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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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4
src/BulletDynamics/ConstraintSolver/btConstraintSolver.h
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@@ -16,6 +16,8 @@ subject to the following restrictions:
#ifndef CONSTRAINT_SOLVER_H
#define CONSTRAINT_SOLVER_H
#include "LinearMath/btScalar.h"
class btPersistentManifold;
class btRigidBody;
class btTypedConstraint;
@@ -31,7 +33,7 @@ public:
virtual ~btConstraintSolver() {}
virtual float solveGroup(btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints, const btContactSolverInfo& info,class btIDebugDraw* debugDrawer = 0) = 0;
virtual btScalar solveGroup(btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints, const btContactSolverInfo& info,class btIDebugDraw* debugDrawer = 0) = 0;
};

76
src/BulletDynamics/ConstraintSolver/btContactConstraint.cpp
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@@ -30,13 +30,13 @@ subject to the following restrictions:
//bilateral constraint between two dynamic objects
void resolveSingleBilateral(btRigidBody& body1, const btVector3& pos1,
btRigidBody& body2, const btVector3& pos2,
btScalar distance, const btVector3& normal,btScalar& impulse ,float timeStep)
btScalar distance, const btVector3& normal,btScalar& impulse ,btScalar timeStep)
{
float normalLenSqr = normal.length2();
ASSERT2(fabs(normalLenSqr) < 1.1f);
if (normalLenSqr > 1.1f)
btScalar normalLenSqr = normal.length2();
ASSERT2(btFabs(normalLenSqr) < btScalar(1.1));
if (normalLenSqr > btScalar(1.1))
{
impulse = 0.f;
impulse = btScalar(0.);
return;
}
btVector3 rel_pos1 = pos1 - body1.getCenterOfMassPosition();
@@ -54,24 +54,24 @@ void resolveSingleBilateral(btRigidBody& body1, const btVector3& pos1,
body2.getInvInertiaDiagLocal(),body2.getInvMass());
btScalar jacDiagAB = jac.getDiagonal();
btScalar jacDiagABInv = 1.f / jacDiagAB;
btScalar jacDiagABInv = btScalar(1.) / jacDiagAB;
btScalar rel_vel = jac.getRelativeVelocity(
body1.getLinearVelocity(),
body1.getCenterOfMassTransform().getBasis().transpose() * body1.getAngularVelocity(),
body2.getLinearVelocity(),
body2.getCenterOfMassTransform().getBasis().transpose() * body2.getAngularVelocity());
float a;
btScalar a;
a=jacDiagABInv;
rel_vel = normal.dot(vel);
//todo: move this into proper structure
btScalar contactDamping = 0.2f;
btScalar contactDamping = btScalar(0.2);
#ifdef ONLY_USE_LINEAR_MASS
btScalar massTerm = 1.f / (body1.getInvMass() + body2.getInvMass());
btScalar massTerm = btScalar(1.) / (body1.getInvMass() + body2.getInvMass());
impulse = - contactDamping * rel_vel * massTerm;
#else
btScalar velocityImpulse = -contactDamping * rel_vel * jacDiagABInv;
@@ -82,7 +82,7 @@ void resolveSingleBilateral(btRigidBody& body1, const btVector3& pos1,
//response between two dynamic objects with friction
float resolveSingleCollision(
btScalar resolveSingleCollision(
btRigidBody& body1,
btRigidBody& body2,
btManifoldPoint& contactPoint,
@@ -102,11 +102,11 @@ float resolveSingleCollision(
btScalar rel_vel;
rel_vel = normal.dot(vel);
btScalar Kfps = 1.f / solverInfo.m_timeStep ;
btScalar Kfps = btScalar(1.) / solverInfo.m_timeStep ;
// float damping = solverInfo.m_damping ;
float Kerp = solverInfo.m_erp;
float Kcor = Kerp *Kfps;
// btScalar damping = solverInfo.m_damping ;
btScalar Kerp = solverInfo.m_erp;
btScalar Kcor = Kerp *Kfps;
btConstraintPersistentData* cpd = (btConstraintPersistentData*) contactPoint.m_userPersistentData;
assert(cpd);
@@ -121,9 +121,9 @@ float resolveSingleCollision(
btScalar normalImpulse = penetrationImpulse+velocityImpulse;
// See Erin Catto's GDC 2006 paper: Clamp the accumulated impulse
float oldNormalImpulse = cpd->m_appliedImpulse;
float sum = oldNormalImpulse + normalImpulse;
cpd->m_appliedImpulse = 0.f > sum ? 0.f: sum;
btScalar oldNormalImpulse = cpd->m_appliedImpulse;
btScalar sum = oldNormalImpulse + normalImpulse;
cpd->m_appliedImpulse = btScalar(0.) > sum ? btScalar(0.): sum;
normalImpulse = cpd->m_appliedImpulse - oldNormalImpulse;
@@ -145,7 +145,7 @@ float resolveSingleCollision(
}
float resolveSingleFriction(
btScalar resolveSingleFriction(
btRigidBody& body1,
btRigidBody& body2,
btManifoldPoint& contactPoint,
@@ -161,11 +161,11 @@ float resolveSingleFriction(
btConstraintPersistentData* cpd = (btConstraintPersistentData*) contactPoint.m_userPersistentData;
assert(cpd);
float combinedFriction = cpd->m_friction;
btScalar combinedFriction = cpd->m_friction;
btScalar limit = cpd->m_appliedImpulse * combinedFriction;
if (cpd->m_appliedImpulse>0.f)
if (cpd->m_appliedImpulse>btScalar(0.))
//friction
{
//apply friction in the 2 tangential directions
@@ -183,7 +183,7 @@ float resolveSingleFriction(
// calculate j that moves us to zero relative velocity
j1 = -vrel * cpd->m_jacDiagABInvTangent0;
float oldTangentImpulse = cpd->m_accumulatedTangentImpulse0;
btScalar oldTangentImpulse = cpd->m_accumulatedTangentImpulse0;
cpd->m_accumulatedTangentImpulse0 = oldTangentImpulse + j1;
GEN_set_min(cpd->m_accumulatedTangentImpulse0, limit);
GEN_set_max(cpd->m_accumulatedTangentImpulse0, -limit);
@@ -197,7 +197,7 @@ float resolveSingleFriction(
// calculate j that moves us to zero relative velocity
j2 = -vrel * cpd->m_jacDiagABInvTangent1;
float oldTangentImpulse = cpd->m_accumulatedTangentImpulse1;
btScalar oldTangentImpulse = cpd->m_accumulatedTangentImpulse1;
cpd->m_accumulatedTangentImpulse1 = oldTangentImpulse + j2;
GEN_set_min(cpd->m_accumulatedTangentImpulse1, limit);
GEN_set_max(cpd->m_accumulatedTangentImpulse1, -limit);
@@ -226,7 +226,7 @@ float resolveSingleFriction(
}
float resolveSingleFrictionOriginal(
btScalar resolveSingleFrictionOriginal(
btRigidBody& body1,
btRigidBody& body2,
btManifoldPoint& contactPoint,
@@ -242,10 +242,10 @@ float resolveSingleFrictionOriginal(
btConstraintPersistentData* cpd = (btConstraintPersistentData*) contactPoint.m_userPersistentData;
assert(cpd);
float combinedFriction = cpd->m_friction;
btScalar combinedFriction = cpd->m_friction;
btScalar limit = cpd->m_appliedImpulse * combinedFriction;
//if (contactPoint.m_appliedImpulse>0.f)
//if (contactPoint.m_appliedImpulse>btScalar(0.))
//friction
{
//apply friction in the 2 tangential directions
@@ -260,7 +260,7 @@ float resolveSingleFrictionOriginal(
// calculate j that moves us to zero relative velocity
btScalar j = -vrel * cpd->m_jacDiagABInvTangent0;
float total = cpd->m_accumulatedTangentImpulse0 + j;
btScalar total = cpd->m_accumulatedTangentImpulse0 + j;
GEN_set_min(total, limit);
GEN_set_max(total, -limit);
j = total - cpd->m_accumulatedTangentImpulse0;
@@ -280,7 +280,7 @@ float resolveSingleFrictionOriginal(
// calculate j that moves us to zero relative velocity
btScalar j = -vrel * cpd->m_jacDiagABInvTangent1;
float total = cpd->m_accumulatedTangentImpulse1 + j;
btScalar total = cpd->m_accumulatedTangentImpulse1 + j;
GEN_set_min(total, limit);
GEN_set_max(total, -limit);
j = total - cpd->m_accumulatedTangentImpulse1;
@@ -295,7 +295,7 @@ float resolveSingleFrictionOriginal(
//velocity + friction
//response between two dynamic objects with friction
float resolveSingleCollisionCombined(
btScalar resolveSingleCollisionCombined(
btRigidBody& body1,
btRigidBody& body2,
btManifoldPoint& contactPoint,
@@ -315,11 +315,11 @@ float resolveSingleCollisionCombined(
btScalar rel_vel;
rel_vel = normal.dot(vel);
btScalar Kfps = 1.f / solverInfo.m_timeStep ;
btScalar Kfps = btScalar(1.) / solverInfo.m_timeStep ;
//float damping = solverInfo.m_damping ;
float Kerp = solverInfo.m_erp;
float Kcor = Kerp *Kfps;
//btScalar damping = solverInfo.m_damping ;
btScalar Kerp = solverInfo.m_erp;
btScalar Kcor = Kerp *Kfps;
btConstraintPersistentData* cpd = (btConstraintPersistentData*) contactPoint.m_userPersistentData;
assert(cpd);
@@ -334,9 +334,9 @@ float resolveSingleCollisionCombined(
btScalar normalImpulse = penetrationImpulse+velocityImpulse;
// See Erin Catto's GDC 2006 paper: Clamp the accumulated impulse
float oldNormalImpulse = cpd->m_appliedImpulse;
float sum = oldNormalImpulse + normalImpulse;
cpd->m_appliedImpulse = 0.f > sum ? 0.f: sum;
btScalar oldNormalImpulse = cpd->m_appliedImpulse;
btScalar sum = oldNormalImpulse + normalImpulse;
cpd->m_appliedImpulse = btScalar(0.) > sum ? btScalar(0.): sum;
normalImpulse = cpd->m_appliedImpulse - oldNormalImpulse;
@@ -367,7 +367,7 @@ float resolveSingleCollisionCombined(
btVector3 lat_vel = vel - normal * rel_vel;
btScalar lat_rel_vel = lat_vel.length();
float combinedFriction = cpd->m_friction;
btScalar combinedFriction = cpd->m_friction;
if (cpd->m_appliedImpulse > 0)
if (lat_rel_vel > SIMD_EPSILON)
@@ -390,12 +390,12 @@ float resolveSingleCollisionCombined(
return normalImpulse;
}
float resolveSingleFrictionEmpty(
btScalar resolveSingleFrictionEmpty(
btRigidBody& body1,
btRigidBody& body2,
btManifoldPoint& contactPoint,
const btContactSolverInfo& solverInfo)
{
return 0.f;
return btScalar(0.);
};

