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Replace all hardcoded 1e30(f) by BT_LARGE_FLOAT, defined in btScalar.h as 1e18(f) so that its square still fits in FLT_MAX

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Thanks to Ole K. for reporting! http://code.google.com/p/bullet/issues/detail?id=206
This commit is contained in:
erwin.coumans 2009-05-23 02:15:54 +00:00
parent 1e11223f6b
commit badf723257
51 changed files with 127 additions and 124 deletions
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7
Demos/Box2dDemo/btBox2dBox2dCollisionAlgorithm.cpp
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@ -92,7 +92,6 @@ struct ClipVertex
#define b2Dot(a,b) (a).dot(b)
#define b2Mul(a,b) (a)*(b)
#define b2MulT(a,b) (a).transpose()*(b)
#define BT_FLT_MAX 1e30f
#define b2Cross(a,b) (a).cross(b)
#define btCrossS(a,s) btVector3(s * a.getY(), -s * a.getX(),0.f)
@ -151,7 +150,7 @@ static btScalar EdgeSeparation(const btBox2dShape* poly1, const btTransform& xf1
// Find support vertex on poly2 for -normal.
int index = 0;
btScalar minDot = BT_FLT_MAX;
btScalar minDot = BT_LARGE_FLOAT;
for (int i = 0; i < count2; ++i)
{
@ -183,7 +182,7 @@ static btScalar FindMaxSeparation(int* edgeIndex,
// Find edge normal on poly1 that has the largest projection onto d.
int edge = 0;
btScalar maxDot = -BT_FLT_MAX;
btScalar maxDot = -BT_LARGE_FLOAT;
for (int i = 0; i < count1; ++i)
{
btScalar dot = b2Dot(normals1[i], dLocal1);
@ -286,7 +285,7 @@ static void FindIncidentEdge(ClipVertex c[2],
// Find the incident edge on poly2.
int index = 0;
btScalar minDot = BT_FLT_MAX;
btScalar minDot = BT_LARGE_FLOAT;
for (int i = 0; i < count2; ++i)
{
btScalar dot = b2Dot(normal1, normals2[i]);

4
Demos/CollisionDemo/CollisionDemo.cpp
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@ -217,8 +217,8 @@ void CollisionDemo::displayCallback(void) {
}
debugDrawer.drawTransform(input.m_transformA,10.0);
btGjkPairDetector convexConvex(shapePtr[0],shapePtr[1],&sGjkSimplexSolver,&epaSolver);
input.m_maximumDistanceSquared = 1e30;
gjkOutput.m_distance = 1e30f;
input.m_maximumDistanceSquared = BT_LARGE_FLOAT;
gjkOutput.m_distance = BT_LARGE_FLOAT;
convexConvex.getClosestPoints(input, gjkOutput, 0);

4
Demos/ConcaveConvexcastDemo/ConcaveConvexcastDemo.cpp
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@ -406,8 +406,8 @@ void ConcaveConvexcastDemo::clientMoveAndDisplay()
int i;
int j;
btVector3 aabbMin(1e30,1e30,1e30);
btVector3 aabbMax(-1e30,-1e30,-1e30);
btVector3 aabbMin(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT);
btVector3 aabbMax(-BT_LARGE_FLOAT,-BT_LARGE_FLOAT,-BT_LARGE_FLOAT);
for ( i=NUM_VERTS_X/2-3;i<NUM_VERTS_X/2+2;i++)
{

4
Demos/ConcaveDemo/ConcavePhysicsDemo.cpp
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@ -340,8 +340,8 @@ void ConcaveDemo::clientMoveAndDisplay()
int i;
int j;
btVector3 aabbMin(1e30,1e30,1e30);
btVector3 aabbMax(-1e30,-1e30,-1e30);
btVector3 aabbMin(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT);
btVector3 aabbMax(-BT_LARGE_FLOAT,-BT_LARGE_FLOAT,-BT_LARGE_FLOAT);
for ( i=NUM_VERTS_X/2-3;i<NUM_VERTS_X/2+2;i++)
{

2
Demos/ForkLiftDemo/ForkLiftDemo.cpp
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@ -83,7 +83,7 @@ float steeringIncrement = 0.04f;
float steeringClamp = 0.3f;
float wheelRadius = 0.5f;
float wheelWidth = 0.4f;
float wheelFriction = 1000;//1e30f;
float wheelFriction = 1000;//BT_LARGE_FLOAT;
float suspensionStiffness = 20.f;
float suspensionDamping = 2.3f;
float suspensionCompression = 4.4f;

4
Demos/HeightFieldFluidDemo/HfFluidDemo_GL_ShapeDrawer.cpp
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@ -487,8 +487,8 @@ if (shape->getShapeType() == CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE)
btConvexTriangleMeshShape* convexMesh = (btConvexTriangleMeshShape*) shape;
//todo: pass camera for some culling
btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
btVector3 aabbMin(-btScalar(1e30),-btScalar(1e30),-btScalar(1e30));
btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
btVector3 aabbMin(-btScalar(BT_LARGE_FLOAT),-btScalar(BT_LARGE_FLOAT),-btScalar(BT_LARGE_FLOAT));
TriangleGlDrawcallback drawCallback;
convexMesh->getMeshInterface()->InternalProcessAllTriangles(&drawCallback,aabbMin,aabbMax);

