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add BspDemo.bsp data file

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add sphere2.urdf
move btSpatialAlgebra into LinearMath
remove some warnings, introduce BT_ZERO, BT_ONE, BT_HALF as defines for 0.f/0., 1.f/1., 0.5f/0.5 respectively
This commit is contained in:
erwincoumans
2015-04-16 10:17:35 -07:00
parent a1bf9c5556
commit 794c8ec064
19 changed files with 448 additions and 420 deletions
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8
src/LinearMath/btScalar.h
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@@ -486,9 +486,17 @@ SIMD_FORCE_INLINE btScalar btFmod(btScalar x,btScalar y) { return fmodf(x,y); }
#ifdef BT_USE_DOUBLE_PRECISION
#define SIMD_EPSILON DBL_EPSILON
#define SIMD_INFINITY DBL_MAX
#define BT_ONE 1.0
#define BT_ZERO 0.0
#define BT_TWO 2.0
#define BT_HALF 0.5
#else
#define SIMD_EPSILON FLT_EPSILON
#define SIMD_INFINITY FLT_MAX
#define BT_ONE 1.0f
#define BT_ZERO 0.0f
#define BT_TWO 2.0f
#define BT_HALF 0.5f
#endif
SIMD_FORCE_INLINE btScalar btAtan2Fast(btScalar y, btScalar x)