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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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36
src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp
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@@ -49,28 +49,28 @@ bool btContinuousConvexCollision::calcTimeOfImpact(
/// compute linear and angular velocity for this interval, to interpolate
btVector3 linVelA,angVelA,linVelB,angVelB;
btTransformUtil::calculateVelocity(fromA,toA,1.f,linVelA,angVelA);
btTransformUtil::calculateVelocity(fromB,toB,1.f,linVelB,angVelB);
btTransformUtil::calculateVelocity(fromA,toA,btScalar(1.),linVelA,angVelA);
btTransformUtil::calculateVelocity(fromB,toB,btScalar(1.),linVelB,angVelB);
btScalar boundingRadiusA = m_convexA->getAngularMotionDisc();
btScalar boundingRadiusB = m_convexB->getAngularMotionDisc();
btScalar maxAngularProjectedVelocity = angVelA.length() * boundingRadiusA + angVelB.length() * boundingRadiusB;
float radius = 0.001f;
btScalar radius = btScalar(0.001);
btScalar lambda = 0.f;
btScalar lambda = btScalar(0.);
btVector3 v(1,0,0);
int maxIter = MAX_ITERATIONS;
btVector3 n;
n.setValue(0.f,0.f,0.f);
n.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
bool hasResult = false;
btVector3 c;
float lastLambda = lambda;
//float epsilon = 0.001f;
btScalar lastLambda = lambda;
//btScalar epsilon = btScalar(0.001);
int numIter = 0;
//first solution, using GJK
@@ -79,8 +79,8 @@ bool btContinuousConvexCollision::calcTimeOfImpact(
btTransform identityTrans;
identityTrans.setIdentity();
btSphereShape raySphere(0.0f);
raySphere.setMargin(0.f);
btSphereShape raySphere(btScalar(0.0));
raySphere.setMargin(btScalar(0.));
// result.drawCoordSystem(sphereTr);
@@ -116,23 +116,23 @@ bool btContinuousConvexCollision::calcTimeOfImpact(
if (numIter > maxIter)
return false; //todo: report a failure
float dLambda = 0.f;
btScalar dLambda = btScalar(0.);
//calculate safe moving fraction from distance / (linear+rotational velocity)
//float clippedDist = GEN_min(angularConservativeRadius,dist);
//float clippedDist = dist;
//btScalar clippedDist = GEN_min(angularConservativeRadius,dist);
//btScalar clippedDist = dist;
float projectedLinearVelocity = (linVelB-linVelA).dot(n);
btScalar projectedLinearVelocity = (linVelB-linVelA).dot(n);
dLambda = dist / (projectedLinearVelocity+ maxAngularProjectedVelocity);
lambda = lambda + dLambda;
if (lambda > 1.f)
if (lambda > btScalar(1.))
return false;
if (lambda < 0.f)
if (lambda < btScalar(0.))
return false;
//todo: next check with relative epsilon
@@ -159,7 +159,7 @@ bool btContinuousConvexCollision::calcTimeOfImpact(
gjk.getClosestPoints(input,pointCollector,0);
if (pointCollector.m_hasResult)
{
if (pointCollector.m_distance < 0.f)
if (pointCollector.m_distance < btScalar(0.))
{
//degenerate ?!
result.m_fraction = lastLambda;
@@ -188,9 +188,9 @@ bool btContinuousConvexCollision::calcTimeOfImpact(
//todo:
//if movement away from normal, discard result
btVector3 move = transBLocalTo.getOrigin() - transBLocalFrom.getOrigin();
if (result.m_fraction < 1.f)
if (result.m_fraction < btScalar(1.))
{
if (move.dot(result.m_normal) <= 0.f)
if (move.dot(result.m_normal) <= btScalar(0.))
{
}
}

2
src/BulletCollision/NarrowPhaseCollision/btConvexCast.h
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@@ -41,7 +41,7 @@ public:
virtual void drawCoordSystem(const btTransform& trans) {}
CastResult()
:m_fraction(1e30f),
:m_fraction(btScalar(1e30)),
m_debugDrawer(0)
{
}

8
src/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h
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@@ -36,13 +36,13 @@ struct btDiscreteCollisionDetectorInterface
///setShapeIdentifiers provides experimental support for per-triangle material / custom material combiner
virtual void setShapeIdentifiers(int partId0,int index0, int partId1,int index1)=0;
virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,float depth)=0;
virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth)=0;
};
struct ClosestPointInput
{
ClosestPointInput()
:m_maximumDistanceSquared(1e30f),
:m_maximumDistanceSquared(btScalar(1e30)),
m_stackAlloc(0)
{
}
@@ -69,13 +69,13 @@ struct btStorageResult : public btDiscreteCollisionDetectorInterface::Result
btVector3 m_closestPointInB;
btScalar m_distance; //negative means penetration !
btStorageResult() : m_distance(1e30f)
btStorageResult() : m_distance(btScalar(1e30))
{
}
virtual ~btStorageResult() {};
virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,float depth)
virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth)
{
if (depth < m_distance)
{

