Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

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

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

14
src/BulletCollision/CollisionShapes/btBoxShape.cpp
View File

@@ -42,16 +42,16 @@ void btBoxShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabb
void btBoxShape::calculateLocalInertia(btScalar mass,btVector3& inertia)
{
//float margin = 0.f;
//btScalar margin = btScalar(0.);
btVector3 halfExtents = getHalfExtents();
btScalar lx=2.f*(halfExtents.x());
btScalar ly=2.f*(halfExtents.y());
btScalar lz=2.f*(halfExtents.z());
btScalar lx=btScalar(2.)*(halfExtents.x());
btScalar ly=btScalar(2.)*(halfExtents.y());
btScalar lz=btScalar(2.)*(halfExtents.z());
inertia[0] = mass/(12.0f) * (ly*ly + lz*lz);
inertia[1] = mass/(12.0f) * (lx*lx + lz*lz);
inertia[2] = mass/(12.0f) * (lx*lx + ly*ly);
inertia[0] = mass/(btScalar(12.0)) * (ly*ly + lz*lz);
inertia[1] = mass/(btScalar(12.0)) * (lx*lx + lz*lz);
inertia[2] = mass/(btScalar(12.0)) * (lx*lx + ly*ly);
}

42
src/BulletCollision/CollisionShapes/btBoxShape.h
View File

@@ -41,9 +41,9 @@ public:
btVector3 halfExtents = getHalfExtents();
btVector3 supVertex;
supVertex = btPoint3(vec.x() < btScalar(0.0f) ? -halfExtents.x() : halfExtents.x(),
vec.y() < btScalar(0.0f) ? -halfExtents.y() : halfExtents.y(),
vec.z() < btScalar(0.0f) ? -halfExtents.z() : halfExtents.z());
supVertex = btPoint3(vec.x() < btScalar(0.0) ? -halfExtents.x() : halfExtents.x(),
vec.y() < btScalar(0.0) ? -halfExtents.y() : halfExtents.y(),
vec.z() < btScalar(0.0) ? -halfExtents.z() : halfExtents.z());
return supVertex;
}
@@ -54,9 +54,9 @@ public:
btVector3 margin(getMargin(),getMargin(),getMargin());
halfExtents -= margin;
return btVector3(vec.x() < btScalar(0.0f) ? -halfExtents.x() : halfExtents.x(),
vec.y() < btScalar(0.0f) ? -halfExtents.y() : halfExtents.y(),
vec.z() < btScalar(0.0f) ? -halfExtents.z() : halfExtents.z());
return btVector3(vec.x() < btScalar(0.0) ? -halfExtents.x() : halfExtents.x(),
vec.y() < btScalar(0.0) ? -halfExtents.y() : halfExtents.y(),
vec.z() < btScalar(0.0) ? -halfExtents.z() : halfExtents.z());
}
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
@@ -69,9 +69,9 @@ public:
for (int i=0;i<numVectors;i++)
{
const btVector3& vec = vectors[i];
supportVerticesOut[i].setValue(vec.x() < btScalar(0.0f) ? -halfExtents.x() : halfExtents.x(),
vec.y() < btScalar(0.0f) ? -halfExtents.y() : halfExtents.y(),
vec.z() < btScalar(0.0f) ? -halfExtents.z() : halfExtents.z());
supportVerticesOut[i].setValue(vec.x() < btScalar(0.0) ? -halfExtents.x() : halfExtents.x(),
vec.y() < btScalar(0.0) ? -halfExtents.y() : halfExtents.y(),
vec.z() < btScalar(0.0) ? -halfExtents.z() : halfExtents.z());
}
}
@@ -132,27 +132,27 @@ public:
switch (i)
{
case 0:
plane.setValue(1.f,0.f,0.f);
plane.setValue(btScalar(1.),btScalar(0.),btScalar(0.));
plane[3] = -halfExtents.x();
break;
case 1:
plane.setValue(-1.f,0.f,0.f);
plane.setValue(btScalar(-1.),btScalar(0.),btScalar(0.));
plane[3] = -halfExtents.x();
break;
case 2:
plane.setValue(0.f,1.f,0.f);
plane.setValue(btScalar(0.),btScalar(1.),btScalar(0.));
plane[3] = -halfExtents.y();
break;
case 3:
plane.setValue(0.f,-1.f,0.f);
plane.setValue(btScalar(0.),btScalar(-1.),btScalar(0.));
plane[3] = -halfExtents.y();
break;
case 4:
plane.setValue(0.f,0.f,1.f);
plane.setValue(btScalar(0.),btScalar(0.),btScalar(1.));
plane[3] = -halfExtents.z();
break;
case 5:
plane.setValue(0.f,0.f,-1.f);
plane.setValue(btScalar(0.),btScalar(0.),btScalar(-1.));
plane[3] = -halfExtents.z();
break;
default:
@@ -265,22 +265,22 @@ public:
switch (index)
{
case 0:
penetrationVector.setValue(1.f,0.f,0.f);
penetrationVector.setValue(btScalar(1.),btScalar(0.),btScalar(0.));
break;
case 1:
penetrationVector.setValue(-1.f,0.f,0.f);
penetrationVector.setValue(btScalar(-1.),btScalar(0.),btScalar(0.));
break;
case 2:
penetrationVector.setValue(0.f,1.f,0.f);
penetrationVector.setValue(btScalar(0.),btScalar(1.),btScalar(0.));
break;
case 3:
penetrationVector.setValue(0.f,-1.f,0.f);
penetrationVector.setValue(btScalar(0.),btScalar(-1.),btScalar(0.));
break;
case 4:
penetrationVector.setValue(0.f,0.f,1.f);
penetrationVector.setValue(btScalar(0.),btScalar(0.),btScalar(1.));
break;
case 5:
penetrationVector.setValue(0.f,0.f,-1.f);
penetrationVector.setValue(btScalar(0.),btScalar(0.),btScalar(-1.));
break;
default:
assert(0);

2
src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp
View File

@@ -96,7 +96,7 @@ void btBvhTriangleMeshShape::processAllTriangles(btTriangleCallback* callback,co
#ifdef DEBUG_TRIANGLE_MESH
printf("%d ,",graphicsindex);
#endif //DEBUG_TRIANGLE_MESH
float* graphicsbase = (float*)(vertexbase+graphicsindex*stride);
btScalar* graphicsbase = (btScalar*)(vertexbase+graphicsindex*stride);
m_triangle[j] = btVector3(
graphicsbase[0]*meshScaling.getX(),

