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- Added btRigidBodyConstructionInfo, to make it easier to set individual setting (and leave other untouched) during rigid body construction.

Browse Source 
This was harder using default arguments. Thanks Vangelis Kokkevis for pointing this out.
- Fixed memoryleak in the ConstraintDemo and Raytracer demo.
- fixed issue with clearing forces/gravity at the end of the stepSimulation, instead of during internalSingleStepSimulation.
Thanks chunky for pointing this out: http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1780
- Disabled additional damping in rigid body by default, but enable it in most demos. Set btRigidBodyConstructionInfo m_additionalDamping to true to enable this.
- Removed obsolete QUICKPROF BEGIN/END_PROFILE, and enabled BT_PROFILE. Profiling is enabled by default (see Bullet/Demos/OpenGL/DemoApplication.cpp how to use this).
User can switch off profiling by enabling define BT_NO_PROFILE in Bullet/src/btQuickprof.h.
This commit is contained in:
ejcoumans
2007-12-17 04:26:36 +00:00
parent b8c2cb6f53
commit 17a214a2b3
28 changed files with 318 additions and 886 deletions
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4
Demos/AllBulletDemos/DemoEntries.cpp
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@@ -99,15 +99,17 @@ btDemoEntry g_demoEntries[] =
{
{"DynamicControlDemo",MotorDemo::Create},
{"RagdollDemo",RagdollDemo::Create},
{"BasicDemo", BasicDemo::Create},
{"CcdPhysicsDemo", CcdPhysicsDemo::Create},
{"ConcaveDemo",ConcaveDemo::Create},
{"ConcaveRaycastDemo",ConcaveRaycastDemo::Create},
{"ConcaveConvexcastDemo",ConcaveConvexcastDemo::Create},
{"ConvexDecomposition",ConvexDecompositionDemo::Create},
{"BasicDemo", BasicDemo::Create},
{"BspDemo", BspDemo::Create},
{"Gimpact Test", GimpactConcaveDemo::Create},
#ifndef BT_USE_DOUBLE_PRECISION
{"MultiThreaded", MultiThreadedDemo::Create},
#endif //BT_USE_DOUBLE_PRECISION
{"Raytracer Test",Raytracer::Create},
{"GjkConvexCast",LinearConvexCastDemo::Create},
{"VehicleDemo",VehicleDemo::Create},

6
Demos/BasicDemo/BasicDemo.cpp
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@@ -125,7 +125,8 @@ void BasicDemo::initPhysics()
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
btRigidBody* body = new btRigidBody(mass,myMotionState,groundShape,localInertia);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia);
btRigidBody* body = new btRigidBody(rbInfo);
//add the body to the dynamics world
m_dynamicsWorld->addRigidBody(body);
@@ -171,7 +172,8 @@ void BasicDemo::initPhysics()
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
btRigidBody* body = new btRigidBody(mass,myMotionState,colShape,localInertia);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,colShape,localInertia);
btRigidBody* body = new btRigidBody(rbInfo);
m_dynamicsWorld->addRigidBody(body);
}

3
Demos/ColladaDemo/ColladaDemo.cpp
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@@ -62,7 +62,8 @@ class MyColladaConverter : public ColladaConverter
{
if (!bodyOther)
{
bodyOther = new btRigidBody(0,0,0);
btRigidBody::btRigidBodyConstructionInfo cinfo(0,0,0);
bodyOther = new btRigidBody(cinfo);
bodyOther->setWorldTransform(bodyRef->getWorldTransform());
localAttachmentOther = localAttachmentFrameRef;

16
Demos/ConstraintDemo/ConstraintDemo.cpp
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@@ -114,7 +114,6 @@ void ConstraintDemo::initPhysics()
}
//create a slider, using the generic D6 constraint
{
mass = 1.f;
@@ -130,6 +129,7 @@ void ConstraintDemo::initPhysics()
d6body0 = localCreateRigidBody( mass,trans,shape);
d6body0->setActivationState(DISABLE_DEACTIVATION);
btRigidBody* fixedBody1 = localCreateRigidBody(0,trans,0);
m_dynamicsWorld->addRigidBody(fixedBody1);
btTransform frameInA, frameInB;
frameInA = btTransform::getIdentity();
@@ -154,8 +154,17 @@ ConstraintDemo::~ConstraintDemo()
{
//cleanup in the reverse order of creation/initialization
//remove the rigidbodies from the dynamics world and delete them
int i;
//removed/delete constraints
for (i=m_dynamicsWorld->getNumConstraints()-1; i>=0 ;i--)
{
btTypedConstraint* constraint = m_dynamicsWorld->getConstraint(i);
m_dynamicsWorld->removeConstraint(constraint);
delete constraint;
}
//remove the rigidbodies from the dynamics world and delete them
for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--)
{
btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
@@ -168,6 +177,9 @@ ConstraintDemo::~ConstraintDemo()
delete obj;
}
//delete collision shapes
for (int j=0;j<m_collisionShapes.size();j++)
{

3
Demos/DynamicControlDemo/MotorDemo.cpp
View File

@@ -96,7 +96,8 @@ class TestRig
shape->calculateLocalInertia(mass,localInertia);
btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
btRigidBody* body = new btRigidBody(mass,myMotionState,shape,localInertia);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,shape,localInertia);
btRigidBody* body = new btRigidBody(rbInfo);
m_ownerWorld->addRigidBody(body);

4
Demos/GenericJointDemo/Ragdoll.cpp
View File

@@ -363,7 +363,9 @@ btRigidBody* RagDoll::localCreateRigidBody (btScalar mass, const btTransform& st
shape->calculateLocalInertia(mass,localInertia);
btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
btRigidBody* body = new btRigidBody(mass,myMotionState,shape,localInertia);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,shape,localInertia);
rbInfo.m_additionalDamping = true;
btRigidBody* body = new btRigidBody(rbInfo);
m_ownerWorld->addRigidBody(body);

6
Demos/HelloWorld/HelloWorld.cpp
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@@ -69,7 +69,8 @@ int main(int argc, char** argv)
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
btRigidBody* body = new btRigidBody(mass,myMotionState,groundShape,localInertia);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia);
btRigidBody* body = new btRigidBody(rbInfo);
//add the body to the dynamics world
dynamicsWorld->addRigidBody(body);
@@ -100,7 +101,8 @@ int main(int argc, char** argv)
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
btRigidBody* body = new btRigidBody(mass,myMotionState,colShape,localInertia);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,colShape,localInertia);
btRigidBody* body = new btRigidBody(rbInfo);
dynamicsWorld->addRigidBody(body);
}

