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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
Download Patch File Download Diff File Expand all files Collapse all files

4
src/BulletCollision/CollisionShapes/btCapsuleShape.cpp
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@@ -32,7 +32,7 @@ btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height) : btConvexInter
btVector3 supVec(0,0,0);
btScalar maxDot(btScalar(-1e30));
btScalar maxDot(btScalar(-BT_LARGE_FLOAT));
btVector3 vec = vec0;
btScalar lenSqr = vec.length2();
@@ -88,7 +88,7 @@ btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height) : btConvexInter
for (int j=0;j<numVectors;j++)
{
btScalar maxDot(btScalar(-1e30));
btScalar maxDot(btScalar(-BT_LARGE_FLOAT));
const btVector3& vec = vectors[j];
btVector3 vtx;

8
src/BulletCollision/CollisionShapes/btCompoundShape.cpp
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@@ -18,8 +18,8 @@ subject to the following restrictions:
#include "BulletCollision/BroadphaseCollision/btDbvt.h"
btCompoundShape::btCompoundShape(bool enableDynamicAabbTree)
: m_localAabbMin(btScalar(1e30),btScalar(1e30),btScalar(1e30)),
m_localAabbMax(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30)),
: m_localAabbMin(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT)),
m_localAabbMax(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT)),
m_collisionMargin(btScalar(0.)),
m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.)),
m_dynamicAabbTree(0),
@@ -138,8 +138,8 @@ void btCompoundShape::recalculateLocalAabb()
// Recalculate the local aabb
// Brute force, it iterates over all the shapes left.
m_localAabbMin = btVector3(btScalar(1e30),btScalar(1e30),btScalar(1e30));
m_localAabbMax = btVector3(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30));
m_localAabbMin = btVector3(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
m_localAabbMax = btVector3(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
//extend the local aabbMin/aabbMax
for (int j = 0; j < m_children.size(); j++)

4
src/BulletCollision/CollisionShapes/btConvexHullShape.cpp
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@@ -55,7 +55,7 @@ void btConvexHullShape::addPoint(const btVector3& point)
btVector3 btConvexHullShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const
{
btVector3 supVec(btScalar(0.),btScalar(0.),btScalar(0.));
btScalar newDot,maxDot = btScalar(-1e30);
btScalar newDot,maxDot = btScalar(-BT_LARGE_FLOAT);
btVector3 vec = vec0;
btScalar lenSqr = vec.length2();
@@ -90,7 +90,7 @@ void btConvexHullShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const
{
for (int i=0;i<numVectors;i++)
{
supportVerticesOut[i][3] = btScalar(-1e30);
supportVerticesOut[i][3] = btScalar(-BT_LARGE_FLOAT);
}
}
for (int i=0;i<m_unscaledPoints.size();i++)

4
src/BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp
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@@ -28,7 +28,7 @@ void btConvexPointCloudShape::setLocalScaling(const btVector3& scaling)
btVector3 btConvexPointCloudShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const
{
btVector3 supVec(btScalar(0.),btScalar(0.),btScalar(0.));
btScalar newDot,maxDot = btScalar(-1e30);
btScalar newDot,maxDot = btScalar(-BT_LARGE_FLOAT);
btVector3 vec = vec0;
btScalar lenSqr = vec.length2();
@@ -63,7 +63,7 @@ void btConvexPointCloudShape::batchedUnitVectorGetSupportingVertexWithoutMargin(
{
for (int i=0;i<numVectors;i++)
{
supportVerticesOut[i][3] = btScalar(-1e30);
supportVerticesOut[i][3] = btScalar(-BT_LARGE_FLOAT);
}
}
for (int i=0;i<m_numPoints;i++)

4
src/BulletCollision/CollisionShapes/btConvexShape.cpp
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@@ -35,7 +35,7 @@ btConvexShape::~btConvexShape()
static btVector3 convexHullSupport (const btVector3& localDir, const btVector3* points, int numPoints, const btVector3& localScaling)
{
btVector3 supVec(btScalar(0.),btScalar(0.),btScalar(0.));
btScalar newDot,maxDot = btScalar(-1e30);
btScalar newDot,maxDot = btScalar(-BT_LARGE_FLOAT);
btVector3 vec0(localDir.getX(),localDir.getY(),localDir.getZ());
btVector3 vec = vec0;
@@ -160,7 +160,7 @@ btVector3 btConvexShape::localGetSupportVertexWithoutMarginNonVirtual (const btV
btScalar radius = capsuleShape->getRadius();
btVector3 supVec(0,0,0);
btScalar maxDot(btScalar(-1e30));
btScalar maxDot(btScalar(-BT_LARGE_FLOAT));
btVector3 vec = vec0;
btScalar lenSqr = vec.length2();

