Contribution to add optional double precision floating point support. Define BT_USE_DOUBLE_PRECISION for all involved libraries/apps.

1 files changed, 16 insertions, 5 deletions

diff --git a/Demos/EPAPenDepthDemo/PenetrationTestBullet.cpp b/Demos/EPAPenDepthDemo/PenetrationTestBullet.cpp
index 59fb272a5..2c2694ebf 100644
--- a/Demos/EPAPenDepthDemo/PenetrationTestBullet.cpp
+++ b/Demos/EPAPenDepthDemo/PenetrationTestBullet.cpp
@@ -70,7 +70,11 @@ static void DrawLine(const btVector3& p0, const btVector3& p1, const btVector3&
 	glColor4f(color.x(), color.y(), color.z(), 1.0f);

 	btVector3 tmp[] = {p0, p1};

 	glEnableClientState(GL_VERTEX_ARRAY);

+#ifndef BT_USE_DOUBLE_PRECISION

 	glVertexPointer(3, GL_FLOAT, sizeof(btVector3), &tmp[0].x());

+#else

+	glVertexPointer(3, GL_DOUBLE, sizeof(btVector3), &tmp[0].x());

+#endif

 	glDrawArrays(GL_LINES, 0, 2);

 	glDisableClientState(GL_VERTEX_ARRAY);

 	glColor4f(1.0f, 1.0f, 1.0f, 1.0f);

@@ -83,7 +87,11 @@ void DrawTriangle(const btVector3& p0, const btVector3& p1, const btVector3& p2,
 	glColor4f(color.x(), color.y(), color.z(), 1.0f);

 	btVector3 tmp[] = {p0, p1, p2};

 	glEnableClientState(GL_VERTEX_ARRAY);

+#ifndef BT_USE_DOUBLE_PRECISION

 	glVertexPointer(3, GL_FLOAT, sizeof(btVector3), &tmp[0].x());

+#else

+	glVertexPointer(3, GL_DOUBLE, sizeof(btVector3), &tmp[0].x());

+#endif

 	glDrawArrays(GL_TRIANGLES, 0, 3);

 	glDisableClientState(GL_VERTEX_ARRAY);

 //	glColor4f(1.0f, 1.0f, 1.0f, 1.0f);

@@ -199,10 +207,13 @@ void MyConvex::Render(bool only_wireframe, const btVector3& wire_color) const
 	const float Scale = 1.0f;

 	glPushMatrix();

 

-	float glmat[16];	//4x4 column major matrix for OpenGL.

+	btScalar glmat[16];	//4x4 column major matrix for OpenGL.

 	mTransform.getOpenGLMatrix(glmat);

+#ifndef BT_USE_DOUBLE_PRECISION

 	glMultMatrixf(&(glmat[0]));

-

+#else

+	glMultMatrixd(&(glmat[0]));

+#endif

 	if(!only_wireframe)

 	{

 		btVector3 color(0.0f, 0.5f, 1.0f);

@@ -273,7 +284,7 @@ static float gDepth;
 		{

 		}

 

-		virtual void addContactPoint(const btVector3& normalOnBInWorld, const btVector3& pointInWorld, float depth)

+		virtual void addContactPoint(const btVector3& normalOnBInWorld, const btVector3& pointInWorld, btScalar depth)

 		{

 			gNormal	= normalOnBInWorld;

 			gPoint	= pointInWorld;

@@ -293,8 +304,8 @@ static bool TestEPA(const MyConvex& hull0, const MyConvex& hull1)
 

 	simplexSolver.reset();

 

-	btConvexHullShape convexA((float*)hull0.mVerts, hull0.mNbVerts, sizeof(btVector3));

-	btConvexHullShape convexB((float*)hull1.mVerts, hull1.mNbVerts, sizeof(btVector3));

+	btConvexHullShape convexA((btScalar*)hull0.mVerts, hull0.mNbVerts, sizeof(btVector3));

+	btConvexHullShape convexB((btScalar*)hull1.mVerts, hull1.mNbVerts, sizeof(btVector3));

 

 	static btGjkEpaPenetrationDepthSolver Solver0;

 	static btMinkowskiPenetrationDepthSolver Solver1;