85
Demos/MultiThreadedDemo/MultiThreadedDemo.cpp
View File

@@ -13,32 +13,11 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
//enable just one, DO_BENCHMARK_PYRAMIDS or DO_WALL
#define DO_BENCHMARK_PYRAMIDS 1
//#define DO_WALL 1
//Note: some of those settings need 'DO_WALL' demo
//#define USE_KINEMATIC_GROUND 1
//#define PRINT_CONTACT_STATISTICS 1
//#define REGISTER_BOX_BOX 1 //needs to be used in combination with REGISTER_CUSTOM_COLLISION_ALGORITHM
//#define USER_DEFINED_FRICTION_MODEL 1
//#define USE_CUSTOM_NEAR_CALLBACK 1
//#define CENTER_OF_MASS_SHIFT 1
//#define VERBOSE_TIMESTEPPING_CONSOLEOUTPUT 1
//#define USE_PARALLEL_SOLVER 1 //experimental parallel solver
#define USE_PARALLEL_DISPATCHER 1
//following define allows to compare/replace Bullet's constraint solver with ODE quickstep
//this define requires to either add the libquickstep library (win32, see msvc/8/libquickstep.vcproj) or manually add the files from Extras/quickstep
//#define COMPARE_WITH_QUICKSTEP 1
#include "btBulletDynamicsCommon.h"
#include "BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h"
#ifdef REGISTER_BOX_BOX
#include "../Extras/AlternativeCollisionAlgorithms/BoxBoxCollisionAlgorithm.h"
#endif //REGISTER_BOX_BOX
#include "BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h"
#ifdef USE_PARALLEL_DISPATCHER
@@ -65,9 +44,6 @@ subject to the following restrictions:
#endif//USE_PARALLEL_DISPATCHER
#ifdef COMPARE_WITH_QUICKSTEP
#include "../Extras/quickstep/OdeConstraintSolver.h"
#endif //COMPARE_WITH_QUICKSTEP
#include "LinearMath/btQuickprof.h"
#include "LinearMath/btIDebugDraw.h"
@@ -133,10 +109,6 @@ void MultiThreadedDemo::createStack( btCollisionShape* boxShape, float halfCubeS
btRigidBody* body = 0;
body = localCreateRigidBody(mass,trans,boxShape);
#ifdef USER_DEFINED_FRICTION_MODEL
///Advanced use: override the friction solver
body->m_frictionSolverType = USER_CONTACT_SOLVER_TYPE1;
#endif //USER_DEFINED_FRICTION_MODEL
}
}
@@ -164,25 +136,6 @@ void MultiThreadedDemo::clientMoveAndDisplay()
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
#ifdef USE_KINEMATIC_GROUND
//btQuaternion kinRotation(btVector3(0,0,1),0.);
btVector3 kinTranslation(-0.01,0,0);
//kinematic object
btCollisionObject* colObj = m_dynamicsWorld->getCollisionObjectArray()[0];
//is this a rigidbody with a motionstate? then use the motionstate to update positions!
if (btRigidBody::upcast(colObj) && btRigidBody::upcast(colObj)->getMotionState())
{
btTransform newTrans;
btRigidBody::upcast(colObj)->getMotionState()->getWorldTransform(newTrans);
newTrans.getOrigin()+=kinTranslation;
btRigidBody::upcast(colObj)->getMotionState()->setWorldTransform(newTrans);
} else
{
m_dynamicsWorld->getCollisionObjectArray()[0]->getWorldTransform().getOrigin() += kinTranslation;
}
#endif //USE_KINEMATIC_GROUND
float dt = m_clock.getTimeMicroseconds() * 0.000001f;
m_clock.reset();
@@ -243,12 +196,6 @@ void MultiThreadedDemo::clientMoveAndDisplay()
btProfiler::endBlock("render");
#endif
glFlush();
//some additional debugging info
#ifdef PRINT_CONTACT_STATISTICS
printf("num manifolds: %i\n",gNumManifold);
printf("num gOverlappingPairs: %i\n",gOverlappingPairs);
printf("num gTotalContactPoints : %i\n",gTotalContactPoints );
#endif //PRINT_CONTACT_STATISTICS
gTotalContactPoints = 0;
glutSwapBuffers();
@@ -291,21 +238,13 @@ void MultiThreadedDemo::initPhysics()
m_collisionShapes.push_back(new btBoxShape (btVector3(200,CUBE_HALF_EXTENTS,200)));
#endif
#ifdef DO_BENCHMARK_PYRAMIDS
m_collisionShapes.push_back(new btBoxShape (btVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS)));
#else
m_collisionShapes.push_back(new btCylinderShape (btVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS)));
#endif
#ifdef DO_BENCHMARK_PYRAMIDS
setCameraDistance(32.5f);
#endif
#ifdef DO_BENCHMARK_PYRAMIDS
m_azi = 90.f;
#endif //DO_BENCHMARK_PYRAMIDS
m_dispatcher=0;
m_collisionConfiguration = new btDefaultCollisionConfiguration();
@@ -360,28 +299,12 @@ int maxNumOutstandingTasks = 4;
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
#endif //USE_PARALLEL_DISPATCHER
#ifdef USE_CUSTOM_NEAR_CALLBACK
//this is optional
m_dispatcher->setNearCallback(customNearCallback);
#endif
btVector3 worldAabbMin(-1000,-1000,-1000);
btVector3 worldAabbMax(1000,1000,1000);
m_broadphase = new btAxisSweep3(worldAabbMin,worldAabbMax,maxProxies);
/// For large worlds or over 16384 objects, use the bt32BitAxisSweep3 broadphase
// m_broadphase = new bt32BitAxisSweep3(worldAabbMin,worldAabbMax,maxProxies);
/// When trying to debug broadphase issues, try to use the btSimpleBroadphase
// m_broadphase = new btSimpleBroadphase;
//box-box is in Extras/AlternativeCollisionAlgorithms:it requires inclusion of those files
#ifdef REGISTER_BOX_BOX
m_dispatcher->registerCollisionCreateFunc(BOX_SHAPE_PROXYTYPE,BOX_SHAPE_PROXYTYPE,new BoxBoxCollisionAlgorithm::CreateFunc);
#endif //REGISTER_BOX_BOX
#ifdef COMPARE_WITH_QUICKSTEP
m_solver = new OdeConstraintSolver();
#else
#ifdef USE_PARALLEL_SOLVER
@@ -411,9 +334,6 @@ int maxNumOutstandingTasks = 4;
#endif //USE_PARALLEL_SOLVER
#endif
btDiscreteDynamicsWorld* world = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
m_dynamicsWorld = world;
@@ -441,7 +361,6 @@ int maxNumOutstandingTasks = 4;
}
#ifdef DO_BENCHMARK_PYRAMIDS
btTransform trans;
trans.setIdentity();
@@ -463,9 +382,6 @@ int maxNumOutstandingTasks = 4;
float zPos = (i-numWalls/2) * wallDistance;
createStack(m_collisionShapes[shapeIndex[1]],halfExtents,wallHeight,zPos);
}
// createStack(m_collisionShapes[shapeIndex[1]],halfExtends,20,10);
// createStack(m_collisionShapes[shapeIndex[1]],halfExtends,20,20);
#define DESTROYER_BALL 1
#ifdef DESTROYER_BALL
btTransform sphereTrans;
@@ -476,7 +392,6 @@ int maxNumOutstandingTasks = 4;
btRigidBody* ballBody = localCreateRigidBody(10000.f,sphereTrans,ball);
ballBody->setLinearVelocity(btVector3(0,0,-10));
#endif
#endif //DO_BENCHMARK_PYRAMIDS
// clientResetScene();

6
Demos/OpenGL/DemoApplication.cpp
View File

@@ -489,7 +489,7 @@ void DemoApplication::shootBox(const btVector3& destination)
if (m_dynamicsWorld)
{
float mass = 100.f;
float mass = 10.f;
btTransform startTransform;
startTransform.setIdentity();
btVector3 camPos = getCameraPosition();
@@ -502,7 +502,7 @@ void DemoApplication::shootBox(const btVector3& destination)
btConvexShape* childShape = new btBoxShape(btVector3(1.f,1.f,1.f));
m_shootBoxShape = new btUniformScalingShape(childShape,0.5f);
#else
m_shootBoxShape = new btBoxShape(btVector3(0.5f,0.5f,0.5f));
m_shootBoxShape = new btBoxShape(btVector3(1.f,1.f,1.f));
#endif//
}
@@ -736,7 +736,7 @@ btRigidBody* DemoApplication::localCreateRigidBody(float mass, const btTransform
#define USE_MOTIONSTATE 1
#ifdef USE_MOTIONSTATE
btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
btRigidBody* body = new btRigidBody(mass,myMotionState,shape,localInertia);
btRigidBody* body = new btRigidBody(btRigidBody::btRigidBodyConstructionInfo(mass,myMotionState,shape,localInertia));
#else
btRigidBody* body = new btRigidBody(mass,0,shape,localInertia);

4
Demos/RagdollDemo/RagdollDemo.cpp
View File

@@ -98,7 +98,9 @@ class RagDoll
shape->calculateLocalInertia(mass,localInertia);
btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
btRigidBody* body = new btRigidBody(mass,myMotionState,shape,localInertia);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,shape,localInertia);
btRigidBody* body = new btRigidBody(rbInfo);
m_ownerWorld->addRigidBody(body);

22
Demos/Raytracer/Raytracer.cpp
View File

@@ -133,6 +133,28 @@ void Raytracer::initPhysics()
Raytracer::~Raytracer()
{
//cleanup in the reverse order of creation/initialization
//remove the rigidbodies from the dynamics world and delete them
int i;
for (i=m_collisionWorld->getNumCollisionObjects()-1; i>=0 ;i--)
{
btCollisionObject* obj = m_collisionWorld->getCollisionObjectArray()[i];
m_collisionWorld->removeCollisionObject( obj );
delete obj;
}
//delete collision world
delete m_collisionWorld;
//delete broadphase
delete m_overlappingPairCache;
//delete dispatcher
delete m_dispatcher;
delete m_collisionConfiguration;
delete raytracePicture;
raytracePicture=0;
}

3
Demos/VehicleDemo/VehicleDemo.cpp
View File

@@ -147,9 +147,6 @@ VehicleDemo::~VehicleDemo()
void VehicleDemo::initPhysics()
{
extern btScalar gJitterVelocityDampingFactor;
gJitterVelocityDampingFactor = 1.f;
#ifdef FORCE_ZAXIS_UP
m_cameraUp = btVector3(0,0,1);