4
Demos/MultiMaterialDemo/MultiMaterialDemo.cpp
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@ -275,8 +275,8 @@ void MultiMaterialDemo::clientMoveAndDisplay()
int i;
int j;
btVector3 aabbMin(1e30,1e30,1e30);
btVector3 aabbMax(-1e30,-1e30,-1e30);
btVector3 aabbMin(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT);
btVector3 aabbMax(-BT_LARGE_FLOAT,-BT_LARGE_FLOAT,-BT_LARGE_FLOAT);
for ( i=NUM_VERTS_X/2-3;i<NUM_VERTS_X/2+2;i++)
{

4
Demos/OpenGL/DemoApplication.cpp
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@ -1098,8 +1098,8 @@ void DemoApplication::renderscene(int pass)
btVector3 aabbMin,aabbMax;
m_dynamicsWorld->getBroadphase()->getBroadphaseAabb(aabbMin,aabbMax);
aabbMin-=btVector3(1e30,1e30,1e30);
aabbMax+=btVector3(1e30,1e30,1e30);
aabbMin-=btVector3(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT);
aabbMax+=btVector3(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT);
// printf("aabbMin=(%f,%f,%f)\n",aabbMin.getX(),aabbMin.getY(),aabbMin.getZ());
// printf("aabbMax=(%f,%f,%f)\n",aabbMax.getX(),aabbMax.getY(),aabbMax.getZ());
// m_dynamicsWorld->getDebugDrawer()->drawAabb(aabbMin,aabbMax,btVector3(1,1,1));

4
Demos/OpenGL/GL_ShapeDrawer.cpp
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@ -149,8 +149,8 @@ void OGL_displaylist_clean()
void OGL_displaylist_register_shape(btCollisionShape * shape)
{
btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
btVector3 aabbMin(-btScalar(1e30),-btScalar(1e30),-btScalar(1e30));
btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
btVector3 aabbMin(-btScalar(BT_LARGE_FLOAT),-btScalar(BT_LARGE_FLOAT),-btScalar(BT_LARGE_FLOAT));
GlDisplaylistDrawcallback drawCallback;
TRIMESH_KEY dlist;

2
Demos/VehicleDemo/VehicleDemo.cpp
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@ -66,7 +66,7 @@ float steeringIncrement = 0.04f;
float steeringClamp = 0.3f;
float wheelRadius = 0.5f;
float wheelWidth = 0.4f;
float wheelFriction = 1000;//1e30f;
float wheelFriction = 1000;//BT_LARGE_FLOAT;
float suspensionStiffness = 20.f;
float suspensionDamping = 2.3f;
float suspensionCompression = 4.4f;

4
Extras/quickstep/btOdeContactJoint.cpp
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@ -155,7 +155,7 @@ void btOdeContactJoint::GetInfo2(Info2 *info)
// set LCP limits for normal
info->m_lowerLimit[0] = 0;
info->m_higherLimit[0] = 1e30f;//dInfinity;
info->m_higherLimit[0] = BT_LARGE_FLOAT;//dInfinity;
info->m_lowerLimit[1] = 0;
info->m_higherLimit[1] = 0.f;
info->m_lowerLimit[2] = 0.f;
@ -208,7 +208,7 @@ void btOdeContactJoint::GetInfo2(Info2 *info)
// }
// set LCP bounds and friction index. this depends on the approximation
// mode
//1e30f
//BT_LARGE_FLOAT
info->m_lowerLimit[1] = -friction;//-j->contact.surface.mu;

8
src/BulletCollision/BroadphaseCollision/btDbvt.h
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@ -1000,11 +1000,11 @@ inline void btDbvt::rayTest( const btDbvtNode* root,
btVector3 rayDir = (rayTo-rayFrom);
rayDir.normalize ();
///what about division by zero? --> just set rayDirection[i] to INF/1e30
///what about division by zero? --> just set rayDirection[i] to INF/BT_LARGE_FLOAT
btVector3 rayDirectionInverse;
rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[0];
rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[1];
rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[2];
rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[0];
rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[1];
rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[2];
unsigned int signs[3] = { rayDirectionInverse[0] < 0.0, rayDirectionInverse[1] < 0.0, rayDirectionInverse[2] < 0.0};
btScalar lambda_max = rayDir.dot(rayTo-rayFrom);

4
src/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h
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@ -133,8 +133,8 @@ public:
///will add some transform later
virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const
{
aabbMin.setValue(-1e30f,-1e30f,-1e30f);
aabbMax.setValue(1e30f,1e30f,1e30f);
aabbMin.setValue(-BT_LARGE_FLOAT,-BT_LARGE_FLOAT,-BT_LARGE_FLOAT);
aabbMax.setValue(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT);
}
void buildTree(const btVector3& bvhAabbMin,const btVector3& bvhAabbMax);