2
src/BulletCollision/CollisionShapes/btCollisionMargin.h
View File

@@ -18,7 +18,7 @@ subject to the following restrictions:
//used by Gjk and some other algorithms
#define CONVEX_DISTANCE_MARGIN 0.04f// 0.1f//;//0.01f
#define CONVEX_DISTANCE_MARGIN btScalar(0.04)// btScalar(0.1)//;//btScalar(0.01)

26
src/BulletCollision/CollisionShapes/btCollisionShape.cpp
View File

@@ -23,14 +23,14 @@ void btCollisionShape::getBoundingSphere(btVector3& center,btScalar& radius) con
getAabb(tr,aabbMin,aabbMax);
radius = (aabbMax-aabbMin).length()*0.5f;
center = (aabbMin+aabbMax)*0.5f;
radius = (aabbMax-aabbMin).length()*btScalar(0.5);
center = (aabbMin+aabbMax)*btScalar(0.5);
}
float btCollisionShape::getAngularMotionDisc() const
btScalar btCollisionShape::getAngularMotionDisc() const
{
btVector3 center;
float disc;
btScalar disc;
getBoundingSphere(center,disc);
disc += (center).length();
return disc;
@@ -41,25 +41,25 @@ void btCollisionShape::calculateTemporalAabb(const btTransform& curTrans,const b
//start with static aabb
getAabb(curTrans,temporalAabbMin,temporalAabbMax);
float temporalAabbMaxx = temporalAabbMax.getX();
float temporalAabbMaxy = temporalAabbMax.getY();
float temporalAabbMaxz = temporalAabbMax.getZ();
float temporalAabbMinx = temporalAabbMin.getX();
float temporalAabbMiny = temporalAabbMin.getY();
float temporalAabbMinz = temporalAabbMin.getZ();
btScalar temporalAabbMaxx = temporalAabbMax.getX();
btScalar temporalAabbMaxy = temporalAabbMax.getY();
btScalar temporalAabbMaxz = temporalAabbMax.getZ();
btScalar temporalAabbMinx = temporalAabbMin.getX();
btScalar temporalAabbMiny = temporalAabbMin.getY();
btScalar temporalAabbMinz = temporalAabbMin.getZ();
// add linear motion
btVector3 linMotion = linvel*timeStep;
//todo: simd would have a vector max/min operation, instead of per-element access
if (linMotion.x() > 0.f)
if (linMotion.x() > btScalar(0.))
temporalAabbMaxx += linMotion.x();
else
temporalAabbMinx += linMotion.x();
if (linMotion.y() > 0.f)
if (linMotion.y() > btScalar(0.))
temporalAabbMaxy += linMotion.y();
else
temporalAabbMiny += linMotion.y();
if (linMotion.z() > 0.f)
if (linMotion.z() > btScalar(0.))
temporalAabbMaxz += linMotion.z();
else
temporalAabbMinz += linMotion.z();

6
src/BulletCollision/CollisionShapes/btCollisionShape.h
View File

@@ -40,7 +40,7 @@ public:
virtual void getBoundingSphere(btVector3& center,btScalar& radius) const;
///getAngularMotionDisc returns the maximus radius needed for Conservative Advancement to handle time-of-impact with rotations.
virtual float getAngularMotionDisc() const;
virtual btScalar getAngularMotionDisc() const;
virtual int getShapeType() const=0;
@@ -84,8 +84,8 @@ public:
const char * m_tempDebug;
//endif debugging support
virtual void setMargin(float margin) = 0;
virtual float getMargin() const = 0;
virtual void setMargin(btScalar margin) = 0;
virtual btScalar getMargin() const = 0;
};

26
src/BulletCollision/CollisionShapes/btCompoundShape.cpp
View File

@@ -20,11 +20,11 @@ subject to the following restrictions:
btCompoundShape::btCompoundShape()
:m_localAabbMin(1e30f,1e30f,1e30f),
m_localAabbMax(-1e30f,-1e30f,-1e30f),
:m_localAabbMin(btScalar(1e30),btScalar(1e30),btScalar(1e30)),
m_localAabbMax(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30)),
m_aabbTree(0),
m_collisionMargin(0.f),
m_localScaling(1.f,1.f,1.f)
m_collisionMargin(btScalar(0.)),
m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.))
{
}
@@ -60,8 +60,8 @@ void btCompoundShape::addChildShape(const btTransform& localTransform,btCollisio
///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
void btCompoundShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const
{
btVector3 localHalfExtents = 0.5f*(m_localAabbMax-m_localAabbMin);
btVector3 localCenter = 0.5f*(m_localAabbMax+m_localAabbMin);
btVector3 localHalfExtents = btScalar(0.5)*(m_localAabbMax-m_localAabbMin);
btVector3 localCenter = btScalar(0.5)*(m_localAabbMax+m_localAabbMin);
btMatrix3x3 abs_b = trans.getBasis().absolute();
@@ -84,15 +84,15 @@ void btCompoundShape::calculateLocalInertia(btScalar mass,btVector3& inertia)
btVector3 aabbMin,aabbMax;
getAabb(ident,aabbMin,aabbMax);
btVector3 halfExtents = (aabbMax-aabbMin)*0.5f;
btVector3 halfExtents = (aabbMax-aabbMin)*btScalar(0.5);
btScalar lx=2.f*(halfExtents.x());
btScalar ly=2.f*(halfExtents.y());
btScalar lz=2.f*(halfExtents.z());
btScalar lx=btScalar(2.)*(halfExtents.x());
btScalar ly=btScalar(2.)*(halfExtents.y());
btScalar lz=btScalar(2.)*(halfExtents.z());
inertia[0] = mass/(12.0f) * (ly*ly + lz*lz);
inertia[1] = mass/(12.0f) * (lx*lx + lz*lz);
inertia[2] = mass/(12.0f) * (lx*lx + ly*ly);
inertia[0] = mass/(btScalar(12.0)) * (ly*ly + lz*lz);
inertia[1] = mass/(btScalar(12.0)) * (lx*lx + lz*lz);
inertia[2] = mass/(btScalar(12.0)) * (lx*lx + ly*ly);
}