10
src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp
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@@ -44,7 +44,7 @@ public:
LocalSupportVertexCallback(const btVector3& supportVecLocal)
: m_supportVertexLocal(btScalar(0.),btScalar(0.),btScalar(0.)),
m_maxDot(btScalar(-1e30)),
m_maxDot(btScalar(-BT_LARGE_FLOAT)),
m_supportVecLocal(supportVecLocal)
{
}
@@ -92,7 +92,7 @@ btVector3 btConvexTriangleMeshShape::localGetSupportingVertexWithoutMargin(const
}
LocalSupportVertexCallback supportCallback(vec);
btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
m_stridingMesh->InternalProcessAllTriangles(&supportCallback,-aabbMax,aabbMax);
supVec = supportCallback.GetSupportVertexLocal();
@@ -105,7 +105,7 @@ void btConvexTriangleMeshShape::batchedUnitVectorGetSupportingVertexWithoutMargi
{
for (int i=0;i<numVectors;i++)
{
supportVerticesOut[i][3] = btScalar(-1e30);
supportVerticesOut[i][3] = btScalar(-BT_LARGE_FLOAT);
}
}
@@ -116,7 +116,7 @@ void btConvexTriangleMeshShape::batchedUnitVectorGetSupportingVertexWithoutMargi
{
const btVector3& vec = vectors[j];
LocalSupportVertexCallback supportCallback(vec);
btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
m_stridingMesh->InternalProcessAllTriangles(&supportCallback,-aabbMax,aabbMax);
supportVerticesOut[j] = supportCallback.GetSupportVertexLocal();
}
@@ -298,7 +298,7 @@ void btConvexTriangleMeshShape::calculatePrincipalAxisTransform(btTransform& pri
};
CenterCallback centerCallback;
btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
m_stridingMesh->InternalProcessAllTriangles(&centerCallback, -aabbMax, aabbMax);
btVector3 center = centerCallback.getCenter();
principal.setOrigin(center);

6
src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp
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@@ -23,7 +23,7 @@ btMultiSphereShape::btMultiSphereShape (const btVector3& inertiaHalfExtents,cons
:btConvexInternalAabbCachingShape (), m_inertiaHalfExtents(inertiaHalfExtents)
{
m_shapeType = MULTI_SPHERE_SHAPE_PROXYTYPE;
btScalar startMargin = btScalar(1e30);
btScalar startMargin = btScalar(BT_LARGE_FLOAT);
m_localPositionArray.resize(numSpheres);
m_radiArray.resize(numSpheres);
@@ -46,7 +46,7 @@ btMultiSphereShape::btMultiSphereShape (const btVector3& inertiaHalfExtents,cons
int i;
btVector3 supVec(0,0,0);
btScalar maxDot(btScalar(-1e30));
btScalar maxDot(btScalar(-BT_LARGE_FLOAT));
btVector3 vec = vec0;
@@ -89,7 +89,7 @@ btMultiSphereShape::btMultiSphereShape (const btVector3& inertiaHalfExtents,cons
for (int j=0;j<numVectors;j++)
{
btScalar maxDot(btScalar(-1e30));
btScalar maxDot(btScalar(-BT_LARGE_FLOAT));
const btVector3& vec = vectors[j];

16
src/BulletCollision/CollisionShapes/btOptimizedBvh.cpp
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@@ -56,8 +56,8 @@ void btOptimizedBvh::build(btStridingMeshInterface* triangles, bool useQuantized
{
btOptimizedBvhNode node;
btVector3 aabbMin,aabbMax;
aabbMin.setValue(btScalar(1e30),btScalar(1e30),btScalar(1e30));
aabbMax.setValue(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30));
aabbMin.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
aabbMax.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
aabbMin.setMin(triangle[0]);
aabbMax.setMax(triangle[0]);
aabbMin.setMin(triangle[1]);
@@ -104,8 +104,8 @@ void btOptimizedBvh::build(btStridingMeshInterface* triangles, bool useQuantized
btQuantizedBvhNode node;
btVector3 aabbMin,aabbMax;
aabbMin.setValue(btScalar(1e30),btScalar(1e30),btScalar(1e30));
aabbMax.setValue(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30));
aabbMin.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
aabbMax.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
aabbMin.setMin(triangle[0]);
aabbMax.setMax(triangle[0]);
aabbMin.setMin(triangle[1]);
@@ -168,8 +168,8 @@ void btOptimizedBvh::build(btStridingMeshInterface* triangles, bool useQuantized
{
NodeTriangleCallback callback(m_leafNodes);
btVector3 aabbMin(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30));
btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
btVector3 aabbMin(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
triangles->InternalProcessAllTriangles(&callback,aabbMin,aabbMax);
@@ -337,8 +337,8 @@ void btOptimizedBvh::updateBvhNodes(btStridingMeshInterface* meshInterface,int f
aabbMin.setValue(btScalar(1e30),btScalar(1e30),btScalar(1e30));
aabbMax.setValue(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30));
aabbMin.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
aabbMax.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
aabbMin.setMin(triangleVerts[0]);
aabbMax.setMax(triangleVerts[0]);
aabbMin.setMin(triangleVerts[1]);

