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

collisionObject: renamed uniqueId to worldArrayIndex; removed linear search in removeCollisionObject

Browse Source
This commit is contained in:
Lunkhound
2016-11-12 12:41:55 -08:00
parent 3b5d0f444b
commit 2f4ec4f8c9
6 changed files with 30 additions and 17 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
View File

@@ -751,7 +751,7 @@ int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject&
// Kinematic bodies can be in multiple islands at once, so it is a
// race condition to write to them, so we use an alternate method
// to record the solverBodyId
int uniqueId = body.getUniqueId();
int uniqueId = body.getWorldArrayIndex();
const int INVALID_SOLVER_BODY_ID = -1;
if (uniqueId >= m_kinematicBodyUniqueIdToSolverBodyTable.size())
{

6
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.cpp
View File

@@ -149,7 +149,6 @@ void btDiscreteDynamicsWorldMt::solveConstraints(btContactSolverInfo& solverInfo
{
BT_PROFILE("solveConstraints");
m_solverIslandCallbackMt->setup(&solverInfo, getDebugDrawer());
m_constraintSolver->prepareSolve(getCollisionWorld()->getNumCollisionObjects(), getCollisionWorld()->getDispatcher()->getNumManifolds());
@@ -161,8 +160,3 @@ void btDiscreteDynamicsWorldMt::solveConstraints(btContactSolverInfo& solverInfo
}
void btDiscreteDynamicsWorldMt::addCollisionObject(btCollisionObject* collisionObject, short int collisionFilterGroup, short int collisionFilterMask)
{
collisionObject->setUniqueId(m_collisionObjects.size());
btDiscreteDynamicsWorld::addCollisionObject(collisionObject, collisionFilterGroup, collisionFilterMask);
}

2
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.h
View File

@@ -35,8 +35,6 @@ protected:
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
virtual void addCollisionObject(btCollisionObject* collisionObject,short int collisionFilterGroup=btBroadphaseProxy::StaticFilter,short int collisionFilterMask=btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
btDiscreteDynamicsWorldMt(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration);
virtual ~btDiscreteDynamicsWorldMt();
};