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fix BT_USE_DOUBLE_PRECISION build, address Issue 177

Browse Source 
https://github.com/bulletphysics/bullet3/issues/177
This commit is contained in:
Erwin Coumans
2014-05-19 14:53:11 -07:00
parent 2601932249
commit 3dd759c463
6 changed files with 66 additions and 18 deletions
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6
Demos3/bullet2/BasicDemo/BasicDemo.cpp
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@@ -26,8 +26,8 @@ BasicDemo::~BasicDemo()
void BasicDemo::createGround(int cubeShapeId)
{
{
float color[]={0.3,0.3,1,1};
float halfExtents[]={50,50,50,1};
btVector4 color(0.3,0.3,1,1);
btVector4 halfExtents(50,50,50,1);
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0,-50,0));
@@ -71,7 +71,7 @@ void BasicDemo::initPhysics()
{
float halfExtents[]={scaling,scaling,scaling,1};
btVector4 halfExtents(scaling,scaling,scaling,1);
btVector4 colors[4] =
{
btVector4(1,0,0,1),

5
Demos3/bullet2/BasicDemo/MyDebugDrawer.h
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@@ -15,8 +15,11 @@ public:
{
}
virtual void drawLine(const btVector3& from,const btVector3& to,const btVector3& color)
virtual void drawLine(const btVector3& from1,const btVector3& to1,const btVector3& color1)
{
float from[4] = {from1[0],from1[1],from1[2],from1[3]};
float to[4] = {to1[0],to1[1],to1[2],to1[3]};
float color[4] = {color1[0],color1[1],color1[2],color1[3]};
m_glApp->m_instancingRenderer->drawLine(from,to,color);
}

6
Demos3/bullet2/ChainDemo/ChainDemo.cpp
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@@ -26,8 +26,8 @@ ChainDemo::~ChainDemo()
void ChainDemo::createGround(int cubeShapeId)
{
{
float color[]={0.3,0.3,1,1};
float halfExtents[]={50,1,50,1};
btVector4 color(0.3,0.3,1,1);
btVector4 halfExtents(50,1,50,1);
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0,-5,0));
@@ -85,7 +85,7 @@ void ChainDemo::initPhysics()
int sphereShapeId = m_glApp->registerGraphicsSphereShape(radius,false);
{
float halfExtents[]={scaling,scaling,scaling,1};
btVector4 halfExtents(scaling,scaling,scaling,1);
btVector4 colors[4] =
{
btVector4(1,0,0,1),

22
Demos3/bullet2/FeatherstoneMultiBodyDemo/BulletMultiBodyDemos.cpp
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@@ -38,12 +38,12 @@ struct GraphicsVertex
float texcoord[2];
};
static b3Vector4 colors[4] =
static btVector4 colors[4] =
{
b3MakeVector4(1,0,0,1),
b3MakeVector4(0,1,0,1),
b3MakeVector4(0,1,1,1),
b3MakeVector4(1,1,0,1),
btVector4(1,0,0,1),
btVector4(0,1,0,1),
btVector4(0,1,1,1),
btVector4(1,1,0,1),
};
@@ -435,8 +435,8 @@ btMultiBody* FeatherstoneDemo1::createFeatherstoneMultiBody(class btMultiBodyDyn
world_to_local[0] = bod->getWorldToBaseRot();
local_origin[0] = bod->getBasePos();
//float halfExtents[3]={7.5,0.05,4.5};
float halfExtents[3]={7.5,0.45,4.5};
{
btVector4 halfExtents(7.5,0.45,4.5,1);
{
float pos[4]={local_origin[0].x(),local_origin[0].y(),local_origin[0].z(),1};
float quat[4]={-world_to_local[0].x(),-world_to_local[0].y(),-world_to_local[0].z(),world_to_local[0].w()};
@@ -455,7 +455,7 @@ btMultiBody* FeatherstoneDemo1::createFeatherstoneMultiBody(class btMultiBodyDyn
tr.setRotation(btQuaternion(quat[0],quat[1],quat[2],quat[3]));
col->setWorldTransform(tr);
b3Vector4 color = colors[curColor++];
btVector4 color = colors[curColor++];
curColor&=3;
int index = m_glApp->m_instancingRenderer->registerGraphicsInstance(cubeShapeId,tr.getOrigin(),tr.getRotation(),color,halfExtents);
@@ -500,7 +500,7 @@ btMultiBody* FeatherstoneDemo1::createFeatherstoneMultiBody(class btMultiBodyDyn
col->setFriction(friction);
b3Vector4 color = colors[curColor++];
btVector4 color = colors[curColor++];
curColor&=3;
int index = m_glApp->m_instancingRenderer->registerGraphicsInstance(cubeShapeId,tr.getOrigin(),tr.getRotation(),color,halfExtents);
@@ -536,8 +536,8 @@ void FeatherstoneDemo1::createGround()
{
float color[]={0.3,0.3,1,1};
float halfExtents[]={50,50,50,1};
btVector4 color(0.3,0.3,1,1);
btVector4 halfExtents(50,50,50,1);
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0,-50,0));

