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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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86
src/BulletDynamics/Vehicle/btRaycastVehicle.cpp
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@@ -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;