fix BT_USE_DOUBLE_PRECISION build, address Issue 177

https://github.com/bulletphysics/bullet3/issues/177

Demos3/bullet2/BasicDemo/BasicDemo.cpp

@@ -26,8 +26,8 @@ BasicDemo::~BasicDemo()
 void	BasicDemo::createGround(int cubeShapeId)
 {
 	{
-		float color[]={0.3,0.3,1,1};
+		btVector4 color(0.3,0.3,1,1);
-		float halfExtents[]={50,50,50,1};
+		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),

Demos3/bullet2/BasicDemo/MyDebugDrawer.h

@@ -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);
 	}
 

Demos3/bullet2/ChainDemo/ChainDemo.cpp

@@ -26,8 +26,8 @@ ChainDemo::~ChainDemo()
 void	ChainDemo::createGround(int cubeShapeId)
 {
 	{
-		float color[]={0.3,0.3,1,1};
+		btVector4 color(0.3,0.3,1,1);
-		float halfExtents[]={50,1,50,1};
+		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),

Demos3/bullet2/FeatherstoneMultiBodyDemo/BulletMultiBodyDemos.cpp

@@ -38,12 +38,12 @@ struct GraphicsVertex
 	float texcoord[2];
 };
 
-static b3Vector4 colors[4] =
+static btVector4 colors[4] =
 {
-	b3MakeVector4(1,0,0,1),
+	btVector4(1,0,0,1),
-	b3MakeVector4(0,1,0,1),
+	btVector4(0,1,0,1),
-	b3MakeVector4(0,1,1,1),
+	btVector4(0,1,1,1),
-	b3MakeVector4(1,1,0,1),
+	btVector4(1,1,0,1),
 };
 
 
@@ -435,7 +435,7 @@ 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};
@@ -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};
+		btVector4 color(0.3,0.3,1,1);
-		float halfExtents[]={50,50,50,1};
+		btVector4 halfExtents(50,50,50,1);
 		btTransform groundTransform;
 		groundTransform.setIdentity();
 		groundTransform.setOrigin(btVector3(0,-50,0));

btgui/OpenGLWindow/GLInstancingRenderer.cpp

@@ -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)
 {

btgui/OpenGLWindow/GLInstancingRenderer.h

@@ -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);