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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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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