8
Extras/BulletMultiThreaded/SpuParallelSolver.cpp
View File

@@ -109,7 +109,7 @@ void btParallelSequentialImpulseSolver::prepareSolve(int numBodies, int numManif
btScalar btParallelSequentialImpulseSolver::solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints, const btContactSolverInfo& info,class btIDebugDraw* debugDrawer, btStackAlloc* stackAlloc,btDispatcher* dispatcher)
{
PROFILE("parallel_solveGroup");
BT_PROFILE("parallel_solveGroup");
if (!numManifolds && !numConstraints)
return 0;
@@ -262,7 +262,7 @@ btAlignedObjectArray<SpuSolverConstraint> solverConstraintPool_persist;
void btParallelSequentialImpulseSolver::allSolved (const btContactSolverInfo& info,class btIDebugDraw* debugDrawer, btStackAlloc* stackAlloc)
{
PROFILE("parallel_allSolved");
BT_PROFILE("parallel_allSolved");
if (!m_numberOfContacts && !m_sortedConstraints.size())
{
@@ -353,7 +353,7 @@ void btParallelSequentialImpulseSolver::allSolved (const btContactSolverInfo& in
// Setup all the moving rigid bodies
{
PROFILE("setup moving rigidbodies");
BT_PROFILE("setup moving rigidbodies");
int bodiesPerTask = PARALLEL_SOLVER_BODIES_PER_TASK;
int bodiesToSchedule = numBodies;
@@ -417,7 +417,7 @@ void btParallelSequentialImpulseSolver::allSolved (const btContactSolverInfo& in
}
{
PROFILE("parallel_solve_iterations");
BT_PROFILE("parallel_solve_iterations");
btSpinlock::SpinVariable* spinVar = (btSpinlock::SpinVariable*)btAlignedAlloc(sizeof(btSpinlock::SpinVariable), 128);
for (int iter = 0; iter < info.m_numIterations; ++iter)

2
Extras/BulletMultiThreaded/SpuSolverTask/SpuParallellSolverTask.cpp
View File

@@ -809,7 +809,7 @@ static int getConstraintSize (btTypedConstraintType type)
//-- MAIN METHOD
void processSolverTask(void* userPtr, void* lsMemory)
{
// PROFILE("processSolverTask");
// BT_PROFILE("processSolverTask");
SolverTask_LocalStoreMemory* localMemory = (SolverTask_LocalStoreMemory*)lsMemory;

8
Extras/quickstep/OdeConstraintSolver.cpp
View File

@@ -69,7 +69,6 @@ OdeConstraintSolver::OdeConstraintSolver():
//iterative lcp and penalty method
btScalar OdeConstraintSolver::solveGroup(btCollisionObject** bodies,int numBulletBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc,btDispatcher* dispatcher)
{
BEGIN_PROFILE("prepareConstraints");
m_CurBody = 0;
m_CurJoint = 0;
@@ -126,9 +125,7 @@ btScalar OdeConstraintSolver::solveGroup(btCollisionObject** bodies,int numBulle
// printf(" numJoints > numManifolds * 4 + numConstraints");
END_PROFILE("prepareConstraints");
BEGIN_PROFILE("solveConstraints");
m_SorLcpSolver.SolveInternal1(m_cfm,m_erp,m_odeBodies,numBodies,m_joints,numJoints,infoGlobal,stackAlloc); ///do
m_SorLcpSolver.SolveInternal1(m_cfm,m_erp,m_odeBodies,numBodies,m_joints,numJoints,infoGlobal,stackAlloc); ///do
//write back resulting velocities
for (int i=0;i<numBodies;i++)
@@ -139,8 +136,7 @@ btScalar OdeConstraintSolver::solveGroup(btCollisionObject** bodies,int numBulle
m_odeBodies[i]->m_originalBody->setAngularVelocity(m_odeBodies[i]->m_angularVelocity);
}
}
END_PROFILE("solveConstraints");
/// Remotion, just free all this here
m_odeBodies.clear();

15
src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
View File

@@ -115,7 +115,7 @@ void btCollisionWorld::addCollisionObject(btCollisionObject* collisionObject,sho
void btCollisionWorld::updateAabbs()
{
PROFILE("updateAabbs");
BT_PROFILE("updateAabbs");
btTransform predictedTrans;
for ( int i=0;i<m_collisionObjects.size();i++)
@@ -152,38 +152,29 @@ void btCollisionWorld::updateAabbs()
}
}
END_PROFILE("updateAabbs");
}
void btCollisionWorld::performDiscreteCollisionDetection()
{
PROFILE("performDiscreteCollisionDetection");
BT_PROFILE("performDiscreteCollisionDetection");
btDispatcherInfo& dispatchInfo = getDispatchInfo();
BEGIN_PROFILE("perform Broadphase Collision Detection");
updateAabbs();
{
PROFILE("calculateOverlappingPairs");
m_broadphasePairCache->calculateOverlappingPairs(m_dispatcher1);
}
END_PROFILE("perform Broadphase Collision Detection");
BEGIN_PROFILE("performDiscreteCollisionDetection");
btDispatcher* dispatcher = getDispatcher();
{
PROFILE("dispatchAllCollisionPairs");
BT_PROFILE("dispatchAllCollisionPairs");
if (dispatcher)
dispatcher->dispatchAllCollisionPairs(m_broadphasePairCache->getOverlappingPairCache(),dispatchInfo,m_dispatcher1);
}
END_PROFILE("performDiscreteCollisionDetection");
}

4
src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
View File

@@ -138,7 +138,7 @@ class btPersistentManifoldSortPredicate
void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,btCollisionObjectArray& collisionObjects, IslandCallback* callback)
{
BEGIN_PROFILE("islandUnionFindAndHeapSort");
BT_PROFILE("islandUnionFindAndHeapSort");
//we are going to sort the unionfind array, and store the element id in the size
//afterwards, we clean unionfind, to make sure no-one uses it anymore
@@ -295,8 +295,6 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,
//int islandId;
END_PROFILE("islandUnionFindAndHeapSort");
// printf("Start Islands\n");

