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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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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,