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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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106
servers/physics/shape_sw.cpp
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@@ -125,7 +125,7 @@ bool PlaneShapeSW::intersect_segment(const Vector3& p_begin,const Vector3& p_end
return inters;
}
Vector3 PlaneShapeSW::get_moment_of_inertia(float p_mass) const {
Vector3 PlaneShapeSW::get_moment_of_inertia(real_t p_mass) const {
return Vector3(); //wtf
}
@@ -154,7 +154,7 @@ PlaneShapeSW::PlaneShapeSW() {
//
float RayShapeSW::get_length() const {
real_t RayShapeSW::get_length() const {
return length;
}
@@ -196,12 +196,12 @@ bool RayShapeSW::intersect_segment(const Vector3& p_begin,const Vector3& p_end,V
return false; //simply not possible
}
Vector3 RayShapeSW::get_moment_of_inertia(float p_mass) const {
Vector3 RayShapeSW::get_moment_of_inertia(real_t p_mass) const {
return Vector3();
}
void RayShapeSW::_setup(float p_length) {
void RayShapeSW::_setup(real_t p_length) {
length=p_length;
configure(Rect3(Vector3(0,0,0),Vector3(0.1,0.1,length)));
@@ -234,11 +234,11 @@ real_t SphereShapeSW::get_radius() const {
void SphereShapeSW::project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const {
float d = p_normal.dot( p_transform.origin );
real_t d = p_normal.dot( p_transform.origin );
// figure out scale at point
Vector3 local_normal = p_transform.basis.xform_inv(p_normal);
float scale = local_normal.length();
real_t scale = local_normal.length();
r_min = d - (radius) * scale;
r_max = d + (radius) * scale;
@@ -261,9 +261,9 @@ bool SphereShapeSW::intersect_segment(const Vector3& p_begin,const Vector3& p_en
return Geometry::segment_intersects_sphere(p_begin,p_end,Vector3(),radius,&r_result,&r_normal);
}
Vector3 SphereShapeSW::get_moment_of_inertia(float p_mass) const {
Vector3 SphereShapeSW::get_moment_of_inertia(real_t p_mass) const {
float s = 0.4 * p_mass * radius * radius;
real_t s = 0.4 * p_mass * radius * radius;
return Vector3(s,s,s);
}
@@ -299,8 +299,8 @@ void BoxShapeSW::project_range(const Vector3& p_normal, const Transform& p_trans
// no matter the angle, the box is mirrored anyway
Vector3 local_normal=p_transform.basis.xform_inv(p_normal);
float length = local_normal.abs().dot(half_extents);
float distance = p_normal.dot( p_transform.origin );
real_t length = local_normal.abs().dot(half_extents);
real_t distance = p_normal.dot( p_transform.origin );
r_min = distance - length;
r_max = distance + length;
@@ -329,7 +329,7 @@ void BoxShapeSW::get_supports(const Vector3& p_normal,int p_max,Vector3 *r_suppo
Vector3 axis;
axis[i]=1.0;
float dot = p_normal.dot( axis );
real_t dot = p_normal.dot( axis );
if ( Math::abs( dot ) > _FACE_IS_VALID_SUPPORT_TRESHOLD ) {
//Vector3 axis_b;
@@ -343,7 +343,7 @@ void BoxShapeSW::get_supports(const Vector3& p_normal,int p_max,Vector3 *r_suppo
int i_n=next[i];
int i_n2=next2[i];
static const float sign[4][2]={
static const real_t sign[4][2]={
{-1.0, 1.0},
{ 1.0, 1.0},
@@ -418,11 +418,11 @@ bool BoxShapeSW::intersect_segment(const Vector3& p_begin,const Vector3& p_end,V
}
Vector3 BoxShapeSW::get_moment_of_inertia(float p_mass) const {
Vector3 BoxShapeSW::get_moment_of_inertia(real_t p_mass) const {
float lx=half_extents.x;
float ly=half_extents.y;
float lz=half_extents.z;
real_t lx=half_extents.x;
real_t ly=half_extents.y;