45
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
View File

@@ -36,9 +36,6 @@ subject to the following restrictions:
#include "LinearMath/btAlignedObjectArray.h"
#ifdef USE_PROFILE
#include "LinearMath/btQuickprof.h"
#endif //USE_PROFILE
int totalCpd = 0;
@@ -434,7 +431,7 @@ void btSequentialImpulseConstraintSolver::addFrictionConstraint(const btVector3&
btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc)
{
PROFILE("solveGroupCacheFriendlySetup");
BT_PROFILE("solveGroupCacheFriendlySetup");
(void)stackAlloc;
(void)debugDrawer;
@@ -473,7 +470,6 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
btVector3 color(0,1,0);
BEGIN_PROFILE("gatherSolverData");
//int sizeofSB = sizeof(btSolverBody);
//int sizeofSC = sizeof(btSolverConstraint);
@@ -706,10 +702,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
}
}
}
END_PROFILE("gatherSolverData");
BEGIN_PROFILE("prepareConstraints");
btContactSolverInfo info = infoGlobal;
{
@@ -743,16 +736,13 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
END_PROFILE("prepareConstraints");
return 0.f;
}
btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc)
{
PROFILE("solveGroupCacheFriendlyIterations");
BEGIN_PROFILE("solveConstraintsIterations");
BT_PROFILE("solveGroupCacheFriendlyIterations");
int numConstraintPool = m_tmpSolverConstraintPool.size();
int numFrictionPool = m_tmpSolverFrictionConstraintPool.size();
@@ -784,7 +774,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations(
for (j=0;j<numConstraints;j++)
{
PROFILE("solveConstraint");
BT_PROFILE("solveConstraint");
btTypedConstraint* constraint = constraints[j];
///todo: use solver bodies, so we don't need to copy from/to btRigidBody
@@ -811,7 +801,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations(
}
{
PROFILE("resolveSingleCollisionCombinedCacheFriendly");
BT_PROFILE("resolveSingleCollisionCombinedCacheFriendly");
int numPoolConstraints = m_tmpSolverConstraintPool.size();
for (j=0;j<numPoolConstraints;j++)
{
@@ -823,7 +813,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations(
}
{
PROFILE("resolveSingleFrictionCacheFriendly");
BT_PROFILE("resolveSingleFrictionCacheFriendly");
int numFrictionPoolConstraints = m_tmpSolverFrictionConstraintPool.size();
for (j=0;j<numFrictionPoolConstraints;j++)
@@ -842,8 +832,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations(
}
}
END_PROFILE("solveConstraintsIterations");
return 0.f;
}
@@ -855,14 +844,12 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendly(btCollisio
solveGroupCacheFriendlySetup( bodies, numBodies, manifoldPtr, numManifolds,constraints, numConstraints,infoGlobal,debugDrawer, stackAlloc);
solveGroupCacheFriendlyIterations(bodies, numBodies, manifoldPtr, numManifolds,constraints, numConstraints,infoGlobal,debugDrawer, stackAlloc);
BEGIN_PROFILE("solveWriteBackVelocity");
for ( i=0;i<m_tmpSolverBodyPool.size();i++)
{
m_tmpSolverBodyPool[i].writebackVelocity();
}
END_PROFILE("solveWriteBackVelocity");
// printf("m_tmpSolverConstraintPool.size() = %i\n",m_tmpSolverConstraintPool.size());
@@ -888,7 +875,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendly(btCollisio
/// btSequentialImpulseConstraintSolver Sequentially applies impulses
btScalar btSequentialImpulseConstraintSolver::solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc,btDispatcher* dispatcher)
{
PROFILE("solveGroup");
BT_PROFILE("solveGroup");
if (getSolverMode() & SOLVER_CACHE_FRIENDLY)
{
//you need to provide at least some bodies
@@ -898,16 +885,11 @@ btScalar btSequentialImpulseConstraintSolver::solveGroup(btCollisionObject** bod
return solveGroupCacheFriendly(bodies,numBodies,manifoldPtr, numManifolds,constraints,numConstraints,infoGlobal,debugDrawer,stackAlloc);
}
BEGIN_PROFILE("prepareConstraints");
btContactSolverInfo info = infoGlobal;
int numiter = infoGlobal.m_numIterations;
#ifdef USE_PROFILE
btProfiler::beginBlock("solve");
#endif //USE_PROFILE
int totalPoints = 0;
@@ -937,10 +919,6 @@ btScalar btSequentialImpulseConstraintSolver::solveGroup(btCollisionObject** bod
}
}
END_PROFILE("prepareConstraints");
BEGIN_PROFILE("solveConstraints");
//should traverse the contacts random order...
int iteration;
@@ -985,13 +963,6 @@ btScalar btSequentialImpulseConstraintSolver::solveGroup(btCollisionObject** bod
}
}
END_PROFILE("solveConstraints");
#ifdef USE_PROFILE
btProfiler::endBlock("solve");
#endif //USE_PROFILE

3
src/BulletDynamics/Dynamics/Bullet-C-API.cpp
View File

@@ -127,7 +127,8 @@ plRigidBodyHandle plCreateRigidBody( void* user_data, float mass, plCollisionSh
shape->calculateLocalInertia(mass,localInertia);
}
void* mem = btAlignedAlloc(sizeof(btRigidBody),16);
btRigidBody* body = new (mem)btRigidBody(mass, 0,shape,localInertia);
btRigidBody::btRigidBodyConstructionInfo rbci(mass, 0,shape,localInertia);
btRigidBody* body = new (mem)btRigidBody(rbci);
body->setWorldTransform(trans);
body->setUserPointer(user_data);
return (plRigidBodyHandle) body;

5
src/BulletDynamics/Dynamics/btContinuousDynamicsWorld.cpp
View File

@@ -116,14 +116,11 @@ void btContinuousDynamicsWorld::calculateTimeOfImpacts(btScalar timeStep)
///calculate time of impact for overlapping pairs
BEGIN_PROFILE("performContinuousCollisionDetection");
btDispatcher* dispatcher = getDispatcher();
if (dispatcher)
dispatcher->dispatchAllCollisionPairs(m_broadphasePairCache->getOverlappingPairCache(),dispatchInfo,m_dispatcher1);
END_PROFILE("performContinuousCollisionDetection");
toi = dispatchInfo.m_timeOfImpact;
dispatchInfo.m_dispatchFunc = btDispatcherInfo::DISPATCH_DISCRETE;
@@ -132,7 +129,6 @@ void btContinuousDynamicsWorld::calculateTimeOfImpacts(btScalar timeStep)
void btContinuousDynamicsWorld::updateTemporalAabbs(btScalar timeStep)
{
BEGIN_PROFILE("perform Temporal Broadphase Collision Detection");
btVector3 temporalAabbMin,temporalAabbMax;
@@ -187,7 +183,6 @@ void btContinuousDynamicsWorld::updateTemporalAabbs(btScalar timeStep)
m_broadphasePairCache->calculateOverlappingPairs(m_dispatcher1);
END_PROFILE("perform Temporal Broadphase Collision Detection");
}

54
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
View File

@@ -211,6 +211,24 @@ void btDiscreteDynamicsWorld::clearForces()
}
}
///apply gravity, call this once per timestep
void btDiscreteDynamicsWorld::applyGravity()
{
//todo: iterate over awake simulation islands!
for ( int i=0;i<m_collisionObjects.size();i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
btRigidBody* body = btRigidBody::upcast(colObj);
if (body && body->isActive())
{
body->applyGravity();
}
}
}
void btDiscreteDynamicsWorld::synchronizeMotionStates()
{
{
@@ -255,7 +273,7 @@ int btDiscreteDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps,
{
startProfiling(timeStep);
PROFILE("stepSimulation");
BT_PROFILE("stepSimulation");
int numSimulationSubSteps = 0;
@@ -294,6 +312,8 @@ int btDiscreteDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps,
saveKinematicState(fixedTimeStep);
applyGravity();
//clamp the number of substeps, to prevent simulation grinding spiralling down to a halt
int clampedSimulationSteps = (numSimulationSubSteps > maxSubSteps)? maxSubSteps : numSimulationSubSteps;
@@ -317,7 +337,7 @@ int btDiscreteDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps,
void btDiscreteDynamicsWorld::internalSingleStepSimulation(btScalar timeStep)
{
PROFILE("internalSingleStepSimulation");
BT_PROFILE("internalSingleStepSimulation");
///apply gravity, predict motion
predictUnconstraintMotion(timeStep);
@@ -407,21 +427,18 @@ void btDiscreteDynamicsWorld::addRigidBody(btRigidBody* body, short group, short
void btDiscreteDynamicsWorld::updateVehicles(btScalar timeStep)
{
PROFILE("updateVehicles");
BEGIN_PROFILE("updateVehicles");
BT_PROFILE("updateVehicles");
for ( int i=0;i<m_vehicles.size();i++)
{
btRaycastVehicle* vehicle = m_vehicles[i];
vehicle->updateVehicle( timeStep);
}
END_PROFILE("updateVehicles");
}
void btDiscreteDynamicsWorld::updateActivationState(btScalar timeStep)
{
PROFILE("updateActivationState");
BEGIN_PROFILE("updateActivationState");
BT_PROFILE("updateActivationState");
for ( int i=0;i<m_collisionObjects.size();i++)
{
@@ -448,7 +465,6 @@ void btDiscreteDynamicsWorld::updateActivationState(btScalar timeStep)
}
}
}
END_PROFILE("updateActivationState");
}
void btDiscreteDynamicsWorld::addConstraint(btTypedConstraint* constraint,bool disableCollisionsBetweenLinkedBodies)
@@ -508,7 +524,7 @@ class btSortConstraintOnIslandPredicate
void btDiscreteDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
{
PROFILE("solveConstraints");
BT_PROFILE("solveConstraints");
struct InplaceSolverIslandCallback : public btSimulationIslandManager::IslandCallback
{
@@ -616,8 +632,7 @@ void btDiscreteDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
void btDiscreteDynamicsWorld::calculateSimulationIslands()
{
PROFILE("calculateSimulationIslands");
BEGIN_PROFILE("calculateSimulationIslands");
BT_PROFILE("calculateSimulationIslands");
getSimulationIslandManager()->updateActivationState(getCollisionWorld(),getCollisionWorld()->getDispatcher());
@@ -647,16 +662,14 @@ void btDiscreteDynamicsWorld::calculateSimulationIslands()
//Store the island id in each body
getSimulationIslandManager()->storeIslandActivationState(getCollisionWorld());
END_PROFILE("calculateSimulationIslands");
}
void btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep)
{
PROFILE("integrateTransforms");
BEGIN_PROFILE("integrateTransforms");
BT_PROFILE("integrateTransforms");
btTransform predictedTrans;
for ( int i=0;i<m_collisionObjects.size();i++)
{
@@ -671,15 +684,13 @@ void btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep)
}
}
}
END_PROFILE("integrateTransforms");
}
void btDiscreteDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
{
PROFILE("predictUnconstraintMotion");
BEGIN_PROFILE("predictUnconstraintMotion");
BT_PROFILE("predictUnconstraintMotion");
for ( int i=0;i<m_collisionObjects.size();i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
@@ -690,14 +701,15 @@ void btDiscreteDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
{
if (body->isActive())
{
body->applyForces( timeStep);
body->integrateVelocities( timeStep);
//damping
body->applyDamping(timeStep);
body->predictIntegratedTransform(timeStep,body->getInterpolationWorldTransform());
}
}
}
}
END_PROFILE("predictUnconstraintMotion");
}