4
src/BulletCollision/CollisionShapes/btCompoundShape.h
View File

@@ -85,11 +85,11 @@ public:
virtual int getShapeType() const { return COMPOUND_SHAPE_PROXYTYPE;}
virtual void setMargin(float margin)
virtual void setMargin(btScalar margin)
{
m_collisionMargin = margin;
}
virtual float getMargin() const
virtual btScalar getMargin() const
{
return m_collisionMargin;
}

2
src/BulletCollision/CollisionShapes/btConcaveShape.cpp
View File

@@ -17,7 +17,7 @@ subject to the following restrictions:
#include "btConcaveShape.h"
btConcaveShape::btConcaveShape() : m_collisionMargin(0.f)
btConcaveShape::btConcaveShape() : m_collisionMargin(btScalar(0.))
{
}

6
src/BulletCollision/CollisionShapes/btConcaveShape.h
View File

@@ -27,7 +27,7 @@ subject to the following restrictions:
class btConcaveShape : public btCollisionShape
{
protected:
float m_collisionMargin;
btScalar m_collisionMargin;
public:
btConcaveShape();
@@ -36,10 +36,10 @@ public:
virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const = 0;
virtual float getMargin() const {
virtual btScalar getMargin() const {
return m_collisionMargin;
}
virtual void setMargin(float collisionMargin)
virtual void setMargin(btScalar collisionMargin)
{
m_collisionMargin = collisionMargin;
}

16
src/BulletCollision/CollisionShapes/btConeShape.cpp
View File

@@ -24,7 +24,7 @@ m_height(height)
{
setConeUpIndex(1);
btVector3 halfExtents;
m_sinAngle = (m_radius / sqrt(m_radius * m_radius + m_height * m_height));
m_sinAngle = (m_radius / btSqrt(m_radius * m_radius + m_height * m_height));
}
btConeShapeZ::btConeShapeZ (btScalar radius,btScalar height):
@@ -67,15 +67,15 @@ void btConeShape::setConeUpIndex(int upIndex)
btVector3 btConeShape::coneLocalSupport(const btVector3& v) const
{
float halfHeight = m_height * 0.5f;
btScalar halfHeight = m_height * btScalar(0.5);
if (v[m_coneIndices[1]] > v.length() * m_sinAngle)
{
btVector3 tmp;
tmp[m_coneIndices[0]] = 0.f;
tmp[m_coneIndices[0]] = btScalar(0.);
tmp[m_coneIndices[1]] = halfHeight;
tmp[m_coneIndices[2]] = 0.f;
tmp[m_coneIndices[2]] = btScalar(0.);
return tmp;
}
else {
@@ -90,9 +90,9 @@ btVector3 btConeShape::coneLocalSupport(const btVector3& v) const
}
else {
btVector3 tmp;
tmp[m_coneIndices[0]] = 0.f;
tmp[m_coneIndices[0]] = btScalar(0.);
tmp[m_coneIndices[1]] = -halfHeight;
tmp[m_coneIndices[2]] = 0.f;
tmp[m_coneIndices[2]] = btScalar(0.);
return tmp;
}
}
@@ -117,12 +117,12 @@ void btConeShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVect
btVector3 btConeShape::localGetSupportingVertex(const btVector3& vec) const
{
btVector3 supVertex = coneLocalSupport(vec);
if ( getMargin()!=0.f )
if ( getMargin()!=btScalar(0.) )
{
btVector3 vecnorm = vec;
if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
{
vecnorm.setValue(-1.f,-1.f,-1.f);
vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
}
vecnorm.normalize();
supVertex+= getMargin() * vecnorm;

22
src/BulletCollision/CollisionShapes/btConeShape.h
View File

@@ -24,9 +24,9 @@ class btConeShape : public btConvexShape
{
float m_sinAngle;
float m_radius;
float m_height;
btScalar m_sinAngle;
btScalar m_radius;
btScalar m_height;
int m_coneIndices[3];
btVector3 coneLocalSupport(const btVector3& v) const;
@@ -38,8 +38,8 @@ public:
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const;
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
float getRadius() const { return m_radius;}
float getHeight() const { return m_height;}
btScalar getRadius() const { return m_radius;}
btScalar getHeight() const { return m_height;}
virtual void calculateLocalInertia(btScalar mass,btVector3& inertia)
@@ -49,17 +49,17 @@ public:
btVector3 aabbMin,aabbMax;
getAabb(identity,aabbMin,aabbMax);
btVector3 halfExtents = (aabbMax-aabbMin)*0.5f;
btVector3 halfExtents = (aabbMax-aabbMin)*btScalar(0.5);
float margin = getMargin();
btScalar margin = getMargin();
btScalar lx=2.f*(halfExtents.x()+margin);
btScalar ly=2.f*(halfExtents.y()+margin);
btScalar lz=2.f*(halfExtents.z()+margin);
btScalar lx=btScalar(2.)*(halfExtents.x()+margin);
btScalar ly=btScalar(2.)*(halfExtents.y()+margin);
btScalar lz=btScalar(2.)*(halfExtents.z()+margin);
const btScalar x2 = lx*lx;
const btScalar y2 = ly*ly;
const btScalar z2 = lz*lz;
const btScalar scaledmass = mass * 0.08333333f;
const btScalar scaledmass = mass * btScalar(0.08333333);
inertia = scaledmass * (btVector3(y2+z2,x2+z2,x2+y2));

16
src/BulletCollision/CollisionShapes/btConvexHullShape.cpp
View File

@@ -19,7 +19,7 @@ subject to the following restrictions:
btConvexHullShape ::btConvexHullShape (const float* points,int numPoints,int stride)
btConvexHullShape ::btConvexHullShape (const btScalar* points,int numPoints,int stride)
{
m_points.resize(numPoints);
@@ -34,17 +34,17 @@ btConvexHullShape ::btConvexHullShape (const float* points,int numPoints,int str
btVector3 btConvexHullShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const
{
btVector3 supVec(0.f,0.f,0.f);
btScalar newDot,maxDot = -1e30f;
btVector3 supVec(btScalar(0.),btScalar(0.),btScalar(0.));
btScalar newDot,maxDot = btScalar(-1e30);
btVector3 vec = vec0;
btScalar lenSqr = vec.length2();
if (lenSqr < 0.0001f)
if (lenSqr < btScalar(0.0001))
{
vec.setValue(1,0,0);
} else
{
float rlen = 1.f / btSqrt(lenSqr );
btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
vec *= rlen;
}
@@ -70,7 +70,7 @@ void btConvexHullShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const
{
for (int i=0;i<numVectors;i++)
{
supportVerticesOut[i][3] = -1e30f;
supportVerticesOut[i][3] = btScalar(-1e30);
}
}
for (size_t i=0;i<m_points.size();i++)
@@ -101,12 +101,12 @@ btVector3 btConvexHullShape::localGetSupportingVertex(const btVector3& vec)const
{
btVector3 supVertex = localGetSupportingVertexWithoutMargin(vec);
if ( getMargin()!=0.f )
if ( getMargin()!=btScalar(0.) )
{
btVector3 vecnorm = vec;
if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
{
vecnorm.setValue(-1.f,-1.f,-1.f);
vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
}
vecnorm.normalize();
supVertex+= getMargin() * vecnorm;

