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more solver optimizations, can be disabled using solver->setSolverMode(SOLVER_RANDMIZE_ORDER)

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ejcoumans
2007-03-17 07:59:27 +00:00
parent 151cd4b9da
commit 2b87104184
9 changed files with 159 additions and 70 deletions
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ChangeLog.txt
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@@ -1,6 +1,12 @@
Bullet Continuous Collision Detection and Physics Library
Erwin Coumans
2007 March 17
- Added constraint solver optimizations, avoiding cross products during iterations, and gather rigidbody/constraint info in contiguous memory (btSolverBody/btSolverConstraint)
- These optimizations don't give large benefit yet, but it has good potential. Turned on by default. Can be switched off using solver->setSolverMode(SOLVER_RANDMIZE_ORDER).
- Enabled anti-jitter for rigid bodies. This is experimental, and can be switched off by setting a global (it is experimental so no proper interface) gJitterVelocityDampingFactor = 1.0;
- Fixed bug in islandmanifold.heapSort(btPersistentManifoldSortPredicate()); , thanks Noehrgel for reporting this (affected Sun Solaris)
2007 March 12
- Added compile-time toggle between on 16-bit and 32-bit fixed-point SAP broadphase.
This allows the number of bodies to exceed 32767