7
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h
View File

@@ -59,7 +59,7 @@ protected:
int m_profileTimings;
void predictUnconstraintMotion(btScalar timeStep);
virtual void predictUnconstraintMotion(btScalar timeStep);
void integrateTransforms(btScalar timeStep);
@@ -148,10 +148,13 @@ public:
{
return BT_DISCRETE_DYNAMICS_WORLD;
}
///the forces on each rigidbody is accumulating together with gravity. clear this after each timestep.
virtual void clearForces();
///apply gravity, call this once per timestep
virtual void applyGravity();
};

221
src/BulletDynamics/Dynamics/btRigidBody.cpp
View File

@@ -20,38 +20,51 @@ subject to the following restrictions:
#include "LinearMath/btMotionState.h"
#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
btScalar gLinearAirDamping = btScalar(1.);
//'temporarily' global variables
btScalar gDeactivationTime = btScalar(2.);
bool gDisableDeactivation = false;
btScalar gLinearSleepingThreshold = btScalar(0.8);
btScalar gAngularSleepingThreshold = btScalar(1.0);
static int uniqueId = 0;
btRigidBody::btRigidBody(btScalar mass, btMotionState* motionState, btCollisionShape* collisionShape, const btVector3& localInertia,btScalar linearDamping,btScalar angularDamping,btScalar friction,btScalar restitution)
:
m_linearVelocity(btScalar(0.0), btScalar(0.0), btScalar(0.0)),
m_angularVelocity(btScalar(0.),btScalar(0.),btScalar(0.)),
m_angularFactor(btScalar(1.)),
m_gravity(btScalar(0.0), btScalar(0.0), btScalar(0.0)),
m_totalForce(btScalar(0.0), btScalar(0.0), btScalar(0.0)),
m_totalTorque(btScalar(0.0), btScalar(0.0), btScalar(0.0)),
m_linearDamping(btScalar(0.)),
m_angularDamping(btScalar(0.5)),
m_linearSleepingThreshold(gLinearSleepingThreshold),
m_angularSleepingThreshold(gAngularSleepingThreshold),
m_optionalMotionState(motionState),
m_contactSolverType(0),
m_frictionSolverType(0)
btRigidBody::btRigidBody(const btRigidBody::btRigidBodyConstructionInfo& constructionInfo)
{
setupRigidBody(constructionInfo);
}
btRigidBody::btRigidBody(btScalar mass, btMotionState *motionState, btCollisionShape *collisionShape, const btVector3 &localInertia)
{
btRigidBodyConstructionInfo cinfo(mass,motionState,collisionShape,localInertia);
setupRigidBody(cinfo);
}
void btRigidBody::setupRigidBody(const btRigidBody::btRigidBodyConstructionInfo& constructionInfo)
{
if (motionState)
m_linearVelocity.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
m_angularVelocity.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
m_angularFactor = btScalar(1.);
m_gravity.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
m_totalForce.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
m_totalTorque.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0)),
m_linearDamping = btScalar(0.);
m_angularDamping = btScalar(0.5);
m_linearSleepingThreshold = constructionInfo.m_linearSleepingThreshold;
m_angularSleepingThreshold = constructionInfo.m_angularSleepingThreshold;
m_optionalMotionState = constructionInfo.m_motionState;
m_contactSolverType = 0;
m_frictionSolverType = 0;
m_additionalDamping = constructionInfo.m_additionalDamping;
m_additionalLinearDampingThresholdSqr = constructionInfo.m_additionalLinearDampingThresholdSqr;
m_additionalAngularDampingThresholdSqr = constructionInfo.m_additionalAngularDampingThresholdSqr;
m_additionalAngularDampingFactor = constructionInfo.m_additionalAngularDampingFactor;
if (m_optionalMotionState)
{
motionState->getWorldTransform(m_worldTransform);
m_optionalMotionState->getWorldTransform(m_worldTransform);
} else
{
m_worldTransform = btTransform::getIdentity();
m_worldTransform = constructionInfo.m_startWorldTransform;
}
m_interpolationWorldTransform = m_worldTransform;
@@ -59,93 +72,24 @@ btRigidBody::btRigidBody(btScalar mass, btMotionState* motionState, btCollisionS
m_interpolationAngularVelocity.setValue(0,0,0);
//moved to btCollisionObject
m_friction = friction;
m_restitution = restitution;
m_friction = constructionInfo.m_friction;
m_restitution = constructionInfo.m_restitution;
m_collisionShape = collisionShape;
m_collisionShape = constructionInfo.m_collisionShape;
m_debugBodyId = uniqueId++;
//m_internalOwner is to allow upcasting from collision object to rigid body
m_internalOwner = this;
setMassProps(mass, localInertia);
setDamping(linearDamping, angularDamping);
setMassProps(constructionInfo.m_mass, constructionInfo.m_localInertia);
setDamping(constructionInfo.m_linearDamping, constructionInfo.m_angularDamping);
updateInertiaTensor();
}
#ifdef OBSOLETE_MOTIONSTATE_LESS
btRigidBody::btRigidBody( btScalar mass,const btTransform& worldTransform,btCollisionShape* collisionShape,const btVector3& localInertia,btScalar linearDamping,btScalar angularDamping,btScalar friction,btScalar restitution)
:
m_gravity(btScalar(0.0), btScalar(0.0), btScalar(0.0)),
m_totalForce(btScalar(0.0), btScalar(0.0), btScalar(0.0)),
m_totalTorque(btScalar(0.0), btScalar(0.0), btScalar(0.0)),
m_linearVelocity(btScalar(0.0), btScalar(0.0), btScalar(0.0)),
m_angularVelocity(btScalar(0.),btScalar(0.),btScalar(0.)),
m_linearSleepingThreshold(gLinearSleepingThreshold),
m_angularSleepingThreshold(gAngularSleepingThreshold),
m_linearDamping(btScalar(0.)),
m_angularDamping(btScalar(0.5)),
m_optionalMotionState(0),
m_contactSolverType(0),
m_frictionSolverType(0)
{
m_worldTransform = worldTransform;
m_interpolationWorldTransform = m_worldTransform;
m_interpolationLinearVelocity.setValue(0,0,0);
m_interpolationAngularVelocity.setValue(0,0,0);
//moved to btCollisionObject
m_friction = friction;
m_restitution = restitution;
m_collisionShape = collisionShape;
m_debugBodyId = uniqueId++;
//m_internalOwner is to allow upcasting from collision object to rigid body
m_internalOwner = this;
setMassProps(mass, localInertia);
setDamping(linearDamping, angularDamping);
updateInertiaTensor();
}
#endif //OBSOLETE_MOTIONSTATE_LESS
#define EXPERIMENTAL_JITTER_REMOVAL 1
#ifdef EXPERIMENTAL_JITTER_REMOVAL
//Bullet 2.20b has experimental damping code to reduce jitter just before objects fall asleep/deactivate
//doesn't work very well yet (value 0 disabled this damping)
//note there this influences deactivation thresholds!
btScalar gClippedAngvelThresholdSqr = btScalar(0.01);
btScalar gClippedLinearThresholdSqr = btScalar(0.01);
#endif //EXPERIMENTAL_JITTER_REMOVAL
btScalar gJitterVelocityDampingFactor = btScalar(0.7);
void btRigidBody::predictIntegratedTransform(btScalar timeStep,btTransform& predictedTransform)
{
#ifdef EXPERIMENTAL_JITTER_REMOVAL
//if (wantsSleeping())
{
//clip to avoid jitter
if ((m_angularVelocity.length2() < gClippedAngvelThresholdSqr) &&
(m_linearVelocity.length2() < gClippedLinearThresholdSqr))
{
m_angularVelocity *= gJitterVelocityDampingFactor;
m_linearVelocity *= gJitterVelocityDampingFactor;
}
}
#endif //EXPERIMENTAL_JITTER_REMOVAL
btTransformUtil::integrateTransform(m_worldTransform,m_linearVelocity,m_angularVelocity,timeStep,predictedTransform);
}
@@ -196,50 +140,63 @@ void btRigidBody::setDamping(btScalar lin_damping, btScalar ang_damping)
#include <stdio.h>
///applyDamping damps the velocity, using the given m_linearDamping and m_angularDamping
void btRigidBody::applyDamping(btScalar timeStep)
{
m_linearVelocity *= GEN_clamped((btScalar(1.) - timeStep * m_linearDamping), (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
m_angularVelocity *= GEN_clamped((btScalar(1.) - timeStep * m_angularDamping), (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
if (m_additionalDamping)
{
//Additional damping can help avoiding lowpass jitter motion, help stability for ragdolls etc.
//Such damping is undesirable, so once the overall simulation quality of the rigid body dynamics system has improved, this should become obsolete
if ((m_angularVelocity.length2() < m_additionalAngularDampingThresholdSqr) &&
(m_linearVelocity.length2() < m_additionalLinearDampingThresholdSqr))
{
m_angularVelocity *= m_additionalDampingFactor;
m_linearVelocity *= m_additionalDampingFactor;
}
btScalar speed = m_linearVelocity.length();
if (speed < m_linearDamping)
{
btScalar dampVel = btScalar(0.005);
if (speed > dampVel)
{
btVector3 dir = m_linearVelocity.normalized();
m_linearVelocity -= dir * dampVel;
} else
{
m_linearVelocity.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
}
}
btScalar angSpeed = m_angularVelocity.length();
if (angSpeed < m_angularDamping)
{
btScalar angDampVel = btScalar(0.005);
if (angSpeed > angDampVel)
{
btVector3 dir = m_angularVelocity.normalized();
m_angularVelocity -= dir * angDampVel;
} else
{
m_angularVelocity.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
}
}
}
}
void btRigidBody::applyForces(btScalar step)
void btRigidBody::applyGravity()
{
if (isStaticOrKinematicObject())
return;
applyCentralForce(m_gravity);
m_linearVelocity *= GEN_clamped((btScalar(1.) - step * gLinearAirDamping * m_linearDamping), (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
m_angularVelocity *= GEN_clamped((btScalar(1.) - step * m_angularDamping), (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
#define FORCE_VELOCITY_DAMPING 1
#ifdef FORCE_VELOCITY_DAMPING
btScalar speed = m_linearVelocity.length();
if (speed < m_linearDamping)
{
btScalar dampVel = btScalar(0.005);
if (speed > dampVel)
{
btVector3 dir = m_linearVelocity.normalized();
m_linearVelocity -= dir * dampVel;
} else
{
m_linearVelocity.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
}
}
btScalar angSpeed = m_angularVelocity.length();
if (angSpeed < m_angularDamping)
{
btScalar angDampVel = btScalar(0.005);
if (angSpeed > angDampVel)
{
btVector3 dir = m_angularVelocity.normalized();
m_angularVelocity -= dir * angDampVel;
} else
{
m_angularVelocity.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
}
}
#endif //FORCE_VELOCITY_DAMPING
}
void btRigidBody::proceedToTransform(const btTransform& newTrans)