4
src/BulletCollision/CollisionShapes/btConvexHullShape.h
View File

@@ -31,10 +31,10 @@ class btConvexHullShape : public btPolyhedralConvexShape
btAlignedObjectArray<btPoint3> m_points;
public:
///this constructor optionally takes in a pointer to points. Each point is assumed to be 3 consecutive float (x,y,z), the striding defines the number of bytes between each point, in memory.
///this constructor optionally takes in a pointer to points. Each point is assumed to be 3 consecutive btScalar (x,y,z), the striding defines the number of bytes between each point, in memory.
///It is easier to not pass any points in the constructor, and just add one point at a time, using addPoint.
///btConvexHullShape make an internal copy of the points.
btConvexHullShape(const float* points=0,int numPoints=0, int stride=sizeof(btPoint3));
btConvexHullShape(const btScalar* points=0,int numPoints=0, int stride=sizeof(btPoint3));
void addPoint(const btPoint3& point)
{

12
src/BulletCollision/CollisionShapes/btConvexShape.cpp
View File

@@ -16,7 +16,7 @@ subject to the following restrictions:
#include "btConvexShape.h"
btConvexShape::btConvexShape()
: m_localScaling(1.f,1.f,1.f),
: m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.)),
m_collisionMargin(CONVEX_DISTANCE_MARGIN)
{
}
@@ -35,14 +35,14 @@ void btConvexShape::getAabbSlow(const btTransform& trans,btVector3&minAabb,btVec
btScalar margin = getMargin();
for (int i=0;i<3;i++)
{
btVector3 vec(0.f,0.f,0.f);
vec[i] = 1.f;
btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.));
vec[i] = btScalar(1.);
btVector3 sv = localGetSupportingVertex(vec*trans.getBasis());
btVector3 tmp = trans(sv);
maxAabb[i] = tmp[i]+margin;
vec[i] = -1.f;
vec[i] = btScalar(-1.);
tmp = trans(localGetSupportingVertex(vec*trans.getBasis()));
minAabb[i] = tmp[i]-margin;
}
@@ -52,12 +52,12 @@ btVector3 btConvexShape::localGetSupportingVertex(const btVector3& vec)const
{
btVector3 supVertex = localGetSupportingVertexWithoutMargin(vec);
if ( getMargin()!=0.f )
if ( getMargin()!=btScalar(0.) )
{
btVector3 vecnorm = vec;
if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
{
vecnorm.setValue(-1.f,-1.f,-1.f);
vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
}
vecnorm.normalize();
supVertex+= getMargin() * vecnorm;

4
src/BulletCollision/CollisionShapes/btConvexShape.h
View File

@@ -75,11 +75,11 @@ public:
}
virtual void setMargin(float margin)
virtual void setMargin(btScalar margin)
{
m_collisionMargin = margin;
}
virtual float getMargin() const
virtual btScalar getMargin() const
{
return m_collisionMargin;
}

20
src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp
View File

@@ -39,8 +39,8 @@ public:
btVector3 m_supportVecLocal;
LocalSupportVertexCallback(const btVector3& supportVecLocal)
: m_supportVertexLocal(0.f,0.f,0.f),
m_maxDot(-1e30f),
: m_supportVertexLocal(btScalar(0.),btScalar(0.),btScalar(0.)),
m_maxDot(btScalar(-1e30)),
m_supportVecLocal(supportVecLocal)
{
}
@@ -71,21 +71,21 @@ public:
btVector3 btConvexTriangleMeshShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const
{
btVector3 supVec(0.f,0.f,0.f);
btVector3 supVec(btScalar(0.),btScalar(0.),btScalar(0.));
btVector3 vec = vec0;
btScalar lenSqr = vec.length2();
if (lenSqr < 0.0001f)
if (lenSqr < btScalar(0.0001))
{
vec.setValue(1,0,0);
} else
{
float rlen = 1.f / btSqrt(lenSqr );
btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
vec *= rlen;
}
LocalSupportVertexCallback supportCallback(vec);
btVector3 aabbMax(1e30f,1e30f,1e30f);
btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
m_stridingMesh->InternalProcessAllTriangles(&supportCallback,-aabbMax,aabbMax);
supVec = supportCallback.GetSupportVertexLocal();
@@ -98,7 +98,7 @@ void btConvexTriangleMeshShape::batchedUnitVectorGetSupportingVertexWithoutMargi
{
for (int i=0;i<numVectors;i++)
{
supportVerticesOut[i][3] = -1e30f;
supportVerticesOut[i][3] = btScalar(-1e30);
}
}
@@ -109,7 +109,7 @@ void btConvexTriangleMeshShape::batchedUnitVectorGetSupportingVertexWithoutMargi
{
const btVector3& vec = vectors[j];
LocalSupportVertexCallback supportCallback(vec);
btVector3 aabbMax(1e30f,1e30f,1e30f);
btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
m_stridingMesh->InternalProcessAllTriangles(&supportCallback,-aabbMax,aabbMax);
supportVerticesOut[j] = supportCallback.GetSupportVertexLocal();
}
@@ -122,12 +122,12 @@ btVector3 btConvexTriangleMeshShape::localGetSupportingVertex(const btVector3& v
{
btVector3 supVertex = localGetSupportingVertexWithoutMargin(vec);
if ( getMargin()!=0.f )
if ( getMargin()!=btScalar(0.) )
{
btVector3 vecnorm = vec;
if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
{
vecnorm.setValue(-1.f,-1.f,-1.f);
vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
}
vecnorm.normalize();
supVertex+= getMargin() * vecnorm;

