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Contribution to add optional double precision floating point support. Define BT_USE_DOUBLE_PRECISION for all involved libraries/apps.

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This commit is contained in:
ejcoumans
2006-12-16 05:51:30 +00:00
parent 39f223fd65
commit df9230327c
141 changed files with 1091 additions and 1042 deletions
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20
Demos/BasicDemo/BasicDemo.cpp
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@@ -19,13 +19,13 @@ subject to the following restrictions:
//#define CHECK_MEMORY_LEAKS 1
int gNumObjects = 120;
#define HALF_EXTENTS 1.f
#define HALF_EXTENTS btScalar(1.)
#include "btBulletDynamicsCommon.h"
#include "LinearMath/btIDebugDraw.h"
#include "GLDebugDrawer.h"
#include <stdio.h> //printf debugging
float deltaTime = 1.f/60.f;
float gCollisionMargin = 0.05f;
btScalar deltaTime = btScalar(1./60.);
btScalar gCollisionMargin = btScalar(0.05);
#include "BasicDemo.h"
#include "GL_ShapeDrawer.h"
#include "GlutStuff.h"
@@ -58,7 +58,7 @@ int main(int argc,char** argv)
BasicDemo ccdDemo;
ccdDemo.initPhysics();
ccdDemo.setCameraDistance(50.f);
ccdDemo.setCameraDistance(btScalar(50.));
#ifdef CHECK_MEMORY_LEAKS
ccdDemo.exitPhysics();
@@ -161,9 +161,9 @@ void BasicDemo::initPhysics()
//static ground
#ifdef USE_GROUND_BOX
btCollisionShape* groundShape = new btBoxShape(btVector3(50.f,50.f,50.f));
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
#else
btCollisionShape* groundShape = new btSphereShape(50.f);
btCollisionShape* groundShape = new btSphereShape(btScalar(50.));
#endif//USE_GROUND_BOX
m_collisionShapes.push_back(groundShape);
@@ -171,10 +171,10 @@ void BasicDemo::initPhysics()
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0,-50,0));
localCreateRigidBody(0.f,groundTransform,groundShape);
localCreateRigidBody(btScalar(0.),groundTransform,groundShape);
//create a few dynamic sphere rigidbodies (re-using the same sphere shape)
btCollisionShape* sphereShape = new btSphereShape(1.f);
btCollisionShape* sphereShape = new btSphereShape(btScalar(1.));
m_collisionShapes.push_back(sphereShape);
int i;
@@ -193,8 +193,8 @@ void BasicDemo::initPhysics()
row*2*HALF_EXTENTS+HALF_EXTENTS,0);
trans.setOrigin(pos);
//btRigidBody* body = localCreateRigidBody(1.f,trans,sphereShape);
localCreateRigidBody(1.f,trans,sphereShape);
//btRigidBody* body = localCreateRigidBody(btScalar(1.),trans,sphereShape);
localCreateRigidBody(btScalar(1.),trans,sphereShape);
}
clientResetScene();

13
Demos/BspDemo/BspConverter.cpp
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@@ -21,20 +21,24 @@ subject to the following restrictions:
void BspConverter::convertBsp(BspLoader& bspLoader,float scaling)
{
{
btVector3 playerStart (0.f, 0.f, 100.f);
float playstartf[3] = {0,0,100};
if (bspLoader.findVectorByName(&playerStart[0],"info_player_start"))
if (bspLoader.findVectorByName(&playstartf[0],"info_player_start"))
{
printf("found playerstart\n");
}
else
{
if (bspLoader.findVectorByName(&playerStart[0],"info_player_deathmatch"))
if (bspLoader.findVectorByName(&playstartf[0],"info_player_deathmatch"))
{
printf("found deatchmatch start\n");
}
}
btVector3 playerStart (playstartf[0],playstartf[1],playstartf[2]);
playerStart[2] += 20.f; //start a bit higher
playerStart *= scaling;
@@ -113,6 +117,7 @@ void BspConverter::convertBsp(BspLoader& bspLoader,float scaling)
if ( strcmp( cl, "" ) ) {
//its not empty so ...
/*
//lookup the target position for the jumppad:
const BSPEntity* targetentity = bspLoader.getEntityByValue( "targetname" , cl );
if (targetentity)
@@ -122,6 +127,8 @@ void BspConverter::convertBsp(BspLoader& bspLoader,float scaling)
}
}
*/
cl = bspLoader.getValueForKey(&entity,"model");
if ( strcmp( cl, "" ) ) {