16
src/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.cpp
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@@ -60,9 +60,9 @@ bool btGjkConvexCast::calcTimeOfImpact(
float radius = 0.01f;
btScalar radius = btScalar(0.01);
btScalar lambda = 0.f;
btScalar lambda = btScalar(0.);
btVector3 s = rayFromLocalA.getOrigin();
btVector3 r = rayToLocalA.getOrigin()-rayFromLocalA.getOrigin();
btVector3 x = s;
@@ -71,7 +71,7 @@ bool btGjkConvexCast::calcTimeOfImpact(
bool hasResult = false;
btVector3 c;
float lastLambda = lambda;
btScalar lastLambda = lambda;
//first solution, using GJK
@@ -81,8 +81,8 @@ bool btGjkConvexCast::calcTimeOfImpact(
btTransform identityTrans;
identityTrans.setIdentity();
btSphereShape raySphere(0.0f);
raySphere.setMargin(0.f);
btSphereShape raySphere(btScalar(0.0));
raySphere.setMargin(btScalar(0.));
btTransform sphereTr;
sphereTr.setIdentity();
@@ -112,7 +112,7 @@ bool btGjkConvexCast::calcTimeOfImpact(
if (dist < radius)
{
//penetration
lastLambda = 1.f;
lastLambda = btScalar(1.);
}
//not close enough
@@ -143,7 +143,7 @@ bool btGjkConvexCast::calcTimeOfImpact(
gjk.getClosestPoints(input,pointCollector,0);
if (pointCollector.m_hasResult)
{
if (pointCollector.m_distance < 0.f)
if (pointCollector.m_distance < btScalar(0.))
{
//degeneracy, report a hit
result.m_fraction = lastLambda;
@@ -160,7 +160,7 @@ bool btGjkConvexCast::calcTimeOfImpact(
}
if (lastLambda < 1.f)
if (lastLambda < btScalar(1.))
{
result.m_fraction = lastLambda;

2
src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp
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@@ -27,7 +27,7 @@ bool btGjkEpaPenetrationDepthSolver::calcPenDepth( btSimplexSolverInterface& sim
{
const btScalar radialmargin(0.f);
const btScalar radialmargin(btScalar(0.));
btGjkEpaSolver::sResults results;
if(btGjkEpaSolver::Collide( pConvexA,transformA,

36
src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
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@@ -27,7 +27,7 @@ subject to the following restrictions:
#endif
//must be above the machine epsilon
#define REL_ERROR2 1.0e-6f
#define REL_ERROR2 btScalar(1.0e-6)
//temp globals, to improve GJK/EPA/penetration calculations
int gNumDeepPenetrationChecks = 0;
@@ -36,7 +36,7 @@ int gNumGjkChecks = 0;
btGjkPairDetector::btGjkPairDetector(btConvexShape* objectA,btConvexShape* objectB,btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver* penetrationDepthSolver)
:m_cachedSeparatingAxis(0.f,0.f,1.f),
:m_cachedSeparatingAxis(btScalar(0.),btScalar(0.),btScalar(1.)),
m_penetrationDepthSolver(penetrationDepthSolver),
m_simplexSolver(simplexSolver),
m_minkowskiA(objectA),
@@ -49,25 +49,25 @@ m_catchDegeneracies(1)
void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw)
{
btScalar distance=0.f;
btVector3 normalInB(0.f,0.f,0.f);
btScalar distance=btScalar(0.);
btVector3 normalInB(btScalar(0.),btScalar(0.),btScalar(0.));
btVector3 pointOnA,pointOnB;
btTransform localTransA = input.m_transformA;
btTransform localTransB = input.m_transformB;
btVector3 positionOffset = (localTransA.getOrigin() + localTransB.getOrigin()) * 0.5f;
btVector3 positionOffset = (localTransA.getOrigin() + localTransB.getOrigin()) * btScalar(0.5);
localTransA.getOrigin() -= positionOffset;
localTransB.getOrigin() -= positionOffset;
float marginA = m_minkowskiA->getMargin();
float marginB = m_minkowskiB->getMargin();
btScalar marginA = m_minkowskiA->getMargin();
btScalar marginB = m_minkowskiB->getMargin();
gNumGjkChecks++;
//for CCD we don't use margins
if (m_ignoreMargin)
{
marginA = 0.f;
marginB = 0.f;
marginA = btScalar(0.);
marginB = btScalar(0.);
}
m_curIter = 0;
@@ -83,7 +83,7 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
{
btScalar squaredDistance = SIMD_INFINITY;
btScalar delta = 0.f;
btScalar delta = btScalar(0.);
btScalar margin = marginA + marginB;
@@ -120,12 +120,12 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
break;
}
// are we getting any closer ?
float f0 = squaredDistance - delta;
float f1 = squaredDistance * REL_ERROR2;
btScalar f0 = squaredDistance - delta;
btScalar f1 = squaredDistance * REL_ERROR2;
if (f0 <= f1)
{
if (f0 <= 0.f)
if (f0 <= btScalar(0.))
{
m_degenerateSimplex = 2;
}
@@ -191,7 +191,7 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
{
m_simplexSolver->compute_points(pointOnA, pointOnB);
normalInB = pointOnA-pointOnB;
float lenSqr = m_cachedSeparatingAxis.length2();
btScalar lenSqr = m_cachedSeparatingAxis.length2();
//valid normal
if (lenSqr < 0.0001)
{
@@ -199,14 +199,14 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
}
if (lenSqr > SIMD_EPSILON*SIMD_EPSILON)
{
float rlen = 1.f / btSqrt(lenSqr );
btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
normalInB *= rlen; //normalize
btScalar s = btSqrt(squaredDistance);
btAssert(s > btScalar(0.0));
pointOnA -= m_cachedSeparatingAxis * (marginA / s);
pointOnB += m_cachedSeparatingAxis * (marginB / s);
distance = ((1.f/rlen) - margin);
distance = ((btScalar(1.)/rlen) - margin);
isValid = true;
m_lastUsedMethod = 1;
@@ -243,11 +243,11 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
if (isValid2)
{
btVector3 tmpNormalInB = tmpPointOnB-tmpPointOnA;
float lenSqr = tmpNormalInB.length2();
btScalar lenSqr = tmpNormalInB.length2();
if (lenSqr > (SIMD_EPSILON*SIMD_EPSILON))
{
tmpNormalInB /= btSqrt(lenSqr);
float distance2 = -(tmpPointOnA-tmpPointOnB).length();
btScalar distance2 = -(tmpPointOnA-tmpPointOnB).length();
//only replace valid penetrations when the result is deeper (check)
if (!isValid || (distance2 < distance))
{