12
src/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp
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@ -474,9 +474,9 @@ void btQuantizedBvh::walkStacklessTreeAgainstRay(btNodeOverlapCallback* nodeCall
lambda_max = rayDir.dot(rayTarget-raySource);
///what about division by zero? --> just set rayDirection[i] to 1.0
btVector3 rayDirectionInverse;
rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[0];
rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[1];
rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[2];
rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[0];
rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[1];
rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[2];
unsigned int sign[3] = { rayDirectionInverse[0] < 0.0, rayDirectionInverse[1] < 0.0, rayDirectionInverse[2] < 0.0};
#endif
@ -561,9 +561,9 @@ void btQuantizedBvh::walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback*
rayDirection.normalize ();
lambda_max = rayDirection.dot(rayTarget-raySource);
///what about division by zero? --> just set rayDirection[i] to 1.0
rayDirection[0] = rayDirection[0] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDirection[0];
rayDirection[1] = rayDirection[1] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDirection[1];
rayDirection[2] = rayDirection[2] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDirection[2];
rayDirection[0] = rayDirection[0] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDirection[0];
rayDirection[1] = rayDirection[1] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDirection[1];
rayDirection[2] = rayDirection[2] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDirection[2];
unsigned int sign[3] = { rayDirection[0] < 0.0, rayDirection[1] < 0.0, rayDirection[2] < 0.0};
#endif

4
src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h
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@ -153,8 +153,8 @@ public:
///will add some transform later
virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const
{
aabbMin.setValue(-1e30f,-1e30f,-1e30f);
aabbMax.setValue(1e30f,1e30f,1e30f);
aabbMin.setValue(-BT_LARGE_FLOAT,-BT_LARGE_FLOAT,-BT_LARGE_FLOAT);
aabbMax.setValue(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT);
}
virtual void printStats()

2
src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp
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@ -37,7 +37,7 @@ void SphereTriangleDetector::getClosestPoints(const ClosestPointInput& input,Res
btVector3 point,normal;
btScalar timeOfImpact = btScalar(1.);
btScalar depth = btScalar(0.);
// output.m_distance = btScalar(1e30);
// output.m_distance = btScalar(BT_LARGE_FLOAT);
//move sphere into triangle space
btTransform sphereInTr = transformB.inverseTimes(transformA);

2
src/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.cpp
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@ -61,7 +61,7 @@ void btBoxBoxCollisionAlgorithm::processCollision (btCollisionObject* body0,btCo
#endif //USE_PERSISTENT_CONTACTS
btDiscreteCollisionDetectorInterface::ClosestPointInput input;
input.m_maximumDistanceSquared = 1e30f;
input.m_maximumDistanceSquared = BT_LARGE_FLOAT;
input.m_transformA = body0->getWorldTransform();
input.m_transformB = body1->getWorldTransform();

2
src/BulletCollision/CollisionDispatch/btBoxBoxDetector.cpp
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@ -212,7 +212,7 @@ void cullPoints2 (int n, btScalar p[], int m, int i0, int iret[])
a = 1.f/(btScalar(3.0)*(a+q));
} else
{
a=1e30f;
a=BT_LARGE_FLOAT;
}
cx = a*(cx + q*(p[n*2-2]+p[0]));
cy = a*(cy + q*(p[n*2-1]+p[1]));

2
src/BulletCollision/CollisionDispatch/btCollisionObject.cpp
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@ -19,7 +19,7 @@ subject to the following restrictions:
btCollisionObject::btCollisionObject()
: m_anisotropicFriction(1.f,1.f,1.f),
m_hasAnisotropicFriction(false),
m_contactProcessingThreshold(1e30f),
m_contactProcessingThreshold(BT_LARGE_FLOAT),
m_broadphaseHandle(0),
m_collisionShape(0),
m_rootCollisionShape(0),

16
src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
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@ -643,10 +643,10 @@ struct btSingleRayCallback : public btBroadphaseRayCallback
btVector3 rayDir = (rayToWorld-rayFromWorld);
rayDir.normalize ();
///what about division by zero? --> just set rayDirection[i] to INF/1e30
m_rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[0];
m_rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[1];
m_rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[2];
///what about division by zero? --> just set rayDirection[i] to INF/BT_LARGE_FLOAT
m_rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[0];
m_rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[1];
m_rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[2];
m_signs[0] = m_rayDirectionInverse[0] < 0.0;
m_signs[1] = m_rayDirectionInverse[1] < 0.0;
m_signs[2] = m_rayDirectionInverse[2] < 0.0;
@ -736,10 +736,10 @@ struct btSingleSweepCallback : public btBroadphaseRayCallback
{
btVector3 unnormalizedRayDir = (m_convexToTrans.getOrigin()-m_convexFromTrans.getOrigin());
btVector3 rayDir = unnormalizedRayDir.normalized();
///what about division by zero? --> just set rayDirection[i] to INF/1e30
m_rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[0];
m_rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[1];
m_rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[2];
///what about division by zero? --> just set rayDirection[i] to INF/BT_LARGE_FLOAT
m_rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[0];
m_rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[1];
m_rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[2];
m_signs[0] = m_rayDirectionInverse[0] < 0.0;
m_signs[1] = m_rayDirectionInverse[1] < 0.0;
m_signs[2] = m_rayDirectionInverse[2] < 0.0;

2
src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
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@ -194,7 +194,7 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
#ifdef USE_SEPDISTANCE_UTIL2
if (dispatchInfo.m_useConvexConservativeDistanceUtil)
{
input.m_maximumDistanceSquared = 1e30f;
input.m_maximumDistanceSquared = BT_LARGE_FLOAT;
} else
#endif //USE_SEPDISTANCE_UTIL2
{

