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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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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.);
};