14
src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h
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@@ -40,8 +40,8 @@ class btManifoldPoint
m_localPointB( pointB ),
m_normalWorldOnB( normal ),
m_distance1( distance ),
m_combinedFriction(0.f),
m_combinedRestitution(0.f),
m_combinedFriction(btScalar(0.)),
m_combinedRestitution(btScalar(0.)),
m_userPersistentData(0),
m_lifeTime(0)
{
@@ -58,16 +58,16 @@ class btManifoldPoint
btVector3 m_positionWorldOnA;
btVector3 m_normalWorldOnB;
float m_distance1;
float m_combinedFriction;
float m_combinedRestitution;
btScalar m_distance1;
btScalar m_combinedFriction;
btScalar m_combinedRestitution;
mutable void* m_userPersistentData;
int m_lifeTime;//lifetime of the contactpoint in frames
float getDistance() const
btScalar getDistance() const
{
return m_distance1;
}
@@ -86,7 +86,7 @@ class btManifoldPoint
return m_positionWorldOnB;
}
void setDistance(float dist)
void setDistance(btScalar dist)
{
m_distance1 = dist;
}

104
src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp
View File

@@ -25,48 +25,48 @@ subject to the following restrictions:
#define NUM_UNITSPHERE_POINTS 42
static btVector3 sPenetrationDirections[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2] =
{
btVector3(0.000000f , -0.000000f,-1.000000f),
btVector3(0.723608f , -0.525725f,-0.447219f),
btVector3(-0.276388f , -0.850649f,-0.447219f),
btVector3(-0.894426f , -0.000000f,-0.447216f),
btVector3(-0.276388f , 0.850649f,-0.447220f),
btVector3(0.723608f , 0.525725f,-0.447219f),
btVector3(0.276388f , -0.850649f,0.447220f),
btVector3(-0.723608f , -0.525725f,0.447219f),
btVector3(-0.723608f , 0.525725f,0.447219f),
btVector3(0.276388f , 0.850649f,0.447219f),
btVector3(0.894426f , 0.000000f,0.447216f),
btVector3(-0.000000f , 0.000000f,1.000000f),
btVector3(0.425323f , -0.309011f,-0.850654f),
btVector3(-0.162456f , -0.499995f,-0.850654f),
btVector3(0.262869f , -0.809012f,-0.525738f),
btVector3(0.425323f , 0.309011f,-0.850654f),
btVector3(0.850648f , -0.000000f,-0.525736f),
btVector3(-0.525730f , -0.000000f,-0.850652f),
btVector3(-0.688190f , -0.499997f,-0.525736f),
btVector3(-0.162456f , 0.499995f,-0.850654f),
btVector3(-0.688190f , 0.499997f,-0.525736f),
btVector3(0.262869f , 0.809012f,-0.525738f),
btVector3(0.951058f , 0.309013f,0.000000f),
btVector3(0.951058f , -0.309013f,0.000000f),
btVector3(0.587786f , -0.809017f,0.000000f),
btVector3(0.000000f , -1.000000f,0.000000f),
btVector3(-0.587786f , -0.809017f,0.000000f),
btVector3(-0.951058f , -0.309013f,-0.000000f),
btVector3(-0.951058f , 0.309013f,-0.000000f),
btVector3(-0.587786f , 0.809017f,-0.000000f),
btVector3(-0.000000f , 1.000000f,-0.000000f),
btVector3(0.587786f , 0.809017f,-0.000000f),
btVector3(0.688190f , -0.499997f,0.525736f),
btVector3(-0.262869f , -0.809012f,0.525738f),
btVector3(-0.850648f , 0.000000f,0.525736f),
btVector3(-0.262869f , 0.809012f,0.525738f),
btVector3(0.688190f , 0.499997f,0.525736f),
btVector3(0.525730f , 0.000000f,0.850652f),
btVector3(0.162456f , -0.499995f,0.850654f),
btVector3(-0.425323f , -0.309011f,0.850654f),
btVector3(-0.425323f , 0.309011f,0.850654f),
btVector3(0.162456f , 0.499995f,0.850654f)
btVector3(btScalar(0.000000) , btScalar(-0.000000),btScalar(-1.000000)),
btVector3(btScalar(0.723608) , btScalar(-0.525725),btScalar(-0.447219)),
btVector3(btScalar(-0.276388) , btScalar(-0.850649),btScalar(-0.447219)),
btVector3(btScalar(-0.894426) , btScalar(-0.000000),btScalar(-0.447216)),
btVector3(btScalar(-0.276388) , btScalar(0.850649),btScalar(-0.447220)),
btVector3(btScalar(0.723608) , btScalar(0.525725),btScalar(-0.447219)),
btVector3(btScalar(0.276388) , btScalar(-0.850649),btScalar(0.447220)),
btVector3(btScalar(-0.723608) , btScalar(-0.525725),btScalar(0.447219)),
btVector3(btScalar(-0.723608) , btScalar(0.525725),btScalar(0.447219)),
btVector3(btScalar(0.276388) , btScalar(0.850649),btScalar(0.447219)),
btVector3(btScalar(0.894426) , btScalar(0.000000),btScalar(0.447216)),
btVector3(btScalar(-0.000000) , btScalar(0.000000),btScalar(1.000000)),
btVector3(btScalar(0.425323) , btScalar(-0.309011),btScalar(-0.850654)),
btVector3(btScalar(-0.162456) , btScalar(-0.499995),btScalar(-0.850654)),
btVector3(btScalar(0.262869) , btScalar(-0.809012),btScalar(-0.525738)),
btVector3(btScalar(0.425323) , btScalar(0.309011),btScalar(-0.850654)),
btVector3(btScalar(0.850648) , btScalar(-0.000000),btScalar(-0.525736)),
btVector3(btScalar(-0.525730) , btScalar(-0.000000),btScalar(-0.850652)),
btVector3(btScalar(-0.688190) , btScalar(-0.499997),btScalar(-0.525736)),
btVector3(btScalar(-0.162456) , btScalar(0.499995),btScalar(-0.850654)),
btVector3(btScalar(-0.688190) , btScalar(0.499997),btScalar(-0.525736)),
btVector3(btScalar(0.262869) , btScalar(0.809012),btScalar(-0.525738)),
btVector3(btScalar(0.951058) , btScalar(0.309013),btScalar(0.000000)),
btVector3(btScalar(0.951058) , btScalar(-0.309013),btScalar(0.000000)),
btVector3(btScalar(0.587786) , btScalar(-0.809017),btScalar(0.000000)),
btVector3(btScalar(0.000000) , btScalar(-1.000000),btScalar(0.000000)),
btVector3(btScalar(-0.587786) , btScalar(-0.809017),btScalar(0.000000)),
btVector3(btScalar(-0.951058) , btScalar(-0.309013),btScalar(-0.000000)),
btVector3(btScalar(-0.951058) , btScalar(0.309013),btScalar(-0.000000)),
btVector3(btScalar(-0.587786) , btScalar(0.809017),btScalar(-0.000000)),
btVector3(btScalar(-0.000000) , btScalar(1.000000),btScalar(-0.000000)),
btVector3(btScalar(0.587786) , btScalar(0.809017),btScalar(-0.000000)),
btVector3(btScalar(0.688190) , btScalar(-0.499997),btScalar(0.525736)),
btVector3(btScalar(-0.262869) , btScalar(-0.809012),btScalar(0.525738)),
btVector3(btScalar(-0.850648) , btScalar(0.000000),btScalar(0.525736)),
btVector3(btScalar(-0.262869) , btScalar(0.809012),btScalar(0.525738)),
btVector3(btScalar(0.688190) , btScalar(0.499997),btScalar(0.525736)),
btVector3(btScalar(0.525730) , btScalar(0.000000),btScalar(0.850652)),
btVector3(btScalar(0.162456) , btScalar(-0.499995),btScalar(0.850654)),
btVector3(btScalar(-0.425323) , btScalar(-0.309011),btScalar(0.850654)),
btVector3(btScalar(-0.425323) , btScalar(0.309011),btScalar(0.850654)),
btVector3(btScalar(0.162456) , btScalar(0.499995),btScalar(0.850654))
};
@@ -88,13 +88,13 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
btVector3 m_normalOnBInWorld;
btVector3 m_pointInWorld;
float m_depth;
btScalar m_depth;
bool m_hasResult;
virtual void setShapeIdentifiers(int partId0,int index0, int partId1,int index1)
{
}
void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,float depth)
void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth)
{
m_normalOnBInWorld = normalOnBInWorld;
m_pointInWorld = pointInWorld;
@@ -104,7 +104,7 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
};
//just take fixed number of orientation, and sample the penetration depth in that direction
float minProj = 1e30f;
btScalar minProj = btScalar(1e30);
btVector3 minNorm;
btVector3 minVertex;
btVector3 minA,minB;
@@ -180,7 +180,7 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
pWorld = transA(pInA);
qWorld = transB(qInB);
w = qWorld - pWorld;
float delta = norm.dot(w);
btScalar delta = norm.dot(w);
//find smallest delta
if (delta < minProj)
{
@@ -234,7 +234,7 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
pWorld = transA(pInA);
qWorld = transB(qInB);
w = qWorld - pWorld;
float delta = norm.dot(w);
btScalar delta = norm.dot(w);
//find smallest delta
if (delta < minProj)
{
@@ -251,7 +251,7 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
minA += minNorm*convexA->getMargin();
minB -= minNorm*convexB->getMargin();
//no penetration
if (minProj < 0.f)
if (minProj < btScalar(0.))
return false;
minProj += (convexA->getMargin() + convexB->getMargin());
@@ -268,7 +268,7 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
debugDraw->drawLine(minA,minB,color);
color = btVector3 (1,1,1);
btVector3 vec = minB-minA;
float prj2 = minNorm.dot(vec);
btScalar prj2 = minNorm.dot(vec);
debugDraw->drawLine(minA,minA+(minNorm*minProj),color);
}
@@ -292,16 +292,16 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
input.m_transformA = displacedTrans;
input.m_transformB = transB;
input.m_maximumDistanceSquared = 1e30f;//minProj;
input.m_maximumDistanceSquared = btScalar(1e30);//minProj;
btIntermediateResult res;
gjkdet.getClosestPoints(input,res,debugDraw);
float correctedMinNorm = minProj - res.m_depth;
btScalar correctedMinNorm = minProj - res.m_depth;
//the penetration depth is over-estimated, relax it
float penetration_relaxation= 1.f;
btScalar penetration_relaxation= btScalar(1.);
minNorm*=penetration_relaxation;
if (res.m_hasResult)

