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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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42
src/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.cpp
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@@ -44,11 +44,11 @@ void btSolve2LinearConstraint::resolveUnilateralPairConstraint(
btScalar& imp0,btScalar& imp1)
{
imp0 = 0.f;
imp1 = 0.f;
imp0 = btScalar(0.);
imp1 = btScalar(0.);
btScalar len = fabs(normalA.length())-1.f;
if (fabs(len) >= SIMD_EPSILON)
btScalar len = btFabs(normalA.length()) - btScalar(1.);
if (btFabs(len) >= SIMD_EPSILON)
return;
btAssert(len < SIMD_EPSILON);
@@ -67,7 +67,7 @@ void btSolve2LinearConstraint::resolveUnilateralPairConstraint(
const btScalar vel1 = normalB.dot(body1->getVelocityInLocalPoint(rel_posB1)-body2->getVelocityInLocalPoint(rel_posB1));
// btScalar penetrationImpulse = (depth*contactTau*timeCorrection) * massTerm;//jacDiagABInv
btScalar massTerm = 1.f / (invMassA + invMassB);
btScalar massTerm = btScalar(1.) / (invMassA + invMassB);
// calculate rhs (or error) terms
@@ -87,7 +87,7 @@ void btSolve2LinearConstraint::resolveUnilateralPairConstraint(
btScalar nonDiag = jacA.getNonDiagonal(jacB,invMassA,invMassB);
btScalar invDet = 1.0f / (jacA.getDiagonal() * jacB.getDiagonal() - nonDiag * nonDiag );
btScalar invDet = btScalar(1.0) / (jacA.getDiagonal() * jacB.getDiagonal() - nonDiag * nonDiag );
//imp0 = dv0 * jacA.getDiagonal() * invDet + dv1 * -nonDiag * invDet;
//imp1 = dv1 * jacB.getDiagonal() * invDet + dv0 * - nonDiag * invDet;
@@ -126,11 +126,11 @@ void btSolve2LinearConstraint::resolveBilateralPairConstraint(
btScalar& imp0,btScalar& imp1)
{
imp0 = 0.f;
imp1 = 0.f;
imp0 = btScalar(0.);
imp1 = btScalar(0.);
btScalar len = fabs(normalA.length())-1.f;
if (fabs(len) >= SIMD_EPSILON)
btScalar len = btFabs(normalA.length()) - btScalar(1.);
if (btFabs(len) >= SIMD_EPSILON)
return;
btAssert(len < SIMD_EPSILON);
@@ -164,7 +164,7 @@ void btSolve2LinearConstraint::resolveBilateralPairConstraint(
btScalar nonDiag = jacA.getNonDiagonal(jacB,invMassA,invMassB);
btScalar invDet = 1.0f / (jacA.getDiagonal() * jacB.getDiagonal() - nonDiag * nonDiag );
btScalar invDet = btScalar(1.0) / (jacA.getDiagonal() * jacB.getDiagonal() - nonDiag * nonDiag );
//imp0 = dv0 * jacA.getDiagonal() * invDet + dv1 * -nonDiag * invDet;
//imp1 = dv1 * jacB.getDiagonal() * invDet + dv0 * - nonDiag * invDet;
@@ -178,41 +178,41 @@ void btSolve2LinearConstraint::resolveBilateralPairConstraint(
//[jA nD] * [imp0] = [dv0]
//[nD jB] [imp1] [dv1]
if ( imp0 > 0.0f)
if ( imp0 > btScalar(0.0))
{
if ( imp1 > 0.0f )
if ( imp1 > btScalar(0.0) )
{
//both positive
}
else
{
imp1 = 0.f;
imp1 = btScalar(0.);
// now imp0>0 imp1<0
imp0 = dv0 / jacA.getDiagonal();
if ( imp0 > 0.0f )
if ( imp0 > btScalar(0.0) )
{
} else
{
imp0 = 0.f;
imp0 = btScalar(0.);
}
}
}
else
{
imp0 = 0.f;
imp0 = btScalar(0.);
imp1 = dv1 / jacB.getDiagonal();
if ( imp1 <= 0.0f )
if ( imp1 <= btScalar(0.0) )
{
imp1 = 0.f;
imp1 = btScalar(0.);
// now imp0>0 imp1<0
imp0 = dv0 / jacA.getDiagonal();
if ( imp0 > 0.0f )
if ( imp0 > btScalar(0.0) )
{
} else
{
imp0 = 0.f;
imp0 = btScalar(0.);
}
} else
{