2
src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp
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@ -59,7 +59,7 @@ void btSphereTriangleCollisionAlgorithm::processCollision (btCollisionObject* co
SphereTriangleDetector detector(sphere,triangle, m_manifoldPtr->getContactBreakingThreshold());
btDiscreteCollisionDetectorInterface::ClosestPointInput input;
input.m_maximumDistanceSquared = btScalar(1e30);///@todo: tighter bounds
input.m_maximumDistanceSquared = btScalar(BT_LARGE_FLOAT);///@todo: tighter bounds
input.m_transformA = sphereObj->getWorldTransform();
input.m_transformB = triObj->getWorldTransform();

4
src/BulletCollision/CollisionShapes/btCapsuleShape.cpp
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@ -32,7 +32,7 @@ btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height) : btConvexInter
btVector3 supVec(0,0,0);
btScalar maxDot(btScalar(-1e30));
btScalar maxDot(btScalar(-BT_LARGE_FLOAT));
btVector3 vec = vec0;
btScalar lenSqr = vec.length2();
@ -88,7 +88,7 @@ btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height) : btConvexInter
for (int j=0;j<numVectors;j++)
{
btScalar maxDot(btScalar(-1e30));
btScalar maxDot(btScalar(-BT_LARGE_FLOAT));
const btVector3& vec = vectors[j];
btVector3 vtx;

8
src/BulletCollision/CollisionShapes/btCompoundShape.cpp
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@ -18,8 +18,8 @@ subject to the following restrictions:
#include "BulletCollision/BroadphaseCollision/btDbvt.h"
btCompoundShape::btCompoundShape(bool enableDynamicAabbTree)
: m_localAabbMin(btScalar(1e30),btScalar(1e30),btScalar(1e30)),
m_localAabbMax(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30)),
: m_localAabbMin(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT)),
m_localAabbMax(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT)),
m_collisionMargin(btScalar(0.)),
m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.)),
m_dynamicAabbTree(0),
@ -138,8 +138,8 @@ void btCompoundShape::recalculateLocalAabb()
// Recalculate the local aabb
// Brute force, it iterates over all the shapes left.
m_localAabbMin = btVector3(btScalar(1e30),btScalar(1e30),btScalar(1e30));
m_localAabbMax = btVector3(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30));
m_localAabbMin = btVector3(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
m_localAabbMax = btVector3(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
//extend the local aabbMin/aabbMax
for (int j = 0; j < m_children.size(); j++)

4
src/BulletCollision/CollisionShapes/btConvexHullShape.cpp
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@ -55,7 +55,7 @@ void btConvexHullShape::addPoint(const btVector3& point)
btVector3 btConvexHullShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const
{
btVector3 supVec(btScalar(0.),btScalar(0.),btScalar(0.));
btScalar newDot,maxDot = btScalar(-1e30);
btScalar newDot,maxDot = btScalar(-BT_LARGE_FLOAT);
btVector3 vec = vec0;
btScalar lenSqr = vec.length2();
@ -90,7 +90,7 @@ void btConvexHullShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const
{
for (int i=0;i<numVectors;i++)
{
supportVerticesOut[i][3] = btScalar(-1e30);
supportVerticesOut[i][3] = btScalar(-BT_LARGE_FLOAT);
}
}
for (int i=0;i<m_unscaledPoints.size();i++)

4
src/BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp
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@ -28,7 +28,7 @@ void btConvexPointCloudShape::setLocalScaling(const btVector3& scaling)
btVector3 btConvexPointCloudShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const
{
btVector3 supVec(btScalar(0.),btScalar(0.),btScalar(0.));
btScalar newDot,maxDot = btScalar(-1e30);
btScalar newDot,maxDot = btScalar(-BT_LARGE_FLOAT);
btVector3 vec = vec0;
btScalar lenSqr = vec.length2();
@ -63,7 +63,7 @@ void btConvexPointCloudShape::batchedUnitVectorGetSupportingVertexWithoutMargin(
{
for (int i=0;i<numVectors;i++)
{
supportVerticesOut[i][3] = btScalar(-1e30);
supportVerticesOut[i][3] = btScalar(-BT_LARGE_FLOAT);
}
}
for (int i=0;i<m_numPoints;i++)

4
src/BulletCollision/CollisionShapes/btConvexShape.cpp
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@ -35,7 +35,7 @@ btConvexShape::~btConvexShape()
static btVector3 convexHullSupport (const btVector3& localDir, const btVector3* points, int numPoints, const btVector3& localScaling)
{
btVector3 supVec(btScalar(0.),btScalar(0.),btScalar(0.));
btScalar newDot,maxDot = btScalar(-1e30);
btScalar newDot,maxDot = btScalar(-BT_LARGE_FLOAT);
btVector3 vec0(localDir.getX(),localDir.getY(),localDir.getZ());
btVector3 vec = vec0;
@ -160,7 +160,7 @@ btVector3 btConvexShape::localGetSupportVertexWithoutMarginNonVirtual (const btV
btScalar radius = capsuleShape->getRadius();
btVector3 supVec(0,0,0);
btScalar maxDot(btScalar(-1e30));
btScalar maxDot(btScalar(-BT_LARGE_FLOAT));
btVector3 vec = vec0;
btScalar lenSqr = vec.length2();