8
src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp
View File

@@ -18,7 +18,7 @@ subject to the following restrictions:
#include "LinearMath/btTransform.h"
#include <assert.h>
float gContactBreakingThreshold = 0.02f;
btScalar gContactBreakingThreshold = btScalar(0.02);
ContactDestroyedCallback gContactDestroyedCallback = 0;
@@ -100,7 +100,7 @@ int btPersistentManifold::sortCachedPoints(const btManifoldPoint& pt)
int maxPenetrationIndex = -1;
#define KEEP_DEEPEST_POINT 1
#ifdef KEEP_DEEPEST_POINT
float maxPenetration = pt.getDistance();
btScalar maxPenetration = pt.getDistance();
for (int i=0;i<4;i++)
{
if (m_pointCache[i].getDistance() < maxPenetration)
@@ -111,7 +111,7 @@ int btPersistentManifold::sortCachedPoints(const btManifoldPoint& pt)
}
#endif //KEEP_DEEPEST_POINT
btScalar res0(0.f),res1(0.f),res2(0.f),res3(0.f);
btScalar res0(btScalar(0.)),res1(btScalar(0.)),res2(btScalar(0.)),res3(btScalar(0.));
if (maxPenetrationIndex != 0)
{
btVector3 a0 = pt.m_localPointA-m_pointCache[1].m_localPointA;
@@ -193,7 +193,7 @@ void btPersistentManifold::AddManifoldPoint(const btManifoldPoint& newPoint)
replaceContactPoint(newPoint,insertIndex);
}
float btPersistentManifold::getContactBreakingThreshold() const
btScalar btPersistentManifold::getContactBreakingThreshold() const
{
return gContactBreakingThreshold;
}

4
src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h
View File

@@ -24,7 +24,7 @@ subject to the following restrictions:
struct btCollisionResult;
///contact breaking and merging threshold
extern float gContactBreakingThreshold;
extern btScalar gContactBreakingThreshold;
typedef bool (*ContactDestroyedCallback)(void* userPersistentData);
extern ContactDestroyedCallback gContactDestroyedCallback;
@@ -97,7 +97,7 @@ public:
}
/// todo: get this margin from the current physics / collision environment
float getContactBreakingThreshold() const;
btScalar getContactBreakingThreshold() const;
int getCacheEntry(const btManifoldPoint& newPoint) const;

4
src/BulletCollision/NarrowPhaseCollision/btPointCollector.h
View File

@@ -31,7 +31,7 @@ struct btPointCollector : public btDiscreteCollisionDetectorInterface::Result
bool m_hasResult;
btPointCollector ()
: m_distance(1e30f),m_hasResult(false)
: m_distance(btScalar(1e30)),m_hasResult(false)
{
}
@@ -40,7 +40,7 @@ struct btPointCollector : public btDiscreteCollisionDetectorInterface::Result
//??
}
virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,float depth)
virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth)
{
if (depth< m_distance)
{

24
src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp
View File

@@ -20,7 +20,7 @@ btTriangleRaycastCallback::btTriangleRaycastCallback(const btVector3& from,const
:
m_from(from),
m_to(to),
m_hitFraction(1.f)
m_hitFraction(btScalar(1.))
{
}
@@ -40,19 +40,19 @@ void btTriangleRaycastCallback::processTriangle(btVector3* triangle,int partId,
btVector3 triangleNormal; triangleNormal = v10.cross( v20 );
const float dist = vert0.dot(triangleNormal);
float dist_a = triangleNormal.dot(m_from) ;
const btScalar dist = vert0.dot(triangleNormal);
btScalar dist_a = triangleNormal.dot(m_from) ;
dist_a-= dist;
float dist_b = triangleNormal.dot(m_to);
btScalar dist_b = triangleNormal.dot(m_to);
dist_b -= dist;
if ( dist_a * dist_b >= 0.0f)
if ( dist_a * dist_b >= btScalar(0.0) )
{
return ; // same sign
}
const float proj_length=dist_a-dist_b;
const float distance = (dist_a)/(proj_length);
const btScalar proj_length=dist_a-dist_b;
const btScalar distance = (dist_a)/(proj_length);
// Now we have the intersection point on the plane, we'll see if it's inside the triangle
// Add an epsilon as a tolerance for the raycast,
// in case the ray hits exacly on the edge of the triangle.
@@ -62,27 +62,27 @@ void btTriangleRaycastCallback::processTriangle(btVector3* triangle,int partId,
{
float edge_tolerance =triangleNormal.length2();
edge_tolerance *= -0.0001f;
btScalar edge_tolerance =triangleNormal.length2();
edge_tolerance *= btScalar(-0.0001);
btVector3 point; point.setInterpolate3( m_from, m_to, distance);
{
btVector3 v0p; v0p = vert0 - point;
btVector3 v1p; v1p = vert1 - point;
btVector3 cp0; cp0 = v0p.cross( v1p );
if ( (float)(cp0.dot(triangleNormal)) >=edge_tolerance)
if ( (btScalar)(cp0.dot(triangleNormal)) >=edge_tolerance)
{
btVector3 v2p; v2p = vert2 - point;
btVector3 cp1;
cp1 = v1p.cross( v2p);
if ( (float)(cp1.dot(triangleNormal)) >=edge_tolerance)
if ( (btScalar)(cp1.dot(triangleNormal)) >=edge_tolerance)
{
btVector3 cp2;
cp2 = v2p.cross(v0p);
if ( (float)(cp2.dot(triangleNormal)) >=edge_tolerance)
if ( (btScalar)(cp2.dot(triangleNormal)) >=edge_tolerance)
{
if ( dist_a > 0 )

