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

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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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45
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@@ -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