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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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26
src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
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@@ -95,7 +95,7 @@ void btConvexTriangleCallback::processTriangle(btVector3* triangle,int partId, i
m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[2]),tr(triangle[0]),color);
//btVector3 center = triangle[0] + triangle[1]+triangle[2];
//center *= 0.333333f;
//center *= btScalar(0.333333);
//m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[0]),tr(center),color);
//m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[1]),tr(center),color);
//m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[2]),tr(center),color);
@@ -134,7 +134,7 @@ void btConvexTriangleCallback::processTriangle(btVector3* triangle,int partId, i
void btConvexTriangleCallback::setTimeStepAndCounters(float collisionMarginTriangle,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
void btConvexTriangleCallback::setTimeStepAndCounters(btScalar collisionMarginTriangle,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
m_dispatchInfoPtr = &dispatchInfo;
m_collisionMarginTriangle = collisionMarginTriangle;
@@ -146,7 +146,7 @@ void btConvexTriangleCallback::setTimeStepAndCounters(float collisionMarginTrian
btCollisionShape* convexShape = static_cast<btCollisionShape*>(m_convexBody->getCollisionShape());
//CollisionShape* triangleShape = static_cast<btCollisionShape*>(triBody->m_collisionShape);
convexShape->getAabb(convexInTriangleSpace,m_aabbMin,m_aabbMax);
float extraMargin = collisionMarginTriangle;
btScalar extraMargin = collisionMarginTriangle;
btVector3 extra(extraMargin,extraMargin,extraMargin);
m_aabbMax += extra;
@@ -176,7 +176,7 @@ void btConvexConcaveCollisionAlgorithm::processCollision (btCollisionObject* bod
if (convexBody->getCollisionShape()->isConvex())
{
float collisionMarginTriangle = concaveShape->getMargin();
btScalar collisionMarginTriangle = concaveShape->getMargin();
resultOut->setPersistentManifold(m_btConvexTriangleCallback.m_manifoldPtr);
m_btConvexTriangleCallback.setTimeStepAndCounters(collisionMarginTriangle,dispatchInfo,resultOut);
@@ -196,7 +196,7 @@ void btConvexConcaveCollisionAlgorithm::processCollision (btCollisionObject* bod
}
float btConvexConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
btScalar btConvexConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
btCollisionObject* convexbody = m_isSwapped ? body1 : body0;
@@ -207,10 +207,10 @@ float btConvexConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject
//only perform CCD above a certain threshold, this prevents blocking on the long run
//because object in a blocked ccd state (hitfraction<1) get their linear velocity halved each frame...
float squareMot0 = (convexbody->getInterpolationWorldTransform().getOrigin() - convexbody->getWorldTransform().getOrigin()).length2();
btScalar squareMot0 = (convexbody->getInterpolationWorldTransform().getOrigin() - convexbody->getWorldTransform().getOrigin()).length2();
if (squareMot0 < convexbody->getCcdSquareMotionThreshold())
{
return 1.f;
return btScalar(1.);
}
//const btVector3& from = convexbody->m_worldTransform.getOrigin();
@@ -227,11 +227,11 @@ float btConvexConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject
btTransform m_ccdSphereToTrans;
btTransform m_meshTransform;
float m_ccdSphereRadius;
float m_hitFraction;
btScalar m_ccdSphereRadius;
btScalar m_hitFraction;
LocalTriangleSphereCastCallback(const btTransform& from,const btTransform& to,float ccdSphereRadius,float hitFraction)
LocalTriangleSphereCastCallback(const btTransform& from,const btTransform& to,btScalar ccdSphereRadius,btScalar hitFraction)
:m_ccdSphereFromTrans(from),
m_ccdSphereToTrans(to),
m_ccdSphereRadius(ccdSphereRadius),
@@ -276,11 +276,11 @@ float btConvexConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject
rayAabbMin.setMin(convexToLocal.getOrigin());
btVector3 rayAabbMax = convexFromLocal.getOrigin();
rayAabbMax.setMax(convexToLocal.getOrigin());
float ccdRadius0 = convexbody->getCcdSweptSphereRadius();
btScalar ccdRadius0 = convexbody->getCcdSweptSphereRadius();
rayAabbMin -= btVector3(ccdRadius0,ccdRadius0,ccdRadius0);
rayAabbMax += btVector3(ccdRadius0,ccdRadius0,ccdRadius0);
float curHitFraction = 1.f; //is this available?
btScalar curHitFraction = btScalar(1.); //is this available?
LocalTriangleSphereCastCallback raycastCallback(convexFromLocal,convexToLocal,
convexbody->getCcdSweptSphereRadius(),curHitFraction);
@@ -304,6 +304,6 @@ float btConvexConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject
}
}
return 1.f;
return btScalar(1.);
}