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add long double precision support #4580

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add long double precision support #4580

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6 changes: 6 additions & 0 deletions CMakeLists.txt
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Expand Up @@ -24,6 +24,7 @@ SET(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -D_DEBUG")
#MESSAGE("CMAKE_CXX_FLAGS_DEBUG="+${CMAKE_CXX_FLAGS_DEBUG})

OPTION(USE_DOUBLE_PRECISION "Use double precision" OFF)
OPTION(USE_LONG_DOUBLE_PRECISION "Use long double precision" OFF)
SET(CLAMP_VELOCITIES "0" CACHE STRING "Clamp rigid bodies' velocity to this value, if larger than zero. Useful to prevent floating point errors or in general runaway velocities in complex scenarios")
OPTION(USE_GRAPHICAL_BENCHMARK "Use Graphical Benchmark" ON)
OPTION(BUILD_SHARED_LIBS "Use shared libraries" OFF)
Expand Down Expand Up @@ -240,6 +241,11 @@ ADD_DEFINITIONS( -DBT_USE_DOUBLE_PRECISION)
SET( BULLET_DOUBLE_DEF "-DBT_USE_DOUBLE_PRECISION")
ENDIF (USE_DOUBLE_PRECISION)

IF (USE_LONG_DOUBLE_PRECISION)
ADD_DEFINITIONS( -DBT_USE_LONG_DOUBLE_PRECISION)
SET( BULLET_DOUBLE_DEF "-DBT_USE_LONG_DOUBLE_PRECISION")
ENDIF (USE_LONG_DOUBLE_PRECISION)

IF (NOT USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD)
ADD_DEFINITIONS(-DSKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD)
ENDIF ()
Expand Down
63 changes: 62 additions & 1 deletion Extras/Serialize/BulletWorldImporter/btWorldImporter.cpp
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Expand Up @@ -346,7 +346,16 @@ btCollisionShape* btWorldImporter::convertCollisionShape(btCollisionShapeData* s
int i;
for (i = 0; i < numPoints; i++)
{
#ifdef BT_USE_DOUBLE_PRECISION
#ifdef BT_USE_LONG_DOUBLE_PRECISION
if (convexData->m_unscaledPointsLongDoublePtr)
tmpPoints[i].deSerialize(convexData->m_unscaledPointsLongDoublePtr[i]);
if (convexData->m_unscaledPointsDoublePtr)
tmpPoints[i].deSerializeDouble(convexData->m_unscaledPointsDoublePtr[i]);
if (convexData->m_unscaledPointsFloatPtr)
tmpPoints[i].deSerializeFloat(convexData->m_unscaledPointsFloatPtr[i]);
#elif defined(BT_USE_DOUBLE_PRECISION)
if (convexData->m_unscaledPointsLongDoublePtr)
tmpPoints[i].deSerializeLongDouble(convexData->m_unscaledPointsLongDoublePtr[i]);
if (convexData->m_unscaledPointsDoublePtr)
tmpPoints[i].deSerialize(convexData->m_unscaledPointsDoublePtr[i]);
if (convexData->m_unscaledPointsFloatPtr)
Expand All @@ -356,6 +365,8 @@ btCollisionShape* btWorldImporter::convertCollisionShape(btCollisionShapeData* s
tmpPoints[i].deSerialize(convexData->m_unscaledPointsFloatPtr[i]);
if (convexData->m_unscaledPointsDoublePtr)
tmpPoints[i].deSerializeDouble(convexData->m_unscaledPointsDoublePtr[i]);
if (convexData->m_unscaledPointsLongDoublePtr)
tmpPoints[i].deSerializeLongDouble(convexData->m_unscaledPointsLongDoublePtr[i]);
#endif //BT_USE_DOUBLE_PRECISION
}
btConvexHullShape* hullShape = createConvexHullShape();
Expand Down Expand Up @@ -2082,3 +2093,53 @@ void btWorldImporter::convertRigidBodyDouble(btRigidBodyDoubleData* colObjData)
printf("error: no shape found\n");
}
}

void btWorldImporter::convertRigidBodyLongDouble(btRigidBodyLongDoubleData* colObjData)
{
btScalar mass = btScalar(colObjData->m_inverseMass ? 1.f / colObjData->m_inverseMass : 0.f);
btVector3 localInertia;
localInertia.setZero();
btCollisionShape** shapePtr = m_shapeMap.find(colObjData->m_collisionObjectData.m_collisionShape);
if (shapePtr && *shapePtr)
{
btTransform startTransform;
colObjData->m_collisionObjectData.m_worldTransform.m_origin.m_floats[3] = 0.f;
startTransform.deSerializeLongDouble(colObjData->m_collisionObjectData.m_worldTransform);

