Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Contribution to add optional double precision floating point support. Define BT_USE_DOUBLE_PRECISION for all involved libraries/apps.

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

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)