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+ Optimization: move some variable declarations outside of the innerloop in btCompoundCollisionAlgorithm.cpp

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Thanks to mccdo at iastate.edu for the contribution, see Issue 373
+ Optimization: removed some unnecessary code in btConvexHullShape::localGetSupportingVertexWithoutMargin
+ Added autogenerated Visual Studio 2005 projectfiles (using a patched cmake 2.8.1 to avoid any references to cmake/absolute paths)
This commit is contained in:
erwin.coumans
2010-04-12 17:46:56 +00:00
parent 07f51390ea
commit 0fbd9d49c4
50 changed files with 14956 additions and 29 deletions
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27
src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
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@@ -267,20 +267,24 @@ void btCompoundCollisionAlgorithm::processCollision (btCollisionObject* body0,bt
int numChildren = m_childCollisionAlgorithms.size();
int i;
btManifoldArray manifoldArray;
btCollisionShape* childShape = 0;
btTransform orgTrans;
btTransform orgInterpolationTrans;
btTransform newChildWorldTrans;
btVector3 aabbMin0,aabbMax0,aabbMin1,aabbMax1;
for (i=0;i<numChildren;i++)
{
if (m_childCollisionAlgorithms[i])
{
btCollisionShape* childShape = compoundShape->getChildShape(i);
childShape = compoundShape->getChildShape(i);
//if not longer overlapping, remove the algorithm
btTransform orgTrans = colObj->getWorldTransform();
btTransform orgInterpolationTrans = colObj->getInterpolationWorldTransform();
orgTrans = colObj->getWorldTransform();
orgInterpolationTrans = colObj->getInterpolationWorldTransform();
const btTransform& childTrans = compoundShape->getChildTransform(i);
btTransform newChildWorldTrans = orgTrans*childTrans ;
newChildWorldTrans = orgTrans*childTrans ;
//perform an AABB check first
btVector3 aabbMin0,aabbMax0,aabbMin1,aabbMax1;
childShape->getAabb(newChildWorldTrans,aabbMin0,aabbMax0);
otherObj->getCollisionShape()->getAabb(otherObj->getWorldTransform(),aabbMin1,aabbMax1);
@@ -290,13 +294,8 @@ void btCompoundCollisionAlgorithm::processCollision (btCollisionObject* body0,bt
m_dispatcher->freeCollisionAlgorithm(m_childCollisionAlgorithms[i]);
m_childCollisionAlgorithms[i] = 0;
}
}
}
}
}
@@ -321,13 +320,15 @@ btScalar btCompoundCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject*
int numChildren = m_childCollisionAlgorithms.size();
int i;
btTransform orgTrans;
btScalar frac;
for (i=0;i<numChildren;i++)
{
//temporarily exchange parent btCollisionShape with childShape, and recurse
btCollisionShape* childShape = compoundShape->getChildShape(i);
//backup
btTransform orgTrans = colObj->getWorldTransform();
orgTrans = colObj->getWorldTransform();
const btTransform& childTrans = compoundShape->getChildTransform(i);
//btTransform newChildWorldTrans = orgTrans*childTrans ;
@@ -335,7 +336,7 @@ btScalar btCompoundCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject*
btCollisionShape* tmpShape = colObj->getCollisionShape();
colObj->internalSetTemporaryCollisionShape( childShape );
btScalar frac = m_childCollisionAlgorithms[i]->calculateTimeOfImpact(colObj,otherObj,dispatchInfo,resultOut);
frac = m_childCollisionAlgorithms[i]->calculateTimeOfImpact(colObj,otherObj,dispatchInfo,resultOut);
if (frac<hitFraction)
{
hitFraction = frac;