106
src/BulletDynamics/Dynamics/btRigidBody.h
View File

@@ -27,16 +27,18 @@ class btMotionState;
class btTypedConstraint;
extern btScalar gLinearAirDamping;
extern btScalar gDeactivationTime;
extern bool gDisableDeactivation;
extern btScalar gLinearSleepingThreshold;
extern btScalar gAngularSleepingThreshold;
/// btRigidBody class for btRigidBody Dynamics
///
///btRigidBody is the main class for rigid body objects. It is derived from btCollisionObject, so it keeps a pointer to a btCollisionShape.
///It is recommended for performance and memory use to share btCollisionShape objects whenever possible.
///There are 3 types of rigid bodies:
///- A) Dynamic rigid bodies, with positive mass. Motion is controlled by rigid body dynamics.
///- B) Fixed objects with zero mass. They are not moving (basically collision objects)
///- C) Kinematic objects, which are objects without mass, but the user can move them. There is on-way interaction, and Bullet calculates a velocity based on the timestep and previous and current world transform.
///Bullet automatically deactivates dynamic rigid bodies, when the velocity is below a threshold for a given time.
///Deactivated (sleeping) rigid bodies don't take any processing time, except a minor broadphase collision detection impact (to allow active objects to activate/wake up sleeping objects)
class btRigidBody : public btCollisionObject
{
@@ -54,9 +56,15 @@ class btRigidBody : public btCollisionObject
btScalar m_linearDamping;
btScalar m_angularDamping;
bool m_additionalDamping;
btScalar m_additionalDampingFactor;
btScalar m_additionalLinearDampingThresholdSqr;
btScalar m_additionalAngularDampingThresholdSqr;
btScalar m_additionalAngularDampingFactor;
btScalar m_linearSleepingThreshold;
btScalar m_angularSleepingThreshold;
//m_optionalMotionState allows to automatic synchronize the world transform for active objects
btMotionState* m_optionalMotionState;
@@ -66,20 +74,85 @@ class btRigidBody : public btCollisionObject
public:
#ifdef OBSOLETE_MOTIONSTATE_LESS
//not supported, please use btMotionState
btRigidBody(btScalar mass, const btTransform& worldTransform, btCollisionShape* collisionShape, const btVector3& localInertia=btVector3(0,0,0),btScalar linearDamping=btScalar(0.),btScalar angularDamping=btScalar(0.),btScalar friction=btScalar(0.5),btScalar restitution=btScalar(0.));
#endif //OBSOLETE_MOTIONSTATE_LESS
btRigidBody(btScalar mass, btMotionState* motionState, btCollisionShape* collisionShape, const btVector3& localInertia=btVector3(0,0,0),btScalar linearDamping=btScalar(0.),btScalar angularDamping=btScalar(0.),btScalar friction=btScalar(0.5),btScalar restitution=btScalar(0.));
///btRigidBodyConstructionInfo provides information to create a rigid body. Setting mass to zero creates a fixed (non-dynamic) rigid body.
///For dynamic objects, you can use the collision shape to approximate the local inertia tensor, otherwise use the zero vector (default argument)
///You can use the motion state to synchronize the world transform between physics and graphics objects.
///And if the motion state is provided, the rigid body will initialize its initial world transform from the motion state,
///m_startWorldTransform is only used when you don't provide a motion state.
struct btRigidBodyConstructionInfo
{
btScalar m_mass;
virtual ~btRigidBody()
///When a motionState is provided, the rigid body will initialize its world transform from the motion state
///In this case, m_startWorldTransform is ignored.
btMotionState* m_motionState;
btTransform m_startWorldTransform;
btCollisionShape* m_collisionShape;
btVector3 m_localInertia;
btScalar m_linearDamping;
btScalar m_angularDamping;
///best simulation results when friction is non-zero
btScalar m_friction;
///best simulation results using zero restitution.
btScalar m_restitution;
btScalar m_linearSleepingThreshold;
btScalar m_angularSleepingThreshold;
//Additional damping can help avoiding lowpass jitter motion, help stability for ragdolls etc.
//Such damping is undesirable, so once the overall simulation quality of the rigid body dynamics system has improved, this should become obsolete
bool m_additionalDamping;
btScalar m_additionalDampingFactor;
btScalar m_additionalLinearDampingThresholdSqr;
btScalar m_additionalAngularDampingThresholdSqr;
btScalar m_additionalAngularDampingFactor;
btRigidBodyConstructionInfo( btScalar mass, btMotionState* motionState, btCollisionShape* collisionShape, const btVector3& localInertia=btVector3(0,0,0)):
m_mass(mass),
m_motionState(motionState),
m_collisionShape(collisionShape),
m_localInertia(localInertia),
m_linearDamping(btScalar(0.)),
m_angularDamping(btScalar(0.)),
m_friction(btScalar(0.5)),
m_restitution(btScalar(0.)),
m_linearSleepingThreshold(btScalar(0.8)),
m_angularSleepingThreshold(btScalar(1.f)),
m_additionalDamping(false),
m_additionalDampingFactor(btScalar(0.005)),
m_additionalLinearDampingThresholdSqr(btScalar(0.01)),
m_additionalAngularDampingThresholdSqr(btScalar(0.01)),
m_additionalAngularDampingFactor(btScalar(0.01))
{
m_startWorldTransform.setIdentity();
}
};
///btRigidBody constructor using construction info
btRigidBody( const btRigidBodyConstructionInfo& constructionInfo);
///btRigidBody constructor for backwards compatibility.
///To specify friction (etc) during rigid body construction, please use the other constructor (using btRigidBodyConstructionInfo)
btRigidBody( btScalar mass, btMotionState* motionState, btCollisionShape* collisionShape, const btVector3& localInertia=btVector3(0,0,0));
virtual ~btRigidBody()
{
//No constraints should point to this rigidbody
//Remove constraints from the dynamics world before you delete the related rigidbodies.
btAssert(m_constraintRefs.size()==0);
}
protected:
///setupRigidBody is only used internally by the constructor
void setupRigidBody(const btRigidBodyConstructionInfo& constructionInfo);
public:
void proceedToTransform(const btTransform& newTrans);
@@ -99,8 +172,7 @@ public:
void saveKinematicState(btScalar step);
void applyForces(btScalar step);
void applyGravity();
void setGravity(const btVector3& acceleration);
@@ -110,7 +182,9 @@ public:
}
void setDamping(btScalar lin_damping, btScalar ang_damping);
void applyDamping(btScalar timeStep);
SIMD_FORCE_INLINE const btCollisionShape* getCollisionShape() const {
return m_collisionShape;
}

