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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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16
src/BulletCollision/CollisionShapes/btConeShape.cpp
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@@ -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;