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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.))
{
}
}