real_t lz=half_extents.z;
return Vector3( (p_mass/3.0) * (ly*ly + lz*lz), (p_mass/3.0) * (lx*lx + lz*lz), (p_mass/3.0) * (lx*lx + ly*ly) );
@@ -460,7 +460,7 @@ BoxShapeSW::BoxShapeSW() {
void CapsuleShapeSW::project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const {
Vector3 n=p_transform.basis.xform_inv(p_normal).normalized();
float h = (n.z > 0) ? height : -height;
real_t h = (n.z > 0) ? height : -height;
n *= radius;
n.z += h * 0.5;
@@ -471,8 +471,8 @@ void CapsuleShapeSW::project_range(const Vector3& p_normal, const Transform& p_t
n = p_transform.basis.xform(n);
float distance = p_normal.dot( p_transform.origin );
float length = Math::abs(p_normal.dot(n));
real_t distance = p_normal.dot( p_transform.origin );
real_t length = Math::abs(p_normal.dot(n));
r_min = distance - length;
r_max = distance + length;
@@ -484,7 +484,7 @@ Vector3 CapsuleShapeSW::get_support(const Vector3& p_normal) const {
Vector3 n=p_normal;
float h = (n.z > 0) ? height : -height;
real_t h = (n.z > 0) ? height : -height;
n*=radius;
n.z += h*0.5;
@@ -496,7 +496,7 @@ void CapsuleShapeSW::get_supports(const Vector3& p_normal,int p_max,Vector3 *r_s
Vector3 n=p_normal;
float d = n.z;
real_t d = n.z;
if (Math::abs( d )<_EDGE_IS_VALID_SUPPORT_TRESHOLD ) {
@@ -513,7 +513,7 @@ void CapsuleShapeSW::get_supports(const Vector3& p_normal,int p_max,Vector3 *r_s
} else {
float h = (d > 0) ? height : -height;
real_t h = (d > 0) ? height : -height;
n*=radius;
n.z += h*0.5;
@@ -528,7 +528,7 @@ void CapsuleShapeSW::get_supports(const Vector3& p_normal,int p_max,Vector3 *r_s
bool CapsuleShapeSW::intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const {
Vector3 norm=(p_end-p_begin).normalized();
float min_d=1e20;
real_t min_d=1e20;
Vector3 res,n;
@@ -542,7 +542,7 @@ bool CapsuleShapeSW::intersect_segment(const Vector3& p_begin,const Vector3& p_e
collided = Geometry::segment_intersects_cylinder(p_begin,p_end,height,radius,&auxres,&auxn);
if (collided) {
float d=norm.dot(auxres);
real_t d=norm.dot(auxres);
if (d<min_d) {
min_d=d;
res=auxres;
@@ -554,7 +554,7 @@ bool CapsuleShapeSW::intersect_segment(const Vector3& p_begin,const Vector3& p_e
collided = Geometry::segment_intersects_sphere(p_begin,p_end,Vector3(0,0,height*0.5),radius,&auxres,&auxn);
if (collided) {
float d=norm.dot(auxres);
real_t d=norm.dot(auxres);
if (d<min_d) {
min_d=d;
res=auxres;
@@ -566,7 +566,7 @@ bool CapsuleShapeSW::intersect_segment(const Vector3& p_begin,const Vector3& p_e
collided = Geometry::segment_intersects_sphere(p_begin,p_end,Vector3(0,0,height*-0.5),radius,&auxres,&auxn);
if (collided) {
float d=norm.dot(auxres);
real_t d=norm.dot(auxres);
if (d<min_d) {
min_d=d;
@@ -584,7 +584,7 @@ bool CapsuleShapeSW::intersect_segment(const Vector3& p_begin,const Vector3& p_e
return collision;
}
Vector3 CapsuleShapeSW::get_moment_of_inertia(float p_mass) const {
Vector3 CapsuleShapeSW::get_moment_of_inertia(real_t p_mass) const {
// use crappy AABB approximation
Vector3 extents=get_aabb().size*0.5;
@@ -647,7 +647,7 @@ void ConvexPolygonShapeSW::project_range(const Vector3& p_normal, const Transfor
for (int i=0;i<vertex_count;i++) {
float d=p_normal.dot( p_transform.xform( vrts[i] ) );
real_t d=p_normal.dot( p_transform.xform( vrts[i] ) );
if (i==0 || d > r_max)
r_max=d;
@@ -661,7 +661,7 @@ Vector3 ConvexPolygonShapeSW::get_support(const Vector3& p_normal) const {
