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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 committed 2006-12-16 05:51:30 +00:00
1 parent 39f223fd65
commit df9230327c
141 files changed
+1091 -1042
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src/BulletDynamics/Vehicle/btRaycastVehicle.cpp
+43 -43
View File
@@ -28,7 +28,7 @@ static btRigidBody s_fixedObject( 0,0,0);
btRaycastVehicle::btRaycastVehicle(const btVehicleTuning& tuning,btRigidBody* chassis, btVehicleRaycaster* raycaster )
:m_vehicleRaycaster(raycaster),
m_pitchControl(0.f)
m_pitchControl(btScalar(0.))
{
m_chassisBody = chassis;
m_indexRightAxis = 0;
@@ -40,8 +40,8 @@ m_pitchControl(0.f)
void btRaycastVehicle::defaultInit(const btVehicleTuning& tuning)
{
m_currentVehicleSpeedKmHour = 0.f;
m_steeringValue = 0.f;
m_currentVehicleSpeedKmHour = btScalar(0.);
m_steeringValue = btScalar(0.);
}
@@ -105,7 +105,7 @@ void btRaycastVehicle::updateWheelTransform( int wheelIndex , bool interpolatedT
// up.normalize();
//rotate around steering over de wheelAxleWS
float steering = wheel.m_steering;
btScalar steering = wheel.m_steering;
btQuaternion steeringOrn(up,steering);//wheel.m_steering);
btMatrix3x3 steeringMat(steeringOrn);
@@ -133,11 +133,11 @@ void btRaycastVehicle::resetSuspension()
{
btWheelInfo& wheel = m_wheelInfo[i];
wheel.m_raycastInfo.m_suspensionLength = wheel.getSuspensionRestLength();
wheel.m_suspensionRelativeVelocity = 0.0f;
wheel.m_suspensionRelativeVelocity = btScalar(0.0);
wheel.m_raycastInfo.m_contactNormalWS = - wheel.m_raycastInfo.m_wheelDirectionWS;
//wheel_info.setContactFriction(0.0f);
wheel.m_clippedInvContactDotSuspension = 1.0f;
//wheel_info.setContactFriction(btScalar(0.0));
wheel.m_clippedInvContactDotSuspension = btScalar(1.0);
}
}
@@ -170,7 +170,7 @@ btScalar btRaycastVehicle::rayCast(btWheelInfo& wheel)
wheel.m_raycastInfo.m_contactPointWS = source + rayvector;
const btVector3& target = wheel.m_raycastInfo.m_contactPointWS;
btScalar param = 0.f;
btScalar param = btScalar(0.);
btVehicleRaycaster::btVehicleRaycasterResult rayResults;
@@ -195,8 +195,8 @@ btScalar btRaycastVehicle::rayCast(btWheelInfo& wheel)
wheel.m_raycastInfo.m_suspensionLength = hitDistance - wheel.m_wheelsRadius;
//clamp on max suspension travel
float minSuspensionLength = wheel.getSuspensionRestLength() - wheel.m_maxSuspensionTravelCm*0.01f;
float maxSuspensionLength = wheel.getSuspensionRestLength()+ wheel.m_maxSuspensionTravelCm*0.01f;
btScalar minSuspensionLength = wheel.getSuspensionRestLength() - wheel.m_maxSuspensionTravelCm*btScalar(0.01);
btScalar maxSuspensionLength = wheel.getSuspensionRestLength()+ wheel.m_maxSuspensionTravelCm*btScalar(0.01);
if (wheel.m_raycastInfo.m_suspensionLength < minSuspensionLength)
{
wheel.m_raycastInfo.m_suspensionLength = minSuspensionLength;
@@ -217,14 +217,14 @@ btScalar btRaycastVehicle::rayCast(btWheelInfo& wheel)
btScalar projVel = wheel.m_raycastInfo.m_contactNormalWS.dot( chassis_velocity_at_contactPoint );
if ( denominator >= -0.1f)
if ( denominator >= btScalar(-0.1))
{
wheel.m_suspensionRelativeVelocity = 0.0f;
wheel.m_clippedInvContactDotSuspension = 1.0f / 0.1f;
wheel.m_suspensionRelativeVelocity = btScalar(0.0);
wheel.m_clippedInvContactDotSuspension = btScalar(1.0) / btScalar(0.1);
}
else
{
btScalar inv = -1.f / denominator;
btScalar inv = btScalar(-1.) / denominator;
wheel.m_suspensionRelativeVelocity = projVel * inv;
wheel.m_clippedInvContactDotSuspension = inv;
}
@@ -233,9 +233,9 @@ btScalar btRaycastVehicle::rayCast(btWheelInfo& wheel)
{
//put wheel info as in rest position
wheel.m_raycastInfo.m_suspensionLength = wheel.getSuspensionRestLength();
wheel.m_suspensionRelativeVelocity = 0.0f;
wheel.m_suspensionRelativeVelocity = btScalar(0.0);
wheel.m_raycastInfo.m_contactNormalWS = - wheel.m_raycastInfo.m_wheelDirectionWS;
wheel.m_clippedInvContactDotSuspension = 1.0f;
wheel.m_clippedInvContactDotSuspension = btScalar(1.0);
}
return depth;
@@ -267,7 +267,7 @@ void btRaycastVehicle::updateVehicle( btScalar step )
}
m_currentVehicleSpeedKmHour = 3.6f * getRigidBody()->getLinearVelocity().length();
m_currentVehicleSpeedKmHour = btScalar(3.6) * getRigidBody()->getLinearVelocity().length();
const btTransform& chassisTrans = getChassisWorldTransform();
@@ -276,9 +276,9 @@ void btRaycastVehicle::updateVehicle( btScalar step )
chassisTrans.getBasis()[1][m_indexForwardAxis],
chassisTrans.getBasis()[2][m_indexForwardAxis]);
if (forwardW.dot(getRigidBody()->getLinearVelocity()) < 0.f)
if (forwardW.dot(getRigidBody()->getLinearVelocity()) < btScalar(0.))