4
src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.h
View File

@@ -28,13 +28,13 @@ public:
btVector3 m_from;
btVector3 m_to;
float m_hitFraction;
btScalar m_hitFraction;
btTriangleRaycastCallback(const btVector3& from,const btVector3& to);
virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex);
virtual float reportHit(const btVector3& hitNormalLocal, float hitFraction, int partId, int triangleIndex ) = 0;
virtual btScalar reportHit(const btVector3& hitNormalLocal, btScalar hitFraction, int partId, int triangleIndex ) = 0;
};

20
src/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp
View File

@@ -52,9 +52,9 @@ bool btSubsimplexConvexCast::calcTimeOfImpact(
convex->setTransformB(btTransform(rayFromLocalA.getBasis()));
//float radius = 0.01f;
//btScalar radius = btScalar(0.01);
btScalar lambda = 0.f;
btScalar lambda = btScalar(0.);
//todo: need to verify this:
//because of minkowski difference, we need the inverse direction
@@ -69,27 +69,27 @@ bool btSubsimplexConvexCast::calcTimeOfImpact(
int maxIter = MAX_ITERATIONS;
btVector3 n;
n.setValue(0.f,0.f,0.f);
n.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
bool hasResult = false;
btVector3 c;
float lastLambda = lambda;
btScalar lastLambda = lambda;
float dist2 = v.length2();
float epsilon = 0.0001f;
btScalar dist2 = v.length2();
btScalar epsilon = btScalar(0.0001);
btVector3 w,p;
float VdotR;
btScalar VdotR;
while ( (dist2 > epsilon) && maxIter--)
{
p = convex->localGetSupportingVertex( v);
w = x - p;
float VdotW = v.dot(w);
btScalar VdotW = v.dot(w);
if ( VdotW > 0.f)
if ( VdotW > btScalar(0.))
{
VdotR = v.dot(r);
@@ -117,7 +117,7 @@ bool btSubsimplexConvexCast::calcTimeOfImpact(
//printf("numverts = %i\n",m_simplexSolver->numVertices());
} else
{
dist2 = 0.f;
dist2 = btScalar(0.);
}
}