Vector3 n=p_normal;
int vert_support_idx=-1;
float support_max;
real_t support_max;
int vertex_count=mesh.vertices.size();
if (vertex_count==0)
@@ -671,7 +671,7 @@ Vector3 ConvexPolygonShapeSW::get_support(const Vector3& p_normal) const {
for (int i=0;i<vertex_count;i++) {
float d=n.dot(vrts[i]);
real_t d=n.dot(vrts[i]);
if (i==0 || d > support_max) {
support_max=d;
@@ -702,7 +702,7 @@ void ConvexPolygonShapeSW::get_supports(const Vector3& p_normal,int p_max,Vector
for (int i=0;i<vc;i++) {
float d=p_normal.dot(vertices[i]);
real_t d=p_normal.dot(vertices[i]);
if (i==0 || d > max) {
max=d;
@@ -742,7 +742,7 @@ void ConvexPolygonShapeSW::get_supports(const Vector3& p_normal,int p_max,Vector
for(int i=0;i<ec;i++) {
float dot=(vertices[edges[i].a]-vertices[edges[i].b]).normalized().dot(p_normal);
real_t dot=(vertices[edges[i].a]-vertices[edges[i].b]).normalized().dot(p_normal);
dot=ABS(dot);
if (dot < _EDGE_IS_VALID_SUPPORT_TRESHOLD && (edges[i].a==vtx || edges[i].b==vtx)) {
@@ -768,7 +768,7 @@ bool ConvexPolygonShapeSW::intersect_segment(const Vector3& p_begin,const Vector
const Vector3 *vertices = mesh.vertices.ptr();
Vector3 n = p_end-p_begin;
float min = 1e20;
real_t min = 1e20;
bool col=false;
for(int i=0;i<fc;i++) {
@@ -784,7 +784,7 @@ bool ConvexPolygonShapeSW::intersect_segment(const Vector3& p_begin,const Vector
Face3 f(vertices[ind[0]],vertices[ind[j]],vertices[ind[j+1]]);
Vector3 result;
if (f.intersects_segment(p_begin,p_end,&result)) {
float d = n.dot(result);
real_t d = n.dot(result);
if (d<min) {
min=d;
r_result=result;
@@ -802,7 +802,7 @@ bool ConvexPolygonShapeSW::intersect_segment(const Vector3& p_begin,const Vector
}
Vector3 ConvexPolygonShapeSW::get_moment_of_inertia(float p_mass) const {
Vector3 ConvexPolygonShapeSW::get_moment_of_inertia(real_t p_mass) const {
// use crappy AABB approximation
Vector3 extents=get_aabb().size*0.5;
@@ -859,7 +859,7 @@ void FaceShapeSW::project_range(const Vector3& p_normal, const Transform& p_tran
for (int i=0;i<3;i++) {
Vector3 v=p_transform.xform(vertex[i]);
float d=p_normal.dot(v);
real_t d=p_normal.dot(v);
if (i==0 || d > r_max)
r_max=d;
@@ -873,11 +873,11 @@ Vector3 FaceShapeSW::get_support(const Vector3& p_normal) const {
int vert_support_idx=-1;
float support_max;
real_t support_max;
for (int i=0;i<3;i++) {
float d=p_normal.dot(vertex[i]);
real_t d=p_normal.dot(vertex[i]);
if (i==0 || d > support_max) {
support_max=d;
@@ -907,11 +907,11 @@ void FaceShapeSW::get_supports(const Vector3& p_normal,int p_max,Vector3 *r_supp
/** FIND SUPPORT VERTEX **/
int vert_support_idx=-1;
float support_max;
real_t support_max;
for (int i=0;i<3;i++) {
float d=n.dot(vertex[i]);
real_t d=n.dot(vertex[i]);
if (i==0 || d > support_max) {
support_max=d;
@@ -928,7 +928,7 @@ void FaceShapeSW::get_supports(const Vector3& p_normal,int p_max,Vector3 *r_supp
continue;
// check if edge is valid as a support
float dot=(vertex[i]-vertex[nx]).normalized().dot(n);
real_t dot=(vertex[i]-vertex[nx]).normalized().dot(n);
dot=ABS(dot);
if (dot < _EDGE_IS_VALID_SUPPORT_TRESHOLD) {
@@ -957,7 +957,7 @@ bool FaceShapeSW::intersect_segment(const Vector3& p_begin,const Vector3& p_end,
return c;
}
Vector3 FaceShapeSW::get_moment_of_inertia(float p_mass) const {
Vector3 FaceShapeSW::get_moment_of_inertia(real_t p_mass) const {
return Vector3(); // Sorry, but i don't think anyone cares, FaceShape!