3
src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp
View File

@@ -188,8 +188,9 @@ void btSimpleDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
{
if (body->isActive())
{
body->applyForces( timeStep);
body->applyGravity();
body->integrateVelocities( timeStep);
body->applyDamping(timeStep);
body->predictIntegratedTransform(timeStep,body->getInterpolationWorldTransform());
}
}

2
src/BulletDynamics/Vehicle/btRaycastVehicle.cpp
View File

@@ -23,8 +23,6 @@
#include "BulletDynamics/ConstraintSolver/btContactConstraint.h"
static btRigidBody s_fixedObject( 0,0,0);
btRaycastVehicle::btRaycastVehicle(const btVehicleTuning& tuning,btRigidBody* chassis, btVehicleRaycaster* raycaster )

43
src/LinearMath/btQuickprof.cpp
View File

@@ -1,42 +1,4 @@
/*
Copyright (c) 2006 Tyler Streeter
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
// Please visit the project website (http://quickprof.sourceforge.net)
// for usage instructions.
// Credits: The Clock class was inspired by the Timer classes in
// Ogre (www.ogre3d.org).
#include "LinearMath/btQuickprof.h"
#ifdef USE_QUICKPROF
// Note: We must declare these private static variables again here to
// avoid link errors.
bool btProfiler::mEnabled = false;
btClock btProfiler::mClock;
unsigned long int btProfiler::mCurrentCycleStartMicroseconds = 0;
unsigned long int btProfiler::mLastCycleDurationMicroseconds = 0;
std::map<std::string, hidden::ProfileBlock*> btProfiler::mProfileBlocks;
std::ofstream btProfiler::mOutputFile;
bool btProfiler::mFirstFileOutput = true;
btProfiler::BlockTimingMethod btProfiler::mFileOutputMethod;
unsigned long int btProfiler::mCycleNumber = 0;
#endif //USE_QUICKPROF
/***************************************************************************************************
**
@@ -48,6 +10,11 @@ unsigned long int btProfiler::mCycleNumber = 0;
**
***************************************************************************************************/
// Credits: The Clock class was inspired by the Timer classes in
// Ogre (www.ogre3d.org).
#include "LinearMath/btQuickprof.h"
static btClock gProfileClock;
inline void Profile_Get_Ticks(unsigned long int * ticks)