82
src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp
View File

@@ -70,7 +70,7 @@ void btVoronoiSimplexSolver::reset()
m_cachedValidClosest = false;
m_numVertices = 0;
m_needsUpdate = true;
m_lastW = btVector3(1e30f,1e30f,1e30f);
m_lastW = btVector3(btScalar(1e30),btScalar(1e30),btScalar(1e30));
m_cachedBC.reset();
}
@@ -109,7 +109,7 @@ bool btVoronoiSimplexSolver::updateClosestVectorAndPoints()
m_cachedP2 = m_simplexPointsQ[0];
m_cachedV = m_cachedP1-m_cachedP2; //== m_simplexVectorW[0]
m_cachedBC.reset();
m_cachedBC.setBarycentricCoordinates(1.f,0.f,0.f,0.f);
m_cachedBC.setBarycentricCoordinates(btScalar(1.),btScalar(0.),btScalar(0.),btScalar(0.));
m_cachedValidClosest = m_cachedBC.isValid();
break;
};
@@ -120,13 +120,13 @@ bool btVoronoiSimplexSolver::updateClosestVectorAndPoints()
const btVector3& to = m_simplexVectorW[1];
btVector3 nearest;
btVector3 p (0.f,0.f,0.f);
btVector3 p (btScalar(0.),btScalar(0.),btScalar(0.));
btVector3 diff = p - from;
btVector3 v = to - from;
float t = v.dot(diff);
btScalar t = v.dot(diff);
if (t > 0) {
float dotVV = v.dot(v);
btScalar dotVV = v.dot(v);
if (t < dotVV) {
t /= dotVV;
diff -= t*v;
@@ -159,7 +159,7 @@ bool btVoronoiSimplexSolver::updateClosestVectorAndPoints()
case 3:
{
//closest point origin from triangle
btVector3 p (0.f,0.f,0.f);
btVector3 p (btScalar(0.),btScalar(0.),btScalar(0.));
const btVector3& a = m_simplexVectorW[0];
const btVector3& b = m_simplexVectorW[1];
@@ -187,7 +187,7 @@ bool btVoronoiSimplexSolver::updateClosestVectorAndPoints()
{
btVector3 p (0.f,0.f,0.f);
btVector3 p (btScalar(0.),btScalar(0.),btScalar(0.));
const btVector3& a = m_simplexVectorW[0];
const btVector3& b = m_simplexVectorW[1];
@@ -222,7 +222,7 @@ bool btVoronoiSimplexSolver::updateClosestVectorAndPoints()
{
m_cachedValidClosest = true;
//degenerate case == false, penetration = true + zero
m_cachedV.setValue(0.f,0.f,0.f);
m_cachedV.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
}
break;
}
@@ -256,7 +256,7 @@ bool btVoronoiSimplexSolver::closest(btVector3& v)
btScalar btVoronoiSimplexSolver::maxVertex()
{
int i, numverts = numVertices();
btScalar maxV = 0.f;
btScalar maxV = btScalar(0.);
for (i=0;i<numverts;i++)
{
btScalar curLen2 = m_simplexVectorW[i].length2();
@@ -288,7 +288,7 @@ bool btVoronoiSimplexSolver::inSimplex(const btVector3& w)
{
bool found = false;
int i, numverts = numVertices();
//btScalar maxV = 0.f;
//btScalar maxV = btScalar(0.);
//w is in the current (reduced) simplex
for (i=0;i<numverts;i++)
@@ -335,9 +335,9 @@ bool btVoronoiSimplexSolver::closestPtPointTriangle(const btPoint3& p, const btP
btVector3 ab = b - a;
btVector3 ac = c - a;
btVector3 ap = p - a;
float d1 = ab.dot(ap);
float d2 = ac.dot(ap);
if (d1 <= 0.0f && d2 <= 0.0f)
btScalar d1 = ab.dot(ap);
btScalar d2 = ac.dot(ap);
if (d1 <= btScalar(0.0) && d2 <= btScalar(0.0))
{
result.m_closestPointOnSimplex = a;
result.m_usedVertices.usedVertexA = true;
@@ -347,9 +347,9 @@ bool btVoronoiSimplexSolver::closestPtPointTriangle(const btPoint3& p, const btP
// Check if P in vertex region outside B
btVector3 bp = p - b;
float d3 = ab.dot(bp);
float d4 = ac.dot(bp);
if (d3 >= 0.0f && d4 <= d3)
btScalar d3 = ab.dot(bp);
btScalar d4 = ac.dot(bp);
if (d3 >= btScalar(0.0) && d4 <= d3)
{
result.m_closestPointOnSimplex = b;
result.m_usedVertices.usedVertexB = true;
@@ -358,9 +358,9 @@ bool btVoronoiSimplexSolver::closestPtPointTriangle(const btPoint3& p, const btP
return true; // b; // barycentric coordinates (0,1,0)
}
// Check if P in edge region of AB, if so return projection of P onto AB
float vc = d1*d4 - d3*d2;
if (vc <= 0.0f && d1 >= 0.0f && d3 <= 0.0f) {
float v = d1 / (d1 - d3);
btScalar vc = d1*d4 - d3*d2;
if (vc <= btScalar(0.0) && d1 >= btScalar(0.0) && d3 <= btScalar(0.0)) {
btScalar v = d1 / (d1 - d3);
result.m_closestPointOnSimplex = a + v * ab;
result.m_usedVertices.usedVertexA = true;
result.m_usedVertices.usedVertexB = true;
@@ -371,9 +371,9 @@ bool btVoronoiSimplexSolver::closestPtPointTriangle(const btPoint3& p, const btP
// Check if P in vertex region outside C
btVector3 cp = p - c;
float d5 = ab.dot(cp);
float d6 = ac.dot(cp);
if (d6 >= 0.0f && d5 <= d6)
btScalar d5 = ab.dot(cp);
