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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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48
src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp
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@@ -64,7 +64,7 @@ void btSphereBoxCollisionAlgorithm::processCollision (btCollisionObject* body0,b
btVector3 sphereCenter = sphereObj->getWorldTransform().getOrigin();
btScalar radius = sphere0->getRadius();
float dist = getSphereDistance(boxObj,pOnBox,pOnSphere,sphereCenter,radius);
btScalar dist = getSphereDistance(boxObj,pOnBox,pOnSphere,sphereCenter,radius);
if (dist < SIMD_EPSILON)
{
@@ -81,10 +81,10 @@ void btSphereBoxCollisionAlgorithm::processCollision (btCollisionObject* body0,b
}
float btSphereBoxCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
btScalar btSphereBoxCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
//not yet
return 1.f;
return btScalar(1.);
}
@@ -117,14 +117,14 @@ btScalar btSphereBoxCollisionAlgorithm::getSphereDistance(btCollisionObject* box
/////////////////////////////////////////////////
btVector3 tmp, prel, n[6], normal, v3P;
btScalar fSep = 10000000.0f, fSepThis;
btScalar fSep = btScalar(10000000.0), fSepThis;
n[0].setValue( -1.0f, 0.0f, 0.0f );
n[1].setValue( 0.0f, -1.0f, 0.0f );
n[2].setValue( 0.0f, 0.0f, -1.0f );
n[3].setValue( 1.0f, 0.0f, 0.0f );
n[4].setValue( 0.0f, 1.0f, 0.0f );
n[5].setValue( 0.0f, 0.0f, 1.0f );
n[0].setValue( btScalar(-1.0), btScalar(0.0), btScalar(0.0) );
n[1].setValue( btScalar(0.0), btScalar(-1.0), btScalar(0.0) );
n[2].setValue( btScalar(0.0), btScalar(0.0), btScalar(-1.0) );
n[3].setValue( btScalar(1.0), btScalar(0.0), btScalar(0.0) );
n[4].setValue( btScalar(0.0), btScalar(1.0), btScalar(0.0) );
n[5].setValue( btScalar(0.0), btScalar(0.0), btScalar(1.0) );
// convert point in local space
prel = m44T.invXform( sphereCenter);
@@ -136,7 +136,7 @@ btScalar btSphereBoxCollisionAlgorithm::getSphereDistance(btCollisionObject* box
for (int i=0;i<6;i++)
{
int j = i<3? 0:1;
if ( (fSepThis = ((v3P-bounds[j]) .dot(n[i]))) > 0.0f )
if ( (fSepThis = ((v3P-bounds[j]) .dot(n[i]))) > btScalar(0.0) )
{
v3P = v3P - n[i]*fSepThis;
bFound = true;
@@ -154,9 +154,9 @@ btScalar btSphereBoxCollisionAlgorithm::getSphereDistance(btCollisionObject* box
pointOnBox = v3P + normal*margins;
v3PointOnSphere = prel - normal*fRadius;
if ( ((v3PointOnSphere - pointOnBox) .dot (normal)) > 0.0f )
if ( ((v3PointOnSphere - pointOnBox) .dot (normal)) > btScalar(0.0) )
{
return 1.0f;
return btScalar(1.0);
}
// transform back in world space
@@ -171,7 +171,7 @@ btScalar btSphereBoxCollisionAlgorithm::getSphereDistance(btCollisionObject* box
{
fSep = - btSqrt(fSeps2);
normal = (pointOnBox-v3PointOnSphere);
normal *= 1.f/fSep;
normal *= btScalar(1.)/fSep;
}
return fSep;
@@ -185,10 +185,10 @@ btScalar btSphereBoxCollisionAlgorithm::getSphereDistance(btCollisionObject* box
bounds[0] = boundsVec[0];
bounds[1] = boundsVec[1];
if ( fPenetration <= 0.0f )
if ( fPenetration <= btScalar(0.0) )
return (fPenetration-margins);
else
return 1.0f;
return btScalar(1.0);
}
btScalar btSphereBoxCollisionAlgorithm::getSpherePenetration( btCollisionObject* boxObj,btVector3& pointOnBox, btVector3& v3PointOnSphere, const btVector3& sphereCenter, btScalar fRadius, const btVector3& aabbMin, const btVector3& aabbMax)
@@ -200,14 +200,14 @@ btScalar btSphereBoxCollisionAlgorithm::getSpherePenetration( btCollisionObject*
bounds[1] = aabbMax;
btVector3 p0, tmp, prel, n[6], normal;
btScalar fSep = -10000000.0f, fSepThis;
btScalar fSep = btScalar(-10000000.0), fSepThis;
n[0].setValue( -1.0f, 0.0f, 0.0f );
n[1].setValue( 0.0f, -1.0f, 0.0f );
n[2].setValue( 0.0f, 0.0f, -1.0f );
n[3].setValue( 1.0f, 0.0f, 0.0f );
n[4].setValue( 0.0f, 1.0f, 0.0f );
n[5].setValue( 0.0f, 0.0f, 1.0f );
n[0].setValue( btScalar(-1.0), btScalar(0.0), btScalar(0.0) );
n[1].setValue( btScalar(0.0), btScalar(-1.0), btScalar(0.0) );
n[2].setValue( btScalar(0.0), btScalar(0.0), btScalar(-1.0) );
n[3].setValue( btScalar(1.0), btScalar(0.0), btScalar(0.0) );
n[4].setValue( btScalar(0.0), btScalar(1.0), btScalar(0.0) );
n[5].setValue( btScalar(0.0), btScalar(0.0), btScalar(1.0) );
const btTransform& m44T = boxObj->getWorldTransform();
@@ -219,7 +219,7 @@ btScalar btSphereBoxCollisionAlgorithm::getSpherePenetration( btCollisionObject*
for (int i=0;i<6;i++)
{
int j = i<3 ? 0:1;
if ( (fSepThis = ((prel-bounds[j]) .dot( n[i]))-fRadius) > 0.0f ) return 1.0f;
if ( (fSepThis = ((prel-bounds[j]) .dot( n[i]))-fRadius) > btScalar(0.0) ) return btScalar(1.0);
if ( fSepThis > fSep )
{
p0 = bounds[j]; normal = (btVector3&)n[i];