// startTransform.setBasis(btMatrix3x3::getIdentity());
btCollisionShape* shape = (btCollisionShape*)*shapePtr;
if (shape->isNonMoving())
{
mass = 0.f;
}
if (mass)
{
shape->calculateLocalInertia(mass, localInertia);
}
bool isDynamic = mass != 0.f;
btRigidBody* body = createRigidBody(isDynamic, mass, startTransform, shape, colObjData->m_collisionObjectData.m_name);
body->setFriction(btScalar(colObjData->m_collisionObjectData.m_friction));
body->setRestitution(btScalar(colObjData->m_collisionObjectData.m_restitution));
btVector3 linearFactor, angularFactor;
linearFactor.deSerializeLongDouble(colObjData->m_linearFactor);
angularFactor.deSerializeLongDouble(colObjData->m_angularFactor);
body->setLinearFactor(linearFactor);
body->setAngularFactor(angularFactor);

#ifdef USE_INTERNAL_EDGE_UTILITY
if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
{
btBvhTriangleMeshShape* trimesh = (btBvhTriangleMeshShape*)shape;
if (trimesh->getTriangleInfoMap())
{
body->setCollisionFlags(body->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
}
}
#endif //USE_INTERNAL_EDGE_UTILITY
m_bodyMap.insert(colObjData, body);
}
else
{
printf("error: no shape found\n");
}
}
9 changes: 8 additions & 1 deletion Extras/Serialize/BulletWorldImporter/btWorldImporter.h
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Expand Up @@ -48,11 +48,15 @@ struct btContactSolverInfo;
struct btTypedConstraintData;
struct btTypedConstraintFloatData;
struct btTypedConstraintDoubleData;
struct btTypedConstraintLongDoubleData;

struct btRigidBodyLongDoubleData;
struct btRigidBodyDoubleData;
struct btRigidBodyFloatData;

#ifdef BT_USE_DOUBLE_PRECISION
#ifdef BT_USE_LONG_DOUBLE_PRECISION
#define btRigidBodyData btRigidBodyLongDoubleData
#elif defined(BT_USE_DOUBLE_PRECISION)
#define btRigidBodyData btRigidBodyDoubleData
#else
#define btRigidBodyData btRigidBodyFloatData
Expand Down Expand Up @@ -87,6 +91,7 @@ class btWorldImporter

btAlignedObjectArray<btVector3FloatData*> m_floatVertexArrays;
btAlignedObjectArray<btVector3DoubleData*> m_doubleVertexArrays;
btAlignedObjectArray<btVector3LongDoubleData*> m_longDoubleVertexArrays;

btHashMap<btHashPtr, btOptimizedBvh*> m_bvhMap;
btHashMap<btHashPtr, btTriangleInfoMap*> m_timMap;
Expand All @@ -110,8 +115,10 @@ class btWorldImporter
void convertConstraintBackwardsCompatible281(btTypedConstraintData* constraintData, btRigidBody* rbA, btRigidBody* rbB, int fileVersion);
void convertConstraintFloat(btTypedConstraintFloatData* constraintData, btRigidBody* rbA, btRigidBody* rbB, int fileVersion);
void convertConstraintDouble(btTypedConstraintDoubleData* constraintData, btRigidBody* rbA, btRigidBody* rbB, int fileVersion);
void convertConstraintLongDouble(btTypedConstraintLongDoubleData* constraintData, btRigidBody* rbA, btRigidBody* rbB, int fileVersion);
void convertRigidBodyFloat(btRigidBodyFloatData* colObjData);
void convertRigidBodyDouble(btRigidBodyDoubleData* colObjData);
void convertRigidBodyLongDouble(btRigidBodyLongDoubleData* colObjData);

public:
btWorldImporter(btDynamicsWorld* world);
Expand Down
4 changes: 3 additions & 1 deletion Extras/Serialize/BulletXmlWorldImporter/btBulletXmlWorldImporter.cpp
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Expand Up @@ -781,7 +781,9 @@ void btBulletXmlWorldImporter::auto_serialize_root_level_children(XMLNode* pPare

for (int i = 0; i < m_rigidBodyData.size(); i++)
{
#ifdef BT_USE_DOUBLE_PRECISION
#ifdef BT_USE_LONG_DOUBLE_PRECISION
convertRigidBodyLongDouble(m_rigidBodyData[i]);
#elif defined(BT_USE_DOUBLE_PRECISION)
convertRigidBodyDouble(m_rigidBodyData[i]);
#else
convertRigidBodyFloat(m_rigidBodyData[i]);
Expand Down
7 changes: 6 additions & 1 deletion Extras/Serialize/BulletXmlWorldImporter/btBulletXmlWorldImporter.h
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Expand Up @@ -27,7 +27,12 @@ class XMLNode;