btScalar d6 = ac.dot(cp);
if (d6 >= btScalar(0.0) && d5 <= d6)
{
result.m_closestPointOnSimplex = c;
result.m_usedVertices.usedVertexC = true;
@@ -382,9 +382,9 @@ bool btVoronoiSimplexSolver::closestPtPointTriangle(const btPoint3& p, const btP
}
// Check if P in edge region of AC, if so return projection of P onto AC
float vb = d5*d2 - d1*d6;
if (vb <= 0.0f && d2 >= 0.0f && d6 <= 0.0f) {
float w = d2 / (d2 - d6);
btScalar vb = d5*d2 - d1*d6;
if (vb <= btScalar(0.0) && d2 >= btScalar(0.0) && d6 <= btScalar(0.0)) {
btScalar w = d2 / (d2 - d6);
result.m_closestPointOnSimplex = a + w * ac;
result.m_usedVertices.usedVertexA = true;
result.m_usedVertices.usedVertexC = true;
@@ -394,9 +394,9 @@ bool btVoronoiSimplexSolver::closestPtPointTriangle(const btPoint3& p, const btP
}
// Check if P in edge region of BC, if so return projection of P onto BC
float va = d3*d6 - d5*d4;
if (va <= 0.0f && (d4 - d3) >= 0.0f && (d5 - d6) >= 0.0f) {
float w = (d4 - d3) / ((d4 - d3) + (d5 - d6));
btScalar va = d3*d6 - d5*d4;
if (va <= btScalar(0.0) && (d4 - d3) >= btScalar(0.0) && (d5 - d6) >= btScalar(0.0)) {
btScalar w = (d4 - d3) / ((d4 - d3) + (d5 - d6));
result.m_closestPointOnSimplex = b + w * (c - b);
result.m_usedVertices.usedVertexB = true;
@@ -407,9 +407,9 @@ bool btVoronoiSimplexSolver::closestPtPointTriangle(const btPoint3& p, const btP
}
// P inside face region. Compute Q through its barycentric coordinates (u,v,w)
float denom = 1.0f / (va + vb + vc);
float v = vb * denom;
float w = vc * denom;
btScalar denom = btScalar(1.0) / (va + vb + vc);
btScalar v = vb * denom;
btScalar w = vc * denom;
result.m_closestPointOnSimplex = a + ab * v + ac * w;
result.m_usedVertices.usedVertexA = true;
@@ -418,7 +418,7 @@ bool btVoronoiSimplexSolver::closestPtPointTriangle(const btPoint3& p, const btP
result.setBarycentricCoordinates(1-v-w,v,w);
return true;
// return a + ab * v + ac * w; // = u*a + v*b + w*c, u = va * denom = 1.0f - v - w
// return a + ab * v + ac * w; // = u*a + v*b + w*c, u = va * denom = btScalar(1.0) - v - w
}
@@ -431,18 +431,18 @@ int btVoronoiSimplexSolver::pointOutsideOfPlane(const btPoint3& p, const btPoint
{
btVector3 normal = (b-a).cross(c-a);
float signp = (p - a).dot(normal); // [AP AB AC]
float signd = (d - a).dot( normal); // [AD AB AC]
btScalar signp = (p - a).dot(normal); // [AP AB AC]
btScalar signd = (d - a).dot( normal); // [AD AB AC]
#ifdef CATCH_DEGENERATE_TETRAHEDRON
if (signd * signd < (1e-4f * 1e-4f))
if (signd * signd < (btScalar(1e-4) * btScalar(1e-4)))
{
// printf("affine dependent/degenerate\n");//
return -1;
}
#endif
// Points on opposite sides if expression signs are opposite
return signp * signd < 0.f;
return signp * signd < btScalar(0.);
}
@@ -475,14 +475,14 @@ bool btVoronoiSimplexSolver::closestPtPointTetrahedron(const btPoint3& p, const
}
float bestSqDist = FLT_MAX;
btScalar bestSqDist = FLT_MAX;
// If point outside face abc then compute closest point on abc
if (pointOutsideABC)
{
closestPtPointTriangle(p, a, b, c,tempResult);
btPoint3 q = tempResult.m_closestPointOnSimplex;
float sqDist = (q - p).dot( q - p);
btScalar sqDist = (q - p).dot( q - p);
// Update best closest point if (squared) distance is less than current best
if (sqDist < bestSqDist) {
bestSqDist = sqDist;
@@ -510,7 +510,7 @@ bool btVoronoiSimplexSolver::closestPtPointTetrahedron(const btPoint3& p, const
btPoint3 q = tempResult.m_closestPointOnSimplex;
//convert result bitmask!
float sqDist = (q - p).dot( q - p);
btScalar sqDist = (q - p).dot( q - p);
if (sqDist < bestSqDist)
{
bestSqDist = sqDist;
@@ -537,7 +537,7 @@ bool btVoronoiSimplexSolver::closestPtPointTetrahedron(const btPoint3& p, const
btPoint3 q = tempResult.m_closestPointOnSimplex;
//convert result bitmask!
float sqDist = (q - p).dot( q - p);
btScalar sqDist = (q - p).dot( q - p);
if (sqDist < bestSqDist)
{
bestSqDist = sqDist;
@@ -563,7 +563,7 @@ bool btVoronoiSimplexSolver::closestPtPointTetrahedron(const btPoint3& p, const
closestPtPointTriangle(p, b, d, c,tempResult);
btPoint3 q = tempResult.m_closestPointOnSimplex;
//convert result bitmask!
float sqDist = (q - p).dot( q - p);
btScalar sqDist = (q - p).dot( q - p);
if (sqDist < bestSqDist)
{
bestSqDist = sqDist;

