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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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76
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
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@@ -63,7 +63,7 @@ btDiscreteDynamicsWorld::btDiscreteDynamicsWorld(btDispatcher* dispatcher,btOver
m_constraintSolver(constraintSolver? constraintSolver: new btSequentialImpulseConstraintSolver),
m_debugDrawer(0),
m_gravity(0,-10,0),
m_localTime(1.f/60.f),
m_localTime(btScalar(1.)/btScalar(60.)),
m_profileTimings(0)
{
m_islandManager = new btSimulationIslandManager();
@@ -81,7 +81,7 @@ btDiscreteDynamicsWorld::~btDiscreteDynamicsWorld()
delete m_constraintSolver;
}
void btDiscreteDynamicsWorld::saveKinematicState(float timeStep)
void btDiscreteDynamicsWorld::saveKinematicState(btScalar timeStep)
{
for (unsigned int i=0;i<m_collisionObjects.size();i++)
@@ -115,22 +115,22 @@ void btDiscreteDynamicsWorld::synchronizeMotionStates()
btCollisionObject* colObj = m_collisionObjects[i];
if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawWireframe)
{
btVector3 color(255.f,255.f,255.f);
btVector3 color(btScalar(255.),btScalar(255.),btScalar(255.));
switch(colObj->getActivationState())
{
case ACTIVE_TAG:
color = btVector3(255.f,255.f,255.f); break;
color = btVector3(btScalar(255.),btScalar(255.),btScalar(255.)); break;
case ISLAND_SLEEPING:
color = btVector3(0.f,255.f,0.f);break;
color = btVector3(btScalar(0.),btScalar(255.),btScalar(0.));break;
case WANTS_DEACTIVATION:
color = btVector3(0.f,255.f,255.f);break;
color = btVector3(btScalar(0.),btScalar(255.),btScalar(255.));break;
case DISABLE_DEACTIVATION:
color = btVector3(255.f,0.f,0.f);break;
color = btVector3(btScalar(255.),btScalar(0.),btScalar(0.));break;
case DISABLE_SIMULATION:
color = btVector3(255.f,255.f,0.f);break;
color = btVector3(btScalar(255.),btScalar(255.),btScalar(0.));break;
default:
{
color = btVector3(255.f,0.f,0.f);
color = btVector3(btScalar(255.),btScalar(0.),btScalar(0.));
}
};
@@ -188,7 +188,7 @@ void btDiscreteDynamicsWorld::synchronizeMotionStates()
}
int btDiscreteDynamicsWorld::stepSimulation( float timeStep,int maxSubSteps, float fixedTimeStep)
int btDiscreteDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps, btScalar fixedTimeStep)
{
int numSimulationSubSteps = 0;
@@ -243,7 +243,7 @@ int btDiscreteDynamicsWorld::stepSimulation( float timeStep,int maxSubSteps, flo
return numSimulationSubSteps;
}
void btDiscreteDynamicsWorld::internalSingleStepSimulation(float timeStep)
void btDiscreteDynamicsWorld::internalSingleStepSimulation(btScalar timeStep)
{
startProfiling(timeStep);
@@ -326,7 +326,7 @@ void btDiscreteDynamicsWorld::addRigidBody(btRigidBody* body)
}
void btDiscreteDynamicsWorld::updateVehicles(float timeStep)
void btDiscreteDynamicsWorld::updateVehicles(btScalar timeStep)
{
BEGIN_PROFILE("updateVehicles");
@@ -338,7 +338,7 @@ void btDiscreteDynamicsWorld::updateVehicles(float timeStep)
END_PROFILE("updateVehicles");
}
void btDiscreteDynamicsWorld::updateActivationState(float timeStep)
void btDiscreteDynamicsWorld::updateActivationState(btScalar timeStep)
{
BEGIN_PROFILE("updateActivationState");
