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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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22
servers/physics/space_sw.cpp
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@@ -138,7 +138,7 @@ bool PhysicsDirectSpaceStateSW::intersect_ray(const Vector3& p_from, const Vecto
}
int PhysicsDirectSpaceStateSW::intersect_shape(const RID& p_shape, const Transform& p_xform,float p_margin,ShapeResult *r_results,int p_result_max,const Set<RID>& p_exclude,uint32_t p_layer_mask,uint32_t p_object_type_mask) {
int PhysicsDirectSpaceStateSW::intersect_shape(const RID& p_shape, const Transform& p_xform,real_t p_margin,ShapeResult *r_results,int p_result_max,const Set<RID>& p_exclude,uint32_t p_layer_mask,uint32_t p_object_type_mask) {
if (p_result_max<=0)
return 0;
@@ -193,7 +193,7 @@ int PhysicsDirectSpaceStateSW::intersect_shape(const RID& p_shape, const Transfo
}
bool PhysicsDirectSpaceStateSW::cast_motion(const RID& p_shape, const Transform& p_xform,const Vector3& p_motion,float p_margin,float &p_closest_safe,float &p_closest_unsafe, const Set<RID>& p_exclude,uint32_t p_layer_mask,uint32_t p_object_type_mask,ShapeRestInfo *r_info) {
bool PhysicsDirectSpaceStateSW::cast_motion(const RID& p_shape, const Transform& p_xform,const Vector3& p_motion,real_t p_margin,real_t &p_closest_safe,real_t &p_closest_unsafe, const Set<RID>& p_exclude,uint32_t p_layer_mask,uint32_t p_object_type_mask,ShapeRestInfo *r_info) {
@@ -211,8 +211,8 @@ bool PhysicsDirectSpaceStateSW::cast_motion(const RID& p_shape, const Transform&
int amount = space->broadphase->cull_aabb(aabb,space->intersection_query_results,SpaceSW::INTERSECTION_QUERY_MAX,space->intersection_query_subindex_results);
float best_safe=1;
float best_unsafe=1;
real_t best_safe=1;
real_t best_unsafe=1;
Transform xform_inv = p_xform.affine_inverse();
MotionShapeSW mshape;
@@ -264,13 +264,13 @@ bool PhysicsDirectSpaceStateSW::cast_motion(const RID& p_shape, const Transform&
//just do kinematic solving
float low=0;
float hi=1;
real_t low=0;
real_t hi=1;
Vector3 mnormal=p_motion.normalized();
for(int i=0;i<8;i++) { //steps should be customizable..
float ofs = (low+hi)*0.5;
real_t ofs = (low+hi)*0.5;
Vector3 sep=mnormal; //important optimization for this to work fast enough
@@ -323,7 +323,7 @@ bool PhysicsDirectSpaceStateSW::cast_motion(const RID& p_shape, const Transform&
return true;
}
bool PhysicsDirectSpaceStateSW::collide_shape(RID p_shape, const Transform& p_shape_xform,float p_margin,Vector3 *r_results,int p_result_max,int &r_result_count, const Set<RID>& p_exclude,uint32_t p_layer_mask,uint32_t p_object_type_mask){
bool PhysicsDirectSpaceStateSW::collide_shape(RID p_shape, const Transform& p_shape_xform,real_t p_margin,Vector3 *r_results,int p_result_max,int &r_result_count, const Set<RID>& p_exclude,uint32_t p_layer_mask,uint32_t p_object_type_mask){
if (p_result_max<=0)
return 0;
@@ -388,7 +388,7 @@ struct _RestCallbackData {
int best_shape;
Vector3 best_contact;
Vector3 best_normal;
float best_len;
real_t best_len;
};
static void _rest_cbk_result(const Vector3& p_point_A,const Vector3& p_point_B,void *p_userdata) {
@@ -397,7 +397,7 @@ static void _rest_cbk_result(const Vector3& p_point_A,const Vector3& p_point_B,v
_RestCallbackData *rd=(_RestCallbackData*)p_userdata;
Vector3 contact_rel = p_point_B - p_point_A;
float len = contact_rel.length();
real_t len = contact_rel.length();
if (len <= rd->best_len)
return;
@@ -408,7 +408,7 @@ static void _rest_cbk_result(const Vector3& p_point_A,const Vector3& p_point_B,v
rd->best_shape=rd->shape;
}
bool PhysicsDirectSpaceStateSW::rest_info(RID p_shape, const Transform& p_shape_xform,float p_margin,ShapeRestInfo *r_info, const Set<RID>& p_exclude,uint32_t p_layer_mask,uint32_t p_object_type_mask) {
bool PhysicsDirectSpaceStateSW::rest_info(RID p_shape, const Transform& p_shape_xform,real_t p_margin,ShapeRestInfo *r_info, const Set<RID>& p_exclude,uint32_t p_layer_mask,uint32_t p_object_type_mask) {
ShapeSW *shape = static_cast<PhysicsServerSW*>(PhysicsServer::get_singleton())->shape_owner.get(p_shape);