44
src/BulletDynamics/ConstraintSolver/btContactConstraint.h
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@@ -33,7 +33,7 @@ enum {
};
typedef float (*ContactSolverFunc)(btRigidBody& body1,
typedef btScalar (*ContactSolverFunc)(btRigidBody& body1,
btRigidBody& body2,
class btManifoldPoint& contactPoint,
const btContactSolverInfo& info);
@@ -42,15 +42,15 @@ typedef float (*ContactSolverFunc)(btRigidBody& body1,
struct btConstraintPersistentData
{
inline btConstraintPersistentData()
:m_appliedImpulse(0.f),
m_prevAppliedImpulse(0.f),
m_accumulatedTangentImpulse0(0.f),
m_accumulatedTangentImpulse1(0.f),
m_jacDiagABInv(0.f),
:m_appliedImpulse(btScalar(0.)),
m_prevAppliedImpulse(btScalar(0.)),
m_accumulatedTangentImpulse0(btScalar(0.)),
m_accumulatedTangentImpulse1(btScalar(0.)),
m_jacDiagABInv(btScalar(0.)),
m_persistentLifeTime(0),
m_restitution(0.f),
m_friction(0.f),
m_penetration(0.f),
m_restitution(btScalar(0.)),
m_friction(btScalar(0.)),
m_penetration(btScalar(0.)),
m_contactSolverFunc(0),
m_frictionSolverFunc(0)
{
@@ -58,18 +58,18 @@ struct btConstraintPersistentData
/// total applied impulse during most recent frame
float m_appliedImpulse;
float m_prevAppliedImpulse;
float m_accumulatedTangentImpulse0;
float m_accumulatedTangentImpulse1;
btScalar m_appliedImpulse;
btScalar m_prevAppliedImpulse;
btScalar m_accumulatedTangentImpulse0;
btScalar m_accumulatedTangentImpulse1;
float m_jacDiagABInv;
float m_jacDiagABInvTangent0;
float m_jacDiagABInvTangent1;
btScalar m_jacDiagABInv;
btScalar m_jacDiagABInvTangent0;
btScalar m_jacDiagABInvTangent1;
int m_persistentLifeTime;
float m_restitution;
float m_friction;
float m_penetration;
btScalar m_restitution;
btScalar m_friction;
btScalar m_penetration;
btVector3 m_frictionWorldTangential0;
btVector3 m_frictionWorldTangential1;
@@ -91,19 +91,19 @@ struct btConstraintPersistentData
///positive distance = separation, negative distance = penetration
void resolveSingleBilateral(btRigidBody& body1, const btVector3& pos1,
btRigidBody& body2, const btVector3& pos2,
btScalar distance, const btVector3& normal,btScalar& impulse ,float timeStep);
btScalar distance, const btVector3& normal,btScalar& impulse ,btScalar timeStep);
///contact constraint resolution:
///calculate and apply impulse to satisfy non-penetration and non-negative relative velocity constraint
///positive distance = separation, negative distance = penetration
float resolveSingleCollision(
btScalar resolveSingleCollision(
btRigidBody& body1,
btRigidBody& body2,
btManifoldPoint& contactPoint,
const btContactSolverInfo& info);
float resolveSingleFriction(
btScalar resolveSingleFriction(
btRigidBody& body1,
btRigidBody& body2,
btManifoldPoint& contactPoint,

30
src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
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@@ -22,25 +22,25 @@ struct btContactSolverInfo
inline btContactSolverInfo()
{
m_tau = 0.6f;
m_damping = 1.0f;
m_friction = 0.3f;
m_restitution = 0.f;
m_maxErrorReduction = 20.f;
m_tau = btScalar(0.6);
m_damping = btScalar(1.0);
m_friction = btScalar(0.3);
m_restitution = btScalar(0.);
m_maxErrorReduction = btScalar(20.);
m_numIterations = 10;
m_erp = 0.4f;
m_sor = 1.3f;
m_erp = btScalar(0.4);
m_sor = btScalar(1.3);
}
float m_tau;
float m_damping;
float m_friction;
float m_timeStep;
float m_restitution;
btScalar m_tau;
btScalar m_damping;
btScalar m_friction;
btScalar m_timeStep;
btScalar m_restitution;
int m_numIterations;
float m_maxErrorReduction;
float m_sor;
float m_erp;
btScalar m_maxErrorReduction;
btScalar m_sor;
btScalar m_erp;
};

62
src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
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@@ -18,7 +18,7 @@ subject to the following restrictions:
#include "BulletDynamics/Dynamics/btRigidBody.h"
#include "LinearMath/btTransformUtil.h"
static const btScalar kSign[] = { 1.0f, -1.0f, 1.0f };
static const btScalar kSign[] = { btScalar(1.0), btScalar(-1.0), btScalar(1.0) };
static const int kAxisA[] = { 1, 0, 0 };
static const int kAxisB[] = { 2, 2, 1 };
#define GENERIC_D6_DISABLE_WARMSTARTING 1
@@ -38,9 +38,9 @@ btGeneric6DofConstraint::btGeneric6DofConstraint(btRigidBody& rbA, btRigidBody&
//so start all locked
for (int i=0; i<6;++i)
{
m_lowerLimit[i] = 0.0f;
m_upperLimit[i] = 0.0f;
m_accumulatedImpulse[i] = 0.0f;
m_lowerLimit[i] = btScalar(0.0);
m_upperLimit[i] = btScalar(0.0);
m_accumulatedImpulse[i] = btScalar(0.0);
}
}
@@ -83,7 +83,7 @@ void btGeneric6DofConstraint::buildJacobian()
//optionally disable warmstarting
#ifdef GENERIC_D6_DISABLE_WARMSTARTING
m_accumulatedImpulse[i] = 0.f;
m_accumulatedImpulse[i] = btScalar(0.);
#endif //GENERIC_D6_DISABLE_WARMSTARTING
// Apply accumulated impulse
@@ -115,7 +115,7 @@ void btGeneric6DofConstraint::buildJacobian()
m_rbB.getInvInertiaDiagLocal());
#ifdef GENERIC_D6_DISABLE_WARMSTARTING
m_accumulatedImpulse[i + 3] = 0.f;
m_accumulatedImpulse[i + 3] = btScalar(0.);
#endif //GENERIC_D6_DISABLE_WARMSTARTING
// Apply accumulated impulse
@@ -127,7 +127,7 @@ void btGeneric6DofConstraint::buildJacobian()
}
}
float getMatrixElem(const btMatrix3x3& mat,int index)
btScalar getMatrixElem(const btMatrix3x3& mat,int index)
{
int row = index%3;
int col = index / 3;
@@ -143,9 +143,9 @@ bool MatrixToEulerXYZ(const btMatrix3x3& mat,btVector3& xyz)
/// 0..8
if (getMatrixElem(mat,2) < 1.0f)
if (getMatrixElem(mat,2) < btScalar(1.0))
{
if (getMatrixElem(mat,2) > -1.0f)
if (getMatrixElem(mat,2) > btScalar(-1.0))
{
xyz[0] = btAtan2(-getMatrixElem(mat,5),getMatrixElem(mat,8));
xyz[1] = btAsin(getMatrixElem(mat,2));
@@ -157,7 +157,7 @@ bool MatrixToEulerXYZ(const btMatrix3x3& mat,btVector3& xyz)
// WARNING. Not unique. XA - ZA = -atan2(r10,r11)
xyz[0] = -btAtan2(getMatrixElem(mat,3),getMatrixElem(mat,4));
xyz[1] = -SIMD_HALF_PI;
xyz[2] = 0.0f;
xyz[2] = btScalar(0.0);
return false;
}
}
@@ -175,8 +175,8 @@ bool MatrixToEulerXYZ(const btMatrix3x3& mat,btVector3& xyz)
void btGeneric6DofConstraint::solveConstraint(btScalar timeStep)
{
btScalar tau = 0.1f;
btScalar damping = 1.0f;
btScalar tau = btScalar(0.1);
btScalar damping = btScalar(1.0);
btVector3 pivotAInW = m_rbA.getCenterOfMassTransform() * m_frameInA.getOrigin();
btVector3 pivotBInW = m_rbB.getCenterOfMassTransform() * m_frameInB.getOrigin();
@@ -199,7 +199,7 @@ void btGeneric6DofConstraint::solveConstraint(btScalar timeStep)
localNormalInA[i] = 1;
btVector3 normalWorld = m_rbA.getCenterOfMassTransform().getBasis() * localNormalInA;
btScalar jacDiagABInv = 1.f / m_jacLinear[i].getDiagonal();
btScalar jacDiagABInv = btScalar(1.) / m_jacLinear[i].getDiagonal();
//velocity error (first order error)
btScalar rel_vel = m_jacLinear[i].getRelativeVelocity(m_rbA.getLinearVelocity(),angvelA,
@@ -207,8 +207,8 @@ void btGeneric6DofConstraint::solveConstraint(btScalar timeStep)
//positional error (zeroth order error)
btScalar depth = -(pivotAInW - pivotBInW).dot(normalWorld);
btScalar lo = -1e30f;
btScalar hi = 1e30f;
btScalar lo = btScalar(-1e30);
btScalar hi = btScalar(1e30);
//handle the limits
if (m_lowerLimit[i] < m_upperLimit[i])
@@ -217,14 +217,14 @@ void btGeneric6DofConstraint::solveConstraint(btScalar timeStep)
if (depth > m_upperLimit[i])
{
depth -= m_upperLimit[i];
lo = 0.f;
lo = btScalar(0.);
} else
{
if (depth < m_lowerLimit[i])
{
depth -= m_lowerLimit[i];
hi = 0.f;
hi = btScalar(0.);
} else
{
continue;
@@ -234,9 +234,9 @@ void btGeneric6DofConstraint::solveConstraint(btScalar timeStep)
}
btScalar normalImpulse= (tau*depth/timeStep - damping*rel_vel) * jacDiagABInv;
float oldNormalImpulse = m_accumulatedImpulse[i];
float sum = oldNormalImpulse + normalImpulse;
m_accumulatedImpulse[i] = sum > hi ? 0.f : sum < lo ? 0.f : sum;
btScalar oldNormalImpulse = m_accumulatedImpulse[i];
btScalar sum = oldNormalImpulse + normalImpulse;
m_accumulatedImpulse[i] = sum > hi ? btScalar(0.) : sum < lo ? btScalar(0.) : sum;
normalImpulse = m_accumulatedImpulse[i] - oldNormalImpulse;
btVector3 impulse_vector = normalWorld * normalImpulse;
@@ -267,7 +267,7 @@ void btGeneric6DofConstraint::solveConstraint(btScalar timeStep)
btVector3 angvelA = m_rbA.getCenterOfMassTransform().getBasis().transpose() * m_rbA.getAngularVelocity();
btVector3 angvelB = m_rbB.getCenterOfMassTransform().getBasis().transpose() * m_rbB.getAngularVelocity();
btScalar jacDiagABInv = 1.f / m_jacAng[i].getDiagonal();
btScalar jacDiagABInv = btScalar(1.) / m_jacAng[i].getDiagonal();
//velocity error (first order error)
btScalar rel_vel = m_jacAng[i].getRelativeVelocity(m_rbA.getLinearVelocity(),angvelA,
@@ -279,27 +279,27 @@ void btGeneric6DofConstraint::solveConstraint(btScalar timeStep)
btScalar rel_pos = kSign[i] * axisA.dot(axisB);
btScalar lo = -1e30f;
btScalar hi = 1e30f;
btScalar lo = btScalar(-1e30);
btScalar hi = btScalar(1e30);
//handle the twist limit
if (m_lowerLimit[i+3] < m_upperLimit[i+3])
{
//clamp the values
btScalar loLimit = m_upperLimit[i+3] > -3.1415 ? m_lowerLimit[i+3] : -1e30f;
btScalar hiLimit = m_upperLimit[i+3] < 3.1415 ? m_upperLimit[i+3] : 1e30f;
btScalar loLimit = m_upperLimit[i+3] > -3.1415 ? m_lowerLimit[i+3] : btScalar(-1e30);
btScalar hiLimit = m_upperLimit[i+3] < 3.1415 ? m_upperLimit[i+3] : btScalar(1e30);
float projAngle = -2.f*xyz[i];
btScalar projAngle = btScalar(-2.)*xyz[i];
if (projAngle < loLimit)
{
hi = 0.f;
hi = btScalar(0.);
rel_pos = (loLimit - projAngle);
} else
{
if (projAngle > hiLimit)
{
lo = 0.f;
lo = btScalar(0.);
rel_pos = (hiLimit - projAngle);
} else
{
@@ -311,9 +311,9 @@ void btGeneric6DofConstraint::solveConstraint(btScalar timeStep)
//impulse
btScalar normalImpulse= -(tau*rel_pos/timeStep + damping*rel_vel) * jacDiagABInv;
float oldNormalImpulse = m_accumulatedImpulse[i+3];
float sum = oldNormalImpulse + normalImpulse;
m_accumulatedImpulse[i+3] = sum > hi ? 0.f : sum < lo ? 0.f : sum;
btScalar oldNormalImpulse = m_accumulatedImpulse[i+3];
btScalar sum = oldNormalImpulse + normalImpulse;
m_accumulatedImpulse[i+3] = sum > hi ? btScalar(0.) : sum < lo ? btScalar(0.) : sum;
normalImpulse = m_accumulatedImpulse[i+3] - oldNormalImpulse;
// Dirk: Not needed - we could actually project onto Jacobian entry here (same as above)