@@ -548,11 +548,11 @@ void btDiscreteDynamicsWorld::calculateSimulationIslands()
static void DrawAabb(btIDebugDraw* debugDrawer,const btVector3& from,const btVector3& to,const btVector3& color)
{
btVector3 halfExtents = (to-from)* 0.5f;
btVector3 center = (to+from) *0.5f;
btVector3 halfExtents = (to-from)* btScalar(0.5);
btVector3 center = (to+from) *btScalar(0.5);
int i,j;
btVector3 edgecoord(1.f,1.f,1.f),pa,pb;
btVector3 edgecoord(btScalar(1.),btScalar(1.),btScalar(1.)),pa,pb;
for (i=0;i<4;i++)
{
for (j=0;j<3;j++)
@@ -562,16 +562,16 @@ static void DrawAabb(btIDebugDraw* debugDrawer,const btVector3& from,const btVec
pa+=center;
int othercoord = j%3;
edgecoord[othercoord]*=-1.f;
edgecoord[othercoord]*=btScalar(-1.);
pb = btVector3(edgecoord[0]*halfExtents[0], edgecoord[1]*halfExtents[1],
edgecoord[2]*halfExtents[2]);
pb+=center;
debugDrawer->drawLine(pa,pb,color);
}
edgecoord = btVector3(-1.f,-1.f,-1.f);
edgecoord = btVector3(btScalar(-1.),btScalar(-1.),btScalar(-1.));
if (i<3)
edgecoord[i]*=-1.f;
edgecoord[i]*=btScalar(-1.);
}
@@ -597,7 +597,7 @@ void btDiscreteDynamicsWorld::updateAabbs()
btSimpleBroadphase* bp = (btSimpleBroadphase*)m_broadphasePairCache;
//moving objects should be moderately sized, probably something wrong if not
if ( colObj->isStaticObject() || ((maxAabb-minAabb).length2() < 1e12f))
if ( colObj->isStaticObject() || ((maxAabb-minAabb).length2() < btScalar(1e12)))
{
bp->setAabb(body->getBroadphaseHandle(),minAabb,maxAabb);
} else
@@ -630,7 +630,7 @@ void btDiscreteDynamicsWorld::updateAabbs()
END_PROFILE("updateAabbs");
}
void btDiscreteDynamicsWorld::integrateTransforms(float timeStep)
void btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep)
{
BEGIN_PROFILE("integrateTransforms");
btTransform predictedTrans;
@@ -652,7 +652,7 @@ void btDiscreteDynamicsWorld::integrateTransforms(float timeStep)
void btDiscreteDynamicsWorld::predictUnconstraintMotion(float timeStep)
void btDiscreteDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
{
BEGIN_PROFILE("predictUnconstraintMotion");
for (unsigned int i=0;i<m_collisionObjects.size();i++)
@@ -676,7 +676,7 @@ void btDiscreteDynamicsWorld::predictUnconstraintMotion(float timeStep)
}
void btDiscreteDynamicsWorld::startProfiling(float timeStep)
void btDiscreteDynamicsWorld::startProfiling(btScalar timeStep)
{
#ifdef USE_QUICKPROF
@@ -771,7 +771,7 @@ void btDiscreteDynamicsWorld::debugDrawObject(const btTransform& worldTransform,
case SPHERE_SHAPE_PROXYTYPE:
{
const btSphereShape* sphereShape = static_cast<const btSphereShape*>(shape);
float radius = sphereShape->getMargin();//radius doesn't include the margin, so draw with margin
btScalar radius = sphereShape->getMargin();//radius doesn't include the margin, so draw with margin
btVector3 start = worldTransform.getOrigin();
getDebugDrawer()->drawLine(start,start+worldTransform.getBasis() * btVector3(radius,0,0),color);
getDebugDrawer()->drawLine(start,start+worldTransform.getBasis() * btVector3(0,radius,0),color);
@@ -783,13 +783,13 @@ void btDiscreteDynamicsWorld::debugDrawObject(const btTransform& worldTransform,
case CONE_SHAPE_PROXYTYPE:
{
const btConeShape* coneShape = static_cast<const btConeShape*>(shape);
float radius = coneShape->getRadius();//+coneShape->getMargin();