2
Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp
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@@ -153,7 +153,7 @@ void customNearCallback(btBroadphasePair& collisionPair, btCollisionDispatcher&
GLDebugDrawer debugDrawer;
//experimental jitter damping (1 = no damping, 0 = total damping once motion below threshold)
extern float gJitterVelocityDampingFactor;
extern btScalar gJitterVelocityDampingFactor;
int main(int argc,char** argv)
{

2
Demos/CollisionDemo/CollisionDemo.cpp
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@@ -217,7 +217,7 @@ void CollisionDemo::displayCallback(void) {
//GL_ShapeDrawer::drawCoordSystem();
float m[16];
btScalar m[16];
int i;
// btGjkPairDetector convexConvex(shapePtr[0],shapePtr[1],&sGjkSimplexSolver,0);

2
Demos/CollisionInterfaceDemo/CollisionInterfaceDemo.cpp
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@@ -156,7 +156,7 @@ void CollisionInterfaceDemo::displayCallback(void) {
//GL_ShapeDrawer::drawCoordSystem();
float m[16];
btScalar m[16];

2
Demos/ConcaveDemo/ConcavePhysicsDemo.cpp
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@@ -147,7 +147,7 @@ void ConcaveDemo::initPhysics()
btTriangleIndexVertexArray* indexVertexArrays = new btTriangleIndexVertexArray(totalTriangles,
gIndices,
indexStride,
totalVerts,(float*) &gVertices[0].x(),vertStride);
totalVerts,(btScalar*) &gVertices[0].x(),vertStride);
btCollisionShape* trimeshShape = new btBvhTriangleMeshShape(indexVertexArrays);

2
Demos/ContinuousConvexCollision/ContinuousConvexCollisionDemo.cpp
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@@ -146,7 +146,7 @@ void btContinuousConvexCollisionDemo::displayCallback(void) {
//GL_ShapeDrawer::drawCoordSystem();
float m[16];
btScalar m[16];
int i;
/*for (i=0;i<numObjects;i++)

21
Demos/EPAPenDepthDemo/PenetrationTestBullet.cpp
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@@ -70,7 +70,11 @@ static void DrawLine(const btVector3& p0, const btVector3& p1, const btVector3&
glColor4f(color.x(), color.y(), color.z(), 1.0f);
btVector3 tmp[] = {p0, p1};
glEnableClientState(GL_VERTEX_ARRAY);
#ifndef BT_USE_DOUBLE_PRECISION
glVertexPointer(3, GL_FLOAT, sizeof(btVector3), &tmp[0].x());
#else
glVertexPointer(3, GL_DOUBLE, sizeof(btVector3), &tmp[0].x());
#endif
glDrawArrays(GL_LINES, 0, 2);
glDisableClientState(GL_VERTEX_ARRAY);
glColor4f(1.0f, 1.0f, 1.0f, 1.0f);
@@ -83,7 +87,11 @@ void DrawTriangle(const btVector3& p0, const btVector3& p1, const btVector3& p2,
glColor4f(color.x(), color.y(), color.z(), 1.0f);
btVector3 tmp[] = {p0, p1, p2};
glEnableClientState(GL_VERTEX_ARRAY);
#ifndef BT_USE_DOUBLE_PRECISION
glVertexPointer(3, GL_FLOAT, sizeof(btVector3), &tmp[0].x());
#else
glVertexPointer(3, GL_DOUBLE, sizeof(btVector3), &tmp[0].x());
#endif
glDrawArrays(GL_TRIANGLES, 0, 3);
glDisableClientState(GL_VERTEX_ARRAY);
// glColor4f(1.0f, 1.0f, 1.0f, 1.0f);
@@ -199,10 +207,13 @@ void MyConvex::Render(bool only_wireframe, const btVector3& wire_color) const
const float Scale = 1.0f;
glPushMatrix();
float glmat[16]; //4x4 column major matrix for OpenGL.
btScalar glmat[16]; //4x4 column major matrix for OpenGL.
mTransform.getOpenGLMatrix(glmat);
#ifndef BT_USE_DOUBLE_PRECISION
glMultMatrixf(&(glmat[0]));
#else
glMultMatrixd(&(glmat[0]));
#endif
if(!only_wireframe)
{
btVector3 color(0.0f, 0.5f, 1.0f);
@@ -273,7 +284,7 @@ static float gDepth;
{
}
virtual void addContactPoint(const btVector3& normalOnBInWorld, const btVector3& pointInWorld, float depth)
virtual void addContactPoint(const btVector3& normalOnBInWorld, const btVector3& pointInWorld, btScalar depth)
{
gNormal = normalOnBInWorld;
gPoint = pointInWorld;
@@ -293,8 +304,8 @@ static bool TestEPA(const MyConvex& hull0, const MyConvex& hull1)
simplexSolver.reset();
btConvexHullShape convexA((float*)hull0.mVerts, hull0.mNbVerts, sizeof(btVector3));
btConvexHullShape convexB((float*)hull1.mVerts, hull1.mNbVerts, sizeof(btVector3));
btConvexHullShape convexA((btScalar*)hull0.mVerts, hull0.mNbVerts, sizeof(btVector3));
btConvexHullShape convexB((btScalar*)hull1.mVerts, hull1.mNbVerts, sizeof(btVector3));
static btGjkEpaPenetrationDepthSolver Solver0;
static btMinkowskiPenetrationDepthSolver Solver1;