12
src/BulletCollision/CollisionShapes/btCylinderShape.cpp
View File

@@ -46,8 +46,8 @@ const int ZZ = 2;
// extents of the cylinder is: X,Y is for radius, and Z for height
float radius = halfExtents[XX];
float halfHeight = halfExtents[cylinderUpAxis];
btScalar radius = halfExtents[XX];
btScalar halfHeight = halfExtents[cylinderUpAxis];
btVector3 tmp;
@@ -87,8 +87,8 @@ const int YY = 1;
const int ZZ = 2;
float radius = halfExtents[XX];
float halfHeight = halfExtents[cylinderUpAxis];
btScalar radius = halfExtents[XX];
btScalar halfHeight = halfExtents[cylinderUpAxis];
btVector3 tmp;
@@ -124,8 +124,8 @@ const int ZZ = 1;
// extents of the cylinder is: X,Y is for radius, and Z for height
float radius = halfExtents[XX];
float halfHeight = halfExtents[cylinderUpAxis];
btScalar radius = halfExtents[XX];
btScalar halfHeight = halfExtents[cylinderUpAxis];
btVector3 tmp;

10
src/BulletCollision/CollisionShapes/btCylinderShape.h
View File

@@ -44,12 +44,12 @@ public:
btVector3 supVertex;
supVertex = localGetSupportingVertexWithoutMargin(vec);
if ( getMargin()!=0.f )
if ( getMargin()!=btScalar(0.) )
{
btVector3 vecnorm = vec;
if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
{
vecnorm.setValue(-1.f,-1.f,-1.f);
vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
}
vecnorm.normalize();
supVertex+= getMargin() * vecnorm;
@@ -71,7 +71,7 @@ public:
return 1;
}
virtual float getRadius() const
virtual btScalar getRadius() const
{
return getHalfExtents().getX();
}
@@ -103,7 +103,7 @@ public:
return "CylinderX";
}
virtual float getRadius() const
virtual btScalar getRadius() const
{
return getHalfExtents().getY();
}
@@ -128,7 +128,7 @@ public:
return "CylinderZ";
}
virtual float getRadius() const
virtual btScalar getRadius() const
{
return getHalfExtents().getX();
}

12
src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp
View File

@@ -19,7 +19,7 @@ subject to the following restrictions:
btHeightfieldTerrainShape::btHeightfieldTerrainShape()
:m_localScaling(0.f,0.f,0.f)
:m_localScaling(btScalar(0.),btScalar(0.),btScalar(0.))
{
}
@@ -32,8 +32,8 @@ btHeightfieldTerrainShape::~btHeightfieldTerrainShape()
void btHeightfieldTerrainShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
{
aabbMin.setValue(-1e30f,-1e30f,-1e30f);
aabbMax.setValue(1e30f,1e30f,1e30f);
aabbMin.setValue(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30));
aabbMax.setValue(btScalar(1e30),btScalar(1e30),btScalar(1e30));
}
@@ -43,9 +43,9 @@ void btHeightfieldTerrainShape::getAabb(const btTransform& t,btVector3& aabbMin,
void btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
{
btVector3 halfExtents = (aabbMax - aabbMin) * 0.5f;
btVector3 halfExtents = (aabbMax - aabbMin) * btScalar(0.5);
btScalar radius = halfExtents.length();
btVector3 center = (aabbMax + aabbMin) * 0.5f;
btVector3 center = (aabbMax + aabbMin) * btScalar(0.5);
//TODO
//this is where the triangles are generated, given AABB and plane equation (normal/constant)
@@ -79,7 +79,7 @@ void btHeightfieldTerrainShape::calculateLocalInertia(btScalar mass,btVector3& i
{
//moving concave objects not supported
inertia.setValue(0.f,0.f,0.f);
inertia.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
}
void btHeightfieldTerrainShape::setLocalScaling(const btVector3& scaling)

2
src/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp
View File

@@ -43,7 +43,7 @@ void btMinkowskiSumShape::batchedUnitVectorGetSupportingVertexWithoutMargin(cons
float btMinkowskiSumShape::getMargin() const
btScalar btMinkowskiSumShape::getMargin() const
{
return m_shapeA->getMargin() + m_shapeB->getMargin();
}

2
src/BulletCollision/CollisionShapes/btMinkowskiSumShape.h
View File

@@ -48,7 +48,7 @@ public:
virtual int getShapeType() const { return MINKOWSKI_SUM_SHAPE_PROXYTYPE; }
virtual float getMargin() const;
virtual btScalar getMargin() const;
const btConvexShape* getShapeA() const { return m_shapeA;}
const btConvexShape* getShapeB() const { return m_shapeB;}

22
src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp
View File

@@ -20,7 +20,7 @@ subject to the following restrictions:
btMultiSphereShape::btMultiSphereShape (const btVector3& inertiaHalfExtents,const btVector3* positions,const btScalar* radi,int numSpheres)
:m_inertiaHalfExtents(inertiaHalfExtents)
{
float startMargin = 1e30f;
btScalar startMargin = btScalar(1e30);
m_numSpheres = numSpheres;
for (int i=0;i<m_numSpheres;i++)
@@ -42,17 +42,17 @@ btMultiSphereShape::btMultiSphereShape (const btVector3& inertiaHalfExtents,cons
int i;
btVector3 supVec(0,0,0);
btScalar maxDot(-1e30f);
btScalar maxDot(btScalar(-1e30));
btVector3 vec = vec0;
btScalar lenSqr = vec.length2();
if (lenSqr < 0.0001f)
if (lenSqr < btScalar(0.0001))
{
vec.setValue(1,0,0);
} else
{
float rlen = 1.f / btSqrt(lenSqr );
btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
vec *= rlen;
}
@@ -84,7 +84,7 @@ btMultiSphereShape::btMultiSphereShape (const btVector3& inertiaHalfExtents,cons
for (int j=0;j<numVectors;j++)
{
btScalar maxDot(-1e30f);
btScalar maxDot(btScalar(-1e30));
const btVector3& vec = vectors[j];
@@ -126,17 +126,17 @@ void btMultiSphereShape::calculateLocalInertia(btScalar mass,btVector3& inertia)
// getAabb(ident,aabbMin,aabbMax);
btVector3 halfExtents = m_inertiaHalfExtents;//(aabbMax - aabbMin)* 0.5f;
btVector3 halfExtents = m_inertiaHalfExtents;//(aabbMax - aabbMin)* btScalar(0.5);
float margin = CONVEX_DISTANCE_MARGIN;
btScalar margin = CONVEX_DISTANCE_MARGIN;
btScalar lx=2.f*(halfExtents[0]+margin);
btScalar ly=2.f*(halfExtents[1]+margin);
btScalar lz=2.f*(halfExtents[2]+margin);
btScalar lx=btScalar(2.)*(halfExtents[0]+margin);
btScalar ly=btScalar(2.)*(halfExtents[1]+margin);
btScalar lz=btScalar(2.)*(halfExtents[2]+margin);
const btScalar x2 = lx*lx;
const btScalar y2 = ly*ly;
const btScalar z2 = lz*lz;
const btScalar scaledmass = mass * 0.08333333f;
const btScalar scaledmass = mass * btScalar(.08333333);
inertia[0] = scaledmass * (y2+z2);
inertia[1] = scaledmass * (x2+z2);

