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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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32
src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp
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@@ -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;