY = R_vert * sin(tpar);
 	btScalar sH = R_hor  * cos(tpar);
 	btScalar sR = sH + R_offset;

src/chrono/collision/bullet/BulletCollision/CollisionShapes/btCEtriangleShape.cpp

@@ -16,7 +16,7 @@ subject to the following restrictions:
 
 //#define NOMINMAX
 #include <algorithm>
-
+#define BT_USE_DOUBLE_PRECISION
 #include "btCEtriangleShape.h"
 #include "BulletCollision/CollisionShapes/btCollisionMargin.h"
 #include "LinearMath/btQuaternion.h"

src/chrono/collision/bullet/BulletCollision/CollisionShapes/btCompoundShape.cpp

@@ -18,6 +18,8 @@ subject to the following restrictions:
 #include "BulletCollision/BroadphaseCollision/btDbvt.h"
 #include "LinearMath/btSerializer.h"
 
+#include <stdint.h>
+
 btCompoundShape::btCompoundShape(bool enableDynamicAabbTree)
 : m_localAabbMin(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT)),
 m_localAabbMax(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT)),
@@ -78,7 +80,7 @@ void	btCompoundShape::addChildShape(const btTransform& localTransform,btCollisio
 	{
 		const btDbvtVolume	bounds=btDbvtVolume::FromMM(localAabbMin,localAabbMax);
 		int index = m_children.size();
-		child.m_node = m_dynamicAabbTree->insert(bounds,(void*)(long)index);
+		child.m_node = m_dynamicAabbTree->insert(bounds,(void*)(uint64_t)index);
 	}
 
 	m_children.push_back(child);
@@ -307,7 +309,7 @@ void btCompoundShape::createAabbTreeFromChildren()
             child.m_childShape->getAabb(child.m_transform,localAabbMin,localAabbMax);
 
             const btDbvtVolume  bounds=btDbvtVolume::FromMM(localAabbMin,localAabbMax);
-            child.m_node = m_dynamicAabbTree->insert(bounds,(void*)(long)index);
+            child.m_node = m_dynamicAabbTree->insert(bounds,(void*)(uint64_t)index);
         }
     }
 }

src/chrono/collision/bullet/BulletFileLoader/bDNA.cpp

@@ -19,6 +19,7 @@ subject to the following restrictions:
 #include <string.h>
 #include <stdlib.h>
 #include <stdio.h>
+#include <stdint.h>
 
 //this define will force traversal of structures, to check backward (and forward) compatibility
 //#define TEST_BACKWARD_FORWARD_COMPATIBILITY
@@ -275,7 +276,7 @@ void bDNA::initCmpFlags(bDNA *memDNA)
 
 
 static int name_is_array(char* name, int* dim1, int* dim2) {
-	int len = strlen(name);
+	size_t len = strlen(name);
 	/*fprintf(stderr,"[%s]",name);*/
 	/*if (len >= 1) {
 	if (name[len-1] != ']')
@@ -349,7 +350,7 @@ void bDNA::init(char *data, int len, bool swap)
 {
 	//printf("swap = %d\n",swap); ***ALEX***
 	int *intPtr=0;short *shtPtr=0;
-	char *cp = 0;int dataLen =0;long nr=0;
+	char *cp = 0;int dataLen =0;uint64_t nr=0;
 	intPtr = (int*)data;
 
 	/*
@@ -388,7 +389,7 @@ void bDNA::init(char *data, int len, bool swap)
 
 
 	{
-		nr= (long)cp;
+		nr= (uint64_t)cp;
 	//long mask=3;
 		nr= ((nr+3)&~3)-nr;
 		while (nr--)
@@ -421,7 +422,7 @@ void bDNA::init(char *data, int len, bool swap)
 	}
 
 {
-		nr= (long)cp;
+		nr= (uint64_t)cp;
 	//	long mask=3;
 		nr= ((nr+3)&~3)-nr;
 		while (nr--)
@@ -515,7 +516,7 @@ void bDNA::init(char *data, int len, bool swap)
 int bDNA::getArraySize(char* string)
 {
 	int ret = 1;
-	int len = strlen(string);
+	size_t len = strlen(string);
 
 
 	char* next = 0;

src/chrono/collision/bullet/BulletFileLoader/bFile.cpp

@@ -16,7 +16,7 @@ subject to the following restrictions:
 #include "bCommon.h"
 #include "bChunk.h"
 #include "bDNA.h"
-#include <math.h>
+#include <cmath>
 #include <string.h>
 #include <stdlib.h>
 #include "bDefines.h"

src/chrono/collision/bullet/LinearMath/btAlignedAllocator.cpp

@@ -14,6 +14,7 @@ subject to the following restrictions:
 */
 
 #include "btAlignedAllocator.h"
+#include <stdint.h>
 
 int gNumAlignedAllocs = 0;
 int gNumAlignedFree = 0;
@@ -62,11 +63,11 @@ static inline void *btAlignedAllocDefault(size_t size, int alignment)
 {
   void *ret;
   char *real;
-  unsigned long offset;
+  uint64_t offset;
 
   real = (char *)sAllocFunc(size + sizeof(void *) + (alignment-1));
   if (real) {
-    offset = (alignment - (unsigned long)(real + sizeof(void *))) & (alignment-1);
+    offset = (alignment - (uint64_t)(real + sizeof(void *))) & (alignment-1);
     ret = (void *)((real + sizeof(void *)) + offset);
     *((void **)(ret)-1) = (void *)(real);
   } else {

src/chrono/collision/bullet/LinearMath/btScalar.h

@@ -23,7 +23,7 @@ subject to the following restrictions:
 #endif
 
 
-#include <math.h>
+#include <cmath>
 #include <stdlib.h>//size_t for MSVC 6.0
 #include <cstdlib>
 #include <cfloat>

src/chrono/collision/bullet/LinearMath/btSerializer.h

@@ -24,7 +24,7 @@ subject to the following restrictions:
 #include <memory.h>
 #endif
 #include <string.h>
-
+#include <stdint.h>
 
 
 ///only the 32bit versions for now
@@ -210,7 +210,9 @@ class btDefaultSerializer	:	public btSerializer
 
 			int *intPtr=0;
 			short *shtPtr=0;
-			char *cp = 0;int dataLen =0;long nr=0;
+			char *cp = 0;int dataLen =0;
+			uint64_t nr=0; // long was replaced with uint64_t for cross-platform compatibility
+
 			intPtr = (int*)m_dna;
 
 			/*
@@ -244,7 +246,7 @@ class btDefaultSerializer	:	public btSerializer
 				cp++;
 			}
 			{
-				nr= (long)cp;
+				nr= (uint64_t)cp;
 			//	long mask=3;
 				nr= ((nr+3)&~3)-nr;
 				while (nr--)
@@ -279,7 +281,7 @@ class btDefaultSerializer	:	public btSerializer
 			}
 
 		{
-				nr= (long)cp;
+				nr= (uint64_t)cp;
 			//	long mask=3;
 				nr= ((nr+3)&~3)-nr;
 				while (nr--)