32
src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp
View File

@@ -49,7 +49,7 @@ m_enableAngularMotor(false)
void btHingeConstraint::buildJacobian()
{
m_appliedImpulse = 0.f;
m_appliedImpulse = btScalar(0.);
btVector3 normal(0,0,0);
@@ -115,8 +115,8 @@ void btHingeConstraint::solveConstraint(btScalar timeStep)
btVector3 pivotBInW = m_rbB.getCenterOfMassTransform()*m_pivotInB;
btVector3 normal(0,0,0);
btScalar tau = 0.3f;
btScalar damping = 1.f;
btScalar tau = btScalar(0.3);
btScalar damping = btScalar(1.);
//linear part
if (!m_angularOnly)
@@ -124,7 +124,7 @@ void btHingeConstraint::solveConstraint(btScalar timeStep)
for (int i=0;i<3;i++)
{
normal[i] = 1;
btScalar jacDiagABInv = 1.f / m_jac[i].getDiagonal();
btScalar jacDiagABInv = btScalar(1.) / m_jac[i].getDiagonal();
btVector3 rel_pos1 = pivotAInW - m_rbA.getCenterOfMassPosition();
btVector3 rel_pos2 = pivotBInW - m_rbB.getCenterOfMassPosition();
@@ -165,27 +165,27 @@ void btHingeConstraint::solveConstraint(btScalar timeStep)
btVector3 velrelOrthog = angAorthog-angBorthog;
{
//solve orthogonal angular velocity correction
float relaxation = 1.f;
float len = velrelOrthog.length();
if (len > 0.00001f)
btScalar relaxation = btScalar(1.);
btScalar len = velrelOrthog.length();
if (len > btScalar(0.00001))
{
btVector3 normal = velrelOrthog.normalized();
float denom = getRigidBodyA().computeAngularImpulseDenominator(normal) +
btScalar denom = getRigidBodyA().computeAngularImpulseDenominator(normal) +
getRigidBodyB().computeAngularImpulseDenominator(normal);
// scale for mass and relaxation
//todo: expose this 0.9 factor to developer
velrelOrthog *= (1.f/denom) * 0.9f;
velrelOrthog *= (btScalar(1.)/denom) * btScalar(0.9);
}
//solve angular positional correction
btVector3 angularError = -axisA.cross(axisB) *(1.f/timeStep);
float len2 = angularError.length();
if (len2>0.00001f)
btVector3 angularError = -axisA.cross(axisB) *(btScalar(1.)/timeStep);
btScalar len2 = angularError.length();
if (len2>btScalar(0.00001))
{
btVector3 normal2 = angularError.normalized();
float denom2 = getRigidBodyA().computeAngularImpulseDenominator(normal2) +
btScalar denom2 = getRigidBodyA().computeAngularImpulseDenominator(normal2) +
getRigidBodyB().computeAngularImpulseDenominator(normal2);
angularError *= (1.f/denom2) * relaxation;
angularError *= (btScalar(1.)/denom2) * relaxation;
}
m_rbA.applyTorqueImpulse(-velrelOrthog+angularError);
@@ -204,10 +204,10 @@ void btHingeConstraint::solveConstraint(btScalar timeStep)
btScalar desiredMotorVel = m_motorTargetVelocity;
btScalar motor_relvel = desiredMotorVel - projRelVel;
float denom3 = getRigidBodyA().computeAngularImpulseDenominator(axisA) +
btScalar denom3 = getRigidBodyA().computeAngularImpulseDenominator(axisA) +
getRigidBodyB().computeAngularImpulseDenominator(axisA);
btScalar unclippedMotorImpulse = (1.f/denom3) * motor_relvel;;
btScalar unclippedMotorImpulse = (btScalar(1.)/denom3) * motor_relvel;;
//todo: should clip against accumulated impulse
btScalar clippedMotorImpulse = unclippedMotorImpulse > m_maxMotorImpulse ? m_maxMotorImpulse : unclippedMotorImpulse;
clippedMotorImpulse = clippedMotorImpulse < -m_maxMotorImpulse ? -m_maxMotorImpulse : clippedMotorImpulse;

14
src/BulletDynamics/ConstraintSolver/btJacobianEntry.h
View File

@@ -50,7 +50,7 @@ public:
m_1MinvJt = inertiaInvB * m_bJ;
m_Adiag = massInvA + m_0MinvJt.dot(m_aJ) + massInvB + m_1MinvJt.dot(m_bJ);
btAssert(m_Adiag > 0.0f);
btAssert(m_Adiag > btScalar(0.0));
}
//angular constraint between two different rigidbodies
@@ -59,7 +59,7 @@ public:
const btMatrix3x3& world2B,
const btVector3& inertiaInvA,
const btVector3& inertiaInvB)
:m_linearJointAxis(btVector3(0.f,0.f,0.f))
:m_linearJointAxis(btVector3(btScalar(0.),btScalar(0.),btScalar(0.)))
{
m_aJ= world2A*jointAxis;
m_bJ = world2B*-jointAxis;
@@ -67,7 +67,7 @@ public:
m_1MinvJt = inertiaInvB * m_bJ;
m_Adiag = m_0MinvJt.dot(m_aJ) + m_1MinvJt.dot(m_bJ);
btAssert(m_Adiag > 0.0f);
btAssert(m_Adiag > btScalar(0.0));
}
//angular constraint between two different rigidbodies
@@ -75,7 +75,7 @@ public:
const btVector3& axisInB,
const btVector3& inertiaInvA,
const btVector3& inertiaInvB)
: m_linearJointAxis(btVector3(0.f,0.f,0.f))
: m_linearJointAxis(btVector3(btScalar(0.),btScalar(0.),btScalar(0.)))
, m_aJ(axisInA)
, m_bJ(-axisInB)
{
@@ -83,7 +83,7 @@ public:
m_1MinvJt = inertiaInvB * m_bJ;
m_Adiag = m_0MinvJt.dot(m_aJ) + m_1MinvJt.dot(m_bJ);
btAssert(m_Adiag > 0.0f);
btAssert(m_Adiag > btScalar(0.0));
}
//constraint on one rigidbody
@@ -98,10 +98,10 @@ public:
m_aJ= world2A*(rel_pos1.cross(jointAxis));
m_bJ = world2A*(rel_pos2.cross(-jointAxis));
m_0MinvJt = inertiaInvA * m_aJ;
m_1MinvJt = btVector3(0.f,0.f,0.f);
m_1MinvJt = btVector3(btScalar(0.),btScalar(0.),btScalar(0.));
m_Adiag = massInvA + m_0MinvJt.dot(m_aJ);
btAssert(m_Adiag > 0.0f);
btAssert(m_Adiag > btScalar(0.0));
}
btScalar getDiagonal() const { return m_Adiag; }

4
src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp
View File

@@ -39,7 +39,7 @@ btPoint2PointConstraint::btPoint2PointConstraint(btRigidBody& rbA,const btVector
void btPoint2PointConstraint::buildJacobian()
{
m_appliedImpulse = 0.f;
m_appliedImpulse = btScalar(0.);
btVector3 normal(0,0,0);
@@ -76,7 +76,7 @@ void btPoint2PointConstraint::solveConstraint(btScalar timeStep)
for (int i=0;i<3;i++)
{
normal[i] = 1;
btScalar jacDiagABInv = 1.f / m_jac[i].getDiagonal();
btScalar jacDiagABInv = btScalar(1.) / m_jac[i].getDiagonal();
btVector3 rel_pos1 = pivotAInW - m_rbA.getCenterOfMassPosition();
btVector3 rel_pos2 = pivotBInW - m_rbB.getCenterOfMassPosition();

8
src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h
View File

@@ -26,12 +26,12 @@ class btRigidBody;
struct btConstraintSetting
{
btConstraintSetting() :
m_tau(0.3f),
m_damping(1.f)
m_tau(btScalar(0.3)),
m_damping(btScalar(1.))
{
}
float m_tau;
float m_damping;
btScalar m_tau;
btScalar m_damping;
};
/// point to point constraint between two rigidbodies each with a pivotpoint that descibes the 'ballsocket' location in local space

