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Merge pull request #2049 from elsid/bullet_double_precision

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Support bullet double precision
This commit is contained in:
Bret Curtis 2020-05-15 07:41:02 +02:00 committed by GitHub
commit c69c7d0b3b
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GPG key ID: 4AEE18F83AFDEB23
8 changed files with 144 additions and 33 deletions
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12
CI/before_script.msvc.sh
View file

@ -393,9 +393,9 @@ if [ -z $SKIP_DOWNLOAD ]; then
fi
# Bullet
download "Bullet 2.86" \
"https://www.lysator.liu.se/~ace/OpenMW/deps/Bullet-2.86-msvc${MSVC_YEAR}-win${BITS}.7z" \
"Bullet-2.86-msvc${MSVC_YEAR}-win${BITS}.7z"
download "Bullet 2.87" \
"https://www.lysator.liu.se/~ace/OpenMW/deps/Bullet-2.87-msvc${MSVC_YEAR}-win${BITS}.7z" \
"Bullet-2.87-msvc${MSVC_YEAR}-win${BITS}.7z"
# FFmpeg
download "FFmpeg 3.2.4" \
@ -533,15 +533,15 @@ fi
cd $DEPS
echo
# Bullet
printf "Bullet 2.86... "
printf "Bullet 2.87... "
{
cd $DEPS_INSTALL
if [ -d Bullet ]; then
printf -- "Exists. (No version checking) "
elif [ -z $SKIP_EXTRACT ]; then
rm -rf Bullet
eval 7z x -y "${DEPS}/Bullet-2.86-msvc${MSVC_YEAR}-win${BITS}.7z" $STRIP
mv "Bullet-2.86-msvc${MSVC_YEAR}-win${BITS}" Bullet
eval 7z x -y "${DEPS}/Bullet-2.87-msvc${MSVC_YEAR}-win${BITS}.7z" $STRIP
mv "Bullet-2.87-msvc${MSVC_YEAR}-win${BITS}" Bullet
fi
export BULLET_ROOT="$(real_pwd)/Bullet"
echo Done.

38
apps/openmw/mwphysics/heightfield.cpp
View file

@ -7,12 +7,48 @@
#include <LinearMath/btTransform.h>
#include <type_traits>
namespace
{
template <class T>
auto makeHeights(const T* heights, float sqrtVerts)
-> std::enable_if_t<std::is_same<btScalar, T>::value, std::vector<btScalar>>
{
return {};
}
template <class T>
auto makeHeights(const T* heights, float sqrtVerts)
-> std::enable_if_t<!std::is_same<btScalar, T>::value, std::vector<btScalar>>
{
return std::vector<btScalar>(heights, heights + static_cast<std::ptrdiff_t>(sqrtVerts * sqrtVerts));
}
template <class T>
auto getHeights(const T* floatHeights, const std::vector<btScalar>&)
-> std::enable_if_t<std::is_same<btScalar, T>::value, const btScalar*>
{
return floatHeights;
}
template <class T>
auto getHeights(const T*, const std::vector<btScalar>& btScalarHeights)
-> std::enable_if_t<!std::is_same<btScalar, T>::value, const btScalar*>
{
return btScalarHeights.data();
}
}
namespace MWPhysics
{
HeightField::HeightField(const float* heights, int x, int y, float triSize, float sqrtVerts, float minH, float maxH, const osg::Object* holdObject)
: mHeights(makeHeights(heights, sqrtVerts))
{
mShape = new btHeightfieldTerrainShape(
sqrtVerts, sqrtVerts, heights, 1,
sqrtVerts, sqrtVerts,
getHeights(heights, mHeights),
1,
minH, maxH, 2,
PHY_FLOAT, false
);

5
apps/openmw/mwphysics/heightfield.hpp
View file

@ -3,6 +3,10 @@
#include <osg/ref_ptr>
#include <LinearMath/btScalar.h>
#include <vector>
class btCollisionObject;
class btHeightfieldTerrainShape;
@ -27,6 +31,7 @@ namespace MWPhysics
btHeightfieldTerrainShape* mShape;
btCollisionObject* mCollisionObject;
osg::ref_ptr<const osg::Object> mHoldObject;
std::vector<btScalar> mHeights;
void operator=(const HeightField&);
HeightField(const HeightField&);