{
m_currentVehicleSpeedKmHour *= -1.f;
m_currentVehicleSpeedKmHour *= btScalar(-1.);
}
//
@@ -300,9 +300,9 @@ void btRaycastVehicle::updateVehicle( btScalar step )
//apply suspension force
btWheelInfo& wheel = m_wheelInfo[i];
float suspensionForce = wheel.m_wheelsSuspensionForce;
btScalar suspensionForce = wheel.m_wheelsSuspensionForce;
float gMaxSuspensionForce = 6000.f;
btScalar gMaxSuspensionForce = btScalar(6000.);
if (suspensionForce > gMaxSuspensionForce)
{
suspensionForce = gMaxSuspensionForce;
@@ -347,7 +347,7 @@ void btRaycastVehicle::updateVehicle( btScalar step )
wheel.m_rotation += wheel.m_deltaRotation;
}
wheel.m_deltaRotation *= 0.99f;//damping of rotation when not in contact
wheel.m_deltaRotation *= btScalar(0.99);//damping of rotation when not in contact
}
@@ -394,7 +394,7 @@ btWheelInfo& btRaycastVehicle::getWheelInfo(int index)
return m_wheelInfo[index];
}
void btRaycastVehicle::setBrake(float brake,int wheelIndex)
void btRaycastVehicle::setBrake(btScalar brake,int wheelIndex)
{
btAssert((wheelIndex >= 0) && (wheelIndex < getNumWheels()));
getWheelInfo(wheelIndex).m_brake;
@@ -404,7 +404,7 @@ void btRaycastVehicle::setBrake(float brake,int wheelIndex)
void btRaycastVehicle::updateSuspension(btScalar deltaTime)
{
btScalar chassisMass = 1.f / m_chassisBody->getInvMass();
btScalar chassisMass = btScalar(1.) / m_chassisBody->getInvMass();
for (int w_it=0; w_it<getNumWheels(); w_it++)
{
@@ -429,7 +429,7 @@ void btRaycastVehicle::updateSuspension(btScalar deltaTime)
btScalar projected_rel_vel = wheel_info.m_suspensionRelativeVelocity;
{
btScalar susp_damping;
if ( projected_rel_vel < 0.0f )
if ( projected_rel_vel < btScalar(0.0) )
{
susp_damping = wheel_info.m_wheelsDampingCompression;
}
@@ -443,20 +443,20 @@ void btRaycastVehicle::updateSuspension(btScalar deltaTime)
// RESULT
wheel_info.m_wheelsSuspensionForce = force * chassisMass;
if (wheel_info.m_wheelsSuspensionForce < 0.f)
if (wheel_info.m_wheelsSuspensionForce < btScalar(0.))