54
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
View File

@@ -84,10 +84,10 @@ int btRandInt2 (int n)
int btRandIntWrong (int n)
{
float a = float(n) / 4294967296.0f;
btScalar a = btScalar(n) / btScalar(4294967296.0);
// printf("n = %d\n",n);
// printf("a = %f\n",a);
int res = (int) (float(btRand2()) * a);
int res = (int) (btScalar(btRand2()) * a);
// printf("res=%d\n",res);
return res;
}
@@ -125,7 +125,7 @@ btSequentialImpulseConstraintSolver::btSequentialImpulseConstraintSolver()
}
/// btSequentialImpulseConstraintSolver Sequentially applies impulses
float btSequentialImpulseConstraintSolver3::solveGroup(btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer)
btScalar btSequentialImpulseConstraintSolver3::solveGroup(btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer)
{
btContactSolverInfo info = infoGlobal;
@@ -209,12 +209,12 @@ float btSequentialImpulseConstraintSolver3::solveGroup(btPersistentManifold** ma
btProfiler::endBlock("solve");
#endif //USE_PROFILE
return 0.f;
return btScalar(0.);
}
/// btSequentialImpulseConstraintSolver Sequentially applies impulses
float btSequentialImpulseConstraintSolver::solveGroup(btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer)
btScalar btSequentialImpulseConstraintSolver::solveGroup(btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer)
{
btContactSolverInfo info = infoGlobal;
@@ -293,11 +293,11 @@ float btSequentialImpulseConstraintSolver::solveGroup(btPersistentManifold** man
btProfiler::endBlock("solve");
#endif //USE_PROFILE
return 0.f;
return btScalar(0.);
}
float penetrationResolveFactor = 0.9f;
btScalar penetrationResolveFactor = btScalar(0.9);
btScalar restitutionCurve(btScalar rel_vel, btScalar restitution)
{
btScalar rest = restitution * -rel_vel;
@@ -324,7 +324,7 @@ void btSequentialImpulseConstraintSolver::prepareConstraints(btPersistentManifol
for (int i=0;i<numpoints ;i++)
{
btManifoldPoint& cp = manifoldPtr->getContactPoint(i);
if (cp.getDistance() <= 0.f)
if (cp.getDistance() <= btScalar(0.))
{
const btVector3& pos1 = cp.getPositionWorldOnA();
const btVector3& pos2 = cp.getPositionWorldOnB();
@@ -373,7 +373,7 @@ void btSequentialImpulseConstraintSolver::prepareConstraints(btPersistentManifol
}
assert(cpd);
cpd->m_jacDiagABInv = 1.f / jacDiagAB;
cpd->m_jacDiagABInv = btScalar(1.) / jacDiagAB;
//Dependent on Rigidbody A and B types, fetch the contact/friction response func
//perhaps do a similar thing for friction/restutution combiner funcs...
@@ -387,14 +387,14 @@ void btSequentialImpulseConstraintSolver::prepareConstraints(btPersistentManifol
btScalar rel_vel;
rel_vel = cp.m_normalWorldOnB.dot(vel);
float combinedRestitution = cp.m_combinedRestitution;
btScalar combinedRestitution = cp.m_combinedRestitution;
cpd->m_penetration = cp.getDistance();
cpd->m_friction = cp.m_combinedFriction;
cpd->m_restitution = restitutionCurve(rel_vel, combinedRestitution);
if (cpd->m_restitution <= 0.) //0.f)
if (cpd->m_restitution <= 0.) //btScalar(0.))
{
cpd->m_restitution = 0.0f;
cpd->m_restitution = btScalar(0.0);
};
@@ -405,18 +405,18 @@ void btSequentialImpulseConstraintSolver::prepareConstraints(btPersistentManifol
if (cpd->m_restitution > penVel)
{
cpd->m_penetration = 0.f;
cpd->m_penetration = btScalar(0.);
}
float relaxation = info.m_damping;
btScalar relaxation = info.m_damping;
if (m_solverMode & SOLVER_USE_WARMSTARTING)
{
cpd->m_appliedImpulse *= relaxation;
} else
{
cpd->m_appliedImpulse =0.f;
cpd->m_appliedImpulse =btScalar(0.);
}
//for friction
@@ -429,12 +429,12 @@ void btSequentialImpulseConstraintSolver::prepareConstraints(btPersistentManifol
#define NO_FRICTION_WARMSTART 1
#ifdef NO_FRICTION_WARMSTART
cpd->m_accumulatedTangentImpulse0 = 0.f;
cpd->m_accumulatedTangentImpulse1 = 0.f;
cpd->m_accumulatedTangentImpulse0 = btScalar(0.);
cpd->m_accumulatedTangentImpulse1 = btScalar(0.);
#endif //NO_FRICTION_WARMSTART
float denom0 = body0->computeImpulseDenominator(pos1,cpd->m_frictionWorldTangential0);
float denom1 = body1->computeImpulseDenominator(pos2,cpd->m_frictionWorldTangential0);
float denom = relaxation/(denom0+denom1);
btScalar denom0 = body0->computeImpulseDenominator(pos1,cpd->m_frictionWorldTangential0);
btScalar denom1 = body1->computeImpulseDenominator(pos2,cpd->m_frictionWorldTangential0);
btScalar denom = relaxation/(denom0+denom1);
cpd->m_jacDiagABInvTangent0 = denom;
@@ -489,16 +489,16 @@ void btSequentialImpulseConstraintSolver::prepareConstraints(btPersistentManifol
}
}
float btSequentialImpulseConstraintSolver::solve(btRigidBody* body0,btRigidBody* body1, btManifoldPoint& cp, const btContactSolverInfo& info,int iter,btIDebugDraw* debugDrawer)
btScalar btSequentialImpulseConstraintSolver::solve(btRigidBody* body0,btRigidBody* body1, btManifoldPoint& cp, const btContactSolverInfo& info,int iter,btIDebugDraw* debugDrawer)
{
float maxImpulse = 0.f;
btScalar maxImpulse = btScalar(0.);
{
btVector3 color(0,1,0);
{
if (cp.getDistance() <= 0.f)
if (cp.getDistance() <= btScalar(0.))
{
if (iter == 0)
@@ -510,7 +510,7 @@ float btSequentialImpulseConstraintSolver::solve(btRigidBody* body0,btRigidBody*
{
btConstraintPersistentData* cpd = (btConstraintPersistentData*) cp.m_userPersistentData;
float impulse = cpd->m_contactSolverFunc(
btScalar impulse = cpd->m_contactSolverFunc(
*body0,*body1,
cp,
info);
@@ -525,7 +525,7 @@ float btSequentialImpulseConstraintSolver::solve(btRigidBody* body0,btRigidBody*
return maxImpulse;
}
float btSequentialImpulseConstraintSolver::solveFriction(btRigidBody* body0,btRigidBody* body1, btManifoldPoint& cp, const btContactSolverInfo& info,int iter,btIDebugDraw* debugDrawer)
btScalar btSequentialImpulseConstraintSolver::solveFriction(btRigidBody* body0,btRigidBody* body1, btManifoldPoint& cp, const btContactSolverInfo& info,int iter,btIDebugDraw* debugDrawer)
{
@@ -534,7 +534,7 @@ float btSequentialImpulseConstraintSolver::solveFriction(btRigidBody* body0,btRi
btVector3 color(0,1,0);
{
if (cp.getDistance() <= 0.f)
if (cp.getDistance() <= btScalar(0.))
{
btConstraintPersistentData* cpd = (btConstraintPersistentData*) cp.m_userPersistentData;
@@ -549,5 +549,5 @@ float btSequentialImpulseConstraintSolver::solveFriction(btRigidBody* body0,btRi
}
return 0.f;
return btScalar(0.);
}

8
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
View File

@@ -31,8 +31,8 @@ class btSequentialImpulseConstraintSolver : public btConstraintSolver
{
protected:
float solve(btRigidBody* body0,btRigidBody* body1, btManifoldPoint& cp, const btContactSolverInfo& info,int iter,btIDebugDraw* debugDrawer);
float solveFriction(btRigidBody* body0,btRigidBody* body1, btManifoldPoint& cp, const btContactSolverInfo& info,int iter,btIDebugDraw* debugDrawer);
btScalar solve(btRigidBody* body0,btRigidBody* body1, btManifoldPoint& cp, const btContactSolverInfo& info,int iter,btIDebugDraw* debugDrawer);
btScalar solveFriction(btRigidBody* body0,btRigidBody* body1, btManifoldPoint& cp, const btContactSolverInfo& info,int iter,btIDebugDraw* debugDrawer);
void prepareConstraints(btPersistentManifold* manifoldPtr, const btContactSolverInfo& info,btIDebugDraw* debugDrawer);
ContactSolverFunc m_contactDispatch[MAX_CONTACT_SOLVER_TYPES][MAX_CONTACT_SOLVER_TYPES];
@@ -68,7 +68,7 @@ public:
virtual ~btSequentialImpulseConstraintSolver() {}
virtual float solveGroup(btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer=0);
virtual btScalar solveGroup(btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer=0);
void setSolverMode(int mode)
{
@@ -88,7 +88,7 @@ public:
btSequentialImpulseConstraintSolver3();
virtual float solveGroup(btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer=0);
virtual btScalar solveGroup(btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer=0);
};

42
src/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.cpp
View File

@@ -44,11 +44,11 @@ void btSolve2LinearConstraint::resolveUnilateralPairConstraint(
btScalar& imp0,btScalar& imp1)
{
imp0 = 0.f;
imp1 = 0.f;
imp0 = btScalar(0.);
imp1 = btScalar(0.);
btScalar len = fabs(normalA.length())-1.f;
if (fabs(len) >= SIMD_EPSILON)
btScalar len = btFabs(normalA.length()) - btScalar(1.);
if (btFabs(len) >= SIMD_EPSILON)
return;
btAssert(len < SIMD_EPSILON);
@@ -67,7 +67,7 @@ void btSolve2LinearConstraint::resolveUnilateralPairConstraint(
const btScalar vel1 = normalB.dot(body1->getVelocityInLocalPoint(rel_posB1)-body2->getVelocityInLocalPoint(rel_posB1));
// btScalar penetrationImpulse = (depth*contactTau*timeCorrection) * massTerm;//jacDiagABInv
btScalar massTerm = 1.f / (invMassA + invMassB);
btScalar massTerm = btScalar(1.) / (invMassA + invMassB);
// calculate rhs (or error) terms
@@ -87,7 +87,7 @@ void btSolve2LinearConstraint::resolveUnilateralPairConstraint(
btScalar nonDiag = jacA.getNonDiagonal(jacB,invMassA,invMassB);
btScalar invDet = 1.0f / (jacA.getDiagonal() * jacB.getDiagonal() - nonDiag * nonDiag );
btScalar invDet = btScalar(1.0) / (jacA.getDiagonal() * jacB.getDiagonal() - nonDiag * nonDiag );
//imp0 = dv0 * jacA.getDiagonal() * invDet + dv1 * -nonDiag * invDet;
//imp1 = dv1 * jacB.getDiagonal() * invDet + dv0 * - nonDiag * invDet;
@@ -126,11 +126,11 @@ void btSolve2LinearConstraint::resolveBilateralPairConstraint(
btScalar& imp0,btScalar& imp1)
{
imp0 = 0.f;
imp1 = 0.f;
imp0 = btScalar(0.);
imp1 = btScalar(0.);
btScalar len = fabs(normalA.length())-1.f;
if (fabs(len) >= SIMD_EPSILON)
btScalar len = btFabs(normalA.length()) - btScalar(1.);
if (btFabs(len) >= SIMD_EPSILON)
return;
btAssert(len < SIMD_EPSILON);
@@ -164,7 +164,7 @@ void btSolve2LinearConstraint::resolveBilateralPairConstraint(
btScalar nonDiag = jacA.getNonDiagonal(jacB,invMassA,invMassB);
btScalar invDet = 1.0f / (jacA.getDiagonal() * jacB.getDiagonal() - nonDiag * nonDiag );
btScalar invDet = btScalar(1.0) / (jacA.getDiagonal() * jacB.getDiagonal() - nonDiag * nonDiag );
//imp0 = dv0 * jacA.getDiagonal() * invDet + dv1 * -nonDiag * invDet;
//imp1 = dv1 * jacB.getDiagonal() * invDet + dv0 * - nonDiag * invDet;
@@ -178,41 +178,41 @@ void btSolve2LinearConstraint::resolveBilateralPairConstraint(
//[jA nD] * [imp0] = [dv0]
//[nD jB] [imp1] [dv1]
if ( imp0 > 0.0f)
if ( imp0 > btScalar(0.0))
{
if ( imp1 > 0.0f )
if ( imp1 > btScalar(0.0) )
{
//both positive
}
else
{
imp1 = 0.f;
imp1 = btScalar(0.);
// now imp0>0 imp1<0
imp0 = dv0 / jacA.getDiagonal();
if ( imp0 > 0.0f )
if ( imp0 > btScalar(0.0) )
{
} else
{
imp0 = 0.f;
imp0 = btScalar(0.);
}
}
}
else
{
imp0 = 0.f;
imp0 = btScalar(0.);
imp1 = dv1 / jacB.getDiagonal();
if ( imp1 <= 0.0f )
if ( imp1 <= btScalar(0.0) )
{
imp1 = 0.f;
imp1 = btScalar(0.);
// now imp0>0 imp1<0
imp0 = dv0 / jacA.getDiagonal();
if ( imp0 > 0.0f )
if ( imp0 > btScalar(0.0) )
{
} else
{
imp0 = 0.f;
imp0 = btScalar(0.);
}
} else
{

12
src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp
View File

@@ -24,18 +24,18 @@ btTypedConstraint::btTypedConstraint()
m_userConstraintId(-1),
m_rbA(s_fixed),
m_rbB(s_fixed),
m_appliedImpulse(0.f)
m_appliedImpulse(btScalar(0.))
{
s_fixed.setMassProps(0.f,btVector3(0.f,0.f,0.f));
s_fixed.setMassProps(btScalar(0.),btVector3(btScalar(0.),btScalar(0.),btScalar(0.)));
}
btTypedConstraint::btTypedConstraint(btRigidBody& rbA)
: m_userConstraintType(-1),
m_userConstraintId(-1),
m_rbA(rbA),
m_rbB(s_fixed),
m_appliedImpulse(0.f)
m_appliedImpulse(btScalar(0.))
{
s_fixed.setMassProps(0.f,btVector3(0.f,0.f,0.f));
s_fixed.setMassProps(btScalar(0.),btVector3(btScalar(0.),btScalar(0.),btScalar(0.)));
}
@@ -45,9 +45,9 @@ btTypedConstraint::btTypedConstraint(btRigidBody& rbA,btRigidBody& rbB)
m_userConstraintId(-1),
m_rbA(rbA),
m_rbB(rbB),
m_appliedImpulse(0.f)
m_appliedImpulse(btScalar(0.))
{
s_fixed.setMassProps(0.f,btVector3(0.f,0.f,0.f));
s_fixed.setMassProps(btScalar(0.),btVector3(btScalar(0.),btScalar(0.),btScalar(0.)));
}

4
src/BulletDynamics/ConstraintSolver/btTypedConstraint.h
View File

@@ -29,7 +29,7 @@ class btTypedConstraint
protected:
btRigidBody& m_rbA;
btRigidBody& m_rbB;
float m_appliedImpulse;
btScalar m_appliedImpulse;
public:
@@ -81,7 +81,7 @@ public:
{
return m_userConstraintId;
}
float getAppliedImpulse()
btScalar getAppliedImpulse()
{
return m_appliedImpulse;
}

