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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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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;