float height = coneShape->getHeight();//+coneShape->getMargin();
btScalar radius = coneShape->getRadius();//+coneShape->getMargin();
btScalar height = coneShape->getHeight();//+coneShape->getMargin();
btVector3 start = worldTransform.getOrigin();
getDebugDrawer()->drawLine(start+worldTransform.getBasis() * btVector3(0.f,0.f,0.5f*height),start+worldTransform.getBasis() * btVector3(radius,0.f,-0.5f*height),color);
getDebugDrawer()->drawLine(start+worldTransform.getBasis() * btVector3(0.f,0.f,0.5f*height),start+worldTransform.getBasis() * btVector3(-radius,0.f,-0.5f*height),color);
getDebugDrawer()->drawLine(start+worldTransform.getBasis() * btVector3(0.f,0.f,0.5f*height),start+worldTransform.getBasis() * btVector3(0.f,radius,-0.5f*height),color);
getDebugDrawer()->drawLine(start+worldTransform.getBasis() * btVector3(0.f,0.f,0.5f*height),start+worldTransform.getBasis() * btVector3(0.f,-radius,-0.5f*height),color);
getDebugDrawer()->drawLine(start+worldTransform.getBasis() * btVector3(btScalar(0.),btScalar(0.),btScalar(0.5)*height),start+worldTransform.getBasis() * btVector3(radius,btScalar(0.),btScalar(-0.5)*height),color);
getDebugDrawer()->drawLine(start+worldTransform.getBasis() * btVector3(btScalar(0.),btScalar(0.),btScalar(0.5)*height),start+worldTransform.getBasis() * btVector3(-radius,btScalar(0.),btScalar(-0.5)*height),color);
getDebugDrawer()->drawLine(start+worldTransform.getBasis() * btVector3(btScalar(0.),btScalar(0.),btScalar(0.5)*height),start+worldTransform.getBasis() * btVector3(btScalar(0.),radius,btScalar(-0.5)*height),color);
getDebugDrawer()->drawLine(start+worldTransform.getBasis() * btVector3(btScalar(0.),btScalar(0.),btScalar(0.5)*height),start+worldTransform.getBasis() * btVector3(btScalar(0.),-radius,btScalar(-0.5)*height),color);
break;
}
@@ -797,8 +797,8 @@ void btDiscreteDynamicsWorld::debugDrawObject(const btTransform& worldTransform,
{
const btCylinderShape* cylinder = static_cast<const btCylinderShape*>(shape);
int upAxis = cylinder->getUpAxis();
float radius = cylinder->getRadius();
float halfHeight = cylinder->getHalfExtents()[upAxis];
btScalar radius = cylinder->getRadius();
btScalar halfHeight = cylinder->getHalfExtents()[upAxis];
btVector3 start = worldTransform.getOrigin();
btVector3 offsetHeight(0,0,0);
offsetHeight[upAxis] = halfHeight;
@@ -814,12 +814,12 @@ void btDiscreteDynamicsWorld::debugDrawObject(const btTransform& worldTransform,
if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
{
btTriangleMeshShape* concaveMesh = (btTriangleMeshShape*) shape;
//btVector3 aabbMax(1e30f,1e30f,1e30f);
//btVector3 aabbMax(100,100,100);//1e30f,1e30f,1e30f);
//btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
//btVector3 aabbMax(100,100,100);//btScalar(1e30),btScalar(1e30),btScalar(1e30));
//todo pass camera, for some culling
btVector3 aabbMax(1e30f,1e30f,1e30f);
btVector3 aabbMin(-1e30f,-1e30f,-1e30f);
btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
btVector3 aabbMin(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30));
DebugDrawcallback drawCallback(getDebugDrawer(),worldTransform,color);
concaveMesh->processAllTriangles(&drawCallback,aabbMin,aabbMax);
@@ -830,8 +830,8 @@ void btDiscreteDynamicsWorld::debugDrawObject(const btTransform& worldTransform,
{
