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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/LinearMath/btGeometryUtil.cpp
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@@ -16,14 +16,14 @@ subject to the following restrictions:
#include "btGeometryUtil.h"
bool btGeometryUtil::isPointInsidePlanes(const btAlignedObjectArray<btVector3>& planeEquations, const btVector3& point, float margin)
bool btGeometryUtil::isPointInsidePlanes(const btAlignedObjectArray<btVector3>& planeEquations, const btVector3& point, btScalar margin)
{
int numbrushes = planeEquations.size();
for (int i=0;i<numbrushes;i++)
{
const btVector3& N1 = planeEquations[i];
float dist = float(N1.dot(point))+float(N1[3])-margin;
if (dist>0.f)
btScalar dist = btScalar(N1.dot(point))+btScalar(N1[3])-margin;
if (dist>btScalar(0.))
{
return false;
}
@@ -33,14 +33,14 @@ bool btGeometryUtil::isPointInsidePlanes(const btAlignedObjectArray<btVector3>&
}
bool btGeometryUtil::areVerticesBehindPlane(const btVector3& planeNormal, const btAlignedObjectArray<btVector3>& vertices, float margin)
bool btGeometryUtil::areVerticesBehindPlane(const btVector3& planeNormal, const btAlignedObjectArray<btVector3>& vertices, btScalar margin)
{
int numvertices = vertices.size();
for (int i=0;i<numvertices;i++)
{
const btVector3& N1 = vertices[i];
float dist = float(planeNormal.dot(N1))+float(planeNormal[3])-margin;
if (dist>0.f)
btScalar dist = btScalar(planeNormal.dot(N1))+btScalar(planeNormal[3])-margin;
if (dist>btScalar(0.))
{
return false;
}
@@ -54,7 +54,7 @@ bool notExist(const btVector3& planeEquation,const btAlignedObjectArray<btVector
for (int i=0;i<numbrushes;i++)
{
const btVector3& N1 = planeEquations[i];
if (planeEquation.dot(N1) > 0.999f)
if (planeEquation.dot(N1) > btScalar(0.999))
{
return false;
}
@@ -83,11 +83,11 @@ void btGeometryUtil::getPlaneEquationsFromVertices(btAlignedObjectArray<btVector
btVector3 planeEquation,edge0,edge1;
edge0 = N2-N1;
edge1 = N3-N1;
float normalSign = 1.f;
btScalar normalSign = btScalar(1.);
for (int ww=0;ww<2;ww++)
{
planeEquation = normalSign * edge0.cross(edge1);
if (planeEquation.length2() > 0.0001f)
if (planeEquation.length2() > btScalar(0.0001))
{
planeEquation.normalize();
if (notExist(planeEquation,planeEquationsOut))
@@ -95,13 +95,13 @@ void btGeometryUtil::getPlaneEquationsFromVertices(btAlignedObjectArray<btVector
planeEquation[3] = -planeEquation.dot(N1);
//check if inside, and replace supportingVertexOut if needed
if (areVerticesBehindPlane(planeEquation,vertices,0.01f))
if (areVerticesBehindPlane(planeEquation,vertices,btScalar(0.01)))
{
planeEquationsOut.push_back(planeEquation);
}
}
}
normalSign = -1.f;
normalSign = btScalar(-1.);
}
}
@@ -132,9 +132,9 @@ void btGeometryUtil::getVerticesFromPlaneEquations(const btAlignedObjectArray<bt
btVector3 n3n1; n3n1 = N3.cross(N1);
btVector3 n1n2; n1n2 = N1.cross(N2);
if ( ( n2n3.length2() > 0.0001f ) &&
( n3n1.length2() > 0.0001f ) &&
( n1n2.length2() > 0.0001f ) )
if ( ( n2n3.length2() > btScalar(0.0001) ) &&
( n3n1.length2() > btScalar(0.0001) ) &&
( n1n2.length2() > btScalar(0.0001) ) )
{
//point P out of 3 plane equations:
@@ -143,10 +143,10 @@ void btGeometryUtil::getVerticesFromPlaneEquations(const btAlignedObjectArray<bt
// N1 . ( N2 * N3 )
float quotient = (N1.dot(n2n3));
if (btFabs(quotient) > 0.000001f)
btScalar quotient = (N1.dot(n2n3));
if (btFabs(quotient) > btScalar(0.000001))
{
quotient = -1.f / quotient;
quotient = btScalar(-1.) / quotient;
n2n3 *= N1[3];
n3n1 *= N2[3];
n1n2 *= N3[3];
@@ -156,7 +156,7 @@ void btGeometryUtil::getVerticesFromPlaneEquations(const btAlignedObjectArray<bt
potentialVertex *= quotient;
//check if inside, and replace supportingVertexOut if needed
if (isPointInsidePlanes(planeEquations,potentialVertex,0.01f))
if (isPointInsidePlanes(planeEquations,potentialVertex,btScalar(0.01)))
{
verticesOut.push_back(potentialVertex);
}