@@ -1003,7 +1003,7 @@ void ConcavePolygonShapeSW::project_range(const Vector3& p_normal, const Transfo
for (int i=0;i<count;i++) {
float d=p_normal.dot( p_transform.xform( vptr[i] ) );
real_t d=p_normal.dot( p_transform.xform( vptr[i] ) );
if (i==0 || d > r_max)
r_max=d;
@@ -1026,11 +1026,11 @@ Vector3 ConcavePolygonShapeSW::get_support(const Vector3& p_normal) const {
Vector3 n=p_normal;
int vert_support_idx=-1;
float support_max;
real_t support_max;
for (int i=0;i<count;i++) {
float d=n.dot(vptr[i]);
real_t d=n.dot(vptr[i]);
if (i==0 || d > support_max) {
support_max=d;
@@ -1080,7 +1080,7 @@ void ConcavePolygonShapeSW::_cull_segment(int p_idx,_SegmentCullParams *p_params
&res)) {
float d=p_params->dir.dot(res) - p_params->dir.dot(p_params->from);
real_t d=p_params->dir.dot(res) - p_params->dir.dot(p_params->from);
//TODO, seems segmen/triangle intersection is broken :(
if (d>0 && d<p_params->min_d) {
@@ -1206,7 +1206,7 @@ void ConcavePolygonShapeSW::cull(const Rect3& p_local_aabb,Callback p_callback,v
}
Vector3 ConcavePolygonShapeSW::get_moment_of_inertia(float p_mass) const {
Vector3 ConcavePolygonShapeSW::get_moment_of_inertia(real_t p_mass) const {
// use crappy AABB approximation
Vector3 extents=get_aabb().size*0.5;
@@ -1555,7 +1555,7 @@ ConcavePolygonShapeSW::ConcavePolygonShapeSW() {
/* HEIGHT MAP SHAPE */
PoolVector<float> HeightMapShapeSW::get_heights() const {
PoolVector<real_t> HeightMapShapeSW::get_heights() const {
return heights;
}
@@ -1567,7 +1567,7 @@ int HeightMapShapeSW::get_depth() const {
return depth;
}
float HeightMapShapeSW::get_cell_size() const {
real_t HeightMapShapeSW::get_cell_size() const {
return cell_size;
}
@@ -1602,7 +1602,7 @@ void HeightMapShapeSW::cull(const Rect3& p_local_aabb,Callback p_callback,void*
}
Vector3 HeightMapShapeSW::get_moment_of_inertia(float p_mass) const {
Vector3 HeightMapShapeSW::get_moment_of_inertia(real_t p_mass) const {
// use crappy AABB approximation
@@ -1631,7 +1631,7 @@ void HeightMapShapeSW::_setup(PoolVector<real_t> p_heights,int p_width,int p_dep
for(int j=0;j<width;j++) {
float h = r[i*width+j];
real_t h = r[i*width+j];
Vector3 pos( j*cell_size, h, i*cell_size );
if (i==0 || j==0)
@@ -1657,8 +1657,8 @@ void HeightMapShapeSW::set_data(const Variant& p_data) {
int width=d["width"];
int depth=d["depth"];
float cell_size=d["cell_size"];
PoolVector<float> heights=d["heights"];
real_t cell_size=d["cell_size"];
PoolVector<real_t> heights=d["heights"];
ERR_FAIL_COND( width<= 0);
ERR_FAIL_COND( depth<= 0);