34
src/BulletCollision/CollisionShapes/btOptimizedBvh.cpp
View File

@@ -46,8 +46,8 @@ void btOptimizedBvh::build(btStridingMeshInterface* triangles)
{
btOptimizedBvhNode node;
node.m_aabbMin = btVector3(1e30f,1e30f,1e30f);
node.m_aabbMax = btVector3(-1e30f,-1e30f,-1e30f);
node.m_aabbMin = btVector3(btScalar(1e30),btScalar(1e30),btScalar(1e30));
node.m_aabbMax = btVector3(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30));
node.m_aabbMin.setMin(triangle[0]);
node.m_aabbMax.setMax(triangle[0]);
node.m_aabbMin.setMin(triangle[1]);
@@ -73,8 +73,8 @@ void btOptimizedBvh::build(btStridingMeshInterface* triangles)
NodeTriangleCallback callback(m_leafNodes);
btVector3 aabbMin(-1e30f,-1e30f,-1e30f);
btVector3 aabbMax(1e30f,1e30f,1e30f);
btVector3 aabbMin(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30));
btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
triangles->InternalProcessAllTriangles(&callback,aabbMin,aabbMax);
@@ -118,8 +118,8 @@ btOptimizedBvhNode* btOptimizedBvh::buildTree (NodeArray& leafNodes,int startInd
internalNode = &m_contiguousNodes[m_curNodeIndex++];
internalNode->m_aabbMax.setValue(-1e30f,-1e30f,-1e30f);
internalNode->m_aabbMin.setValue(1e30f,1e30f,1e30f);
internalNode->m_aabbMax.setValue(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30));
internalNode->m_aabbMin.setValue(btScalar(1e30),btScalar(1e30),btScalar(1e30));
for (i=startIndex;i<endIndex;i++)
{
@@ -142,22 +142,22 @@ int btOptimizedBvh::sortAndCalcSplittingIndex(NodeArray& leafNodes,int startInde
int i;
int splitIndex =startIndex;
int numIndices = endIndex - startIndex;
float splitValue;
btScalar splitValue;
btVector3 means(0.f,0.f,0.f);
btVector3 means(btScalar(0.),btScalar(0.),btScalar(0.));
for (i=startIndex;i<endIndex;i++)
{
btVector3 center = 0.5f*(leafNodes[i].m_aabbMax+leafNodes[i].m_aabbMin);
btVector3 center = btScalar(0.5)*(leafNodes[i].m_aabbMax+leafNodes[i].m_aabbMin);
means+=center;
}
means *= (1.f/(float)numIndices);
means *= (btScalar(1.)/(btScalar)numIndices);
splitValue = means[splitAxis];
//sort leafNodes so all values larger then splitValue comes first, and smaller values start from 'splitIndex'.
for (i=startIndex;i<endIndex;i++)
{
btVector3 center = 0.5f*(leafNodes[i].m_aabbMax+leafNodes[i].m_aabbMin);
btVector3 center = btScalar(0.5)*(leafNodes[i].m_aabbMax+leafNodes[i].m_aabbMin);
if (center[splitAxis] > splitValue)
{
//swap
@@ -179,25 +179,25 @@ int btOptimizedBvh::calcSplittingAxis(NodeArray& leafNodes,int startIndex,int en
{
int i;
btVector3 means(0.f,0.f,0.f);
btVector3 variance(0.f,0.f,0.f);
btVector3 means(btScalar(0.),btScalar(0.),btScalar(0.));
btVector3 variance(btScalar(0.),btScalar(0.),btScalar(0.));
int numIndices = endIndex-startIndex;
for (i=startIndex;i<endIndex;i++)
{
btVector3 center = 0.5f*(leafNodes[i].m_aabbMax+leafNodes[i].m_aabbMin);
btVector3 center = btScalar(0.5)*(leafNodes[i].m_aabbMax+leafNodes[i].m_aabbMin);
means+=center;
}
means *= (1.f/(float)numIndices);
means *= (btScalar(1.)/(btScalar)numIndices);
for (i=startIndex;i<endIndex;i++)
{
btVector3 center = 0.5f*(leafNodes[i].m_aabbMax+leafNodes[i].m_aabbMin);
btVector3 center = btScalar(0.5)*(leafNodes[i].m_aabbMax+leafNodes[i].m_aabbMin);
btVector3 diff2 = center-means;
diff2 = diff2 * diff2;
variance += diff2;
}
variance *= (1.f/ ((float)numIndices-1) );
variance *= (btScalar(1.)/ ((btScalar)numIndices-1) );
return variance.maxAxis();
}