12
src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h
View File

@@ -55,7 +55,7 @@ struct btSubSimplexClosestResult
//stores the simplex vertex-usage, using the MASK,
// if m_usedVertices & MASK then the related vertex is used
btUsageBitfield m_usedVertices;
float m_barycentricCoords[4];
btScalar m_barycentricCoords[4];
bool m_degenerate;
void reset()
@@ -66,15 +66,15 @@ struct btSubSimplexClosestResult
}
bool isValid()
{
bool valid = (m_barycentricCoords[0] >= 0.f) &&
(m_barycentricCoords[1] >= 0.f) &&
(m_barycentricCoords[2] >= 0.f) &&
(m_barycentricCoords[3] >= 0.f);
bool valid = (m_barycentricCoords[0] >= btScalar(0.)) &&
(m_barycentricCoords[1] >= btScalar(0.)) &&
(m_barycentricCoords[2] >= btScalar(0.)) &&
(m_barycentricCoords[3] >= btScalar(0.));
return valid;
}
void setBarycentricCoordinates(float a=0.f,float b=0.f,float c=0.f,float d=0.f)
void setBarycentricCoordinates(btScalar a=btScalar(0.),btScalar b=btScalar(0.),btScalar c=btScalar(0.),btScalar d=btScalar(0.))
{
m_barycentricCoords[0] = a;
m_barycentricCoords[1] = b;