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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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20
src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
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@@ -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));