20
src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
View File

@@ -28,16 +28,16 @@ btVector3 btPolyhedralConvexShape::localGetSupportingVertexWithoutMargin(const b
int i;
btVector3 supVec(0,0,0);
btScalar maxDot(-1e30f);
btScalar maxDot(btScalar(-1e30));
btVector3 vec = vec0;
btScalar lenSqr = vec.length2();
if (lenSqr < 0.0001f)
if (lenSqr < btScalar(0.0001))
{
vec.setValue(1,0,0);
} else
{
float rlen = 1.f / btSqrt(lenSqr );
btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
vec *= rlen;
}
@@ -68,7 +68,7 @@ void btPolyhedralConvexShape::batchedUnitVectorGetSupportingVertexWithoutMargin(
for (i=0;i<numVectors;i++)
{
supportVerticesOut[i][3] = -1e30f;
supportVerticesOut[i][3] = btScalar(-1e30);
}
for (int j=0;j<numVectors;j++)
@@ -96,21 +96,21 @@ void btPolyhedralConvexShape::calculateLocalInertia(btScalar mass,btVector3& ine
{
//not yet, return box inertia
float margin = getMargin();
btScalar margin = getMargin();
btTransform ident;
ident.setIdentity();
btVector3 aabbMin,aabbMax;
getAabb(ident,aabbMin,aabbMax);
btVector3 halfExtents = (aabbMax-aabbMin)*0.5f;
btVector3 halfExtents = (aabbMax-aabbMin)*btScalar(0.5);
btScalar lx=2.f*(halfExtents.x()+margin);
btScalar ly=2.f*(halfExtents.y()+margin);
btScalar lz=2.f*(halfExtents.z()+margin);
btScalar lx=btScalar(2.)*(halfExtents.x()+margin);
btScalar ly=btScalar(2.)*(halfExtents.y()+margin);
btScalar lz=btScalar(2.)*(halfExtents.z()+margin);
const btScalar x2 = lx*lx;
const btScalar y2 = ly*ly;
const btScalar z2 = lz*lz;
const btScalar scaledmass = mass * 0.08333333f;
const btScalar scaledmass = mass * btScalar(0.08333333);
inertia = scaledmass * (btVector3(y2+z2,x2+z2,x2+y2));

8
src/BulletCollision/CollisionShapes/btSphereShape.cpp
View File

@@ -26,14 +26,14 @@ btSphereShape ::btSphereShape (btScalar radius)
btVector3 btSphereShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const
{
return btVector3(0.f,0.f,0.f);
return btVector3(btScalar(0.),btScalar(0.),btScalar(0.));
}
void btSphereShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
{
for (int i=0;i<numVectors;i++)
{
supportVerticesOut[i].setValue(0.f,0.f,0.f);
supportVerticesOut[i].setValue(btScalar(0.),btScalar(0.),btScalar(0.));
}
}
@@ -46,7 +46,7 @@ btVector3 btSphereShape::localGetSupportingVertex(const btVector3& vec)const
btVector3 vecnorm = vec;
if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
{
vecnorm.setValue(-1.f,-1.f,-1.f);
vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
}
vecnorm.normalize();
supVertex+= getMargin() * vecnorm;
@@ -67,7 +67,7 @@ void btSphereShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& a
void btSphereShape::calculateLocalInertia(btScalar mass,btVector3& inertia)
{
btScalar elem = 0.4f * mass * getMargin()*getMargin();
btScalar elem = btScalar(0.4) * mass * getMargin()*getMargin();
inertia[0] = inertia[1] = inertia[2] = elem;
}

4
src/BulletCollision/CollisionShapes/btSphereShape.h
View File

@@ -45,11 +45,11 @@ public:
//debugging
virtual char* getName()const {return "SPHERE";}
virtual void setMargin(float margin)
virtual void setMargin(btScalar margin)
{
btConvexShape::setMargin(margin);
}
virtual float getMargin() const
virtual btScalar getMargin() const
{
//to improve gjk behaviour, use radius+margin as the full margin, so never get into the penetration case
//this means, non-uniform scaling is not supported anymore

14
src/BulletCollision/CollisionShapes/btStaticPlaneShape.cpp
View File

@@ -21,7 +21,7 @@ subject to the following restrictions:
btStaticPlaneShape::btStaticPlaneShape(const btVector3& planeNormal,btScalar planeConstant)
:m_planeNormal(planeNormal),
m_planeConstant(planeConstant),
m_localScaling(0.f,0.f,0.f)
m_localScaling(btScalar(0.),btScalar(0.),btScalar(0.))
{
}
@@ -34,7 +34,7 @@ btStaticPlaneShape::~btStaticPlaneShape()
void btStaticPlaneShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
{
btVector3 infvec (1e30f,1e30f,1e30f);
btVector3 infvec (btScalar(1e30),btScalar(1e30),btScalar(1e30));
btVector3 center = m_planeNormal*m_planeConstant;
aabbMin = center + infvec*m_planeNormal;
@@ -42,8 +42,8 @@ void btStaticPlaneShape::getAabb(const btTransform& t,btVector3& aabbMin,btVecto
aabbMin.setMin(center - infvec*m_planeNormal);
aabbMax.setMax(center - infvec*m_planeNormal);
aabbMin.setValue(-1e30f,-1e30f,-1e30f);
aabbMax.setValue(1e30f,1e30f,1e30f);
aabbMin.setValue(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30));
aabbMax.setValue(btScalar(1e30),btScalar(1e30),btScalar(1e30));
}
@@ -53,9 +53,9 @@ void btStaticPlaneShape::getAabb(const btTransform& t,btVector3& aabbMin,btVecto
void btStaticPlaneShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
{
btVector3 halfExtents = (aabbMax - aabbMin) * 0.5f;
btVector3 halfExtents = (aabbMax - aabbMin) * btScalar(0.5);
btScalar radius = halfExtents.length();
btVector3 center = (aabbMax + aabbMin) * 0.5f;
btVector3 center = (aabbMax + aabbMin) * btScalar(0.5);
//this is where the triangles are generated, given AABB and plane equation (normal/constant)
@@ -87,7 +87,7 @@ void btStaticPlaneShape::calculateLocalInertia(btScalar mass,btVector3& inertia)
{
//moving concave objects not supported
inertia.setValue(0.f,0.f,0.f);
inertia.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
}
void btStaticPlaneShape::setLocalScaling(const btVector3& scaling)