62
apps/openmw_test_suite/detournavigator/operators.hpp
View file

@ -20,22 +20,62 @@ namespace DetourNavigator
}
}
namespace
{
template <class T>
struct Wrapper {
const T& mValue;
};
template <class Range>
inline testing::Message& writeRange(testing::Message& message, const Range& range)
{
message << "{\n";
for (const auto& v : range)
message << Wrapper<typename std::decay<decltype(v)>::type> {v} << ",\n";
return message << "}";
}
}
namespace testing
{
template <>
inline testing::Message& Message::operator <<(const osg::Vec3f& value)
{
return (*this) << "osg::Vec3f(" << std::setprecision(std::numeric_limits<float>::max_exponent10) << value.x()
<< ", " << std::setprecision(std::numeric_limits<float>::max_exponent10) << value.y()
<< ", " << std::setprecision(std::numeric_limits<float>::max_exponent10) << value.z()
<< ')';
}
template <>
inline testing::Message& Message::operator <<(const Wrapper<osg::Vec3f>& value)
{
return (*this) << value.mValue;
}
template <>
inline testing::Message& Message::operator <<(const Wrapper<float>& value)
{
return (*this) << std::setprecision(std::numeric_limits<float>::max_exponent10) << value.mValue;
}
template <>
inline testing::Message& Message::operator <<(const std::deque<osg::Vec3f>& value)
{
(*this) << "{\n";
for (const auto& v : value)
{
std::ostringstream stream;
stream << "osg::Vec3f("
<< std::setprecision(std::numeric_limits<float>::max_exponent10) << v.x() << ", "
<< std::setprecision(std::numeric_limits<float>::max_exponent10) << v.y() << ", "
<< std::setprecision(std::numeric_limits<float>::max_exponent10) << v.z() << ")";
(*this) << stream.str() << ",\n";
}
return (*this) << "}";
return writeRange(*this, value);
}
template <>
inline testing::Message& Message::operator <<(const std::vector<osg::Vec3f>& value)
{
return writeRange(*this, value);
}
template <>
inline testing::Message& Message::operator <<(const std::vector<float>& value)
{
return writeRange(*this, value);
}
}

4
apps/openmw_test_suite/detournavigator/recastmeshbuilder.cpp
View file

@ -363,11 +363,11 @@ namespace
AreaType_ground
);
const auto recastMesh = builder.create(mGeneration, mRevision);
EXPECT_EQ(recastMesh->getVertices(), std::vector<float>({
EXPECT_THAT(recastMesh->getVertices(), Pointwise(FloatNear(1e-5), std::vector<float>({
1.41421353816986083984375, 0, 1.1920928955078125e-07,
-1.41421353816986083984375, 0, -1.1920928955078125e-07,
1.1920928955078125e-07, 0, -1.41421353816986083984375,
}));
})));
EXPECT_EQ(recastMesh->getIndices(), std::vector<int>({0, 1, 2}));
EXPECT_EQ(recastMesh->getAreaTypes(), std::vector<AreaType>({AreaType_ground}));
}

