Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

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

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

13
src/BulletSoftBody/btSoftBody.cpp
View File

@@ -3003,6 +3003,7 @@ void btSoftBody::applyForces()
// //
void btSoftBody::PSolve_Anchors(btSoftBody* psb,btScalar kst,btScalar ti) void btSoftBody::PSolve_Anchors(btSoftBody* psb,btScalar kst,btScalar ti)
{ {
BT_PROFILE("PSolve_Anchors");
const btScalar kAHR=psb->m_cfg.kAHR*kst; const btScalar kAHR=psb->m_cfg.kAHR*kst;
const btScalar dt=psb->m_sst.sdt; const btScalar dt=psb->m_sst.sdt;
for(int i=0,ni=psb->m_anchors.size();i<ni;++i) 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) void btSoftBody::PSolve_RContacts(btSoftBody* psb, btScalar kst, btScalar ti)
{ {
BT_PROFILE("PSolve_RContacts");
const btScalar dt = psb->m_sst.sdt; const btScalar dt = psb->m_sst.sdt;
const btScalar mrg = psb->getCollisionShape()->getMargin(); const btScalar mrg = psb->getCollisionShape()->getMargin();
btMultiBodyJacobianData jacobianData;
for(int i=0,ni=psb->m_rcontacts.size();i<ni;++i) for(int i=0,ni=psb->m_rcontacts.size();i<ni;++i)
{ {
const RContact& c = psb->m_rcontacts[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()) if (cti.m_colObj->hasContactResponse())
{ {
btVector3 va(0,0,0); btVector3 va(0,0,0);
btRigidBody* rigidCol; btRigidBody* rigidCol=0;
btMultiBodyLinkCollider* multibodyLinkCol; btMultiBodyLinkCollider* multibodyLinkCol=0;
btScalar* deltaV; btScalar* deltaV;
btMultiBodyJacobianData jacobianData;
if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY)
{ {
rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj); 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) 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) for(int i=0,ni=psb->m_scontacts.size();i<ni;++i)
{ {
const SContact& c=psb->m_scontacts[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) 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) for(int i=0,ni=psb->m_links.size();i<ni;++i)
{ {
Link& l=psb->m_links[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) void btSoftBody::VSolve_Links(btSoftBody* psb,btScalar kst)
{ {
BT_PROFILE("VSolve_Links");
for(int i=0,ni=psb->m_links.size();i<ni;++i) for(int i=0,ni=psb->m_links.size();i<ni;++i)
{ {
Link& l=psb->m_links[i]; Link& l=psb->m_links[i];