76
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
View File

@@ -63,7 +63,7 @@ btDiscreteDynamicsWorld::btDiscreteDynamicsWorld(btDispatcher* dispatcher,btOver
m_constraintSolver(constraintSolver? constraintSolver: new btSequentialImpulseConstraintSolver),
m_debugDrawer(0),
m_gravity(0,-10,0),
m_localTime(1.f/60.f),
m_localTime(btScalar(1.)/btScalar(60.)),
m_profileTimings(0)
{
m_islandManager = new btSimulationIslandManager();
@@ -81,7 +81,7 @@ btDiscreteDynamicsWorld::~btDiscreteDynamicsWorld()
delete m_constraintSolver;
}
void btDiscreteDynamicsWorld::saveKinematicState(float timeStep)
void btDiscreteDynamicsWorld::saveKinematicState(btScalar timeStep)
{
for (unsigned int i=0;i<m_collisionObjects.size();i++)
@@ -115,22 +115,22 @@ void btDiscreteDynamicsWorld::synchronizeMotionStates()
btCollisionObject* colObj = m_collisionObjects[i];
if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawWireframe)
{
btVector3 color(255.f,255.f,255.f);
btVector3 color(btScalar(255.),btScalar(255.),btScalar(255.));
switch(colObj->getActivationState())
{
case ACTIVE_TAG:
color = btVector3(255.f,255.f,255.f); break;
color = btVector3(btScalar(255.),btScalar(255.),btScalar(255.)); break;
case ISLAND_SLEEPING:
color = btVector3(0.f,255.f,0.f);break;
color = btVector3(btScalar(0.),btScalar(255.),btScalar(0.));break;
case WANTS_DEACTIVATION:
color = btVector3(0.f,255.f,255.f);break;
color = btVector3(btScalar(0.),btScalar(255.),btScalar(255.));break;
case DISABLE_DEACTIVATION:
color = btVector3(255.f,0.f,0.f);break;
color = btVector3(btScalar(255.),btScalar(0.),btScalar(0.));break;
case DISABLE_SIMULATION:
color = btVector3(255.f,255.f,0.f);break;
color = btVector3(btScalar(255.),btScalar(255.),btScalar(0.));break;
default:
{
color = btVector3(255.f,0.f,0.f);
color = btVector3(btScalar(255.),btScalar(0.),btScalar(0.));
}
};
@@ -188,7 +188,7 @@ void btDiscreteDynamicsWorld::synchronizeMotionStates()
}
int btDiscreteDynamicsWorld::stepSimulation( float timeStep,int maxSubSteps, float fixedTimeStep)
int btDiscreteDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps, btScalar fixedTimeStep)
{
int numSimulationSubSteps = 0;
@@ -243,7 +243,7 @@ int btDiscreteDynamicsWorld::stepSimulation( float timeStep,int maxSubSteps, flo
return numSimulationSubSteps;
}
void btDiscreteDynamicsWorld::internalSingleStepSimulation(float timeStep)
void btDiscreteDynamicsWorld::internalSingleStepSimulation(btScalar timeStep)
{
startProfiling(timeStep);
@@ -326,7 +326,7 @@ void btDiscreteDynamicsWorld::addRigidBody(btRigidBody* body)
}
void btDiscreteDynamicsWorld::updateVehicles(float timeStep)
void btDiscreteDynamicsWorld::updateVehicles(btScalar timeStep)
{
BEGIN_PROFILE("updateVehicles");
@@ -338,7 +338,7 @@ void btDiscreteDynamicsWorld::updateVehicles(float timeStep)
END_PROFILE("updateVehicles");
}
void btDiscreteDynamicsWorld::updateActivationState(float timeStep)
void btDiscreteDynamicsWorld::updateActivationState(btScalar timeStep)
{
BEGIN_PROFILE("updateActivationState");
@@ -548,11 +548,11 @@ void btDiscreteDynamicsWorld::calculateSimulationIslands()
static void DrawAabb(btIDebugDraw* debugDrawer,const btVector3& from,const btVector3& to,const btVector3& color)
{
btVector3 halfExtents = (to-from)* 0.5f;
btVector3 center = (to+from) *0.5f;
btVector3 halfExtents = (to-from)* btScalar(0.5);
btVector3 center = (to+from) *btScalar(0.5);
int i,j;
btVector3 edgecoord(1.f,1.f,1.f),pa,pb;
btVector3 edgecoord(btScalar(1.),btScalar(1.),btScalar(1.)),pa,pb;
for (i=0;i<4;i++)
{
for (j=0;j<3;j++)
@@ -562,16 +562,16 @@ static void DrawAabb(btIDebugDraw* debugDrawer,const btVector3& from,const btVec
pa+=center;
int othercoord = j%3;
edgecoord[othercoord]*=-1.f;
edgecoord[othercoord]*=btScalar(-1.);
pb = btVector3(edgecoord[0]*halfExtents[0], edgecoord[1]*halfExtents[1],
edgecoord[2]*halfExtents[2]);
pb+=center;
debugDrawer->drawLine(pa,pb,color);
}
edgecoord = btVector3(-1.f,-1.f,-1.f);
edgecoord = btVector3(btScalar(-1.),btScalar(-1.),btScalar(-1.));
if (i<3)
edgecoord[i]*=-1.f;
edgecoord[i]*=btScalar(-1.);
}
@@ -597,7 +597,7 @@ void btDiscreteDynamicsWorld::updateAabbs()
btSimpleBroadphase* bp = (btSimpleBroadphase*)m_broadphasePairCache;
//moving objects should be moderately sized, probably something wrong if not
if ( colObj->isStaticObject() || ((maxAabb-minAabb).length2() < 1e12f))
if ( colObj->isStaticObject() || ((maxAabb-minAabb).length2() < btScalar(1e12)))
{
bp->setAabb(body->getBroadphaseHandle(),minAabb,maxAabb);
} else
@@ -630,7 +630,7 @@ void btDiscreteDynamicsWorld::updateAabbs()
END_PROFILE("updateAabbs");
}
void btDiscreteDynamicsWorld::integrateTransforms(float timeStep)
void btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep)
{
BEGIN_PROFILE("integrateTransforms");
btTransform predictedTrans;
@@ -652,7 +652,7 @@ void btDiscreteDynamicsWorld::integrateTransforms(float timeStep)
void btDiscreteDynamicsWorld::predictUnconstraintMotion(float timeStep)
void btDiscreteDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
{
BEGIN_PROFILE("predictUnconstraintMotion");
for (unsigned int i=0;i<m_collisionObjects.size();i++)
@@ -676,7 +676,7 @@ void btDiscreteDynamicsWorld::predictUnconstraintMotion(float timeStep)
}
void btDiscreteDynamicsWorld::startProfiling(float timeStep)
void btDiscreteDynamicsWorld::startProfiling(btScalar timeStep)
{
#ifdef USE_QUICKPROF
@@ -771,7 +771,7 @@ void btDiscreteDynamicsWorld::debugDrawObject(const btTransform& worldTransform,
case SPHERE_SHAPE_PROXYTYPE:
{
const btSphereShape* sphereShape = static_cast<const btSphereShape*>(shape);
float radius = sphereShape->getMargin();//radius doesn't include the margin, so draw with margin
btScalar radius = sphereShape->getMargin();//radius doesn't include the margin, so draw with margin
btVector3 start = worldTransform.getOrigin();
getDebugDrawer()->drawLine(start,start+worldTransform.getBasis() * btVector3(radius,0,0),color);
getDebugDrawer()->drawLine(start,start+worldTransform.getBasis() * btVector3(0,radius,0),color);
@@ -783,13 +783,13 @@ void btDiscreteDynamicsWorld::debugDrawObject(const btTransform& worldTransform,
case CONE_SHAPE_PROXYTYPE:
{
const btConeShape* coneShape = static_cast<const btConeShape*>(shape);
float radius = coneShape->getRadius();//+coneShape->getMargin();
float height = coneShape->getHeight();//+coneShape->getMargin();
btScalar radius = coneShape->getRadius();//+coneShape->getMargin();
btScalar height = coneShape->getHeight();//+coneShape->getMargin();
btVector3 start = worldTransform.getOrigin();
getDebugDrawer()->drawLine(start+worldTransform.getBasis() * btVector3(0.f,0.f,0.5f*height),start+worldTransform.getBasis() * btVector3(radius,0.f,-0.5f*height),color);
getDebugDrawer()->drawLine(start+worldTransform.getBasis() * btVector3(0.f,0.f,0.5f*height),start+worldTransform.getBasis() * btVector3(-radius,0.f,-0.5f*height),color);
getDebugDrawer()->drawLine(start+worldTransform.getBasis() * btVector3(0.f,0.f,0.5f*height),start+worldTransform.getBasis() * btVector3(0.f,radius,-0.5f*height),color);
getDebugDrawer()->drawLine(start+worldTransform.getBasis() * btVector3(0.f,0.f,0.5f*height),start+worldTransform.getBasis() * btVector3(0.f,-radius,-0.5f*height),color);
getDebugDrawer()->drawLine(start+worldTransform.getBasis() * btVector3(btScalar(0.),btScalar(0.),btScalar(0.5)*height),start+worldTransform.getBasis() * btVector3(radius,btScalar(0.),btScalar(-0.5)*height),color);
getDebugDrawer()->drawLine(start+worldTransform.getBasis() * btVector3(btScalar(0.),btScalar(0.),btScalar(0.5)*height),start+worldTransform.getBasis() * btVector3(-radius,btScalar(0.),btScalar(-0.5)*height),color);
getDebugDrawer()->drawLine(start+worldTransform.getBasis() * btVector3(btScalar(0.),btScalar(0.),btScalar(0.5)*height),start+worldTransform.getBasis() * btVector3(btScalar(0.),radius,btScalar(-0.5)*height),color);
getDebugDrawer()->drawLine(start+worldTransform.getBasis() * btVector3(btScalar(0.),btScalar(0.),btScalar(0.5)*height),start+worldTransform.getBasis() * btVector3(btScalar(0.),-radius,btScalar(-0.5)*height),color);
break;
}
@@ -797,8 +797,8 @@ void btDiscreteDynamicsWorld::debugDrawObject(const btTransform& worldTransform,
{
const btCylinderShape* cylinder = static_cast<const btCylinderShape*>(shape);
int upAxis = cylinder->getUpAxis();
float radius = cylinder->getRadius();
float halfHeight = cylinder->getHalfExtents()[upAxis];
btScalar radius = cylinder->getRadius();
btScalar halfHeight = cylinder->getHalfExtents()[upAxis];
btVector3 start = worldTransform.getOrigin();
btVector3 offsetHeight(0,0,0);
offsetHeight[upAxis] = halfHeight;
@@ -814,12 +814,12 @@ void btDiscreteDynamicsWorld::debugDrawObject(const btTransform& worldTransform,
if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
{
btTriangleMeshShape* concaveMesh = (btTriangleMeshShape*) shape;
//btVector3 aabbMax(1e30f,1e30f,1e30f);
//btVector3 aabbMax(100,100,100);//1e30f,1e30f,1e30f);
//btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
//btVector3 aabbMax(100,100,100);//btScalar(1e30),btScalar(1e30),btScalar(1e30));
//todo pass camera, for some culling
btVector3 aabbMax(1e30f,1e30f,1e30f);
btVector3 aabbMin(-1e30f,-1e30f,-1e30f);
btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
btVector3 aabbMin(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30));
DebugDrawcallback drawCallback(getDebugDrawer(),worldTransform,color);
concaveMesh->processAllTriangles(&drawCallback,aabbMin,aabbMax);
@@ -830,8 +830,8 @@ void btDiscreteDynamicsWorld::debugDrawObject(const btTransform& worldTransform,
{
btConvexTriangleMeshShape* convexMesh = (btConvexTriangleMeshShape*) shape;
//todo: pass camera for some culling
btVector3 aabbMax(1e30f,1e30f,1e30f);
btVector3 aabbMin(-1e30f,-1e30f,-1e30f);
btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
btVector3 aabbMin(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30));
//DebugDrawcallback drawCallback;
DebugDrawcallback drawCallback(getDebugDrawer(),worldTransform,color);
convexMesh->getStridingMesh()->InternalProcessAllTriangles(&drawCallback,aabbMin,aabbMax);