{
wheel_info.m_wheelsSuspensionForce = 0.f;
wheel_info.m_wheelsSuspensionForce = btScalar(0.);
}
}
else
{
wheel_info.m_wheelsSuspensionForce = 0.0f;
wheel_info.m_wheelsSuspensionForce = btScalar(0.0);
}
}
}
float sideFrictionStiffness2 = 1.0f;
btScalar sideFrictionStiffness2 = btScalar(1.0);
void btRaycastVehicle::updateFriction(btScalar timeStep)
{
@@ -481,8 +481,8 @@ void btRaycastVehicle::updateFriction(btScalar timeStep)
class btRigidBody* groundObject = (class btRigidBody*) wheelInfo.m_raycastInfo.m_groundObject;
if (groundObject)
numWheelsOnGround++;
sideImpulse[i] = 0.f;
forwardImpulse[i] = 0.f;
sideImpulse[i] = btScalar(0.);
forwardImpulse[i] = btScalar(0.);
}
@@ -517,7 +517,7 @@ void btRaycastVehicle::updateFriction(btScalar timeStep)
resolveSingleBilateral(*m_chassisBody, wheelInfo.m_raycastInfo.m_contactPointWS,
*groundObject, wheelInfo.m_raycastInfo.m_contactPointWS,
0.f, axle[i],sideImpulse[i],timeStep);
btScalar(0.), axle[i],sideImpulse[i],timeStep);
sideImpulse[i] *= sideFrictionStiffness2;
@@ -527,7 +527,7 @@ void btRaycastVehicle::updateFriction(btScalar timeStep)
}
}
btScalar sideFactor = 1.f;
btScalar sideFactor = btScalar(1.);
btScalar fwdFactor = 0.5;
bool sliding = false;
@@ -538,12 +538,12 @@ void btRaycastVehicle::updateFriction(btScalar timeStep)
class btRigidBody* groundObject = (class btRigidBody*) wheelInfo.m_raycastInfo.m_groundObject;
forwardImpulse[wheel] = 0.f;
m_wheelInfo[wheel].m_skidInfo= 1.f;
forwardImpulse[wheel] = btScalar(0.);
m_wheelInfo[wheel].m_skidInfo= btScalar(1.);
if (groundObject)
{
m_wheelInfo[wheel].m_skidInfo= 1.f;
m_wheelInfo[wheel].m_skidInfo= btScalar(1.);
btScalar maximp = wheelInfo.m_wheelsSuspensionForce * timeStep * wheelInfo.m_frictionSlip;
btScalar maximpSide = maximp;
@@ -552,10 +552,10 @@ void btRaycastVehicle::updateFriction(btScalar timeStep)
forwardImpulse[wheel] = wheelInfo.m_engineForce* timeStep;
float x = (forwardImpulse[wheel] ) * fwdFactor;
float y = (sideImpulse[wheel] ) * sideFactor;
btScalar x = (forwardImpulse[wheel] ) * fwdFactor;
btScalar y = (sideImpulse[wheel] ) * sideFactor;
float impulseSquared = (x*x + y*y);
btScalar impulseSquared = (x*x + y*y);
if (impulseSquared > maximpSquared)
{
@@ -577,9 +577,9 @@ void btRaycastVehicle::updateFriction(btScalar timeStep)
{
for (int wheel = 0;wheel < getNumWheels(); wheel++)
{
if (sideImpulse[wheel] != 0.f)
if (sideImpulse[wheel] != btScalar(0.))
{
if (m_wheelInfo[wheel].m_skidInfo< 1.f)
if (m_wheelInfo[wheel].m_skidInfo< btScalar(1.))
{
forwardImpulse[wheel] *= m_wheelInfo[wheel].m_skidInfo;
sideImpulse[wheel] *= m_wheelInfo[wheel].m_skidInfo;
@@ -597,11 +597,11 @@ void btRaycastVehicle::updateFriction(btScalar timeStep)
btVector3 rel_pos = wheelInfo.m_raycastInfo.m_contactPointWS -
m_chassisBody->getCenterOfMassPosition();
if (forwardImpulse[wheel] != 0.f)
if (forwardImpulse[wheel] != btScalar(0.))
{
m_chassisBody->applyImpulse(forwardWS[wheel]*(forwardImpulse[wheel]),rel_pos);
}
if (sideImpulse[wheel] != 0.f)
if (sideImpulse[wheel] != btScalar(0.))