10
src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp
View File

@ -44,7 +44,7 @@ public:
LocalSupportVertexCallback(const btVector3& supportVecLocal)
: m_supportVertexLocal(btScalar(0.),btScalar(0.),btScalar(0.)),
m_maxDot(btScalar(-1e30)),
m_maxDot(btScalar(-BT_LARGE_FLOAT)),
m_supportVecLocal(supportVecLocal)
{
}
@ -92,7 +92,7 @@ btVector3 btConvexTriangleMeshShape::localGetSupportingVertexWithoutMargin(const
}
LocalSupportVertexCallback supportCallback(vec);
btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
m_stridingMesh->InternalProcessAllTriangles(&supportCallback,-aabbMax,aabbMax);
supVec = supportCallback.GetSupportVertexLocal();
@ -105,7 +105,7 @@ void btConvexTriangleMeshShape::batchedUnitVectorGetSupportingVertexWithoutMargi
{
for (int i=0;i<numVectors;i++)
{
supportVerticesOut[i][3] = btScalar(-1e30);
supportVerticesOut[i][3] = btScalar(-BT_LARGE_FLOAT);
}
}
@ -116,7 +116,7 @@ void btConvexTriangleMeshShape::batchedUnitVectorGetSupportingVertexWithoutMargi
{
const btVector3& vec = vectors[j];
LocalSupportVertexCallback supportCallback(vec);
btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
m_stridingMesh->InternalProcessAllTriangles(&supportCallback,-aabbMax,aabbMax);
supportVerticesOut[j] = supportCallback.GetSupportVertexLocal();
}
@ -298,7 +298,7 @@ void btConvexTriangleMeshShape::calculatePrincipalAxisTransform(btTransform& pri
};
CenterCallback centerCallback;
btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
m_stridingMesh->InternalProcessAllTriangles(&centerCallback, -aabbMax, aabbMax);
btVector3 center = centerCallback.getCenter();
principal.setOrigin(center);

6
src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp
View File

@ -23,7 +23,7 @@ btMultiSphereShape::btMultiSphereShape (const btVector3& inertiaHalfExtents,cons
:btConvexInternalAabbCachingShape (), m_inertiaHalfExtents(inertiaHalfExtents)
{
m_shapeType = MULTI_SPHERE_SHAPE_PROXYTYPE;
btScalar startMargin = btScalar(1e30);
btScalar startMargin = btScalar(BT_LARGE_FLOAT);
m_localPositionArray.resize(numSpheres);
m_radiArray.resize(numSpheres);
@ -46,7 +46,7 @@ btMultiSphereShape::btMultiSphereShape (const btVector3& inertiaHalfExtents,cons
int i;
btVector3 supVec(0,0,0);
btScalar maxDot(btScalar(-1e30));
btScalar maxDot(btScalar(-BT_LARGE_FLOAT));
btVector3 vec = vec0;
@ -89,7 +89,7 @@ btMultiSphereShape::btMultiSphereShape (const btVector3& inertiaHalfExtents,cons
for (int j=0;j<numVectors;j++)
{
btScalar maxDot(btScalar(-1e30));
btScalar maxDot(btScalar(-BT_LARGE_FLOAT));
const btVector3& vec = vectors[j];

16
src/BulletCollision/CollisionShapes/btOptimizedBvh.cpp
View File

@ -56,8 +56,8 @@ void btOptimizedBvh::build(btStridingMeshInterface* triangles, bool useQuantized
{
btOptimizedBvhNode node;
btVector3 aabbMin,aabbMax;
aabbMin.setValue(btScalar(1e30),btScalar(1e30),btScalar(1e30));
aabbMax.setValue(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30));
aabbMin.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
aabbMax.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
aabbMin.setMin(triangle[0]);
aabbMax.setMax(triangle[0]);
aabbMin.setMin(triangle[1]);
@ -104,8 +104,8 @@ void btOptimizedBvh::build(btStridingMeshInterface* triangles, bool useQuantized
btQuantizedBvhNode node;
btVector3 aabbMin,aabbMax;
aabbMin.setValue(btScalar(1e30),btScalar(1e30),btScalar(1e30));
aabbMax.setValue(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30));
aabbMin.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
aabbMax.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
aabbMin.setMin(triangle[0]);
aabbMax.setMax(triangle[0]);
aabbMin.setMin(triangle[1]);
@ -168,8 +168,8 @@ void btOptimizedBvh::build(btStridingMeshInterface* triangles, bool useQuantized
{
NodeTriangleCallback callback(m_leafNodes);
btVector3 aabbMin(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30));
btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
btVector3 aabbMin(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
triangles->InternalProcessAllTriangles(&callback,aabbMin,aabbMax);
@ -337,8 +337,8 @@ void btOptimizedBvh::updateBvhNodes(btStridingMeshInterface* meshInterface,int f
aabbMin.setValue(btScalar(1e30),btScalar(1e30),btScalar(1e30));
aabbMax.setValue(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30));
aabbMin.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
aabbMax.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
aabbMin.setMin(triangleVerts[0]);
aabbMax.setMax(triangleVerts[0]);
aabbMin.setMin(triangleVerts[1]);

4
src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
View File

@ -26,7 +26,7 @@ btVector3 btPolyhedralConvexShape::localGetSupportingVertexWithoutMargin(const b
int i;
btVector3 supVec(0,0,0);
btScalar maxDot(btScalar(-1e30));
btScalar maxDot(btScalar(-BT_LARGE_FLOAT));
btVector3 vec = vec0;
btScalar lenSqr = vec.length2();
@ -66,7 +66,7 @@ void btPolyhedralConvexShape::batchedUnitVectorGetSupportingVertexWithoutMargin(
for (i=0;i<numVectors;i++)
{
supportVerticesOut[i][3] = btScalar(-1e30);
supportVerticesOut[i][3] = btScalar(-BT_LARGE_FLOAT);
}
for (int j=0;j<numVectors;j++)

