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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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2
src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp
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@@ -37,7 +37,7 @@ void SphereTriangleDetector::getClosestPoints(const ClosestPointInput& input,Res
btVector3 point,normal;
btScalar timeOfImpact = btScalar(1.);
btScalar depth = btScalar(0.);
// output.m_distance = btScalar(1e30);
// output.m_distance = btScalar(BT_LARGE_FLOAT);
//move sphere into triangle space
btTransform sphereInTr = transformB.inverseTimes(transformA);

2
src/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.cpp
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@@ -61,7 +61,7 @@ void btBoxBoxCollisionAlgorithm::processCollision (btCollisionObject* body0,btCo
#endif //USE_PERSISTENT_CONTACTS
btDiscreteCollisionDetectorInterface::ClosestPointInput input;
input.m_maximumDistanceSquared = 1e30f;
input.m_maximumDistanceSquared = BT_LARGE_FLOAT;
input.m_transformA = body0->getWorldTransform();
input.m_transformB = body1->getWorldTransform();

2
src/BulletCollision/CollisionDispatch/btBoxBoxDetector.cpp
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@@ -212,7 +212,7 @@ void cullPoints2 (int n, btScalar p[], int m, int i0, int iret[])
a = 1.f/(btScalar(3.0)*(a+q));
} else
{
a=1e30f;
a=BT_LARGE_FLOAT;
}
cx = a*(cx + q*(p[n*2-2]+p[0]));
cy = a*(cy + q*(p[n*2-1]+p[1]));

2
src/BulletCollision/CollisionDispatch/btCollisionObject.cpp
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@@ -19,7 +19,7 @@ subject to the following restrictions:
btCollisionObject::btCollisionObject()
: m_anisotropicFriction(1.f,1.f,1.f),
m_hasAnisotropicFriction(false),
m_contactProcessingThreshold(1e30f),
m_contactProcessingThreshold(BT_LARGE_FLOAT),
m_broadphaseHandle(0),
m_collisionShape(0),
m_rootCollisionShape(0),

16
src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
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@@ -643,10 +643,10 @@ struct btSingleRayCallback : public btBroadphaseRayCallback
btVector3 rayDir = (rayToWorld-rayFromWorld);
rayDir.normalize ();
///what about division by zero? --> just set rayDirection[i] to INF/1e30
m_rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[0];
m_rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[1];
m_rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[2];
///what about division by zero? --> just set rayDirection[i] to INF/BT_LARGE_FLOAT
m_rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[0];
m_rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[1];
m_rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[2];
m_signs[0] = m_rayDirectionInverse[0] < 0.0;
m_signs[1] = m_rayDirectionInverse[1] < 0.0;
m_signs[2] = m_rayDirectionInverse[2] < 0.0;
@@ -736,10 +736,10 @@ struct btSingleSweepCallback : public btBroadphaseRayCallback
{
btVector3 unnormalizedRayDir = (m_convexToTrans.getOrigin()-m_convexFromTrans.getOrigin());
btVector3 rayDir = unnormalizedRayDir.normalized();
///what about division by zero? --> just set rayDirection[i] to INF/1e30
m_rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[0];
m_rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[1];
m_rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[2];
///what about division by zero? --> just set rayDirection[i] to INF/BT_LARGE_FLOAT
m_rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[0];
m_rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[1];
m_rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[2];
m_signs[0] = m_rayDirectionInverse[0] < 0.0;
m_signs[1] = m_rayDirectionInverse[1] < 0.0;
m_signs[2] = m_rayDirectionInverse[2] < 0.0;

2
src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
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@@ -194,7 +194,7 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
#ifdef USE_SEPDISTANCE_UTIL2
if (dispatchInfo.m_useConvexConservativeDistanceUtil)
{
input.m_maximumDistanceSquared = 1e30f;
input.m_maximumDistanceSquared = BT_LARGE_FLOAT;
} else
#endif //USE_SEPDISTANCE_UTIL2
{

2
src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp
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@@ -59,7 +59,7 @@ void btSphereTriangleCollisionAlgorithm::processCollision (btCollisionObject* co
SphereTriangleDetector detector(sphere,triangle, m_manifoldPtr->getContactBreakingThreshold());
btDiscreteCollisionDetectorInterface::ClosestPointInput input;
input.m_maximumDistanceSquared = btScalar(1e30);///@todo: tighter bounds
input.m_maximumDistanceSquared = btScalar(BT_LARGE_FLOAT);///@todo: tighter bounds
input.m_transformA = sphereObj->getWorldTransform();
input.m_transformB = triObj->getWorldTransform();