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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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14
src/BulletDynamics/ConstraintSolver/btJacobianEntry.h
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@@ -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; }