2
Demos/GjkConvexCastDemo/LinearConvexCastDemo.cpp
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@@ -139,7 +139,7 @@ void LinearConvexCastDemo::displayCallback(void)
//GL_ShapeDrawer::drawCoordSystem();
float m[16];
btScalar m[16];
int i;
for (i=0;i<numObjects;i++)

4
Demos/MovingConcaveDemo/ConcavePhysicsDemo.cpp
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@@ -37,7 +37,7 @@ GLDebugDrawer debugDrawer;
//***************************THE FAMOUS BUNNY TRIMESH********************************************//
#define REAL float
#define REAL btScalar
const int NUM_TRIANGLES =902;
const int NUM_VERTICES = 453;
const int NUM_INDICES = NUM_TRIANGLES * 3;
@@ -1487,7 +1487,7 @@ void ConcaveDemo::renderme()
{
updateCamera();
float m[16];
btScalar m[16];
if (m_dynamicsWorld)
{

25
Demos/OpenGL/DebugCastResult.h
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@@ -19,6 +19,7 @@ subject to the following restrictions:
#include "BulletCollision/NarrowPhaseCollision/btConvexCast.h"
#include "LinearMath/btTransform.h"
#include "GL_ShapeDrawer.h"
#include "GlutStuff.h"
#ifdef WIN32
#include <windows.h>
#endif
@@ -48,20 +49,20 @@ struct btDebugCastResult : public btConvexCast::CastResult
virtual void drawCoordSystem(const btTransform& tr)
{
float m[16];
btScalar m[16];
tr.getOpenGLMatrix(m);
glPushMatrix();
glLoadMatrixf(m);
btglLoadMatrix(m);
glBegin(GL_LINES);
glColor3f(1, 0, 0);
glVertex3d(0, 0, 0);
glVertex3d(1, 0, 0);
glColor3f(0, 1, 0);
glVertex3d(0, 0, 0);
glVertex3d(0, 1, 0);
glColor3f(0, 0, 1);
glVertex3d(0, 0, 0);
glVertex3d(0, 0, 1);
btglColor3(1, 0, 0);
btglVertex3(0, 0, 0);
btglVertex3(1, 0, 0);
btglColor3(0, 1, 0);
btglVertex3(0, 0, 0);
btglVertex3(0, 1, 0);
btglColor3(0, 0, 1);
btglVertex3(0, 0, 0);
btglVertex3(0, 0, 1);
glEnd();
glPopMatrix();
}
@@ -69,7 +70,7 @@ struct btDebugCastResult : public btConvexCast::CastResult
virtual void DebugDraw(btScalar fraction)
{
float m[16];
btScalar m[16];
btTransform hitTrans;
btTransformUtil::integrateTransform(m_fromTrans,m_linVel,m_angVel,fraction,hitTrans);
hitTrans.getOpenGLMatrix(m);

