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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);