18
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h
View File

@@ -47,7 +47,7 @@ protected:
btVector3 m_gravity;
//for variable timesteps
float m_localTime;
btScalar m_localTime;
//for variable timesteps
bool m_ownsIslandManager;
@@ -60,25 +60,25 @@ protected:
int m_profileTimings;
void predictUnconstraintMotion(float timeStep);
void predictUnconstraintMotion(btScalar timeStep);
void integrateTransforms(float timeStep);
void integrateTransforms(btScalar timeStep);
void calculateSimulationIslands();
void solveConstraints(btContactSolverInfo& solverInfo);
void updateActivationState(float timeStep);
void updateActivationState(btScalar timeStep);
void updateVehicles(float timeStep);
void updateVehicles(btScalar timeStep);
void startProfiling(float timeStep);
void startProfiling(btScalar timeStep);
virtual void internalSingleStepSimulation( float timeStep);
virtual void internalSingleStepSimulation( btScalar timeStep);
void synchronizeMotionStates();
void saveKinematicState(float timeStep);
void saveKinematicState(btScalar timeStep);
public:
@@ -90,7 +90,7 @@ public:
virtual ~btDiscreteDynamicsWorld();
///if maxSubSteps > 0, it will interpolate motion between fixedTimeStep's
virtual int stepSimulation( float timeStep,int maxSubSteps=1, float fixedTimeStep=1.f/60.f);
virtual int stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.));
virtual void updateAabbs();

2
src/BulletDynamics/Dynamics/btDynamicsWorld.h
View File

@@ -39,7 +39,7 @@ class btDynamicsWorld : public btCollisionWorld
///stepSimulation proceeds the simulation over timeStep units
///if maxSubSteps > 0, it will interpolate time steps
virtual int stepSimulation( float timeStep,int maxSubSteps=1, float fixedTimeStep=1.f/60.f)=0;
virtual int stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.))=0;
virtual void updateAabbs() = 0;

88
src/BulletDynamics/Dynamics/btRigidBody.cpp
View File

@@ -19,25 +19,25 @@ subject to the following restrictions:
#include <LinearMath/btTransformUtil.h>
#include <LinearMath/btMotionState.h>
float gLinearAirDamping = 1.f;
btScalar gLinearAirDamping = btScalar(1.);
//'temporarily' global variables
float gDeactivationTime = 2.f;
btScalar gDeactivationTime = btScalar(2.);
bool gDisableDeactivation = false;
float gLinearSleepingThreshold = 0.8f;
float gAngularSleepingThreshold = 1.0f;
btScalar gLinearSleepingThreshold = btScalar(0.8);
btScalar gAngularSleepingThreshold = btScalar(1.0);
static int uniqueId = 0;
btRigidBody::btRigidBody(float mass, btMotionState* motionState, btCollisionShape* collisionShape, const btVector3& localInertia,btScalar linearDamping,btScalar angularDamping,btScalar friction,btScalar restitution)
btRigidBody::btRigidBody(btScalar mass, btMotionState* motionState, btCollisionShape* collisionShape, const btVector3& localInertia,btScalar linearDamping,btScalar angularDamping,btScalar friction,btScalar restitution)
:
m_gravity(0.0f, 0.0f, 0.0f),
m_totalForce(0.0f, 0.0f, 0.0f),
m_totalTorque(0.0f, 0.0f, 0.0f),
m_linearVelocity(0.0f, 0.0f, 0.0f),
m_angularVelocity(0.f,0.f,0.f),
m_angularFactor(1.f),
m_linearDamping(0.f),
m_angularDamping(0.5f),
m_gravity(btScalar(0.0), btScalar(0.0), btScalar(0.0)),
m_totalForce(btScalar(0.0), btScalar(0.0), btScalar(0.0)),
m_totalTorque(btScalar(0.0), btScalar(0.0), btScalar(0.0)),
m_linearVelocity(btScalar(0.0), btScalar(0.0), btScalar(0.0)),
m_angularVelocity(btScalar(0.),btScalar(0.),btScalar(0.)),
m_angularFactor(btScalar(1.)),
m_linearDamping(btScalar(0.)),
m_angularDamping(btScalar(0.5)),
m_optionalMotionState(motionState),
m_contactSolverType(0),
m_frictionSolverType(0)
@@ -72,15 +72,15 @@ btRigidBody::btRigidBody(float mass, btMotionState* motionState, btCollisionShap
}
#ifdef OBSOLETE_MOTIONSTATE_LESS
btRigidBody::btRigidBody( float mass,const btTransform& worldTransform,btCollisionShape* collisionShape,const btVector3& localInertia,btScalar linearDamping,btScalar angularDamping,btScalar friction,btScalar restitution)
btRigidBody::btRigidBody( btScalar mass,const btTransform& worldTransform,btCollisionShape* collisionShape,const btVector3& localInertia,btScalar linearDamping,btScalar angularDamping,btScalar friction,btScalar restitution)
:
m_gravity(0.0f, 0.0f, 0.0f),
m_totalForce(0.0f, 0.0f, 0.0f),
m_totalTorque(0.0f, 0.0f, 0.0f),
m_linearVelocity(0.0f, 0.0f, 0.0f),
m_angularVelocity(0.f,0.f,0.f),
m_linearDamping(0.f),
m_angularDamping(0.5f),
m_gravity(btScalar(0.0), btScalar(0.0), btScalar(0.0)),
m_totalForce(btScalar(0.0), btScalar(0.0), btScalar(0.0)),
m_totalTorque(btScalar(0.0), btScalar(0.0), btScalar(0.0)),
m_linearVelocity(btScalar(0.0), btScalar(0.0), btScalar(0.0)),
m_angularVelocity(btScalar(0.),btScalar(0.),btScalar(0.)),
m_linearDamping(btScalar(0.)),
m_angularDamping(btScalar(0.5)),
m_optionalMotionState(0),
m_contactSolverType(0),
m_frictionSolverType(0)
@@ -115,11 +115,11 @@ btRigidBody::btRigidBody( float mass,const btTransform& worldTransform,btCollisi
//Bullet 2.20b has experimental damping code to reduce jitter just before objects fall asleep/deactivate
//doesn't work very well yet (value 0 disabled this damping)
//note there this influences deactivation thresholds!
float gClippedAngvelThresholdSqr = 0.01f;
float gClippedLinearThresholdSqr = 0.01f;
btScalar gClippedAngvelThresholdSqr = btScalar(0.01);
btScalar gClippedLinearThresholdSqr = btScalar(0.01);
#endif //EXPERIMENTAL_JITTER_REMOVAL
float gJitterVelocityDampingFactor = 1.f;
btScalar gJitterVelocityDampingFactor = btScalar(1.);
void btRigidBody::predictIntegratedTransform(btScalar timeStep,btTransform& predictedTransform)
{
@@ -144,7 +144,7 @@ void btRigidBody::predictIntegratedTransform(btScalar timeStep,btTransform& pred
void btRigidBody::saveKinematicState(btScalar timeStep)
{
//todo: clamp to some (user definable) safe minimum timestep, to limit maximum angular/linear velocities
if (timeStep != 0.f)
if (timeStep != btScalar(0.))
{
//if we use motionstate to synchronize world transforms, get the new kinematic/animated world transform
if (getMotionState())
@@ -169,9 +169,9 @@ void btRigidBody::getAabb(btVector3& aabbMin,btVector3& aabbMax) const
void btRigidBody::setGravity(const btVector3& acceleration)
{
if (m_inverseMass != 0.0f)
if (m_inverseMass != btScalar(0.0))
{
m_gravity = acceleration * (1.0f / m_inverseMass);
m_gravity = acceleration * (btScalar(1.0) / m_inverseMass);
}
}
@@ -182,8 +182,8 @@ void btRigidBody::setGravity(const btVector3& acceleration)
void btRigidBody::setDamping(btScalar lin_damping, btScalar ang_damping)
{
m_linearDamping = GEN_clamped(lin_damping, 0.0f, 1.0f);
m_angularDamping = GEN_clamped(ang_damping, 0.0f, 1.0f);
m_linearDamping = GEN_clamped(lin_damping, (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
m_angularDamping = GEN_clamped(ang_damping, (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
}
@@ -198,36 +198,36 @@ void btRigidBody::applyForces(btScalar step)
applyCentralForce(m_gravity);
m_linearVelocity *= GEN_clamped((1.f - step * gLinearAirDamping * m_linearDamping), 0.0f, 1.0f);
m_angularVelocity *= GEN_clamped((1.f - step * m_angularDamping), 0.0f, 1.0f);
m_linearVelocity *= GEN_clamped((btScalar(1.) - step * gLinearAirDamping * m_linearDamping), (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
m_angularVelocity *= GEN_clamped((btScalar(1.) - step * m_angularDamping), (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
#define FORCE_VELOCITY_DAMPING 1
#ifdef FORCE_VELOCITY_DAMPING
float speed = m_linearVelocity.length();
btScalar speed = m_linearVelocity.length();
if (speed < m_linearDamping)
{
float dampVel = 0.005f;
btScalar dampVel = btScalar(0.005);
if (speed > dampVel)
{
btVector3 dir = m_linearVelocity.normalized();
m_linearVelocity -= dir * dampVel;
} else
{
m_linearVelocity.setValue(0.f,0.f,0.f);
m_linearVelocity.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
}
}
float angSpeed = m_angularVelocity.length();
btScalar angSpeed = m_angularVelocity.length();
if (angSpeed < m_angularDamping)
{
float angDampVel = 0.005f;
btScalar angDampVel = btScalar(0.005);
if (angSpeed > angDampVel)
{
btVector3 dir = m_angularVelocity.normalized();
m_angularVelocity -= dir * angDampVel;
} else
{
m_angularVelocity.setValue(0.f,0.f,0.f);
m_angularVelocity.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
}
}
#endif //FORCE_VELOCITY_DAMPING
@@ -242,19 +242,19 @@ void btRigidBody::proceedToTransform(const btTransform& newTrans)
void btRigidBody::setMassProps(btScalar mass, const btVector3& inertia)
{
if (mass == 0.f)
if (mass == btScalar(0.))
{
m_collisionFlags |= btCollisionObject::CF_STATIC_OBJECT;
m_inverseMass = 0.f;
m_inverseMass = btScalar(0.);
} else
{
m_collisionFlags &= (~btCollisionObject::CF_STATIC_OBJECT);
m_inverseMass = 1.0f / mass;
m_inverseMass = btScalar(1.0) / mass;
}
m_invInertiaLocal.setValue(inertia[0] != 0.0f ? 1.0f / inertia[0]: 0.0f,
inertia[1] != 0.0f ? 1.0f / inertia[1]: 0.0f,
inertia[2] != 0.0f ? 1.0f / inertia[2]: 0.0f);
m_invInertiaLocal.setValue(inertia[0] != btScalar(0.0) ? btScalar(1.0) / inertia[0]: btScalar(0.0),
inertia[1] != btScalar(0.0) ? btScalar(1.0) / inertia[1]: btScalar(0.0),
inertia[2] != btScalar(0.0) ? btScalar(1.0) / inertia[2]: btScalar(0.0));
}
@@ -276,7 +276,7 @@ void btRigidBody::integrateVelocities(btScalar step)
#define MAX_ANGVEL SIMD_HALF_PI
/// clamp angular velocity. collision calculations will fail on higher angular velocities
float angvel = m_angularVelocity.length();
btScalar angvel = m_angularVelocity.length();
if (angvel*step > MAX_ANGVEL)
{
m_angularVelocity *= (MAX_ANGVEL/step) /angvel;

