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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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36
src/BulletDynamics/Dynamics/btRigidBody.h
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@@ -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;
}