9
btgui/OpenGLWindow/GLInstancingRenderer.cpp
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@@ -582,6 +582,15 @@ void GLInstancingRenderer::writeTransforms()
}
int GLInstancingRenderer::registerGraphicsInstance(int shapeIndex, const double* pos1, const double* orn1, const double* color1, const double* scaling1)
{
float pos[4] = {pos1[0],pos1[1],pos1[2],pos1[3]};
float orn[4] = {orn1[0],orn1[1],orn1[2],orn1[3]};
float color[4] = {color1[0],color1[1],color1[2],color1[3]};
float scaling[4] = {scaling1[0],scaling1[1],scaling1[2],scaling1[3]};
return registerGraphicsInstance(shapeIndex,pos,orn,color,scaling);
}
int GLInstancingRenderer::registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling)
{

36
btgui/OpenGLWindow/GLInstancingRenderer.h
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@@ -77,10 +77,26 @@ public:
///position x,y,z, quaternion x,y,z,w, color r,g,b,a, scaling x,y,z
int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling);
int registerGraphicsInstance(int shapeIndex, const double* position, const double* quaternion, const double* color, const double* scaling);
void writeTransforms();
void writeSingleInstanceTransformToCPU(const float* position, const float* orientation, int srcIndex);
void writeSingleInstanceTransformToCPU(const double* position, const double* orientation, int srcIndex)
{
float pos[4];
float orn[4];
pos[0] = position[0];
pos[1] = position[1];
pos[2] = position[2];
pos[3] = position[3];
orn[0] =orientation[0];
orn[1] =orientation[1];
orn[2] =orientation[2];
orn[3] =orientation[3];
writeSingleInstanceTransformToCPU(pos,orn,srcIndex);
}
void writeSingleInstanceTransformToGPU(float* position, float* orientation, int srcIndex);
@@ -97,12 +113,32 @@ public:
void updateCamera();
void getCameraPosition(float cameraPos[4]);
void getCameraPosition(double cameraPos[4])
{
float campos[4];
getCameraPosition(campos);
cameraPos[0] = campos[0];
cameraPos[1] = campos[1];
cameraPos[2] = campos[2];
cameraPos[3] = campos[3];
}
void setCameraDistance(float dist);
float getCameraDistance() const;
//set the camera 'target'
void setCameraTargetPosition(float cameraPos[4]);
void getCameraTargetPosition(float cameraPos[4]) const;
void getCameraTargetPosition(double cameraPos[4]) const
{
float campos[4];
getCameraTargetPosition(campos);
cameraPos[0] = campos[0];
cameraPos[1] = campos[1];
cameraPos[2] = campos[2];
cameraPos[3] = campos[3];
}
void setCameraYaw(float yaw);
void setCameraPitch(float pitch);