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prepare and added constraint solver optimizations, not activated yet.

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This commit is contained in:
ejcoumans
2007-03-17 00:09:12 +00:00
parent ea97ed3e30
commit 151cd4b9da
21 changed files with 897 additions and 56 deletions
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12
src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp
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@@ -71,7 +71,7 @@ int btSimpleDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps, b
btContactSolverInfo infoGlobal;
infoGlobal.m_timeStep = timeStep;
m_constraintSolver->solveGroup(manifoldPtr, numManifolds,0,0,infoGlobal,m_debugDrawer);
m_constraintSolver->solveGroup(0,0,manifoldPtr, numManifolds,0,0,infoGlobal,m_debugDrawer, m_stackAlloc);
}
///integrate transforms
@@ -89,7 +89,7 @@ int btSimpleDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps, b
void btSimpleDynamicsWorld::setGravity(const btVector3& gravity)
{
m_gravity = gravity;
for (unsigned int i=0;i<m_collisionObjects.size();i++)
for ( int i=0;i<m_collisionObjects.size();i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
btRigidBody* body = btRigidBody::upcast(colObj);
@@ -118,7 +118,7 @@ void btSimpleDynamicsWorld::addRigidBody(btRigidBody* body)
void btSimpleDynamicsWorld::updateAabbs()
{
btTransform predictedTrans;
for (unsigned int i=0;i<m_collisionObjects.size();i++)
for ( int i=0;i<m_collisionObjects.size();i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
btRigidBody* body = btRigidBody::upcast(colObj);
@@ -138,7 +138,7 @@ void btSimpleDynamicsWorld::updateAabbs()
void btSimpleDynamicsWorld::integrateTransforms(btScalar timeStep)
{
btTransform predictedTrans;
for (unsigned int i=0;i<m_collisionObjects.size();i++)
for ( int i=0;i<m_collisionObjects.size();i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
btRigidBody* body = btRigidBody::upcast(colObj);
@@ -157,7 +157,7 @@ void btSimpleDynamicsWorld::integrateTransforms(btScalar timeStep)
void btSimpleDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
{
for (unsigned int i=0;i<m_collisionObjects.size();i++)
for ( int i=0;i<m_collisionObjects.size();i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
btRigidBody* body = btRigidBody::upcast(colObj);
@@ -180,7 +180,7 @@ void btSimpleDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
void btSimpleDynamicsWorld::synchronizeMotionStates()
{
//todo: iterate over awake simulation islands!
for (unsigned int i=0;i<m_collisionObjects.size();i++)
for ( int i=0;i<m_collisionObjects.size();i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
btRigidBody* body = btRigidBody::upcast(colObj);