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FIX: use btScalar instead of float, otherwise double precision build breaks

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FIX: make Maya plugin compile for Maya 8.0
FIX: btDbvt SSE doesn't compile for double precision builds
This commit is contained in:
erwin.coumans
2008-10-02 01:17:18 +00:00
parent c265db0007
commit 0ca2eef022
6 changed files with 123 additions and 106 deletions
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2
Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuContactResult.cpp
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@@ -170,7 +170,7 @@ void SpuContactResult::writeDoubleBufferedManifold(btPersistentManifold* lsManif
//no, the swapBuffers does the wait //no, the swapBuffers does the wait
} }
void SpuContactResult::addContactPoint(const btVector3& normalOnBInWorld,const btPoint3& pointInWorld,float depth) void SpuContactResult::addContactPoint(const btVector3& normalOnBInWorld,const btPoint3& pointInWorld,btScalar depth)
{ {
//spu_printf("*** SpuContactResult::addContactPoint: depth = %f\n",depth); //spu_printf("*** SpuContactResult::addContactPoint: depth = %f\n",depth);

196
Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuContactResult.h
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@@ -1,58 +1,58 @@
/* /*
Bullet Continuous Collision Detection and Physics Library Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty. This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software. In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose, Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely, including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions: subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution. 3. This notice may not be removed or altered from any source distribution.
*/ */
#ifndef SPU_CONTACT_RESULT2_H #ifndef SPU_CONTACT_RESULT2_H
#define SPU_CONTACT_RESULT2_H #define SPU_CONTACT_RESULT2_H
#ifndef WIN32 #ifndef WIN32
#include <stdint.h> #include <stdint.h>
#endif #endif
#include "../SpuDoubleBuffer.h" #include "../SpuDoubleBuffer.h"
#include "LinearMath/btTransform.h" #include "LinearMath/btTransform.h"
#include "LinearMath/btPoint3.h" #include "LinearMath/btPoint3.h"
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h" #include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h" #include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
struct SpuCollisionPairInput struct SpuCollisionPairInput
{ {
ppu_address_t m_collisionShapes[2]; ppu_address_t m_collisionShapes[2];
void* m_spuCollisionShapes[2]; void* m_spuCollisionShapes[2];
ppu_address_t m_persistentManifoldPtr; ppu_address_t m_persistentManifoldPtr;
btVector3 m_primitiveDimensions0; btVector3 m_primitiveDimensions0;
btVector3 m_primitiveDimensions1; btVector3 m_primitiveDimensions1;
int m_shapeType0; int m_shapeType0;
int m_shapeType1; int m_shapeType1;
float m_collisionMargin0; float m_collisionMargin0;
float m_collisionMargin1; float m_collisionMargin1;
btTransform m_worldTransform0; btTransform m_worldTransform0;
btTransform m_worldTransform1; btTransform m_worldTransform1;
bool m_isSwapped; bool m_isSwapped;
bool m_useEpa; bool m_useEpa;
}; };
struct SpuClosestPointInput struct SpuClosestPointInput
{ {
SpuClosestPointInput() SpuClosestPointInput()
@@ -68,46 +68,46 @@ struct SpuClosestPointInput
struct SpuConvexPolyhedronVertexData* m_convexVertexData[2]; struct SpuConvexPolyhedronVertexData* m_convexVertexData[2];
}; };
///SpuContactResult exports the contact points using double-buffered DMA transfers, only when needed ///SpuContactResult exports the contact points using double-buffered DMA transfers, only when needed
///So when an existing contact point is duplicated, no transfer/refresh is performed. ///So when an existing contact point is duplicated, no transfer/refresh is performed.
class SpuContactResult : public btDiscreteCollisionDetectorInterface::Result class SpuContactResult : public btDiscreteCollisionDetectorInterface::Result
{ {
btTransform m_rootWorldTransform0; btTransform m_rootWorldTransform0;
btTransform m_rootWorldTransform1; btTransform m_rootWorldTransform1;
ppu_address_t m_manifoldAddress; ppu_address_t m_manifoldAddress;
btPersistentManifold* m_spuManifold; btPersistentManifold* m_spuManifold;
bool m_RequiresWriteBack; bool m_RequiresWriteBack;
btScalar m_combinedFriction; btScalar m_combinedFriction;
btScalar m_combinedRestitution; btScalar m_combinedRestitution;
bool m_isSwapped; bool m_isSwapped;
DoubleBuffer<btPersistentManifold, 1> g_manifoldDmaExport; DoubleBuffer<btPersistentManifold, 1> g_manifoldDmaExport;
public: public:
SpuContactResult(); SpuContactResult();
virtual ~SpuContactResult(); virtual ~SpuContactResult();
btPersistentManifold* GetSpuManifold() const btPersistentManifold* GetSpuManifold() const
{ {
return m_spuManifold; return m_spuManifold;
} }
virtual void setShapeIdentifiers(int partId0,int index0, int partId1,int index1); virtual void setShapeIdentifiers(int partId0,int index0, int partId1,int index1);
void setContactInfo(btPersistentManifold* spuManifold, ppu_address_t manifoldAddress,const btTransform& worldTrans0,const btTransform& worldTrans1, btScalar restitution0,btScalar restitution1, btScalar friction0,btScalar friction01, bool isSwapped); void setContactInfo(btPersistentManifold* spuManifold, ppu_address_t manifoldAddress,const btTransform& worldTrans0,const btTransform& worldTrans1, btScalar restitution0,btScalar restitution1, btScalar friction0,btScalar friction01, bool isSwapped);
void writeDoubleBufferedManifold(btPersistentManifold* lsManifold, btPersistentManifold* mmManifold); void writeDoubleBufferedManifold(btPersistentManifold* lsManifold, btPersistentManifold* mmManifold);
virtual void addContactPoint(const btVector3& normalOnBInWorld,const btPoint3& pointInWorld,float depth); virtual void addContactPoint(const btVector3& normalOnBInWorld,const btPoint3& pointInWorld,btScalar depth);
void flush(); void flush();
}; };
#endif //SPU_CONTACT_RESULT2_H #endif //SPU_CONTACT_RESULT2_H