36
src/BulletDynamics/Dynamics/btRigidBody.h
View File

@@ -29,13 +29,13 @@ class btMotionState;
extern float gLinearAirDamping;
extern btScalar gLinearAirDamping;
extern bool gUseEpa;
extern float gDeactivationTime;
extern btScalar gDeactivationTime;
extern bool gDisableDeactivation;
extern float gLinearSleepingThreshold;
extern float gAngularSleepingThreshold;
extern btScalar gLinearSleepingThreshold;
extern btScalar gAngularSleepingThreshold;
/// btRigidBody class for btRigidBody Dynamics
@@ -65,10 +65,10 @@ public:
#ifdef OBSOLETE_MOTIONSTATE_LESS
//not supported, please use btMotionState
btRigidBody(float mass, const btTransform& worldTransform, btCollisionShape* collisionShape, const btVector3& localInertia=btVector3(0,0,0),btScalar linearDamping=0.f,btScalar angularDamping=0.f,btScalar friction=0.5f,btScalar restitution=0.f);
btRigidBody(btScalar mass, const btTransform& worldTransform, btCollisionShape* collisionShape, const btVector3& localInertia=btVector3(0,0,0),btScalar linearDamping=btScalar(0.),btScalar angularDamping=btScalar(0.),btScalar friction=btScalar(0.5),btScalar restitution=btScalar(0.));
#endif //OBSOLETE_MOTIONSTATE_LESS
btRigidBody(float mass, btMotionState* motionState, btCollisionShape* collisionShape, const btVector3& localInertia=btVector3(0,0,0),btScalar linearDamping=0.f,btScalar angularDamping=0.f,btScalar friction=0.5f,btScalar restitution=0.f);
btRigidBody(btScalar mass, btMotionState* motionState, btCollisionShape* collisionShape, const btVector3& localInertia=btVector3(0,0,0),btScalar linearDamping=btScalar(0.),btScalar angularDamping=btScalar(0.),btScalar friction=btScalar(0.5),btScalar restitution=btScalar(0.));
void proceedToTransform(const btTransform& newTrans);
@@ -157,7 +157,7 @@ public:
void applyImpulse(const btVector3& impulse, const btVector3& rel_pos)
{
if (m_inverseMass != 0.f)
if (m_inverseMass != btScalar(0.))
{
applyCentralImpulse(impulse);
if (m_angularFactor)
@@ -168,9 +168,9 @@ public:
}
//Optimization for the iterative solver: avoid calculating constant terms involving inertia, normal, relative position
inline void internalApplyImpulse(const btVector3& linearComponent, const btVector3& angularComponent,float impulseMagnitude)
inline void internalApplyImpulse(const btVector3& linearComponent, const btVector3& angularComponent,btScalar impulseMagnitude)
{
if (m_inverseMass != 0.f)
if (m_inverseMass != btScalar(0.))
{
m_linearVelocity += linearComponent*impulseMagnitude;
if (m_angularFactor)
@@ -182,8 +182,8 @@ public:
void clearForces()
{
m_totalForce.setValue(0.0f, 0.0f, 0.0f);
m_totalTorque.setValue(0.0f, 0.0f, 0.0f);
m_totalForce.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
m_totalTorque.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
}
void updateInertiaTensor();
@@ -238,7 +238,7 @@ public:
inline float computeImpulseDenominator(const btPoint3& pos, const btVector3& normal) const
inline btScalar computeImpulseDenominator(const btPoint3& pos, const btVector3& normal) const
{
btVector3 r0 = pos - getCenterOfMassPosition();
@@ -250,13 +250,13 @@ public:
}
inline float computeAngularImpulseDenominator(const btVector3& axis) const
inline btScalar computeAngularImpulseDenominator(const btVector3& axis) const
{
btVector3 vec = axis * getInvInertiaTensorWorld();
return axis.dot(vec);
}
inline void updateDeactivation(float timeStep)
inline void updateDeactivation(btScalar timeStep)
{
if ( (getActivationState() == ISLAND_SLEEPING) || (getActivationState() == DISABLE_DEACTIVATION))
return;
@@ -267,7 +267,7 @@ public:
m_deactivationTime += timeStep;
} else
{
m_deactivationTime=0.f;
m_deactivationTime=btScalar(0.);
setActivationState(0);
}
@@ -280,7 +280,7 @@ public:
return false;
//disable deactivation
if (gDisableDeactivation || (gDeactivationTime == 0.f))
if (gDisableDeactivation || (gDeactivationTime == btScalar(0.)))
return false;
if ( (getActivationState() == ISLAND_SLEEPING) || (getActivationState() == WANTS_DEACTIVATION))
@@ -328,11 +328,11 @@ public:
int m_contactSolverType;
int m_frictionSolverType;
void setAngularFactor(float angFac)
void setAngularFactor(btScalar angFac)
{
m_angularFactor = angFac;
}
float getAngularFactor() const
btScalar getAngularFactor() const
{
return m_angularFactor;
}

6
src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp
View File

@@ -41,7 +41,7 @@ btSimpleDynamicsWorld::~btSimpleDynamicsWorld()
delete m_constraintSolver;
}
int btSimpleDynamicsWorld::stepSimulation( float timeStep,int maxSubSteps, float fixedTimeStep)
int btSimpleDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps, btScalar fixedTimeStep)
{
///apply gravity, predict motion
predictUnconstraintMotion(timeStep);
@@ -127,7 +127,7 @@ void btSimpleDynamicsWorld::updateAabbs()
}
}
void btSimpleDynamicsWorld::integrateTransforms(float timeStep)
void btSimpleDynamicsWorld::integrateTransforms(btScalar timeStep)
{
btTransform predictedTrans;
for (unsigned int i=0;i<m_collisionObjects.size();i++)
@@ -147,7 +147,7 @@ void btSimpleDynamicsWorld::integrateTransforms(float timeStep)
void btSimpleDynamicsWorld::predictUnconstraintMotion(float timeStep)
void btSimpleDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
{
for (unsigned int i=0;i<m_collisionObjects.size();i++)
{

6
src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h
View File

@@ -37,9 +37,9 @@ protected:
btIDebugDraw* m_debugDrawer;
void predictUnconstraintMotion(float timeStep);
void predictUnconstraintMotion(btScalar timeStep);
void integrateTransforms(float timeStep);
void integrateTransforms(btScalar timeStep);
btVector3 m_gravity;
@@ -53,7 +53,7 @@ public:
virtual ~btSimpleDynamicsWorld();
///maxSubSteps/fixedTimeStep for interpolation is currently ignored for btSimpleDynamicsWorld, use btDiscreteDynamicsWorld instead
virtual int stepSimulation( float timeStep,int maxSubSteps=1, float fixedTimeStep=1.f/60.f);
virtual int stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.));
virtual void setDebugDrawer(btIDebugDraw* debugDrawer)
{

