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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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24
src/LinearMath/btTransformUtil.h
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@@ -17,19 +17,19 @@ subject to the following restrictions:
#define SIMD_TRANSFORM_UTIL_H
#include "LinearMath/btTransform.h"
#define ANGULAR_MOTION_THRESHOLD 0.5f*SIMD_HALF_PI
#define ANGULAR_MOTION_THRESHOLD btScalar(0.5)*SIMD_HALF_PI
#define SIMDSQRT12 btScalar(0.7071067811865475244008443621048490)
#define btRecipSqrt(x) ((float)(1.0f/btSqrt(float(x)))) /* reciprocal square root */
#define btRecipSqrt(x) ((btScalar)(btScalar(1.0)/btSqrt(btScalar(x)))) /* reciprocal square root */
inline btVector3 btAabbSupport(const btVector3& halfExtents,const btVector3& supportDir)
{
return btVector3(supportDir.x() < btScalar(0.0f) ? -halfExtents.x() : halfExtents.x(),
supportDir.y() < btScalar(0.0f) ? -halfExtents.y() : halfExtents.y(),
supportDir.z() < btScalar(0.0f) ? -halfExtents.z() : halfExtents.z());
return btVector3(supportDir.x() < btScalar(0.0) ? -halfExtents.x() : halfExtents.x(),
supportDir.y() < btScalar(0.0) ? -halfExtents.y() : halfExtents.y(),
supportDir.z() < btScalar(0.0) ? -halfExtents.z() : halfExtents.z());
}
@@ -75,7 +75,7 @@ public:
// #define QUATERNION_DERIVATIVE
#ifdef QUATERNION_DERIVATIVE
btQuaternion orn = curTrans.getRotation();
orn += (angvel * orn) * (timeStep * 0.5f);
orn += (angvel * orn) * (timeStep * btScalar(0.5));
orn.normalize();
#else
//exponential map
@@ -87,17 +87,17 @@ public:
fAngle = ANGULAR_MOTION_THRESHOLD / timeStep;
}
if ( fAngle < 0.001f )
if ( fAngle < btScalar(0.001) )
{
// use Taylor's expansions of sync function
axis = angvel*( 0.5f*timeStep-(timeStep*timeStep*timeStep)*(0.020833333333f)*fAngle*fAngle );
axis = angvel*( btScalar(0.5)*timeStep-(timeStep*timeStep*timeStep)*(btScalar(0.020833333333))*fAngle*fAngle );
}
else
{
// sync(fAngle) = sin(c*fAngle)/t
axis = angvel*( btSin(0.5f*fAngle*timeStep)/fAngle );
axis = angvel*( btSin(btScalar(0.5)*fAngle*timeStep)/fAngle );
}
btQuaternion dorn (axis.x(),axis.y(),axis.z(),btCos( fAngle*timeStep*0.5f ));
btQuaternion dorn (axis.x(),axis.y(),axis.z(),btCos( fAngle*timeStep*btScalar(0.5) ));
btQuaternion orn0 = curTrans.getRotation();
btQuaternion predictedOrn = dorn * orn0;
@@ -130,11 +130,11 @@ public:
angle = dorn.getAngle();
axis = btVector3(dorn.x(),dorn.y(),dorn.z());
axis[3] = 0.f;
axis[3] = btScalar(0.);
//check for axis length
btScalar len = axis.length2();
if (len < SIMD_EPSILON*SIMD_EPSILON)
axis = btVector3(1.f,0.f,0.f);
axis = btVector3(btScalar(1.),btScalar(0.),btScalar(0.));
else
axis /= btSqrt(len);
}