7
Extras/MayaPlugin/rigidBodyArrayNode.cpp
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@@ -492,7 +492,12 @@ void rigidBodyArrayNode::computeWorldMatrix(const MPlug& plug, MDataBlock& data)
m_rigid_bodies[i]->set_transform(newpos, newrot); m_rigid_bodies[i]->set_transform(newpos, newrot);
hInitPos.set3Float(ipos[0] + mtranslation.x, ipos[1] + mtranslation.y, ipos[2] + mtranslation.z); float3 &ihpos=hInitPos.asFloat3();
//hInitPos.set3Float(ipos[0] + mtranslation.x, ipos[1] + mtranslation.y, ipos[2] + mtranslation.z);
ihpos[0] = ipos[0] + mtranslation.x;
ihpos[1] = ipos[1] + mtranslation.y;
ihpos[2] = ipos[2] + mtranslation.z;
hInitPosArray.next(); hInitPosArray.next();
} }

16
Extras/MayaPlugin/rigidBodyNode.cpp
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@@ -447,8 +447,20 @@ void rigidBodyNode::computeWorldMatrix(const MPlug& plug, MDataBlock& data)
MVector newipos(ipos[0] + deltapos.x, ipos[1] + deltapos.y, ipos[2] + deltapos.z); MVector newipos(ipos[0] + deltapos.x, ipos[1] + deltapos.y, ipos[2] + deltapos.z);
MEulerRotation newirot((iquat * deltarot).asEulerRotation()); MEulerRotation newirot((iquat * deltarot).asEulerRotation());
hInitPos.set3Float(newipos.x, newipos.y, newipos.z); float3 &ihpos = hInitPos.asFloat3();
hInitRot.set3Float(rad2deg(newirot.x), rad2deg(newirot.y), rad2deg(newirot.z)); //hInitPos.set3Float(newipos.x, newipos.y, newipos.z);
//for Maya 8.5
ihpos[0] = newipos.x;
ihpos[1] = newipos.y;
ihpos[2] = newipos.z;
float3 &ihrot = hInitRot.asFloat3();
//hInitRot.set3Float(rad2deg(newirot.x), rad2deg(newirot.y), rad2deg(newirot.z));
//for Maya 8.5
ihrot[0] = rad2deg(newirot.x);
ihrot[1] = rad2deg(newirot.y);
ihrot[2] = rad2deg(newirot.z);
m_rigid_body->set_transform(vec3f(mtranslation.x, mtranslation.y, mtranslation.z), m_rigid_body->set_transform(vec3f(mtranslation.x, mtranslation.y, mtranslation.z),
quatf(mrotation.w, mrotation.x, mrotation.y, mrotation.z)); quatf(mrotation.w, mrotation.x, mrotation.y, mrotation.z));

2
src/BulletCollision/BroadphaseCollision/btDbvt.h
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@@ -62,7 +62,7 @@ subject to the following restrictions:
// Specific methods implementation // Specific methods implementation
//SSE gives errors on a MSVC 7.1 //SSE gives errors on a MSVC 7.1
#if (defined (WIN32) && (_MSC_VER) && _MSC_VER >= 1400) #if (defined (WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined (BT_USE_DOUBLE_PRECISION))
#define DBVT_SELECT_IMPL DBVT_IMPL_SSE #define DBVT_SELECT_IMPL DBVT_IMPL_SSE
#define DBVT_MERGE_IMPL DBVT_IMPL_SSE #define DBVT_MERGE_IMPL DBVT_IMPL_SSE
#define DBVT_INT0_IMPL DBVT_IMPL_SSE #define DBVT_INT0_IMPL DBVT_IMPL_SSE

6
src/BulletCollision/CollisionDispatch/btBoxBoxDetector.cpp
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@@ -226,9 +226,9 @@ void cullPoints2 (int n, btScalar p[], int m, int i0, int iret[])
a = btScalar(j)*(2*M__PI/m) + A[i0]; a = btScalar(j)*(2*M__PI/m) + A[i0];
if (a > M__PI) a -= 2*M__PI; if (a > M__PI) a -= 2*M__PI;
btScalar maxdiff=1e9,diff; btScalar maxdiff=1e9,diff;
#if defined(DEBUG) || defined (_DEBUG)
*iret = i0; // iret is not allowed to keep this value *iret = i0; // iret is not allowed to keep this value, but it sometimes does, when diff=#QNAN0
#endif
for (i=0; i<n; i++) { for (i=0; i<n; i++) {
if (avail[i]) { if (avail[i]) {
diff = btFabs (A[i]-a); diff = btFabs (A[i]-a);