diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp')
| -rw-r--r-- | extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp | 39 |
1 files changed, 20 insertions, 19 deletions
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp index 0ce04dcfad8..f1f3f7f7f6c 100644 --- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp +++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp @@ -27,7 +27,7 @@ subject to the following restrictions: #endif //must be above the machine epsilon -#define REL_ERROR2 1.0e-6f +#define REL_ERROR2 btScalar(1.0e-6) //temp globals, to improve GJK/EPA/penetration calculations int gNumDeepPenetrationChecks = 0; @@ -36,7 +36,7 @@ int gNumGjkChecks = 0; btGjkPairDetector::btGjkPairDetector(btConvexShape* objectA,btConvexShape* objectB,btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver* penetrationDepthSolver) -:m_cachedSeparatingAxis(0.f,0.f,1.f), +:m_cachedSeparatingAxis(btScalar(0.),btScalar(0.),btScalar(1.)), m_penetrationDepthSolver(penetrationDepthSolver), m_simplexSolver(simplexSolver), m_minkowskiA(objectA), @@ -49,25 +49,25 @@ m_catchDegeneracies(1) void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw) { - btScalar distance=0.f; - btVector3 normalInB(0.f,0.f,0.f); + btScalar distance=btScalar(0.); + btVector3 normalInB(btScalar(0.),btScalar(0.),btScalar(0.)); btVector3 pointOnA,pointOnB; btTransform localTransA = input.m_transformA; btTransform localTransB = input.m_transformB; - btVector3 positionOffset = (localTransA.getOrigin() + localTransB.getOrigin()) * 0.5f; + btVector3 positionOffset = (localTransA.getOrigin() + localTransB.getOrigin()) * btScalar(0.5); localTransA.getOrigin() -= positionOffset; localTransB.getOrigin() -= positionOffset; - float marginA = m_minkowskiA->getMargin(); - float marginB = m_minkowskiB->getMargin(); + btScalar marginA = m_minkowskiA->getMargin(); + btScalar marginB = m_minkowskiB->getMargin(); gNumGjkChecks++; //for CCD we don't use margins if (m_ignoreMargin) { - marginA = 0.f; - marginB = 0.f; + marginA = btScalar(0.); + marginB = btScalar(0.); } m_curIter = 0; @@ -83,7 +83,7 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result& { btScalar squaredDistance = SIMD_INFINITY; - btScalar delta = 0.f; + btScalar delta = btScalar(0.); btScalar margin = marginA + marginB; @@ -91,7 +91,8 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result& m_simplexSolver->reset(); - while (true) + for ( ; ; ) + //while (true) { btVector3 seperatingAxisInA = (-m_cachedSeparatingAxis)* input.m_transformA.getBasis(); @@ -120,12 +121,12 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result& break; } // are we getting any closer ? - float f0 = squaredDistance - delta; - float f1 = squaredDistance * REL_ERROR2; + btScalar f0 = squaredDistance - delta; + btScalar f1 = squaredDistance * REL_ERROR2; if (f0 <= f1) { - if (f0 <= 0.f) + if (f0 <= btScalar(0.)) { m_degenerateSimplex = 2; } @@ -191,7 +192,7 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result& { m_simplexSolver->compute_points(pointOnA, pointOnB); normalInB = pointOnA-pointOnB; - float lenSqr = m_cachedSeparatingAxis.length2(); + btScalar lenSqr = m_cachedSeparatingAxis.length2(); //valid normal if (lenSqr < 0.0001) { @@ -199,14 +200,14 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result& } if (lenSqr > SIMD_EPSILON*SIMD_EPSILON) { - float rlen = 1.f / btSqrt(lenSqr ); + btScalar rlen = btScalar(1.) / btSqrt(lenSqr ); normalInB *= rlen; //normalize btScalar s = btSqrt(squaredDistance); btAssert(s > btScalar(0.0)); pointOnA -= m_cachedSeparatingAxis * (marginA / s); pointOnB += m_cachedSeparatingAxis * (marginB / s); - distance = ((1.f/rlen) - margin); + distance = ((btScalar(1.)/rlen) - margin); isValid = true; m_lastUsedMethod = 1; @@ -243,11 +244,11 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result& if (isValid2) { btVector3 tmpNormalInB = tmpPointOnB-tmpPointOnA; - float lenSqr = tmpNormalInB.length2(); + btScalar lenSqr = tmpNormalInB.length2(); if (lenSqr > (SIMD_EPSILON*SIMD_EPSILON)) { tmpNormalInB /= btSqrt(lenSqr); - float distance2 = -(tmpPointOnA-tmpPointOnB).length(); + btScalar distance2 = -(tmpPointOnA-tmpPointOnB).length(); //only replace valid penetrations when the result is deeper (check) if (!isValid || (distance2 < distance)) { |