{
class btRigidBody* groundObject = (class btRigidBody*) m_wheelInfo[wheel].m_raycastInfo.m_groundObject;
src/BulletDynamics/Vehicle/btRaycastVehicle.h
+15 -15
View File
@@ -29,18 +29,18 @@ public:
public:
btVehicleTuning()
:m_suspensionStiffness(5.88f),
m_suspensionCompression(0.83f),
m_suspensionDamping(0.88f),
m_maxSuspensionTravelCm(500.f),
m_frictionSlip(10.5f)
:m_suspensionStiffness(btScalar(5.88)),
m_suspensionCompression(btScalar(0.83)),
m_suspensionDamping(btScalar(0.88)),
m_maxSuspensionTravelCm(btScalar(500.)),
m_frictionSlip(btScalar(10.5))
{
}
float m_suspensionStiffness;
float m_suspensionCompression;
float m_suspensionDamping;
float m_maxSuspensionTravelCm;
float m_frictionSlip;
btScalar m_suspensionStiffness;
btScalar m_suspensionCompression;
btScalar m_suspensionDamping;
btScalar m_maxSuspensionTravelCm;
btScalar m_frictionSlip;
};
private:
@@ -48,9 +48,9 @@ private:
btScalar m_tau;
btScalar m_damping;
btVehicleRaycaster* m_vehicleRaycaster;
float m_pitchControl;
float m_steeringValue;
float m_currentVehicleSpeedKmHour;
btScalar m_pitchControl;
btScalar m_steeringValue;
btScalar m_currentVehicleSpeedKmHour;
btRigidBody* m_chassisBody;
@@ -105,9 +105,9 @@ public:
void updateWheelTransformsWS(btWheelInfo& wheel , bool interpolatedTransform = true);
void setBrake(float brake,int wheelIndex);
void setBrake(btScalar brake,int wheelIndex);
void setPitchControl(float pitch)
void setPitchControl(btScalar pitch)
{
m_pitchControl = pitch;
}
src/BulletDynamics/Vehicle/btVehicleRaycaster.h
+1 -1
View File
@@ -21,7 +21,7 @@ virtual ~btVehicleRaycaster()
}
struct btVehicleRaycasterResult
{
btVehicleRaycasterResult() :m_distFraction(-1.f){};
btVehicleRaycasterResult() :m_distFraction(btScalar(-1.)){};
btVector3 m_hitPointInWorld;
btVector3 m_hitNormalInWorld;
btScalar m_distFraction;
src/BulletDynamics/Vehicle/btWheelInfo.cpp
+6 -6
View File
@@ -31,14 +31,14 @@ void btWheelInfo::updateWheel(const btRigidBody& chassis,RaycastInfo& raycastInf
btVector3 relpos = m_raycastInfo.m_contactPointWS - chassis.getCenterOfMassPosition();
chassis_velocity_at_contactPoint = chassis.getVelocityInLocalPoint( relpos );
btScalar projVel = m_raycastInfo.m_contactNormalWS.dot( chassis_velocity_at_contactPoint );
if ( project >= -0.1f)
if ( project >= btScalar(-0.1))
{
m_suspensionRelativeVelocity = 0.0f;
m_clippedInvContactDotSuspension = 1.0f / 0.1f;
m_suspensionRelativeVelocity = btScalar(0.0);
m_clippedInvContactDotSuspension = btScalar(1.0) / btScalar(0.1);
}
else
{
btScalar inv = -1.f / project;
btScalar inv = btScalar(-1.) / project;
m_suspensionRelativeVelocity = projVel * inv;
m_clippedInvContactDotSuspension = inv;
}
@@ -48,8 +48,8 @@ void btWheelInfo::updateWheel(const btRigidBody& chassis,RaycastInfo& raycastInf
else // Not in contact : position wheel in a nice (rest length) position
{
m_raycastInfo.m_suspensionLength = this->getSuspensionRestLength();
m_suspensionRelativeVelocity = 0.0f;
m_suspensionRelativeVelocity = btScalar(0.0);
m_raycastInfo.m_contactNormalWS = -m_raycastInfo.m_wheelDirectionWS;
m_clippedInvContactDotSuspension = 1.0f;
m_clippedInvContactDotSuspension = btScalar(1.0);
}
}
src/BulletDynamics/Vehicle/btWheelInfo.h
+10 -10
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@@ -25,10 +25,10 @@ struct btWheelInfoConstructionInfo
btScalar m_maxSuspensionTravelCm;
btScalar m_wheelRadius;
float m_suspensionStiffness;
float m_wheelsDampingCompression;
float m_wheelsDampingRelaxation;
float m_frictionSlip;
btScalar m_suspensionStiffness;
btScalar m_wheelsDampingCompression;
btScalar m_wheelsDampingRelaxation;
btScalar m_frictionSlip;
bool m_bIsFrontWheel;
};
@@ -92,12 +92,12 @@ struct btWheelInfo
m_wheelDirectionCS = ci.m_wheelDirectionCS;
m_wheelAxleCS = ci.m_wheelAxleCS;
m_frictionSlip = ci.m_frictionSlip;
m_steering = 0.f;
m_engineForce = 0.f;
m_rotation = 0.f;
m_deltaRotation = 0.f;
m_brake = 0.f;
m_rollInfluence = 0.1f;
m_steering = btScalar(0.);
m_engineForce = btScalar(0.);
m_rotation = btScalar(0.);
m_deltaRotation = btScalar(0.);
m_brake = btScalar(0.);
m_rollInfluence = btScalar(0.1);
m_bIsFrontWheel = ci.m_bIsFrontWheel;
}