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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/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp
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@@ -64,7 +64,7 @@ void btConeTwistConstraint::init()
m_bMotorEnabled = false;
m_maxMotorImpulse = btScalar(-1);
setLimit(btScalar(1e30), btScalar(1e30), btScalar(1e30));
setLimit(btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT));
m_damping = btScalar(0.01);
m_fixThresh = CONETWIST_DEF_FIX_THRESH;
}

8
src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
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@@ -191,8 +191,8 @@ btScalar btRotationalLimitMotor::solveAngularLimits(
// sort with accumulated impulses
btScalar lo = btScalar(-1e30);
btScalar hi = btScalar(1e30);
btScalar lo = btScalar(-BT_LARGE_FLOAT);
btScalar hi = btScalar(BT_LARGE_FLOAT);
btScalar oldaccumImpulse = m_accumulatedImpulse;
btScalar sum = oldaccumImpulse + clippedMotorImpulse;
@@ -283,8 +283,8 @@ btScalar btTranslationalLimitMotor::solveLinearAxis(
//positional error (zeroth order error)
btScalar depth = -(pointInA - pointInB).dot(axis_normal_on_a);
btScalar lo = btScalar(-1e30);
btScalar hi = btScalar(1e30);
btScalar lo = btScalar(-BT_LARGE_FLOAT);
btScalar hi = btScalar(BT_LARGE_FLOAT);
btScalar minLimit = m_lowerLimit[limit_index];
btScalar maxLimit = m_upperLimit[limit_index];

16
src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp
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@@ -79,8 +79,8 @@ btHingeConstraint::btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const bt
rbAxisB1.getZ(),rbAxisB2.getZ(),axisInB.getZ() );
//start with free
m_lowerLimit = btScalar(1e30);
m_upperLimit = btScalar(-1e30);
m_lowerLimit = btScalar(BT_LARGE_FLOAT);
m_upperLimit = btScalar(-BT_LARGE_FLOAT);
m_biasFactor = 0.3f;
m_relaxationFactor = 1.0f;
m_limitSoftness = 0.9f;
@@ -119,8 +119,8 @@ m_useReferenceFrameA(useReferenceFrameA)
rbAxisB1.getZ(),rbAxisB2.getZ(),axisInB.getZ() );
//start with free
m_lowerLimit = btScalar(1e30);
m_upperLimit = btScalar(-1e30);
m_lowerLimit = btScalar(BT_LARGE_FLOAT);
m_upperLimit = btScalar(-BT_LARGE_FLOAT);
m_biasFactor = 0.3f;
m_relaxationFactor = 1.0f;
m_limitSoftness = 0.9f;
@@ -139,8 +139,8 @@ m_useSolveConstraintObsolete(HINGE_USE_OBSOLETE_SOLVER),
m_useReferenceFrameA(useReferenceFrameA)
{
//start with free
m_lowerLimit = btScalar(1e30);
m_upperLimit = btScalar(-1e30);
m_lowerLimit = btScalar(BT_LARGE_FLOAT);
m_upperLimit = btScalar(-BT_LARGE_FLOAT);
m_biasFactor = 0.3f;
m_relaxationFactor = 1.0f;
m_limitSoftness = 0.9f;
@@ -162,8 +162,8 @@ m_useReferenceFrameA(useReferenceFrameA)
m_rbBFrame.getOrigin() = m_rbA.getCenterOfMassTransform()(m_rbAFrame.getOrigin());
//start with free
m_lowerLimit = btScalar(1e30);
m_upperLimit = btScalar(-1e30);
m_lowerLimit = btScalar(BT_LARGE_FLOAT);
m_upperLimit = btScalar(-BT_LARGE_FLOAT);
m_biasFactor = 0.3f;
m_relaxationFactor = 1.0f;
m_limitSoftness = 0.9f;

8
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
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@@ -1147,8 +1147,8 @@ void btDiscreteDynamicsWorld::debugDrawObject(const btTransform& worldTransform,
btConcaveShape* concaveMesh = (btConcaveShape*) shape;
///@todo pass camera, for some culling? no -> we are not a graphics lib
btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
btVector3 aabbMin(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30));
btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
btVector3 aabbMin(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
DebugDrawcallback drawCallback(getDebugDrawer(),worldTransform,color);
concaveMesh->processAllTriangles(&drawCallback,aabbMin,aabbMax);
@@ -1159,8 +1159,8 @@ void btDiscreteDynamicsWorld::debugDrawObject(const btTransform& worldTransform,
{
btConvexTriangleMeshShape* convexMesh = (btConvexTriangleMeshShape*) shape;
//todo: pass camera for some culling
btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
btVector3 aabbMin(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30));
btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
btVector3 aabbMin(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
//DebugDrawcallback drawCallback;
DebugDrawcallback drawCallback(getDebugDrawer(),worldTransform,color);
convexMesh->getMeshInterface()->InternalProcessAllTriangles(&drawCallback,aabbMin,aabbMax);