6
src/BulletCollision/CollisionShapes/btStaticPlaneShape.cpp
View File

@ -38,7 +38,7 @@ void btStaticPlaneShape::getAabb(const btTransform& t,btVector3& aabbMin,btVecto
{
(void)t;
/*
btVector3 infvec (btScalar(1e30),btScalar(1e30),btScalar(1e30));
btVector3 infvec (btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
btVector3 center = m_planeNormal*m_planeConstant;
aabbMin = center + infvec*m_planeNormal;
@ -47,8 +47,8 @@ void btStaticPlaneShape::getAabb(const btTransform& t,btVector3& aabbMin,btVecto
aabbMax.setMax(center - infvec*m_planeNormal);
*/
aabbMin.setValue(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30));
aabbMax.setValue(btScalar(1e30),btScalar(1e30),btScalar(1e30));
aabbMin.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
aabbMax.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
}

8
src/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp
View File

@ -156,8 +156,8 @@ void btStridingMeshInterface::calculateAabbBruteForce(btVector3& aabbMin,btVecto
AabbCalculationCallback()
{
m_aabbMin.setValue(btScalar(1e30),btScalar(1e30),btScalar(1e30));
m_aabbMax.setValue(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30));
m_aabbMin.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
m_aabbMax.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
}
virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int triangleIndex)
@ -176,8 +176,8 @@ void btStridingMeshInterface::calculateAabbBruteForce(btVector3& aabbMin,btVecto
//first calculate the total aabb for all triangles
AabbCalculationCallback aabbCallback;
aabbMin.setValue(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30));
aabbMax.setValue(btScalar(1e30),btScalar(1e30),btScalar(1e30));
aabbMin.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
aabbMax.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
InternalProcessAllTriangles(&aabbCallback,aabbMin,aabbMax);
aabbMin = aabbCallback.m_aabbMin;

4
src/BulletCollision/CollisionShapes/btTetrahedronShape.cpp
View File

@ -62,8 +62,8 @@ void btBU_Simplex1to4::getAabb(const btTransform& t,btVector3& aabbMin,btVector3
#if 1
btPolyhedralConvexAabbCachingShape::getAabb(t,aabbMin,aabbMax);
#else
aabbMin.setValue(1e30f,1e30f,1e30f);
aabbMax.setValue(-1e30f,-1e30f,-1e30f);
aabbMin.setValue(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT);
aabbMax.setValue(-BT_LARGE_FLOAT,-BT_LARGE_FLOAT,-BT_LARGE_FLOAT);
//just transform the vertices in worldspace, and take their AABB
for (int i=0;i<m_numVertices;i++)

4
src/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp
View File

@ -91,7 +91,7 @@ public:
btVector3 m_supportVecLocal;
SupportVertexCallback(const btVector3& supportVecWorld,const btTransform& trans)
: m_supportVertexLocal(btScalar(0.),btScalar(0.),btScalar(0.)), m_worldTrans(trans) ,m_maxDot(btScalar(-1e30))
: m_supportVertexLocal(btScalar(0.),btScalar(0.),btScalar(0.)), m_worldTrans(trans) ,m_maxDot(btScalar(-BT_LARGE_FLOAT))
{
m_supportVecLocal = supportVecWorld * m_worldTrans.getBasis();
@ -199,7 +199,7 @@ btVector3 btTriangleMeshShape::localGetSupportingVertex(const btVector3& vec) co
SupportVertexCallback supportCallback(vec,ident);
btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
processAllTriangles(&supportCallback,-aabbMax,aabbMax);

2
src/BulletCollision/NarrowPhaseCollision/btConvexCast.h
View File

@ -41,7 +41,7 @@ public:
virtual void drawCoordSystem(const btTransform& trans) {(void)trans;}
CastResult()
:m_fraction(btScalar(1e30)),
:m_fraction(btScalar(BT_LARGE_FLOAT)),
m_debugDrawer(0),
m_allowedPenetration(btScalar(0))
{

4
src/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h
View File

@ -41,7 +41,7 @@ struct btDiscreteCollisionDetectorInterface
struct ClosestPointInput
{
ClosestPointInput()
:m_maximumDistanceSquared(btScalar(1e30)),
:m_maximumDistanceSquared(btScalar(BT_LARGE_FLOAT)),
m_stackAlloc(0)
{
}
@ -68,7 +68,7 @@ struct btStorageResult : public btDiscreteCollisionDetectorInterface::Result
btVector3 m_closestPointInB;
btScalar m_distance; //negative means penetration !
btStorageResult() : m_distance(btScalar(1e30))
btStorageResult() : m_distance(btScalar(BT_LARGE_FLOAT))
{
}