btConvexTriangleMeshShape* convexMesh = (btConvexTriangleMeshShape*) shape;
//todo: pass camera for some culling
btVector3 aabbMax(1e30f,1e30f,1e30f);
btVector3 aabbMin(-1e30f,-1e30f,-1e30f);
btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
btVector3 aabbMin(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30));
//DebugDrawcallback drawCallback;
DebugDrawcallback drawCallback(getDebugDrawer(),worldTransform,color);
convexMesh->getStridingMesh()->InternalProcessAllTriangles(&drawCallback,aabbMin,aabbMax);

18
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h
View File

@@ -47,7 +47,7 @@ protected:
btVector3 m_gravity;
//for variable timesteps
float m_localTime;
btScalar m_localTime;
//for variable timesteps
bool m_ownsIslandManager;
@@ -60,25 +60,25 @@ protected:
int m_profileTimings;
void predictUnconstraintMotion(float timeStep);
void predictUnconstraintMotion(btScalar timeStep);
void integrateTransforms(float timeStep);
void integrateTransforms(btScalar timeStep);
void calculateSimulationIslands();
void solveConstraints(btContactSolverInfo& solverInfo);
void updateActivationState(float timeStep);
void updateActivationState(btScalar timeStep);
void updateVehicles(float timeStep);
void updateVehicles(btScalar timeStep);
void startProfiling(float timeStep);
void startProfiling(btScalar timeStep);
virtual void internalSingleStepSimulation( float timeStep);
virtual void internalSingleStepSimulation( btScalar timeStep);
void synchronizeMotionStates();
void saveKinematicState(float timeStep);
void saveKinematicState(btScalar timeStep);
public:
@@ -90,7 +90,7 @@ public:
virtual ~btDiscreteDynamicsWorld();
///if maxSubSteps > 0, it will interpolate motion between fixedTimeStep's
virtual int stepSimulation( float timeStep,int maxSubSteps=1, float fixedTimeStep=1.f/60.f);
virtual int stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.));
virtual void updateAabbs();

2
src/BulletDynamics/Dynamics/btDynamicsWorld.h
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@@ -39,7 +39,7 @@ class btDynamicsWorld : public btCollisionWorld
///stepSimulation proceeds the simulation over timeStep units
///if maxSubSteps > 0, it will interpolate time steps
virtual int stepSimulation( float timeStep,int maxSubSteps=1, float fixedTimeStep=1.f/60.f)=0;
virtual int stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.))=0;
virtual void updateAabbs() = 0;

88
src/BulletDynamics/Dynamics/btRigidBody.cpp
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@@ -19,25 +19,25 @@ subject to the following restrictions:
#include <LinearMath/btTransformUtil.h>
#include <LinearMath/btMotionState.h>
float gLinearAirDamping = 1.f;
btScalar gLinearAirDamping = btScalar(1.);
//'temporarily' global variables
float gDeactivationTime = 2.f;
btScalar gDeactivationTime = btScalar(2.);
bool gDisableDeactivation = false;
float gLinearSleepingThreshold = 0.8f;
float gAngularSleepingThreshold = 1.0f;
btScalar gLinearSleepingThreshold = btScalar(0.8);
btScalar gAngularSleepingThreshold = btScalar(1.0);
static int uniqueId = 0;
btRigidBody::btRigidBody(float mass, btMotionState* motionState, btCollisionShape* collisionShape, const btVector3& localInertia,btScalar linearDamping,btScalar angularDamping,btScalar friction,btScalar restitution)