36
apps/openmw_test_suite/nifloader/testbulletnifloader.cpp
View file

@ -9,6 +9,8 @@
#include <gtest/gtest.h>
#include <gmock/gmock.h>
#include <algorithm>
namespace
{
template <class T>
@ -30,6 +32,34 @@ namespace
shape.processAllTriangles(&callback, aabbMin, aabbMax);
return result;
}
bool isNear(btScalar lhs, btScalar rhs)
{
return std::abs(lhs - rhs) <= 1e-5;
}
bool isNear(const btVector3& lhs, const btVector3& rhs)
{
return std::equal(
static_cast<const btScalar*>(lhs),
static_cast<const btScalar*>(lhs) + 3,
static_cast<const btScalar*>(rhs),
[] (btScalar lhs, btScalar rhs) { return isNear(lhs, rhs); }
);
}
bool isNear(const btMatrix3x3& lhs, const btMatrix3x3& rhs)
{
for (int i = 0; i < 3; ++i)
if (!isNear(lhs[i], rhs[i]))
return false;
return true;
}
bool isNear(const btTransform& lhs, const btTransform& rhs)
{
return isNear(lhs.getOrigin(), rhs.getOrigin()) && isNear(lhs.getBasis(), rhs.getBasis());
}
}
static std::ostream& operator <<(std::ostream& stream, const btVector3& value)
@ -157,7 +187,7 @@ static bool operator ==(const btCompoundShape& lhs, const btCompoundShape& rhs)
for (int i = 0; i < lhs.getNumChildShapes(); ++i)
{
if (!compareObjects(lhs.getChildShape(i), rhs.getChildShape(i))
|| !(lhs.getChildTransform(i) == rhs.getChildTransform(i)))
|| !isNear(lhs.getChildTransform(i), rhs.getChildTransform(i)))
return false;
}
return true;
@ -165,13 +195,13 @@ static bool operator ==(const btCompoundShape& lhs, const btCompoundShape& rhs)
static bool operator ==(const btBoxShape& lhs, const btBoxShape& rhs)
{
return lhs.getLocalScaling() == rhs.getLocalScaling()
return isNear(lhs.getLocalScaling(), rhs.getLocalScaling())
&& lhs.getHalfExtentsWithoutMargin() == rhs.getHalfExtentsWithoutMargin();
}
static bool operator ==(const btBvhTriangleMeshShape& lhs, const btBvhTriangleMeshShape& rhs)
{
return lhs.getLocalScaling() == rhs.getLocalScaling()
return isNear(lhs.getLocalScaling(), rhs.getLocalScaling())
&& lhs.usesQuantizedAabbCompression() == rhs.usesQuantizedAabbCompression()
&& lhs.getOwnsBvh() == rhs.getOwnsBvh()
&& getTriangles(lhs) == getTriangles(rhs);

4
appveyor.yml
View file

@ -30,8 +30,8 @@ configuration:
clone_depth: 1
cache:
- C:\projects\openmw\deps\Bullet-2.86-msvc2015-win32.7z
- C:\projects\openmw\deps\Bullet-2.86-msvc2015-win64.7z
- C:\projects\openmw\deps\Bullet-2.87-msvc2015-win32.7z
- C:\projects\openmw\deps\Bullet-2.87-msvc2015-win64.7z
- C:\projects\openmw\deps\MyGUI-3.2.2-msvc2015-win32.7z
- C:\projects\openmw\deps\MyGUI-3.2.2-msvc2015-win64.7z
- C:\projects\openmw\deps\OSG-3.4.1-scrawl-msvc2015-win32.7z

16
components/detournavigator/recastmeshbuilder.cpp
View file

@ -163,15 +163,15 @@ namespace DetourNavigator
transformBoundingBox(transform, aabbMin, aabbMax);
aabbMin.setX(std::max(mBounds.mMin.x(), aabbMin.x()));
aabbMin.setX(std::min(mBounds.mMax.x(), aabbMin.x()));
aabbMin.setY(std::max(mBounds.mMin.y(), aabbMin.y()));
aabbMin.setY(std::min(mBounds.mMax.y(), aabbMin.y()));
aabbMin.setX(std::max(static_cast<btScalar>(mBounds.mMin.x()), aabbMin.x()));
aabbMin.setX(std::min(static_cast<btScalar>(mBounds.mMax.x()), aabbMin.x()));
aabbMin.setY(std::max(static_cast<btScalar>(mBounds.mMin.y()), aabbMin.y()));
aabbMin.setY(std::min(static_cast<btScalar>(mBounds.mMax.y()), aabbMin.y()));
aabbMax.setX(std::max(mBounds.mMin.x(), aabbMax.x()));
aabbMax.setX(std::min(mBounds.mMax.x(), aabbMax.x()));
aabbMax.setY(std::max(mBounds.mMin.y(), aabbMax.y()));
aabbMax.setY(std::min(mBounds.mMax.y(), aabbMax.y()));
aabbMax.setX(std::max(static_cast<btScalar>(mBounds.mMin.x()), aabbMax.x()));
aabbMax.setX(std::min(static_cast<btScalar>(mBounds.mMax.x()), aabbMax.x()));
aabbMax.setY(std::max(static_cast<btScalar>(mBounds.mMin.y()), aabbMax.y()));
aabbMax.setY(std::min(static_cast<btScalar>(mBounds.mMax.y()), aabbMax.y()));
transformBoundingBox(transform.inverse(), aabbMin, aabbMax);