4
src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp
View File

@ -108,7 +108,7 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
};
//just take fixed number of orientation, and sample the penetration depth in that direction
btScalar minProj = btScalar(1e30);
btScalar minProj = btScalar(BT_LARGE_FLOAT);
btVector3 minNorm(btScalar(0.), btScalar(0.), btScalar(0.));
btVector3 minA,minB;
btVector3 seperatingAxisInA,seperatingAxisInB;
@ -299,7 +299,7 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
input.m_transformA = displacedTrans;
input.m_transformB = transB;
input.m_maximumDistanceSquared = btScalar(1e30);//minProj;
input.m_maximumDistanceSquared = btScalar(BT_LARGE_FLOAT);//minProj;
btIntermediateResult res;
gjkdet.getClosestPoints(input,res,debugDraw);

2
src/BulletCollision/NarrowPhaseCollision/btPointCollector.h
View File

@ -31,7 +31,7 @@ struct btPointCollector : public btDiscreteCollisionDetectorInterface::Result
bool m_hasResult;
btPointCollector ()
: m_distance(btScalar(1e30)),m_hasResult(false)
: m_distance(btScalar(BT_LARGE_FLOAT)),m_hasResult(false)
{
}

2
src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp
View File

@ -68,7 +68,7 @@ void btVoronoiSimplexSolver::reset()
m_cachedValidClosest = false;
m_numVertices = 0;
m_needsUpdate = true;
m_lastW = btVector3(btScalar(1e30),btScalar(1e30),btScalar(1e30));
m_lastW = btVector3(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
m_cachedBC.reset();
}

2
src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp
View File

@ -64,7 +64,7 @@ void btConeTwistConstraint::init()
m_bMotorEnabled = false;
m_maxMotorImpulse = btScalar(-1);
setLimit(btScalar(1e30), btScalar(1e30), btScalar(1e30));
setLimit(btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT));
m_damping = btScalar(0.01);
m_fixThresh = CONETWIST_DEF_FIX_THRESH;
}

8
src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
View File

@ -191,8 +191,8 @@ btScalar btRotationalLimitMotor::solveAngularLimits(
// sort with accumulated impulses
btScalar lo = btScalar(-1e30);
btScalar hi = btScalar(1e30);
btScalar lo = btScalar(-BT_LARGE_FLOAT);
btScalar hi = btScalar(BT_LARGE_FLOAT);
btScalar oldaccumImpulse = m_accumulatedImpulse;
btScalar sum = oldaccumImpulse + clippedMotorImpulse;
@ -283,8 +283,8 @@ btScalar btTranslationalLimitMotor::solveLinearAxis(
//positional error (zeroth order error)
btScalar depth = -(pointInA - pointInB).dot(axis_normal_on_a);
btScalar lo = btScalar(-1e30);
btScalar hi = btScalar(1e30);
btScalar lo = btScalar(-BT_LARGE_FLOAT);
btScalar hi = btScalar(BT_LARGE_FLOAT);
btScalar minLimit = m_lowerLimit[limit_index];
btScalar maxLimit = m_upperLimit[limit_index];

16
src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp
View File

@ -79,8 +79,8 @@ btHingeConstraint::btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const bt
rbAxisB1.getZ(),rbAxisB2.getZ(),axisInB.getZ() );
//start with free
m_lowerLimit = btScalar(1e30);
m_upperLimit = btScalar(-1e30);
m_lowerLimit = btScalar(BT_LARGE_FLOAT);
m_upperLimit = btScalar(-BT_LARGE_FLOAT);
m_biasFactor = 0.3f;
m_relaxationFactor = 1.0f;
m_limitSoftness = 0.9f;
@ -119,8 +119,8 @@ m_useReferenceFrameA(useReferenceFrameA)
rbAxisB1.getZ(),rbAxisB2.getZ(),axisInB.getZ() );
//start with free
m_lowerLimit = btScalar(1e30);
m_upperLimit = btScalar(-1e30);
m_lowerLimit = btScalar(BT_LARGE_FLOAT);
m_upperLimit = btScalar(-BT_LARGE_FLOAT);
m_biasFactor = 0.3f;
m_relaxationFactor = 1.0f;
m_limitSoftness = 0.9f;
@ -139,8 +139,8 @@ m_useSolveConstraintObsolete(HINGE_USE_OBSOLETE_SOLVER),
m_useReferenceFrameA(useReferenceFrameA)
{
//start with free
m_lowerLimit = btScalar(1e30);
m_upperLimit = btScalar(-1e30);
m_lowerLimit = btScalar(BT_LARGE_FLOAT);
m_upperLimit = btScalar(-BT_LARGE_FLOAT);
m_biasFactor = 0.3f;
m_relaxationFactor = 1.0f;
m_limitSoftness = 0.9f;
@ -162,8 +162,8 @@ m_useReferenceFrameA(useReferenceFrameA)
m_rbBFrame.getOrigin() = m_rbA.getCenterOfMassTransform()(m_rbAFrame.getOrigin());
//start with free
m_lowerLimit = btScalar(1e30);
m_upperLimit = btScalar(-1e30);
m_lowerLimit = btScalar(BT_LARGE_FLOAT);
m_upperLimit = btScalar(-BT_LARGE_FLOAT);
m_biasFactor = 0.3f;
m_relaxationFactor = 1.0f;
m_limitSoftness = 0.9f;