516
src/LinearMath/btQuickprof.h
View File

@@ -1,20 +1,11 @@
/*
Copyright (c) 2006 Tyler Streeter
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
// Please visit the project website (http://quickprof.sourceforge.net)
// for usage instructions.
/***************************************************************************************************
**
** Real-Time Hierarchical Profiling for Game Programming Gems 3
**
** by Greg Hjelstrom & Byon Garrabrant
**
***************************************************************************************************/
// Credits: The Clock class was inspired by the Timer classes in
// Ogre (www.ogre3d.org).
@@ -24,8 +15,8 @@ subject to the following restrictions:
#include "btScalar.h"
//#define USE_QUICKPROF 1
//Don't use quickprof for now, because it contains STL. TODO: replace STL by Bullet container classes.
//To disable built-in profiling, please comment out next line
//#define BT_NO_PROFILE 1
//if you don't need btClock, you can comment next line
@@ -235,489 +226,8 @@ class btClock
#endif //USE_BT_CLOCK
#ifdef USE_QUICKPROF
#include <iostream>
#include <fstream>
#include <string>
#include <map>
namespace hidden
{
/// A simple data structure representing a single timed block
/// of code.
struct ProfileBlock
{
ProfileBlock()
{
currentBlockStartMicroseconds = 0;
currentCycleTotalMicroseconds = 0;
lastCycleTotalMicroseconds = 0;
totalMicroseconds = 0;
}
/// The starting time (in us) of the current block update.
unsigned long int currentBlockStartMicroseconds;
/// The accumulated time (in us) spent in this block during the
/// current profiling cycle.
unsigned long int currentCycleTotalMicroseconds;
/// The accumulated time (in us) spent in this block during the
/// past profiling cycle.
unsigned long int lastCycleTotalMicroseconds;
/// The total accumulated time (in us) spent in this block.
unsigned long int totalMicroseconds;
};
};
/// A static class that manages timing for a set of profiling blocks.
class btProfiler
{
public:
/// A set of ways to retrieve block timing data.
enum BlockTimingMethod
{
/// The total time spent in the block (in seconds) since the
/// profiler was initialized.
BLOCK_TOTAL_SECONDS,
/// The total time spent in the block (in ms) since the
/// profiler was initialized.
BLOCK_TOTAL_MILLISECONDS,
/// The total time spent in the block (in us) since the
/// profiler was initialized.
BLOCK_TOTAL_MICROSECONDS,
/// The total time spent in the block, as a % of the total
/// elapsed time since the profiler was initialized.
BLOCK_TOTAL_PERCENT,
/// The time spent in the block (in seconds) in the most recent
/// profiling cycle.
BLOCK_CYCLE_SECONDS,
/// The time spent in the block (in ms) in the most recent
/// profiling cycle.
BLOCK_CYCLE_MILLISECONDS,
/// The time spent in the block (in us) in the most recent
/// profiling cycle.
BLOCK_CYCLE_MICROSECONDS,
/// The time spent in the block (in seconds) in the most recent
/// profiling cycle, as a % of the total cycle time.
BLOCK_CYCLE_PERCENT
};
/// Initializes the profiler. This must be called first. If this is
/// never called, the profiler is effectively disabled; all other
/// functions will return immediately. The first parameter
/// is the name of an output data file; if this string is not empty,
/// data will be saved on every profiling cycle; if this string is
/// empty, no data will be saved to a file. The second parameter
/// determines which timing method is used when printing data to the
/// output file.
inline static void init(const std::string outputFilename="",
BlockTimingMethod outputMethod=BLOCK_CYCLE_MILLISECONDS);
/// Cleans up allocated memory.
inline static void destroy();
/// Begins timing the named block of code.
inline static void beginBlock(const std::string& name);
/// Updates the accumulated time spent in the named block by adding
/// the elapsed time since the last call to startBlock for this block
/// name.
inline static void endBlock(const std::string& name);
/// Returns the time spent in the named block according to the
/// given timing method. See comments on BlockTimingMethod for details.
inline static double getBlockTime(const std::string& name,
BlockTimingMethod method=BLOCK_CYCLE_MILLISECONDS);
/// Defines the end of a profiling cycle. Use this regularly if you
/// want to generate detailed timing information. This must not be
/// called within a timing block.
inline static void endProfilingCycle();
/// A helper function that creates a string of statistics for
/// each timing block. This is mainly for printing an overall
/// summary to the command line.
inline static std::string createStatsString(
BlockTimingMethod method=BLOCK_TOTAL_PERCENT);
//private:
inline btProfiler();
inline ~btProfiler();
/// Prints an error message to standard output.
inline static void printError(const std::string& msg)
{
//btAssert(0);
std::cout << "[QuickProf error] " << msg << std::endl;
}
/// Determines whether the profiler is enabled.
static bool mEnabled;
/// The clock used to time profile blocks.
static btClock mClock;
/// The starting time (in us) of the current profiling cycle.
static unsigned long int mCurrentCycleStartMicroseconds;
/// The duration (in us) of the most recent profiling cycle.
static unsigned long int mLastCycleDurationMicroseconds;
/// Internal map of named profile blocks.
static std::map<std::string, hidden::ProfileBlock*> mProfileBlocks;
/// The data file used if this feature is enabled in 'init.'
static std::ofstream mOutputFile;
/// Tracks whether we have begun print data to the output file.
static bool mFirstFileOutput;
/// The method used when printing timing data to an output file.
static BlockTimingMethod mFileOutputMethod;
/// The number of the current profiling cycle.
static unsigned long int mCycleNumber;
};
btProfiler::btProfiler()
{
// This never gets called because a btProfiler instance is never
// created.
}
btProfiler::~btProfiler()
{
// This never gets called because a btProfiler instance is never
// created.
}
void btProfiler::init(const std::string outputFilename,
BlockTimingMethod outputMethod)
{
mEnabled = true;
if (!outputFilename.empty())
{
mOutputFile.open(outputFilename.c_str());
}
mFileOutputMethod = outputMethod;
mClock.reset();
// Set the start time for the first cycle.
mCurrentCycleStartMicroseconds = mClock.getTimeMicroseconds();
}
void btProfiler::destroy()
{
if (!mEnabled)
{
return;
}
if (mOutputFile.is_open())
{
mOutputFile.close();
}
// Destroy all ProfileBlocks.
while (!mProfileBlocks.empty())
{
delete (*mProfileBlocks.begin()).second;
mProfileBlocks.erase(mProfileBlocks.begin());
}
}
void btProfiler::beginBlock(const std::string& name)
{
if (!mEnabled)
{
return;
}
if (name.empty())
{
printError("Cannot allow unnamed profile blocks.");
return;
}
hidden::ProfileBlock* block = mProfileBlocks[name];
if (!block)
{
// Create a new ProfileBlock.
mProfileBlocks[name] = new hidden::ProfileBlock();
block = mProfileBlocks[name];
}
// We do this at the end to get more accurate results.
block->currentBlockStartMicroseconds = mClock.getTimeMicroseconds();
}
void btProfiler::endBlock(const std::string& name)
{
if (!mEnabled)
{
return;
}
// We do this at the beginning to get more accurate results.
unsigned long int endTick = mClock.getTimeMicroseconds();
hidden::ProfileBlock* block = mProfileBlocks[name];
if (!block)
{
// The named block does not exist. Print an error.
printError("The profile block named '" + name +
"' does not exist.");
return;
}
unsigned long int blockDuration = endTick -
block->currentBlockStartMicroseconds;
block->currentCycleTotalMicroseconds += blockDuration;
block->totalMicroseconds += blockDuration;
}
double btProfiler::getBlockTime(const std::string& name,
BlockTimingMethod method)
{
if (!mEnabled)
{
return 0;
}
hidden::ProfileBlock* block = mProfileBlocks[name];
if (!block)
{
// The named block does not exist. Print an error.
printError("The profile block named '" + name +
"' does not exist.");
return 0;
}
double result = 0;
switch(method)
{
case BLOCK_TOTAL_SECONDS:
result = (double)block->totalMicroseconds * (double)0.000001;
break;
case BLOCK_TOTAL_MILLISECONDS:
result = (double)block->totalMicroseconds * (double)0.001;
break;
case BLOCK_TOTAL_MICROSECONDS:
result = (double)block->totalMicroseconds;
break;
case BLOCK_TOTAL_PERCENT:
{
double timeSinceInit = (double)mClock.getTimeMicroseconds();
if (timeSinceInit <= 0)
{
result = 0;
}
else
{
result = 100.0 * (double)block->totalMicroseconds /
timeSinceInit;
}
break;
}
case BLOCK_CYCLE_SECONDS:
result = (double)block->lastCycleTotalMicroseconds *
(double)0.000001;
break;
case BLOCK_CYCLE_MILLISECONDS:
result = (double)block->lastCycleTotalMicroseconds *
(double)0.001;
break;
case BLOCK_CYCLE_MICROSECONDS:
result = (double)block->lastCycleTotalMicroseconds;
break;
case BLOCK_CYCLE_PERCENT:
{
if (0 == mLastCycleDurationMicroseconds)
{
// We have not yet finished a cycle, so just return zero
// percent to avoid a divide by zero error.
result = 0;
}
else
{
result = 100.0 * (double)block->lastCycleTotalMicroseconds /
mLastCycleDurationMicroseconds;
}
break;
}
default:
break;
}
return result;
}
void btProfiler::endProfilingCycle()
{
if (!mEnabled)
{
return;
}
// Store the duration of the cycle that just finished.
mLastCycleDurationMicroseconds = mClock.getTimeMicroseconds() -
mCurrentCycleStartMicroseconds;
// For each block, update data for the cycle that just finished.
std::map<std::string, hidden::ProfileBlock*>::iterator iter;
for (iter = mProfileBlocks.begin(); iter != mProfileBlocks.end(); ++iter)
{
hidden::ProfileBlock* block = (*iter).second;
block->lastCycleTotalMicroseconds =
block->currentCycleTotalMicroseconds;
block->currentCycleTotalMicroseconds = 0;
}
if (mOutputFile.is_open())
{
// Print data to the output file.
if (mFirstFileOutput)
{
// On the first iteration, print a header line that shows the
// names of each profiling block.
mOutputFile << "#cycle, ";
for (iter = mProfileBlocks.begin(); iter != mProfileBlocks.end();
++iter)
{
mOutputFile << (*iter).first << ", ";
}
mOutputFile << std::endl;
mFirstFileOutput = false;
}
mOutputFile << mCycleNumber << ", ";
for (iter = mProfileBlocks.begin(); iter != mProfileBlocks.end();
++iter)
{
mOutputFile << getBlockTime((*iter).first, mFileOutputMethod)
<< ", ";
}
mOutputFile << std::endl;
}
++mCycleNumber;
mCurrentCycleStartMicroseconds = mClock.getTimeMicroseconds();
}
std::string btProfiler::createStatsString(BlockTimingMethod method)
{
if (!mEnabled)
{
return "";
}
std::string s;
std::string suffix;
switch(method)
{
case BLOCK_TOTAL_SECONDS:
suffix = "s";
break;
case BLOCK_TOTAL_MILLISECONDS:
suffix = "ms";
break;
case BLOCK_TOTAL_MICROSECONDS:
suffix = "us";
break;
case BLOCK_TOTAL_PERCENT:
{
suffix = "%";
break;
}
case BLOCK_CYCLE_SECONDS:
suffix = "s";
break;
case BLOCK_CYCLE_MILLISECONDS:
suffix = "ms";
break;
case BLOCK_CYCLE_MICROSECONDS:
suffix = "us";
break;
case BLOCK_CYCLE_PERCENT:
{
suffix = "%";
break;
}
default:
break;
}
std::map<std::string, hidden::ProfileBlock*>::iterator iter;
for (iter = mProfileBlocks.begin(); iter != mProfileBlocks.end(); ++iter)
{
if (iter != mProfileBlocks.begin())
{
s += "\n";
}
char blockTime[64];
sprintf(blockTime, "%lf", getBlockTime((*iter).first, method));
s += (*iter).first;
s += ": ";
s += blockTime;
s += " ";
s += suffix;
}
return s;
}
#define BEGIN_PROFILE(a) btProfiler::beginBlock(a)
#define END_PROFILE(a) btProfiler::endBlock(a)
#else //USE_QUICKPROF
#define BEGIN_PROFILE(a)
#define END_PROFILE(a)
#endif //USE_QUICKPROF
/***************************************************************************************************
**
** profile.h
**
** Real-Time Hierarchical Profiling for Game Programming Gems 3
**
** by Greg Hjelstrom & Byon Garrabrant
**
***************************************************************************************************/
/*
** A node in the Profile Hierarchy Tree
*/
@@ -816,7 +326,7 @@ private:
/*
** ProfileSampleClass is a simple way to profile a function's scope
** Use the PROFILE macro at the start of scope to time
** Use the BT_PROFILE macro at the start of scope to time
*/
class CProfileSample {
public:
@@ -831,10 +341,10 @@ public:
}
};
#if !defined(NO_PROFILE)
#define PROFILE( name ) CProfileSample __profile( name )
#if !defined(BT_NO_PROFILE)
#define BT_PROFILE( name ) CProfileSample __profile( name )
#else
#define PROFILE( name )
#define BT_PROFILE( name )
#endif