struct btConvexInternalShapeData;
struct btCollisionShapeData;
#ifdef BT_USE_DOUBLE_PRECISION
#ifdef BT_USE_LONG_DOUBLE_PRECISION
struct btRigidBodyLongDoubleData;
struct btTypedConstraintLongDoubleData;
#define btRigidBodyData btRigidBodyLongDoubleData
#define btTypedConstraintData2 btTypedConstraintLongDoubleData
#elif defined(BT_USE_DOUBLE_PRECISION)
struct btRigidBodyDoubleData;
struct btTypedConstraintDoubleData;
#define btRigidBodyData btRigidBodyDoubleData
Expand Down
4 changes: 3 additions & 1 deletion examples/Collision/CollisionSdkC_Api.h
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Expand Up @@ -7,7 +7,9 @@
int unused; \
} * name

#ifdef BT_USE_DOUBLE_PRECISION
#ifdef BT_USE_LONG_DOUBLE_PRECISION
typedef long double plReal;
#elif defined(BT_USE_DOUBLE_PRECISION)
typedef double plReal;
#else
typedef float plReal;
Expand Down
4 changes: 3 additions & 1 deletion examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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Expand Up @@ -402,7 +402,9 @@ struct CommandLogger

void writeHeader(unsigned char* buffer) const
{
#ifdef BT_USE_DOUBLE_PRECISION
#ifdef BT_USE_LONG_DOUBLE_PRECISION
memcpy(buffer, "BT3CMDld", 8);
#elif defined(BT_USE_DOUBLE_PRECISION)
memcpy(buffer, "BT3CMDd", 7);
#else
memcpy(buffer, "BT3CMDf", 7);
Expand Down
4 changes: 3 additions & 1 deletion examples/SharedMemory/physx/PhysXServerCommandProcessor.cpp
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Expand Up @@ -2218,7 +2218,9 @@ bool PhysXServerCommandProcessor::processLoadURDFCommand(const struct SharedMemo
mbd->m_links = mbd->m_numLinks ? (btMultiBodyLinkData *)ser.getUniquePointer((void *)articulation) : 0;

// Fill padding with zeros to appease msan.
#ifdef BT_USE_DOUBLE_PRECISION
#ifdef BT_USE_LONG_DOUBLE_PRECISION
memset(mbd->m_padding, 0, sizeof(mbd->m_padding));
#elif defined(BT_USE_DOUBLE_PRECISION)
memset(mbd->m_padding, 0, sizeof(mbd->m_padding));
#endif

Expand Down
7 changes: 6 additions & 1 deletion src/Bullet3OpenCL/NarrowphaseCollision/b3VoronoiSimplexSolver.cpp
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Expand Up @@ -413,7 +413,12 @@ int b3VoronoiSimplexSolver::pointOutsideOfPlane(const b3Vector3& p, const b3Vect
b3Scalar signd = (d - a).dot(normal); // [AD AB AC]

#ifdef B3_CATCH_DEGENERATE_TETRAHEDRON
#ifdef BT_USE_DOUBLE_PRECISION
#ifdef BT_USE_LONG_DOUBLE_PRECISION
if (signd * signd < (b3Scalar(1e-8) * b3Scalar(1e-8)))
{
return -1;
}
#elif defined(BT_USE_DOUBLE_PRECISION)
if (signd * signd < (b3Scalar(1e-8) * b3Scalar(1e-8)))
{
return -1;
Expand Down
33 changes: 32 additions & 1 deletion src/BulletCollision/BroadphaseCollision/btQuantizedBvh.h
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Expand Up @@ -31,7 +31,11 @@ class btSerializer;
#include "LinearMath/btVector3.h"
#include "LinearMath/btAlignedAllocator.h"

