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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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54
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@@ -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.);
}