btRigidBody::btRigidBody(btScalar mass, btMotionState* motionState, btCollisionShape* collisionShape, const btVector3& localInertia,btScalar linearDamping,btScalar angularDamping,btScalar friction,btScalar restitution)
:
m_gravity(0.0f, 0.0f, 0.0f),
m_totalForce(0.0f, 0.0f, 0.0f),
m_totalTorque(0.0f, 0.0f, 0.0f),
m_linearVelocity(0.0f, 0.0f, 0.0f),
m_angularVelocity(0.f,0.f,0.f),
m_angularFactor(1.f),
m_linearDamping(0.f),
m_angularDamping(0.5f),
m_gravity(btScalar(0.0), btScalar(0.0), btScalar(0.0)),
m_totalForce(btScalar(0.0), btScalar(0.0), btScalar(0.0)),
m_totalTorque(btScalar(0.0), btScalar(0.0), btScalar(0.0)),
m_linearVelocity(btScalar(0.0), btScalar(0.0), btScalar(0.0)),
m_angularVelocity(btScalar(0.),btScalar(0.),btScalar(0.)),
m_angularFactor(btScalar(1.)),
m_linearDamping(btScalar(0.)),
m_angularDamping(btScalar(0.5)),
m_optionalMotionState(motionState),
m_contactSolverType(0),
m_frictionSolverType(0)
@@ -72,15 +72,15 @@ btRigidBody::btRigidBody(float mass, btMotionState* motionState, btCollisionShap
}
#ifdef OBSOLETE_MOTIONSTATE_LESS
btRigidBody::btRigidBody( float mass,const btTransform& worldTransform,btCollisionShape* collisionShape,const btVector3& localInertia,btScalar linearDamping,btScalar angularDamping,btScalar friction,btScalar restitution)
btRigidBody::btRigidBody( btScalar mass,const btTransform& worldTransform,btCollisionShape* collisionShape,const btVector3& localInertia,btScalar linearDamping,btScalar angularDamping,btScalar friction,btScalar restitution)
:
m_gravity(0.0f, 0.0f, 0.0f),
m_totalForce(0.0f, 0.0f, 0.0f),
m_totalTorque(0.0f, 0.0f, 0.0f),
m_linearVelocity(0.0f, 0.0f, 0.0f),
m_angularVelocity(0.f,0.f,0.f),
m_linearDamping(0.f),
m_angularDamping(0.5f),
m_gravity(btScalar(0.0), btScalar(0.0), btScalar(0.0)),
m_totalForce(btScalar(0.0), btScalar(0.0), btScalar(0.0)),
m_totalTorque(btScalar(0.0), btScalar(0.0), btScalar(0.0)),
m_linearVelocity(btScalar(0.0), btScalar(0.0), btScalar(0.0)),
m_angularVelocity(btScalar(0.),btScalar(0.),btScalar(0.)),
m_linearDamping(btScalar(0.)),
m_angularDamping(btScalar(0.5)),
m_optionalMotionState(0),
m_contactSolverType(0),
m_frictionSolverType(0)
@@ -115,11 +115,11 @@ btRigidBody::btRigidBody( float mass,const btTransform& worldTransform,btCollisi
//Bullet 2.20b has experimental damping code to reduce jitter just before objects fall asleep/deactivate
//doesn't work very well yet (value 0 disabled this damping)
//note there this influences deactivation thresholds!
float gClippedAngvelThresholdSqr = 0.01f;
float gClippedLinearThresholdSqr = 0.01f;
btScalar gClippedAngvelThresholdSqr = btScalar(0.01);
btScalar gClippedLinearThresholdSqr = btScalar(0.01);
#endif //EXPERIMENTAL_JITTER_REMOVAL
float gJitterVelocityDampingFactor = 1.f;
btScalar gJitterVelocityDampingFactor = btScalar(1.);
void btRigidBody::predictIntegratedTransform(btScalar timeStep,btTransform& predictedTransform)
{
@@ -144,7 +144,7 @@ void btRigidBody::predictIntegratedTransform(btScalar timeStep,btTransform& pred
void btRigidBody::saveKinematicState(btScalar timeStep)
{
//todo: clamp to some (user definable) safe minimum timestep, to limit maximum angular/linear velocities
if (timeStep != 0.f)
if (timeStep != btScalar(0.))
