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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/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))
{