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Replace all hardcoded 1e30(f) by BT_LARGE_FLOAT, defined in btScalar.h as 1e18(f) so that its square still fits in FLT_MAX

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Thanks to Ole K. for reporting! http://code.google.com/p/bullet/issues/detail?id=206
This commit is contained in:
erwin.coumans
2009-05-23 02:15:54 +00:00
parent 1e11223f6b
commit badf723257
51 changed files with 127 additions and 124 deletions
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8
src/BulletCollision/BroadphaseCollision/btDbvt.h
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@@ -1000,11 +1000,11 @@ inline void btDbvt::rayTest( const btDbvtNode* root,
btVector3 rayDir = (rayTo-rayFrom);
rayDir.normalize ();
///what about division by zero? --> just set rayDirection[i] to INF/1e30
///what about division by zero? --> just set rayDirection[i] to INF/BT_LARGE_FLOAT
btVector3 rayDirectionInverse;
rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[0];
rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[1];
rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[2];
rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[0];
rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[1];
rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[2];
unsigned int signs[3] = { rayDirectionInverse[0] < 0.0, rayDirectionInverse[1] < 0.0, rayDirectionInverse[2] < 0.0};
btScalar lambda_max = rayDir.dot(rayTo-rayFrom);

4
src/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h
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@@ -133,8 +133,8 @@ public:
///will add some transform later
virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const
{
aabbMin.setValue(-1e30f,-1e30f,-1e30f);
aabbMax.setValue(1e30f,1e30f,1e30f);
aabbMin.setValue(-BT_LARGE_FLOAT,-BT_LARGE_FLOAT,-BT_LARGE_FLOAT);
aabbMax.setValue(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT);
}
void buildTree(const btVector3& bvhAabbMin,const btVector3& bvhAabbMax);

12
src/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp
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@@ -474,9 +474,9 @@ void btQuantizedBvh::walkStacklessTreeAgainstRay(btNodeOverlapCallback* nodeCall
lambda_max = rayDir.dot(rayTarget-raySource);
///what about division by zero? --> just set rayDirection[i] to 1.0
btVector3 rayDirectionInverse;
rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[0];
rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[1];
rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[2];
rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[0];
rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[1];
rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[2];
unsigned int sign[3] = { rayDirectionInverse[0] < 0.0, rayDirectionInverse[1] < 0.0, rayDirectionInverse[2] < 0.0};
#endif
@@ -561,9 +561,9 @@ void btQuantizedBvh::walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback*
rayDirection.normalize ();
lambda_max = rayDirection.dot(rayTarget-raySource);
///what about division by zero? --> just set rayDirection[i] to 1.0
rayDirection[0] = rayDirection[0] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDirection[0];
rayDirection[1] = rayDirection[1] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDirection[1];
rayDirection[2] = rayDirection[2] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDirection[2];
rayDirection[0] = rayDirection[0] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDirection[0];
rayDirection[1] = rayDirection[1] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDirection[1];
rayDirection[2] = rayDirection[2] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDirection[2];
unsigned int sign[3] = { rayDirection[0] < 0.0, rayDirection[1] < 0.0, rayDirection[2] < 0.0};
#endif

4
src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h
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@@ -153,8 +153,8 @@ public:
///will add some transform later
virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const
{
aabbMin.setValue(-1e30f,-1e30f,-1e30f);
aabbMax.setValue(1e30f,1e30f,1e30f);
aabbMin.setValue(-BT_LARGE_FLOAT,-BT_LARGE_FLOAT,-BT_LARGE_FLOAT);
aabbMax.setValue(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT);
}
virtual void printStats()