{
//if we use motionstate to synchronize world transforms, get the new kinematic/animated world transform
if (getMotionState())
@@ -169,9 +169,9 @@ void btRigidBody::getAabb(btVector3& aabbMin,btVector3& aabbMax) const
void btRigidBody::setGravity(const btVector3& acceleration)
{
if (m_inverseMass != 0.0f)
if (m_inverseMass != btScalar(0.0))
{
m_gravity = acceleration * (1.0f / m_inverseMass);
m_gravity = acceleration * (btScalar(1.0) / m_inverseMass);
}
}
@@ -182,8 +182,8 @@ void btRigidBody::setGravity(const btVector3& acceleration)
void btRigidBody::setDamping(btScalar lin_damping, btScalar ang_damping)
{
m_linearDamping = GEN_clamped(lin_damping, 0.0f, 1.0f);
m_angularDamping = GEN_clamped(ang_damping, 0.0f, 1.0f);
m_linearDamping = GEN_clamped(lin_damping, (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
m_angularDamping = GEN_clamped(ang_damping, (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
}
@@ -198,36 +198,36 @@ void btRigidBody::applyForces(btScalar step)
applyCentralForce(m_gravity);
m_linearVelocity *= GEN_clamped((1.f - step * gLinearAirDamping * m_linearDamping), 0.0f, 1.0f);
m_angularVelocity *= GEN_clamped((1.f - step * m_angularDamping), 0.0f, 1.0f);
m_linearVelocity *= GEN_clamped((btScalar(1.) - step * gLinearAirDamping * m_linearDamping), (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
m_angularVelocity *= GEN_clamped((btScalar(1.) - step * m_angularDamping), (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
#define FORCE_VELOCITY_DAMPING 1
#ifdef FORCE_VELOCITY_DAMPING
float speed = m_linearVelocity.length();
btScalar speed = m_linearVelocity.length();
if (speed < m_linearDamping)
{
float dampVel = 0.005f;
btScalar dampVel = btScalar(0.005);
if (speed > dampVel)
{
btVector3 dir = m_linearVelocity.normalized();
m_linearVelocity -= dir * dampVel;
} else
{
m_linearVelocity.setValue(0.f,0.f,0.f);
m_linearVelocity.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
}
}
float angSpeed = m_angularVelocity.length();
btScalar angSpeed = m_angularVelocity.length();
if (angSpeed < m_angularDamping)
{
float angDampVel = 0.005f;
btScalar angDampVel = btScalar(0.005);
if (angSpeed > angDampVel)
{
btVector3 dir = m_angularVelocity.normalized();
m_angularVelocity -= dir * angDampVel;
} else
{
m_angularVelocity.setValue(0.f,0.f,0.f);
m_angularVelocity.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
}
}
#endif //FORCE_VELOCITY_DAMPING
@@ -242,19 +242,19 @@ void btRigidBody::proceedToTransform(const btTransform& newTrans)
void btRigidBody::setMassProps(btScalar mass, const btVector3& inertia)
{
if (mass == 0.f)
if (mass == btScalar(0.))