2
Demos/OpenGL/DemoApplication.cpp
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@@ -708,7 +708,7 @@ void DemoApplication::renderme()
{
updateCamera();
float m[16];
btScalar m[16];
if (m_dynamicsWorld)
{

2
Demos/OpenGL/GLDebugDrawer.cpp
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@@ -40,7 +40,7 @@ void GLDebugDrawer::setDebugMode(int debugMode)
}
void GLDebugDrawer::drawContactPoint(const btVector3& pointOnB,const btVector3& normalOnB,float distance,int lifeTime,const btVector3& color)
void GLDebugDrawer::drawContactPoint(const btVector3& pointOnB,const btVector3& normalOnB,btScalar distance,int lifeTime,const btVector3& color)
{
if (m_debugMode & btIDebugDraw::DBG_DrawContactPoints)
{

2
Demos/OpenGL/GLDebugDrawer.h
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@@ -17,7 +17,7 @@ public:
virtual void drawLine(const btVector3& from,const btVector3& to,const btVector3& color);
virtual void drawContactPoint(const btVector3& PointOnB,const btVector3& normalOnB,float distance,int lifeTime,const btVector3& color);
virtual void drawContactPoint(const btVector3& PointOnB,const btVector3& normalOnB,btScalar distance,int lifeTime,const btVector3& color);
virtual void setDebugMode(int debugMode);

23
Demos/OpenGL/GL_ShapeDrawer.cpp
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@@ -26,6 +26,7 @@ subject to the following restrictions:
#include <GL/glut.h>
#endif
#include "GlutStuff.h"
#include "GL_ShapeDrawer.h"
#include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h"
#include "BulletCollision/CollisionShapes/btTriangleMeshShape.h"
@@ -145,8 +146,8 @@ void OGL_displaylist_clean()
void OGL_displaylist_register_shape(btCollisionShape * shape)
{
btVector3 aabbMax(1e30f,1e30f,1e30f);
btVector3 aabbMin(-1e30f,-1e30f,-1e30f);
btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
btVector3 aabbMin(-btScalar(1e30),-btScalar(1e30),-btScalar(1e30));
GlDisplaylistDrawcallback drawCallback;
TRIMESH_KEY dlist;
@@ -257,12 +258,12 @@ public:
};
void GL_ShapeDrawer::drawOpenGL(float* m, const btCollisionShape* shape, const btVector3& color,int debugMode)
void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, const btVector3& color,int debugMode)
{
glPushMatrix();
glMultMatrixf(m);
btglMultMatrix(m);
if (shape->getShapeType() == COMPOUND_SHAPE_PROXYTYPE)
{
@@ -271,7 +272,7 @@ void GL_ShapeDrawer::drawOpenGL(float* m, const btCollisionShape* shape, const b
{
btTransform childTrans = compoundShape->getChildTransform(i);
const btCollisionShape* colShape = compoundShape->getChildShape(i);
float childMat[16];
btScalar childMat[16];
childTrans.getOpenGLMatrix(childMat);
drawOpenGL(childMat,colShape,color,debugMode);
}
@@ -471,12 +472,12 @@ void GL_ShapeDrawer::drawOpenGL(float* m, const btCollisionShape* shape, const b
// if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
{
btConcaveShape* concaveMesh = (btTriangleMeshShape*) shape;
//btVector3 aabbMax(1e30f,1e30f,1e30f);
//btVector3 aabbMax(100,100,100);//1e30f,1e30f,1e30f);
//btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
//btVector3 aabbMax(100,100,100);//btScalar(1e30),btScalar(1e30),btScalar(1e30));
//todo pass camera, for some culling
btVector3 aabbMax(1e30f,1e30f,1e30f);
btVector3 aabbMin(-1e30f,-1e30f,-1e30f);
btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
btVector3 aabbMin(-btScalar(1e30),-btScalar(1e30),-btScalar(1e30));
GlDrawcallback drawCallback;
drawCallback.m_wireframe = (debugMode & btIDebugDraw::DBG_DrawWireframe)!=0;
@@ -496,8 +497,8 @@ void GL_ShapeDrawer::drawOpenGL(float* m, const btCollisionShape* shape, const b
btConvexTriangleMeshShape* convexMesh = (btConvexTriangleMeshShape*) shape;
//todo: pass camera for some culling
btVector3 aabbMax(1e30f,1e30f,1e30f);
btVector3 aabbMin(-1e30f,-1e30f,-1e30f);
btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
btVector3 aabbMin(-btScalar(1e30),-btScalar(1e30),-btScalar(1e30));
TriangleGlDrawcallback drawCallback;
convexMesh->getStridingMesh()->InternalProcessAllTriangles(&drawCallback,aabbMin,aabbMax);

