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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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24
src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp
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@@ -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 )