86
src/BulletDynamics/Vehicle/btRaycastVehicle.cpp
View File

@@ -28,7 +28,7 @@ static btRigidBody s_fixedObject( 0,0,0);
btRaycastVehicle::btRaycastVehicle(const btVehicleTuning& tuning,btRigidBody* chassis, btVehicleRaycaster* raycaster )
:m_vehicleRaycaster(raycaster),
m_pitchControl(0.f)
m_pitchControl(btScalar(0.))
{
m_chassisBody = chassis;
m_indexRightAxis = 0;
@@ -40,8 +40,8 @@ m_pitchControl(0.f)
void btRaycastVehicle::defaultInit(const btVehicleTuning& tuning)
{
m_currentVehicleSpeedKmHour = 0.f;
m_steeringValue = 0.f;
m_currentVehicleSpeedKmHour = btScalar(0.);
m_steeringValue = btScalar(0.);
}
@@ -105,7 +105,7 @@ void btRaycastVehicle::updateWheelTransform( int wheelIndex , bool interpolatedT
// up.normalize();
//rotate around steering over de wheelAxleWS
float steering = wheel.m_steering;
btScalar steering = wheel.m_steering;
btQuaternion steeringOrn(up,steering);//wheel.m_steering);
btMatrix3x3 steeringMat(steeringOrn);
@@ -133,11 +133,11 @@ void btRaycastVehicle::resetSuspension()
{
btWheelInfo& wheel = m_wheelInfo[i];
wheel.m_raycastInfo.m_suspensionLength = wheel.getSuspensionRestLength();
wheel.m_suspensionRelativeVelocity = 0.0f;
wheel.m_suspensionRelativeVelocity = btScalar(0.0);
wheel.m_raycastInfo.m_contactNormalWS = - wheel.m_raycastInfo.m_wheelDirectionWS;
//wheel_info.setContactFriction(0.0f);
wheel.m_clippedInvContactDotSuspension = 1.0f;
//wheel_info.setContactFriction(btScalar(0.0));
wheel.m_clippedInvContactDotSuspension = btScalar(1.0);
}
}
@@ -170,7 +170,7 @@ btScalar btRaycastVehicle::rayCast(btWheelInfo& wheel)
wheel.m_raycastInfo.m_contactPointWS = source + rayvector;
const btVector3& target = wheel.m_raycastInfo.m_contactPointWS;
btScalar param = 0.f;
btScalar param = btScalar(0.);
btVehicleRaycaster::btVehicleRaycasterResult rayResults;
@@ -195,8 +195,8 @@ btScalar btRaycastVehicle::rayCast(btWheelInfo& wheel)
wheel.m_raycastInfo.m_suspensionLength = hitDistance - wheel.m_wheelsRadius;
//clamp on max suspension travel
float minSuspensionLength = wheel.getSuspensionRestLength() - wheel.m_maxSuspensionTravelCm*0.01f;
float maxSuspensionLength = wheel.getSuspensionRestLength()+ wheel.m_maxSuspensionTravelCm*0.01f;
btScalar minSuspensionLength = wheel.getSuspensionRestLength() - wheel.m_maxSuspensionTravelCm*btScalar(0.01);
btScalar maxSuspensionLength = wheel.getSuspensionRestLength()+ wheel.m_maxSuspensionTravelCm*btScalar(0.01);
if (wheel.m_raycastInfo.m_suspensionLength < minSuspensionLength)
{
wheel.m_raycastInfo.m_suspensionLength = minSuspensionLength;
@@ -217,14 +217,14 @@ btScalar btRaycastVehicle::rayCast(btWheelInfo& wheel)
btScalar projVel = wheel.m_raycastInfo.m_contactNormalWS.dot( chassis_velocity_at_contactPoint );
if ( denominator >= -0.1f)
if ( denominator >= btScalar(-0.1))
{
wheel.m_suspensionRelativeVelocity = 0.0f;
wheel.m_clippedInvContactDotSuspension = 1.0f / 0.1f;
wheel.m_suspensionRelativeVelocity = btScalar(0.0);
wheel.m_clippedInvContactDotSuspension = btScalar(1.0) / btScalar(0.1);
}
else
{
btScalar inv = -1.f / denominator;
btScalar inv = btScalar(-1.) / denominator;
wheel.m_suspensionRelativeVelocity = projVel * inv;
wheel.m_clippedInvContactDotSuspension = inv;
}
@@ -233,9 +233,9 @@ btScalar btRaycastVehicle::rayCast(btWheelInfo& wheel)
{
//put wheel info as in rest position
wheel.m_raycastInfo.m_suspensionLength = wheel.getSuspensionRestLength();
wheel.m_suspensionRelativeVelocity = 0.0f;
wheel.m_suspensionRelativeVelocity = btScalar(0.0);
wheel.m_raycastInfo.m_contactNormalWS = - wheel.m_raycastInfo.m_wheelDirectionWS;
wheel.m_clippedInvContactDotSuspension = 1.0f;
wheel.m_clippedInvContactDotSuspension = btScalar(1.0);
}
return depth;
@@ -267,7 +267,7 @@ void btRaycastVehicle::updateVehicle( btScalar step )
}
m_currentVehicleSpeedKmHour = 3.6f * getRigidBody()->getLinearVelocity().length();
m_currentVehicleSpeedKmHour = btScalar(3.6) * getRigidBody()->getLinearVelocity().length();
const btTransform& chassisTrans = getChassisWorldTransform();
@@ -276,9 +276,9 @@ void btRaycastVehicle::updateVehicle( btScalar step )
chassisTrans.getBasis()[1][m_indexForwardAxis],
chassisTrans.getBasis()[2][m_indexForwardAxis]);
if (forwardW.dot(getRigidBody()->getLinearVelocity()) < 0.f)
if (forwardW.dot(getRigidBody()->getLinearVelocity()) < btScalar(0.))
{
m_currentVehicleSpeedKmHour *= -1.f;
m_currentVehicleSpeedKmHour *= btScalar(-1.);
}
//
@@ -300,9 +300,9 @@ void btRaycastVehicle::updateVehicle( btScalar step )
//apply suspension force
btWheelInfo& wheel = m_wheelInfo[i];
float suspensionForce = wheel.m_wheelsSuspensionForce;
btScalar suspensionForce = wheel.m_wheelsSuspensionForce;
float gMaxSuspensionForce = 6000.f;
btScalar gMaxSuspensionForce = btScalar(6000.);
if (suspensionForce > gMaxSuspensionForce)
{
suspensionForce = gMaxSuspensionForce;
@@ -347,7 +347,7 @@ void btRaycastVehicle::updateVehicle( btScalar step )
wheel.m_rotation += wheel.m_deltaRotation;
}
wheel.m_deltaRotation *= 0.99f;//damping of rotation when not in contact
wheel.m_deltaRotation *= btScalar(0.99);//damping of rotation when not in contact
}
@@ -394,7 +394,7 @@ btWheelInfo& btRaycastVehicle::getWheelInfo(int index)
return m_wheelInfo[index];
}
void btRaycastVehicle::setBrake(float brake,int wheelIndex)
void btRaycastVehicle::setBrake(btScalar brake,int wheelIndex)
{
btAssert((wheelIndex >= 0) && (wheelIndex < getNumWheels()));
getWheelInfo(wheelIndex).m_brake;
@@ -404,7 +404,7 @@ void btRaycastVehicle::setBrake(float brake,int wheelIndex)
void btRaycastVehicle::updateSuspension(btScalar deltaTime)
{
btScalar chassisMass = 1.f / m_chassisBody->getInvMass();
btScalar chassisMass = btScalar(1.) / m_chassisBody->getInvMass();
for (int w_it=0; w_it<getNumWheels(); w_it++)
{
@@ -429,7 +429,7 @@ void btRaycastVehicle::updateSuspension(btScalar deltaTime)
btScalar projected_rel_vel = wheel_info.m_suspensionRelativeVelocity;
{
btScalar susp_damping;
if ( projected_rel_vel < 0.0f )
if ( projected_rel_vel < btScalar(0.0) )
{
susp_damping = wheel_info.m_wheelsDampingCompression;
}
@@ -443,20 +443,20 @@ void btRaycastVehicle::updateSuspension(btScalar deltaTime)
// RESULT
wheel_info.m_wheelsSuspensionForce = force * chassisMass;
if (wheel_info.m_wheelsSuspensionForce < 0.f)
if (wheel_info.m_wheelsSuspensionForce < btScalar(0.))
{
wheel_info.m_wheelsSuspensionForce = 0.f;
wheel_info.m_wheelsSuspensionForce = btScalar(0.);
}
}
else
{
wheel_info.m_wheelsSuspensionForce = 0.0f;
wheel_info.m_wheelsSuspensionForce = btScalar(0.0);
}
}
}
float sideFrictionStiffness2 = 1.0f;
btScalar sideFrictionStiffness2 = btScalar(1.0);
void btRaycastVehicle::updateFriction(btScalar timeStep)
{
@@ -481,8 +481,8 @@ void btRaycastVehicle::updateFriction(btScalar timeStep)
class btRigidBody* groundObject = (class btRigidBody*) wheelInfo.m_raycastInfo.m_groundObject;
if (groundObject)
numWheelsOnGround++;
sideImpulse[i] = 0.f;
forwardImpulse[i] = 0.f;
sideImpulse[i] = btScalar(0.);
forwardImpulse[i] = btScalar(0.);
}
@@ -517,7 +517,7 @@ void btRaycastVehicle::updateFriction(btScalar timeStep)
resolveSingleBilateral(*m_chassisBody, wheelInfo.m_raycastInfo.m_contactPointWS,
*groundObject, wheelInfo.m_raycastInfo.m_contactPointWS,
0.f, axle[i],sideImpulse[i],timeStep);
btScalar(0.), axle[i],sideImpulse[i],timeStep);
sideImpulse[i] *= sideFrictionStiffness2;
@@ -527,7 +527,7 @@ void btRaycastVehicle::updateFriction(btScalar timeStep)
}
}
btScalar sideFactor = 1.f;
btScalar sideFactor = btScalar(1.);
btScalar fwdFactor = 0.5;
bool sliding = false;
@@ -538,12 +538,12 @@ void btRaycastVehicle::updateFriction(btScalar timeStep)
class btRigidBody* groundObject = (class btRigidBody*) wheelInfo.m_raycastInfo.m_groundObject;
forwardImpulse[wheel] = 0.f;
m_wheelInfo[wheel].m_skidInfo= 1.f;
forwardImpulse[wheel] = btScalar(0.);
m_wheelInfo[wheel].m_skidInfo= btScalar(1.);
if (groundObject)
{
m_wheelInfo[wheel].m_skidInfo= 1.f;
m_wheelInfo[wheel].m_skidInfo= btScalar(1.);
btScalar maximp = wheelInfo.m_wheelsSuspensionForce * timeStep * wheelInfo.m_frictionSlip;
btScalar maximpSide = maximp;
@@ -552,10 +552,10 @@ void btRaycastVehicle::updateFriction(btScalar timeStep)
forwardImpulse[wheel] = wheelInfo.m_engineForce* timeStep;
float x = (forwardImpulse[wheel] ) * fwdFactor;
float y = (sideImpulse[wheel] ) * sideFactor;
btScalar x = (forwardImpulse[wheel] ) * fwdFactor;
btScalar y = (sideImpulse[wheel] ) * sideFactor;
float impulseSquared = (x*x + y*y);
btScalar impulseSquared = (x*x + y*y);
if (impulseSquared > maximpSquared)
{
@@ -577,9 +577,9 @@ void btRaycastVehicle::updateFriction(btScalar timeStep)
{
for (int wheel = 0;wheel < getNumWheels(); wheel++)
{
if (sideImpulse[wheel] != 0.f)
if (sideImpulse[wheel] != btScalar(0.))
{
if (m_wheelInfo[wheel].m_skidInfo< 1.f)
if (m_wheelInfo[wheel].m_skidInfo< btScalar(1.))
{
forwardImpulse[wheel] *= m_wheelInfo[wheel].m_skidInfo;
sideImpulse[wheel] *= m_wheelInfo[wheel].m_skidInfo;
@@ -597,11 +597,11 @@ void btRaycastVehicle::updateFriction(btScalar timeStep)
btVector3 rel_pos = wheelInfo.m_raycastInfo.m_contactPointWS -
m_chassisBody->getCenterOfMassPosition();
if (forwardImpulse[wheel] != 0.f)
if (forwardImpulse[wheel] != btScalar(0.))
{
m_chassisBody->applyImpulse(forwardWS[wheel]*(forwardImpulse[wheel]),rel_pos);
}
if (sideImpulse[wheel] != 0.f)
if (sideImpulse[wheel] != btScalar(0.))
{
class btRigidBody* groundObject = (class btRigidBody*) m_wheelInfo[wheel].m_raycastInfo.m_groundObject;

30
src/BulletDynamics/Vehicle/btRaycastVehicle.h
View File

@@ -29,18 +29,18 @@ public:
public:
btVehicleTuning()
:m_suspensionStiffness(5.88f),
m_suspensionCompression(0.83f),
m_suspensionDamping(0.88f),
m_maxSuspensionTravelCm(500.f),
m_frictionSlip(10.5f)
:m_suspensionStiffness(btScalar(5.88)),
m_suspensionCompression(btScalar(0.83)),
m_suspensionDamping(btScalar(0.88)),
m_maxSuspensionTravelCm(btScalar(500.)),
m_frictionSlip(btScalar(10.5))
{
}
float m_suspensionStiffness;
float m_suspensionCompression;
float m_suspensionDamping;
float m_maxSuspensionTravelCm;
float m_frictionSlip;
btScalar m_suspensionStiffness;
btScalar m_suspensionCompression;
btScalar m_suspensionDamping;
btScalar m_maxSuspensionTravelCm;
btScalar m_frictionSlip;
};
private:
@@ -48,9 +48,9 @@ private:
btScalar m_tau;
btScalar m_damping;
btVehicleRaycaster* m_vehicleRaycaster;
float m_pitchControl;
float m_steeringValue;
float m_currentVehicleSpeedKmHour;
btScalar m_pitchControl;
btScalar m_steeringValue;
btScalar m_currentVehicleSpeedKmHour;
btRigidBody* m_chassisBody;
@@ -105,9 +105,9 @@ public:
void updateWheelTransformsWS(btWheelInfo& wheel , bool interpolatedTransform = true);
void setBrake(float brake,int wheelIndex);
void setBrake(btScalar brake,int wheelIndex);
void setPitchControl(float pitch)
void setPitchControl(btScalar pitch)
{
m_pitchControl = pitch;
}

2
src/BulletDynamics/Vehicle/btVehicleRaycaster.h
View File

@@ -21,7 +21,7 @@ virtual ~btVehicleRaycaster()
}
struct btVehicleRaycasterResult
{
btVehicleRaycasterResult() :m_distFraction(-1.f){};
btVehicleRaycasterResult() :m_distFraction(btScalar(-1.)){};
btVector3 m_hitPointInWorld;
btVector3 m_hitNormalInWorld;
btScalar m_distFraction;

12
src/BulletDynamics/Vehicle/btWheelInfo.cpp
View File

@@ -31,14 +31,14 @@ void btWheelInfo::updateWheel(const btRigidBody& chassis,RaycastInfo& raycastInf
btVector3 relpos = m_raycastInfo.m_contactPointWS - chassis.getCenterOfMassPosition();
chassis_velocity_at_contactPoint = chassis.getVelocityInLocalPoint( relpos );
btScalar projVel = m_raycastInfo.m_contactNormalWS.dot( chassis_velocity_at_contactPoint );
if ( project >= -0.1f)
if ( project >= btScalar(-0.1))
{
m_suspensionRelativeVelocity = 0.0f;
m_clippedInvContactDotSuspension = 1.0f / 0.1f;
m_suspensionRelativeVelocity = btScalar(0.0);
m_clippedInvContactDotSuspension = btScalar(1.0) / btScalar(0.1);
}
else
{
btScalar inv = -1.f / project;
btScalar inv = btScalar(-1.) / project;
m_suspensionRelativeVelocity = projVel * inv;
m_clippedInvContactDotSuspension = inv;
}
@@ -48,8 +48,8 @@ void btWheelInfo::updateWheel(const btRigidBody& chassis,RaycastInfo& raycastInf
else // Not in contact : position wheel in a nice (rest length) position
{
m_raycastInfo.m_suspensionLength = this->getSuspensionRestLength();
m_suspensionRelativeVelocity = 0.0f;
m_suspensionRelativeVelocity = btScalar(0.0);
m_raycastInfo.m_contactNormalWS = -m_raycastInfo.m_wheelDirectionWS;
m_clippedInvContactDotSuspension = 1.0f;
m_clippedInvContactDotSuspension = btScalar(1.0);
}
}

20
src/BulletDynamics/Vehicle/btWheelInfo.h
View File

@@ -25,10 +25,10 @@ struct btWheelInfoConstructionInfo
btScalar m_maxSuspensionTravelCm;
btScalar m_wheelRadius;
float m_suspensionStiffness;
float m_wheelsDampingCompression;
float m_wheelsDampingRelaxation;
float m_frictionSlip;
btScalar m_suspensionStiffness;
btScalar m_wheelsDampingCompression;
btScalar m_wheelsDampingRelaxation;
btScalar m_frictionSlip;
bool m_bIsFrontWheel;
};
@@ -92,12 +92,12 @@ struct btWheelInfo
m_wheelDirectionCS = ci.m_wheelDirectionCS;
m_wheelAxleCS = ci.m_wheelAxleCS;
m_frictionSlip = ci.m_frictionSlip;
m_steering = 0.f;
m_engineForce = 0.f;
m_rotation = 0.f;
m_deltaRotation = 0.f;
m_brake = 0.f;
m_rollInfluence = 0.1f;
m_steering = btScalar(0.);
m_engineForce = btScalar(0.);
m_rotation = btScalar(0.);
m_deltaRotation = btScalar(0.);
m_brake = btScalar(0.);
m_rollInfluence = btScalar(0.1);
m_bIsFrontWheel = ci.m_bIsFrontWheel;
}