14
src/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp
View File

@@ -33,7 +33,7 @@ void btStridingMeshInterface::InternalProcessAllTriangles(btInternalTriangleInde
int stride,numverts,numtriangles;
int gfxindex;
btVector3 triangle[3];
float* graphicsbase;
btScalar* graphicsbase;
btVector3 meshScaling = getScaling();
@@ -50,11 +50,11 @@ void btStridingMeshInterface::InternalProcessAllTriangles(btInternalTriangleInde
for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
{
int* tri_indices= (int*)(indexbase+gfxindex*indexstride);
graphicsbase = (float*)(vertexbase+tri_indices[0]*stride);
graphicsbase = (btScalar*)(vertexbase+tri_indices[0]*stride);
triangle[0].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());
graphicsbase = (float*)(vertexbase+tri_indices[1]*stride);
graphicsbase = (btScalar*)(vertexbase+tri_indices[1]*stride);
triangle[1].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(), graphicsbase[2]*meshScaling.getZ());
graphicsbase = (float*)(vertexbase+tri_indices[2]*stride);
graphicsbase = (btScalar*)(vertexbase+tri_indices[2]*stride);
triangle[2].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(), graphicsbase[2]*meshScaling.getZ());
callback->internalProcessTriangleIndex(triangle,part,gfxindex);
}
@@ -65,11 +65,11 @@ void btStridingMeshInterface::InternalProcessAllTriangles(btInternalTriangleInde
for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
{
short int* tri_indices= (short int*)(indexbase+gfxindex*indexstride);
graphicsbase = (float*)(vertexbase+tri_indices[0]*stride);
graphicsbase = (btScalar*)(vertexbase+tri_indices[0]*stride);
triangle[0].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());
graphicsbase = (float*)(vertexbase+tri_indices[1]*stride);
graphicsbase = (btScalar*)(vertexbase+tri_indices[1]*stride);
triangle[1].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(), graphicsbase[2]*meshScaling.getZ());
graphicsbase = (float*)(vertexbase+tri_indices[2]*stride);
graphicsbase = (btScalar*)(vertexbase+tri_indices[2]*stride);
triangle[2].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(), graphicsbase[2]*meshScaling.getZ());
callback->internalProcessTriangleIndex(triangle,part,gfxindex);
}

2
src/BulletCollision/CollisionShapes/btStridingMeshInterface.h
View File

@@ -38,7 +38,7 @@ class btStridingMeshInterface
btVector3 m_scaling;
public:
btStridingMeshInterface() :m_scaling(1.f,1.f,1.f)
btStridingMeshInterface() :m_scaling(btScalar(1.),btScalar(1.),btScalar(1.))
{
}

2
src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.cpp
View File

@@ -15,7 +15,7 @@ subject to the following restrictions:
#include "btTriangleIndexVertexArray.h"
btTriangleIndexVertexArray::btTriangleIndexVertexArray(int numTriangles,int* triangleIndexBase,int triangleIndexStride,int numVertices,float* vertexBase,int vertexStride)
btTriangleIndexVertexArray::btTriangleIndexVertexArray(int numTriangles,int* triangleIndexBase,int triangleIndexStride,int numVertices,btScalar* vertexBase,int vertexStride)
{
btIndexedMesh mesh;

4
src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h
View File

@@ -28,7 +28,7 @@ struct btIndexedMesh
int* m_triangleIndexBase;
int m_triangleIndexStride;
int m_numVertices;
float* m_vertexBase;
btScalar* m_vertexBase;
int m_vertexStride;
};
@@ -50,7 +50,7 @@ public:
}
//just to be backwards compatible
btTriangleIndexVertexArray(int numTriangleIndices,int* triangleIndexBase,int triangleIndexStride,int numVertices,float* vertexBase,int vertexStride);
btTriangleIndexVertexArray(int numTriangleIndices,int* triangleIndexBase,int triangleIndexStride,int numVertices,btScalar* vertexBase,int vertexStride);
void addIndexedMesh(const btIndexedMesh& mesh)
{

16
src/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp
View File

@@ -40,8 +40,8 @@ btTriangleMeshShape::~btTriangleMeshShape()
void btTriangleMeshShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const
{
btVector3 localHalfExtents = 0.5f*(m_localAabbMax-m_localAabbMin);
btVector3 localCenter = 0.5f*(m_localAabbMax+m_localAabbMin);
btVector3 localHalfExtents = btScalar(0.5)*(m_localAabbMax-m_localAabbMin);
btVector3 localCenter = btScalar(0.5)*(m_localAabbMax+m_localAabbMin);
btMatrix3x3 abs_b = trans.getBasis().absolute();
@@ -62,11 +62,11 @@ void btTriangleMeshShape::recalcLocalAabb()
{
for (int i=0;i<3;i++)
{
btVector3 vec(0.f,0.f,0.f);
vec[i] = 1.f;
btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.));
vec[i] = btScalar(1.);
btVector3 tmp = localGetSupportingVertex(vec);
m_localAabbMax[i] = tmp[i]+m_collisionMargin;
vec[i] = -1.f;
vec[i] = btScalar(-1.);
tmp = localGetSupportingVertex(vec);
m_localAabbMin[i] = tmp[i]-m_collisionMargin;
}
@@ -85,7 +85,7 @@ public:
btVector3 m_supportVecLocal;
SupportVertexCallback(const btVector3& supportVecWorld,const btTransform& trans)
: m_supportVertexLocal(0.f,0.f,0.f), m_worldTrans(trans) ,m_maxDot(-1e30f)
: m_supportVertexLocal(btScalar(0.),btScalar(0.),btScalar(0.)), m_worldTrans(trans) ,m_maxDot(btScalar(-1e30))
{
m_supportVecLocal = supportVecWorld * m_worldTrans.getBasis();
@@ -178,7 +178,7 @@ void btTriangleMeshShape::calculateLocalInertia(btScalar mass,btVector3& inertia
{
//moving concave objects not supported
assert(0);
inertia.setValue(0.f,0.f,0.f);
inertia.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
}
@@ -191,7 +191,7 @@ btVector3 btTriangleMeshShape::localGetSupportingVertex(const btVector3& vec) co
SupportVertexCallback supportCallback(vec,ident);
btVector3 aabbMax(1e30f,1e30f,1e30f);
btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
processAllTriangles(&supportCallback,-aabbMax,aabbMax);

4
src/BulletCollision/CollisionShapes/btTriangleShape.h
View File

@@ -117,7 +117,7 @@ public:
virtual void calculateLocalInertia(btScalar mass,btVector3& inertia)
{
btAssert(0);
inertia.setValue(0.f,0.f,0.f);
inertia.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
}
virtual bool isInside(const btPoint3& pt,btScalar tolerance) const
@@ -166,7 +166,7 @@ public:
{
calcNormal(penetrationVector);
if (index)
penetrationVector *= -1.f;
penetrationVector *= btScalar(-1.);
}