8
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
View File

@ -1147,8 +1147,8 @@ void btDiscreteDynamicsWorld::debugDrawObject(const btTransform& worldTransform,
btConcaveShape* concaveMesh = (btConcaveShape*) shape;
///@todo pass camera, for some culling? no -> we are not a graphics lib
btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
btVector3 aabbMin(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30));
btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
btVector3 aabbMin(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
DebugDrawcallback drawCallback(getDebugDrawer(),worldTransform,color);
concaveMesh->processAllTriangles(&drawCallback,aabbMin,aabbMax);
@ -1159,8 +1159,8 @@ void btDiscreteDynamicsWorld::debugDrawObject(const btTransform& worldTransform,
{
btConvexTriangleMeshShape* convexMesh = (btConvexTriangleMeshShape*) shape;
//todo: pass camera for some culling
btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
btVector3 aabbMin(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30));
btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
btVector3 aabbMin(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
//DebugDrawcallback drawCallback;
DebugDrawcallback drawCallback(getDebugDrawer(),worldTransform,color);
convexMesh->getMeshInterface()->InternalProcessAllTriangles(&drawCallback,aabbMin,aabbMax);

4
src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuCollisionShapes.cpp
View File

@ -136,7 +136,7 @@ btVector3 localGetSupportingVertexWithoutMargin(int shapeType, void* shape, cons
btScalar radius = capsuleShape->getRadius();
btVector3 supVec(0,0,0);
btScalar maxDot(btScalar(-1e30));
btScalar maxDot(btScalar(-BT_LARGE_FLOAT));
btVector3 vec = vec0;
btScalar lenSqr = vec.length2();
@ -230,7 +230,7 @@ btVector3 localGetSupportingVertexWithoutMargin(int shapeType, void* shape, cons
// spu_printf("numPoints = %d\n",numPoints);
int ptIndex = 0;
btScalar newDot,maxDot = btScalar(-1e30);
btScalar newDot,maxDot = btScalar(-BT_LARGE_FLOAT);
btVector3 vec0(localDir.getX(),localDir.getY(),localDir.getZ());
btVector3 vec = vec0;

2
src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuContactResult.h
View File

@ -56,7 +56,7 @@ struct SpuCollisionPairInput
struct SpuClosestPointInput
{
SpuClosestPointInput()
:m_maximumDistanceSquared(float(1e30)),
:m_maximumDistanceSquared(float(BT_LARGE_FLOAT)),
m_stackAlloc(0)
{
}

2
src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.cpp
View File

@ -1081,7 +1081,7 @@ void processCollisionTask(void* userPtr, void* lsMemPtr)
SpuBridgeContactCollector bridgeOutput(spuContacts);
btDiscreteCollisionDetectorInterface::ClosestPointInput input;
input.m_maximumDistanceSquared = 1e30f;
input.m_maximumDistanceSquared = BT_LARGE_FLOAT;
input.m_transformA = collisionPairInput.m_worldTransform0;
input.m_transformB = collisionPairInput.m_worldTransform1;

4
src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuMinkowskiPenetrationDepthSolver.cpp
View File

@ -112,7 +112,7 @@ bool SpuMinkowskiPenetrationDepthSolver::calcPenDepth( SpuVoronoiSimplexSolver&
};
//just take fixed number of orientation, and sample the penetration depth in that direction
btScalar minProj = btScalar(1e30);
btScalar minProj = btScalar(BT_LARGE_FLOAT);
btVector3 minNorm;
btVector3 minVertex;
btVector3 minA,minB;
@ -309,7 +309,7 @@ bool SpuMinkowskiPenetrationDepthSolver::calcPenDepth( SpuVoronoiSimplexSolver&
input.m_transformA = displacedTrans;
input.m_transformB = transB;
input.m_maximumDistanceSquared = btScalar(1e30);//minProj;
input.m_maximumDistanceSquared = btScalar(BT_LARGE_FLOAT);//minProj;
btIntermediateResult res;
gjkdet.getClosestPoints(input,res);

2
src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuVoronoiSimplexSolver.cpp
View File

@ -69,7 +69,7 @@ void SpuVoronoiSimplexSolver::reset()
m_cachedValidClosest = false;
m_numVertices = 0;
m_needsUpdate = true;
m_lastW = btVector3(btScalar(1e30),btScalar(1e30),btScalar(1e30));
m_lastW = btVector3(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
m_cachedBC.reset();
}

4
src/LinearMath/btScalar.h
View File

@ -168,8 +168,12 @@ inline int btGetVersion()
///The btScalar type abstracts floating point numbers, to easily switch between double and single floating point precision.
#if defined(BT_USE_DOUBLE_PRECISION)
typedef double btScalar;
//this number could be bigger in double precision
#define BT_LARGE_FLOAT 1e30
#else
typedef float btScalar;
//keep BT_LARGE_FLOAT*BT_LARGE_FLOAT < FLT_MAX
#define BT_LARGE_FLOAT 1e18f
#endif

4
src/LinearMath/btVector3.h
View File

@ -488,7 +488,7 @@ public:
SIMD_FORCE_INLINE int maxAxis4() const
{
int maxIndex = -1;
btScalar maxVal = btScalar(-1e30);
btScalar maxVal = btScalar(-BT_LARGE_FLOAT);
if (m_floats[0] > maxVal)
{
maxIndex = 0;
@ -521,7 +521,7 @@ public:
SIMD_FORCE_INLINE int minAxis4() const
{
int minIndex = -1;
btScalar minVal = btScalar(1e30);
btScalar minVal = btScalar(BT_LARGE_FLOAT);
if (m_floats[0] < minVal)
{
minIndex = 0;