{
m_collisionFlags |= btCollisionObject::CF_STATIC_OBJECT;
m_inverseMass = 0.f;
m_inverseMass = btScalar(0.);
} else
{
m_collisionFlags &= (~btCollisionObject::CF_STATIC_OBJECT);
m_inverseMass = 1.0f / mass;
m_inverseMass = btScalar(1.0) / mass;
}
m_invInertiaLocal.setValue(inertia[0] != 0.0f ? 1.0f / inertia[0]: 0.0f,
inertia[1] != 0.0f ? 1.0f / inertia[1]: 0.0f,
inertia[2] != 0.0f ? 1.0f / inertia[2]: 0.0f);
m_invInertiaLocal.setValue(inertia[0] != btScalar(0.0) ? btScalar(1.0) / inertia[0]: btScalar(0.0),
inertia[1] != btScalar(0.0) ? btScalar(1.0) / inertia[1]: btScalar(0.0),
inertia[2] != btScalar(0.0) ? btScalar(1.0) / inertia[2]: btScalar(0.0));
}
@@ -276,7 +276,7 @@ void btRigidBody::integrateVelocities(btScalar step)
#define MAX_ANGVEL SIMD_HALF_PI
/// clamp angular velocity. collision calculations will fail on higher angular velocities
float angvel = m_angularVelocity.length();
btScalar angvel = m_angularVelocity.length();
if (angvel*step > MAX_ANGVEL)
{
m_angularVelocity *= (MAX_ANGVEL/step) /angvel;

36
src/BulletDynamics/Dynamics/btRigidBody.h
View File

@@ -29,13 +29,13 @@ class btMotionState;
extern float gLinearAirDamping;
extern btScalar gLinearAirDamping;
extern bool gUseEpa;
extern float gDeactivationTime;
extern btScalar gDeactivationTime;
extern bool gDisableDeactivation;
extern float gLinearSleepingThreshold;
extern float gAngularSleepingThreshold;
extern btScalar gLinearSleepingThreshold;
extern btScalar gAngularSleepingThreshold;
/// btRigidBody class for btRigidBody Dynamics
@@ -65,10 +65,10 @@ public:
#ifdef OBSOLETE_MOTIONSTATE_LESS
//not supported, please use btMotionState
btRigidBody(float mass, const btTransform& worldTransform, btCollisionShape* collisionShape, const btVector3& localInertia=btVector3(0,0,0),btScalar linearDamping=0.f,btScalar angularDamping=0.f,btScalar friction=0.5f,btScalar restitution=0.f);
btRigidBody(btScalar mass, const btTransform& worldTransform, btCollisionShape* collisionShape, const btVector3& localInertia=btVector3(0,0,0),btScalar linearDamping=btScalar(0.),btScalar angularDamping=btScalar(0.),btScalar friction=btScalar(0.5),btScalar restitution=btScalar(0.));
#endif //OBSOLETE_MOTIONSTATE_LESS
btRigidBody(float mass, btMotionState* motionState, btCollisionShape* collisionShape, const btVector3& localInertia=btVector3(0,0,0),btScalar linearDamping=0.f,btScalar angularDamping=0.f,btScalar friction=0.5f,btScalar restitution=0.f);
btRigidBody(btScalar mass, btMotionState* motionState, btCollisionShape* collisionShape, const btVector3& localInertia=btVector3(0,0,0),btScalar linearDamping=btScalar(0.),btScalar angularDamping=btScalar(0.),btScalar friction=btScalar(0.5),btScalar restitution=btScalar(0.));
void proceedToTransform(const btTransform& newTrans);
@@ -157,7 +157,7 @@ public:
void applyImpulse(const btVector3& impulse, const btVector3& rel_pos)
{
if (m_inverseMass != 0.f)
if (m_inverseMass != btScalar(0.))
{
applyCentralImpulse(impulse);
if (m_angularFactor)
@@ -168,9 +168,9 @@ public:
}
//Optimization for the iterative solver: avoid calculating constant terms involving inertia, normal, relative position
inline void internalApplyImpulse(const btVector3& linearComponent, const btVector3& angularComponent,float impulseMagnitude)
inline void internalApplyImpulse(const btVector3& linearComponent, const btVector3& angularComponent,btScalar impulseMagnitude)
{
if (m_inverseMass != 0.f)
if (m_inverseMass != btScalar(0.))
