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Use real_t as floating point type in physics code.

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This is a continuation of an on-going work for 64-bit floating point builds, started in PR #7528. Covers physics, physics/joints and physics_2d code.

Also removed matrixToEulerXYZ function in favor of Basis::get_euler.
This commit is contained in:
Ferenc Arn
2017-02-13 17:25:05 -06:00
parent 55dc24f753
commit eae94ba1c8
54 changed files with 472 additions and 520 deletions
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18
servers/physics/collision_solver_sw.cpp
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@@ -115,8 +115,8 @@ struct _ConcaveCollisionInfo {
int aabb_tests;
int collisions;
bool tested;
float margin_A;
float margin_B;
real_t margin_A;
real_t margin_B;
Vector3 close_A,close_B;
};
@@ -136,7 +136,7 @@ void CollisionSolverSW::concave_callback(void *p_userdata, ShapeSW *p_convex) {
}
bool CollisionSolverSW::solve_concave(const ShapeSW *p_shape_A,const Transform& p_transform_A,const ShapeSW *p_shape_B,const Transform& p_transform_B,CallbackResult p_result_callback,void *p_userdata,bool p_swap_result,float p_margin_A,float p_margin_B) {
bool CollisionSolverSW::solve_concave(const ShapeSW *p_shape_A,const Transform& p_transform_A,const ShapeSW *p_shape_B,const Transform& p_transform_B,CallbackResult p_result_callback,void *p_userdata,bool p_swap_result,real_t p_margin_A,real_t p_margin_B) {
const ConcaveShapeSW *concave_B=static_cast<const ConcaveShapeSW*>(p_shape_B);
@@ -164,10 +164,10 @@ bool CollisionSolverSW::solve_concave(const ShapeSW *p_shape_A,const Transform&
for(int i=0;i<3;i++) {
Vector3 axis( p_transform_B.basis.get_axis(i) );
float axis_scale = 1.0/axis.length();
real_t axis_scale = 1.0/axis.length();
axis*=axis_scale;
float smin,smax;
real_t smin,smax;
p_shape_A->project_range(axis,rel_transform,smin,smax);
smin-=p_margin_A;
smax+=p_margin_A;
@@ -186,7 +186,7 @@ bool CollisionSolverSW::solve_concave(const ShapeSW *p_shape_A,const Transform&
}
bool CollisionSolverSW::solve_static(const ShapeSW *p_shape_A,const Transform& p_transform_A,const ShapeSW *p_shape_B,const Transform& p_transform_B,CallbackResult p_result_callback,void *p_userdata,Vector3 *r_sep_axis,float p_margin_A,float p_margin_B) {
bool CollisionSolverSW::solve_static(const ShapeSW *p_shape_A,const Transform& p_transform_A,const ShapeSW *p_shape_B,const Transform& p_transform_B,CallbackResult p_result_callback,void *p_userdata,Vector3 *r_sep_axis,real_t p_margin_A,real_t p_margin_B) {
PhysicsServer::ShapeType type_A=p_shape_A->get_type();
@@ -291,7 +291,7 @@ bool CollisionSolverSW::solve_distance_plane(const ShapeSW *p_shape_A,const Tran
bool collided=false;
Vector3 closest;
float closest_d;
real_t closest_d;
for(int i=0;i<support_count;i++) {
@@ -362,10 +362,10 @@ bool CollisionSolverSW::solve_distance(const ShapeSW *p_shape_A,const Transform&
for(int i=0;i<3;i++) {
Vector3 axis( p_transform_B.basis.get_axis(i) );
float axis_scale = 1.0/axis.length();
real_t axis_scale = ((real_t)1.0)/axis.length();
axis*=axis_scale;
float smin,smax;
real_t smin,smax;
if (use_cc_hint) {
cc_hint_aabb.project_range_in_plane(Plane(axis,0),smin,smax);