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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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34
src/BulletCollision/CollisionShapes/btOptimizedBvh.cpp
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@@ -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();
}