#ifdef BT_USE_DOUBLE_PRECISION
#ifdef BT_USE_LONG_DOUBLE_PRECISION
#define btQuantizedBvhData btQuantizedBvhLongDoubleData
#define btOptimizedBvhNodeData btOptimizedBvhNodeLongDoubleData
#define btQuantizedBvhDataName "btQuantizedBvhLongDoubleData"
#elif defined(BT_USE_DOUBLE_PRECISION)
#define btQuantizedBvhData btQuantizedBvhDoubleData
#define btOptimizedBvhNodeData btOptimizedBvhNodeDoubleData
#define btQuantizedBvhDataName "btQuantizedBvhDoubleData"
Expand Down Expand Up @@ -494,6 +498,16 @@ struct btOptimizedBvhNodeDoubleData
char m_pad[4];
};

struct btOptimizedBvhNodeLongDoubleData
{
btVector3LongDoubleData m_aabbMinOrg;
btVector3LongDoubleData m_aabbMaxOrg;
int m_escapeIndex;
int m_subPart;
int m_triangleIndex;
char m_pad[4];
};


struct btQuantizedBvhNodeData
{
Expand Down Expand Up @@ -535,6 +549,23 @@ struct btQuantizedBvhDoubleData
int m_numSubtreeHeaders;
btBvhSubtreeInfoData *m_subTreeInfoPtr;
};

struct btQuantizedBvhLongDoubleData
{
btVector3LongDoubleData m_bvhAabbMin;
btVector3LongDoubleData m_bvhAabbMax;
btVector3LongDoubleData m_bvhQuantization;
int m_curNodeIndex;
int m_useQuantization;
int m_numContiguousLeafNodes;
int m_numQuantizedContiguousNodes;
btOptimizedBvhNodeLongDoubleData *m_contiguousNodesPtr;
btQuantizedBvhNodeData *m_quantizedContiguousNodesPtr;

int m_traversalMode;
int m_numSubtreeHeaders;
btBvhSubtreeInfoData *m_subTreeInfoPtr;
};
// clang-format on

SIMD_FORCE_INLINE int btQuantizedBvh::calculateSerializeBufferSizeNew() const
Expand Down
39 changes: 38 additions & 1 deletion src/BulletCollision/CollisionDispatch/btCollisionObject.h
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Expand Up @@ -35,7 +35,10 @@ struct btCollisionShapeData;

typedef btAlignedObjectArray<class btCollisionObject*> btCollisionObjectArray;

#ifdef BT_USE_DOUBLE_PRECISION
#ifdef BT_USE_LONG_DOUBLE_PRECISION
#define btCollisionObjectData btCollisionObjectLongDoubleData
#define btCollisionObjectDataName "btCollisionObjectLongDoubleData"
#elif defined(BT_USE_DOUBLE_PRECISION)
#define btCollisionObjectData btCollisionObjectDoubleData
#define btCollisionObjectDataName "btCollisionObjectDoubleData"
#else
Expand Down Expand Up @@ -612,6 +615,40 @@ btCollisionObject
// clang-format off

///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
struct btCollisionObjectLongDoubleData
{
void *m_broadphaseHandle;
void *m_collisionShape;
btCollisionShapeData *m_rootCollisionShape;
char *m_name;

btTransformLongDoubleData m_worldTransform;
btTransformLongDoubleData m_interpolationWorldTransform;
btVector3LongDoubleData m_interpolationLinearVelocity;
btVector3LongDoubleData m_interpolationAngularVelocity;
btVector3LongDoubleData m_anisotropicFriction;
long double m_contactProcessingThreshold;
long double m_deactivationTime;
long double m_friction;
long double m_rollingFriction;
long double m_contactDamping;
long double m_contactStiffness;
long double m_restitution;
long double m_hitFraction;
long double m_ccdSweptSphereRadius;
long double m_ccdMotionThreshold;
int m_hasAnisotropicFriction;
int m_collisionFlags;
int m_islandTag1;
int m_companionId;
int m_activationState1;
int m_internalType;
int m_checkCollideWith;
int m_collisionFilterGroup;
int m_collisionFilterMask;
int m_uniqueId;//m_uniqueId is introduced for paircache. could get rid of this, by calculating the address offset etc.
};

