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add some timings, small fix in btSoftBody related to btMultiBody interaction

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This commit is contained in:
erwincoumans
2017-09-29 07:50:04 -07:00
parent dd2c7af2b2
commit 17115f38c2
1 changed files with 10 additions and 3 deletions
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13
src/BulletSoftBody/btSoftBody.cpp
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@@ -3003,6 +3003,7 @@ void btSoftBody::applyForces()
//
void btSoftBody::PSolve_Anchors(btSoftBody* psb,btScalar kst,btScalar ti)
{
BT_PROFILE("PSolve_Anchors");
const btScalar kAHR=psb->m_cfg.kAHR*kst;
const btScalar dt=psb->m_sst.sdt;
for(int i=0,ni=psb->m_anchors.size();i<ni;++i)
@@ -3024,8 +3025,10 @@ void btSoftBody::PSolve_Anchors(btSoftBody* psb,btScalar kst,btScalar ti)
//
void btSoftBody::PSolve_RContacts(btSoftBody* psb, btScalar kst, btScalar ti)
{
BT_PROFILE("PSolve_RContacts");
const btScalar dt = psb->m_sst.sdt;
const btScalar mrg = psb->getCollisionShape()->getMargin();
btMultiBodyJacobianData jacobianData;
for(int i=0,ni=psb->m_rcontacts.size();i<ni;++i)
{
const RContact& c = psb->m_rcontacts[i];
@@ -3033,10 +3036,10 @@ void btSoftBody::PSolve_RContacts(btSoftBody* psb, btScalar kst, btScalar ti)
if (cti.m_colObj->hasContactResponse())
{
btVector3 va(0,0,0);
btRigidBody* rigidCol;
btMultiBodyLinkCollider* multibodyLinkCol;
btRigidBody* rigidCol=0;
btMultiBodyLinkCollider* multibodyLinkCol=0;
btScalar* deltaV;
btMultiBodyJacobianData jacobianData;
if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY)
{
rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj);
@@ -3096,6 +3099,8 @@ void btSoftBody::PSolve_RContacts(btSoftBody* psb, btScalar kst, btScalar ti)
//
void btSoftBody::PSolve_SContacts(btSoftBody* psb,btScalar,btScalar ti)
{
BT_PROFILE("PSolve_SContacts");
for(int i=0,ni=psb->m_scontacts.size();i<ni;++i)
{
const SContact& c=psb->m_scontacts[i];
@@ -3129,6 +3134,7 @@ void btSoftBody::PSolve_SContacts(btSoftBody* psb,btScalar,btScalar ti)
//
void btSoftBody::PSolve_Links(btSoftBody* psb,btScalar kst,btScalar ti)
{
BT_PROFILE("PSolve_Links");
for(int i=0,ni=psb->m_links.size();i<ni;++i)
{
Link& l=psb->m_links[i];
@@ -3151,6 +3157,7 @@ void btSoftBody::PSolve_Links(btSoftBody* psb,btScalar kst,btScalar ti)
//
void btSoftBody::VSolve_Links(btSoftBody* psb,btScalar kst)
{
BT_PROFILE("VSolve_Links");
for(int i=0,ni=psb->m_links.size();i<ni;++i)
{
Link& l=psb->m_links[i];