{
m_linearVelocity += linearComponent*impulseMagnitude;
if (m_angularFactor)
@@ -182,8 +182,8 @@ public:
void clearForces()
{
m_totalForce.setValue(0.0f, 0.0f, 0.0f);
m_totalTorque.setValue(0.0f, 0.0f, 0.0f);
m_totalForce.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
m_totalTorque.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
}
void updateInertiaTensor();
@@ -238,7 +238,7 @@ public:
inline float computeImpulseDenominator(const btPoint3& pos, const btVector3& normal) const
inline btScalar computeImpulseDenominator(const btPoint3& pos, const btVector3& normal) const
{
btVector3 r0 = pos - getCenterOfMassPosition();
@@ -250,13 +250,13 @@ public:
}
inline float computeAngularImpulseDenominator(const btVector3& axis) const
inline btScalar computeAngularImpulseDenominator(const btVector3& axis) const
{
btVector3 vec = axis * getInvInertiaTensorWorld();
return axis.dot(vec);
}
inline void updateDeactivation(float timeStep)
inline void updateDeactivation(btScalar timeStep)
{
if ( (getActivationState() == ISLAND_SLEEPING) || (getActivationState() == DISABLE_DEACTIVATION))
return;
@@ -267,7 +267,7 @@ public:
m_deactivationTime += timeStep;
} else
{
m_deactivationTime=0.f;
m_deactivationTime=btScalar(0.);
setActivationState(0);
}
@@ -280,7 +280,7 @@ public:
return false;
//disable deactivation
if (gDisableDeactivation || (gDeactivationTime == 0.f))
if (gDisableDeactivation || (gDeactivationTime == btScalar(0.)))
return false;
if ( (getActivationState() == ISLAND_SLEEPING) || (getActivationState() == WANTS_DEACTIVATION))
@@ -328,11 +328,11 @@ public:
int m_contactSolverType;
int m_frictionSolverType;
void setAngularFactor(float angFac)
void setAngularFactor(btScalar angFac)
{
m_angularFactor = angFac;
}
float getAngularFactor() const
btScalar getAngularFactor() const
{
return m_angularFactor;
}

6
src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp
View File

@@ -41,7 +41,7 @@ btSimpleDynamicsWorld::~btSimpleDynamicsWorld()
delete m_constraintSolver;
}
int btSimpleDynamicsWorld::stepSimulation( float timeStep,int maxSubSteps, float fixedTimeStep)
int btSimpleDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps, btScalar fixedTimeStep)
{
///apply gravity, predict motion
predictUnconstraintMotion(timeStep);
@@ -127,7 +127,7 @@ void btSimpleDynamicsWorld::updateAabbs()
}
}
void btSimpleDynamicsWorld::integrateTransforms(float timeStep)
void btSimpleDynamicsWorld::integrateTransforms(btScalar timeStep)
{
btTransform predictedTrans;
for (unsigned int i=0;i<m_collisionObjects.size();i++)
@@ -147,7 +147,7 @@ void btSimpleDynamicsWorld::integrateTransforms(float timeStep)
void btSimpleDynamicsWorld::predictUnconstraintMotion(float timeStep)
void btSimpleDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
{
for (unsigned int i=0;i<m_collisionObjects.size();i++)
{

6
src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h
View File

@@ -37,9 +37,9 @@ protected:
btIDebugDraw* m_debugDrawer;
void predictUnconstraintMotion(float timeStep);
void predictUnconstraintMotion(btScalar timeStep);
void integrateTransforms(float timeStep);
void integrateTransforms(btScalar timeStep);
btVector3 m_gravity;
@@ -53,7 +53,7 @@ public:
virtual ~btSimpleDynamicsWorld();
///maxSubSteps/fixedTimeStep for interpolation is currently ignored for btSimpleDynamicsWorld, use btDiscreteDynamicsWorld instead
virtual int stepSimulation( float timeStep,int maxSubSteps=1, float fixedTimeStep=1.f/60.f);
virtual int stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.));
virtual void setDebugDrawer(btIDebugDraw* debugDrawer)
{