4
src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
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@@ -26,7 +26,7 @@ btVector3 btPolyhedralConvexShape::localGetSupportingVertexWithoutMargin(const b
int i;
btVector3 supVec(0,0,0);
btScalar maxDot(btScalar(-1e30));
btScalar maxDot(btScalar(-BT_LARGE_FLOAT));
btVector3 vec = vec0;
btScalar lenSqr = vec.length2();
@@ -66,7 +66,7 @@ void btPolyhedralConvexShape::batchedUnitVectorGetSupportingVertexWithoutMargin(
for (i=0;i<numVectors;i++)
{
supportVerticesOut[i][3] = btScalar(-1e30);
supportVerticesOut[i][3] = btScalar(-BT_LARGE_FLOAT);
}
for (int j=0;j<numVectors;j++)

6
src/BulletCollision/CollisionShapes/btStaticPlaneShape.cpp
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@@ -38,7 +38,7 @@ void btStaticPlaneShape::getAabb(const btTransform& t,btVector3& aabbMin,btVecto
{
(void)t;
/*
btVector3 infvec (btScalar(1e30),btScalar(1e30),btScalar(1e30));
btVector3 infvec (btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
btVector3 center = m_planeNormal*m_planeConstant;
aabbMin = center + infvec*m_planeNormal;
@@ -47,8 +47,8 @@ void btStaticPlaneShape::getAabb(const btTransform& t,btVector3& aabbMin,btVecto
aabbMax.setMax(center - infvec*m_planeNormal);
*/
aabbMin.setValue(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30));
aabbMax.setValue(btScalar(1e30),btScalar(1e30),btScalar(1e30));
aabbMin.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
aabbMax.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
}

8
src/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp
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@@ -156,8 +156,8 @@ void btStridingMeshInterface::calculateAabbBruteForce(btVector3& aabbMin,btVecto
AabbCalculationCallback()
{
m_aabbMin.setValue(btScalar(1e30),btScalar(1e30),btScalar(1e30));
m_aabbMax.setValue(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30));
m_aabbMin.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
m_aabbMax.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
}
virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int triangleIndex)
@@ -176,8 +176,8 @@ void btStridingMeshInterface::calculateAabbBruteForce(btVector3& aabbMin,btVecto
//first calculate the total aabb for all triangles
AabbCalculationCallback aabbCallback;
aabbMin.setValue(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30));
aabbMax.setValue(btScalar(1e30),btScalar(1e30),btScalar(1e30));
aabbMin.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
aabbMax.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
InternalProcessAllTriangles(&aabbCallback,aabbMin,aabbMax);
aabbMin = aabbCallback.m_aabbMin;

4
src/BulletCollision/CollisionShapes/btTetrahedronShape.cpp
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@@ -62,8 +62,8 @@ void btBU_Simplex1to4::getAabb(const btTransform& t,btVector3& aabbMin,btVector3
#if 1
btPolyhedralConvexAabbCachingShape::getAabb(t,aabbMin,aabbMax);
#else
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);
//just transform the vertices in worldspace, and take their AABB
for (int i=0;i<m_numVertices;i++)

4
src/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp
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@@ -91,7 +91,7 @@ public:
btVector3 m_supportVecLocal;
SupportVertexCallback(const btVector3& supportVecWorld,const btTransform& trans)
: m_supportVertexLocal(btScalar(0.),btScalar(0.),btScalar(0.)), m_worldTrans(trans) ,m_maxDot(btScalar(-1e30))
: m_supportVertexLocal(btScalar(0.),btScalar(0.),btScalar(0.)), m_worldTrans(trans) ,m_maxDot(btScalar(-BT_LARGE_FLOAT))
{
m_supportVecLocal = supportVecWorld * m_worldTrans.getBasis();
@@ -199,7 +199,7 @@ btVector3 btTriangleMeshShape::localGetSupportingVertex(const btVector3& vec) co
SupportVertexCallback supportCallback(vec,ident);
btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
processAllTriangles(&supportCallback,-aabbMax,aabbMax);