2
Demos/OpenGL/GL_ShapeDrawer.h
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@@ -23,7 +23,7 @@ class GL_ShapeDrawer
{
public:
static void drawOpenGL(float* m, const btCollisionShape* shape, const btVector3& color,int debugMode);
static void drawOpenGL(btScalar* m, const btCollisionShape* shape, const btVector3& color,int debugMode);
static void drawCoordSystem();
};

9
Demos/OpenGL/GL_Simplex1to4.cpp
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@@ -26,6 +26,7 @@ subject to the following restrictions:
#else
#include <GL/gl.h>
#endif
#include "GlutStuff.h"
#include "LinearMath/btTransform.h"
GL_Simplex1to4::GL_Simplex1to4()
@@ -36,7 +37,7 @@ GL_Simplex1to4::GL_Simplex1to4()
///
/// Debugging method calcClosest calculates the closest point to the origin, using m_simplexSolver
///
void GL_Simplex1to4::calcClosest(float* m)
void GL_Simplex1to4::calcClosest(btScalar* m)
{
btTransform tr;
tr.setFromOpenGLMatrix(m);
@@ -62,9 +63,9 @@ void GL_Simplex1to4::calcClosest(float* m)
//draw v?
glDisable(GL_LIGHTING);
glBegin(GL_LINES);
glColor3f(1.f, 0.f, 0.f);
glVertex3f(0.f, 0.f, 0.f);
glVertex3f(v.x(),v.y(),v.z());
btglColor3(1.f, 0.f, 0.f);
btglVertex3(0.f, 0.f, 0.f);
btglVertex3(v.x(),v.y(),v.z());
glEnd();
glEnable(GL_LIGHTING);

2
Demos/OpenGL/GL_Simplex1to4.h
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@@ -29,7 +29,7 @@ class GL_Simplex1to4 : public btBU_Simplex1to4
GL_Simplex1to4();
void calcClosest(float* m);
void calcClosest(btScalar* m);
void setSimplexSolver(btSimplexSolverInterface* simplexSolver) {
m_simplexSolver = simplexSolver;

12
Demos/OpenGL/GlutStuff.h
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@@ -19,4 +19,16 @@ class DemoApplication;
int glutmain(int argc, char **argv,int width,int height,const char* title,DemoApplication* demoApp);
#if defined(BT_USE_DOUBLE_PRECISION)
#define btglLoadMatrix glLoadMatrixd
#define btglMultMatrix glMultMatrixd
#define btglColor3 glColor3d
#define btglVertex3 glVertex3d
#else
#define btglLoadMatrix glLoadMatrixf
#define btglMultMatrix glMultMatrixf
#define btglColor3 glColor3f
#define btglVertex3 glVertex3d
#endif
#endif //GLUT_STUFF_H

2
Demos/SimplexDemo/SimplexDemo.cpp
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@@ -73,7 +73,7 @@ void SimplexDemo::displayCallback()
GL_ShapeDrawer::drawCoordSystem();
float m[16];
btScalar m[16];
int i;
for (i=0;i<numObjects;i++)

4
Demos/VehicleDemo/VehicleDemo.cpp
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@@ -183,7 +183,7 @@ const float TRIANGLE_SIZE=20.f;
btTriangleIndexVertexArray* indexVertexArrays = new btTriangleIndexVertexArray(totalTriangles,
gIndices,
indexStride,
totalVerts,(float*) &gVertices[0].x(),vertStride);
totalVerts,(btScalar*) &gVertices[0].x(),vertStride);
groundShape = new btBvhTriangleMeshShape(indexVertexArrays);
@@ -297,7 +297,7 @@ void VehicleDemo::renderme()
updateCamera();
debugDrawer.setDebugMode(getDebugMode());
float m[16];
btScalar m[16];
int i;
btCylinderShapeX wheelShape(btVector3(wheelWidth,wheelRadius,wheelRadius));