struct btCollisionObjectDoubleData
{
void *m_broadphaseHandle;
Expand Down
13 changes: 12 additions & 1 deletion src/BulletCollision/CollisionDispatch/btCollisionWorldImporter.cpp
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Expand Up @@ -446,7 +446,16 @@ btCollisionShape* btCollisionWorldImporter::convertCollisionShape(btCollisionSha
int i;
for (i = 0; i < numPoints; i++)
{
#ifdef BT_USE_DOUBLE_PRECISION
#ifdef BT_USE_LONG_DOUBLE_PRECISION
if (convexData->m_unscaledPointsDoublePtr)
tmpPoints[i].deSerializeDouble(convexData->m_unscaledPointsDoublePtr[i]);
if (convexData->m_unscaledPointsLongDoublePtr)
tmpPoints[i].deSerialize(convexData->m_unscaledPointsLongDoublePtr[i]);
if (convexData->m_unscaledPointsFloatPtr)
tmpPoints[i].deSerializeFloat(convexData->m_unscaledPointsFloatPtr[i]);
#elif defined(BT_USE_DOUBLE_PRECISION)
if (convexData->m_unscaledPointsLongDoublePtr)
tmpPoints[i].deSerializeLongDouble(convexData->m_unscaledPointsLongDoublePtr[i]);
if (convexData->m_unscaledPointsDoublePtr)
tmpPoints[i].deSerialize(convexData->m_unscaledPointsDoublePtr[i]);
if (convexData->m_unscaledPointsFloatPtr)
Expand All @@ -456,6 +465,8 @@ btCollisionShape* btCollisionWorldImporter::convertCollisionShape(btCollisionSha
tmpPoints[i].deSerialize(convexData->m_unscaledPointsFloatPtr[i]);
if (convexData->m_unscaledPointsDoublePtr)
tmpPoints[i].deSerializeDouble(convexData->m_unscaledPointsDoublePtr[i]);
if (convexData->m_unscaledPointsLongDoublePtr)
tmpPoints[i].deSerializeLongDouble(convexData->m_unscaledPointsLongDoublePtr[i]);
#endif //BT_USE_DOUBLE_PRECISION
}
btConvexHullShape* hullShape = createConvexHullShape();
Expand Down
16 changes: 14 additions & 2 deletions src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp
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Expand Up @@ -382,22 +382,34 @@ const char* btBvhTriangleMeshShape::serialize(void* dataBuffer, btSerializer* se
void* chunk = serializer->findPointer(m_bvh);
if (chunk)
{
#ifdef BT_USE_DOUBLE_PRECISION
#ifdef BT_USE_LONG_DOUBLE_PRECISION
trimeshData->m_quantizedLongDoubleBvh = (btQuantizedBvhData*)chunk;
trimeshData->m_quantizedFloatBvh = 0;
trimeshData->m_quantizedDoubleBvh = 0;
#elif defined(BT_USE_DOUBLE_PRECISION)
trimeshData->m_quantizedDoubleBvh = (btQuantizedBvhData*)chunk;
trimeshData->m_quantizedFloatBvh = 0;
trimeshData->m_quantizedLongDoubleBvh = 0;
#else
trimeshData->m_quantizedFloatBvh = (btQuantizedBvhData*)chunk;
trimeshData->m_quantizedDoubleBvh = 0;
trimeshData->m_quantizedLongDoubleBvh = 0;
#endif //BT_USE_DOUBLE_PRECISION
}
else
{
#ifdef BT_USE_DOUBLE_PRECISION
#ifdef BT_USE_LONG_DOUBLE_PRECISION
trimeshData->m_quantizedLongDoubleBvh = (btQuantizedBvhData*)serializer->getUniquePointer(m_bvh);
trimeshData->m_quantizedFloatBvh = 0;
trimeshData->m_quantizedDoubleBvh = 0;
#elif defined(BT_USE_DOUBLE_PRECISION)
trimeshData->m_quantizedDoubleBvh = (btQuantizedBvhData*)serializer->getUniquePointer(m_bvh);
trimeshData->m_quantizedFloatBvh = 0;
trimeshData->m_quantizedLongDoubleBvh = 0;
#else
trimeshData->m_quantizedFloatBvh = (btQuantizedBvhData*)serializer->getUniquePointer(m_bvh);
trimeshData->m_quantizedDoubleBvh = 0;
trimeshData->m_quantizedLongDoubleBvh = 0;
#endif //BT_USE_DOUBLE_PRECISION

int sz = m_bvh->calculateSerializeBufferSizeNew();
Expand Down
1 change: 1 addition & 0 deletions src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h
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Expand Up @@ -125,6 +125,7 @@ struct btTriangleMeshShapeData

btQuantizedBvhFloatData *m_quantizedFloatBvh;
btQuantizedBvhDoubleData *m_quantizedDoubleBvh;
btQuantizedBvhLongDoubleData *m_quantizedLongDoubleBvh;

btTriangleInfoMapData *m_triangleInfoMap;

Expand Down
1 change: 1 addition & 0 deletions src/BulletCollision/CollisionShapes/btConcaveShape.h
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Expand Up @@ -26,6 +26,7 @@ typedef enum PHY_ScalarType
{
PHY_FLOAT,
PHY_DOUBLE,
PHY_LONG_DOUBLE,
PHY_INTEGER,
PHY_SHORT,
PHY_FIXEDPOINT88,
Expand Down
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