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small cleanup in the DemoApplication, removed references to obsolete PHY_ShapeProps/PHY_MaterialProps

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removed deletion of motionstate in CcdPhysics/CcdPhysicsController destructor
disabled m_type optimization in SimdTransform (making the memory size 64 byte, potentially more cache friendly)
fixed a bug in island generation, causing the activation not propagating in one frame, but one 'layer' of rigidbodies at a time
This commit is contained in:
ejcoumans
2006-09-26 18:59:29 +00:00
parent 0e04cfc806
commit 37a53ee7d9
8 changed files with 100 additions and 86 deletions
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61
src/LinearMath/SimdTransform.h
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@@ -21,6 +21,7 @@ subject to the following restrictions:
#include "LinearMath/SimdMatrix3x3.h"
#define IGNORE_TYPE 1
class SimdTransform {
@@ -41,37 +42,49 @@ public:
explicit SIMD_FORCE_INLINE SimdTransform(const SimdQuaternion& q,
const SimdVector3& c = SimdVector3(SimdScalar(0), SimdScalar(0), SimdScalar(0)))
: m_basis(q),
m_origin(c),
m_type(RIGID)
m_origin(c)
#ifndef IGNORE_TYPE
, m_type(RIGID)
#endif //IGNORE_TYPE
{}
explicit SIMD_FORCE_INLINE SimdTransform(const SimdMatrix3x3& b,
const SimdVector3& c = SimdVector3(SimdScalar(0), SimdScalar(0), SimdScalar(0)),
unsigned int type = AFFINE)
: m_basis(b),
m_origin(c),
m_type(type)
m_origin(c)
#ifndef IGNORE_TYPE
, m_type(type)
#endif //IGNORE_TYPE
{}
SIMD_FORCE_INLINE void mult(const SimdTransform& t1, const SimdTransform& t2) {
m_basis = t1.m_basis * t2.m_basis;
m_origin = t1(t2.m_origin);
#ifndef IGNORE_TYPE
m_type = t1.m_type | t2.m_type;
#endif //IGNORE_TYPE
}
void multInverseLeft(const SimdTransform& t1, const SimdTransform& t2) {
SimdVector3 v = t2.m_origin - t1.m_origin;
#ifndef IGNORE_TYPE
if (t1.m_type & SCALING) {
SimdMatrix3x3 inv = t1.m_basis.inverse();
m_basis = inv * t2.m_basis;
m_origin = inv * v;
}
else {
else
#else
{
m_basis = SimdMultTransposeLeft(t1.m_basis, t2.m_basis);
m_origin = v * t1.m_basis;
#endif //IGNORE_TYPE
}
#ifndef IGNORE_TYPE
m_type = t1.m_type | t2.m_type;
#endif //IGNORE_TYPE
}
SIMD_FORCE_INLINE SimdVector3 operator()(const SimdVector3& x) const
@@ -102,7 +115,9 @@ public:
{
m_basis.setValue(m);
m_origin.setValue(&m[12]);
#ifndef IGNORE_TYPE
m_type = AFFINE;
#endif //IGNORE_TYPE
}
@@ -126,7 +141,9 @@ public:
SIMD_FORCE_INLINE void setOrigin(const SimdVector3& origin)
{
m_origin = origin;
#ifndef IGNORE_TYPE
m_type |= TRANSLATION;
#endif //IGNORE_TYPE
}
SIMD_FORCE_INLINE SimdVector3 invXform(const SimdVector3& inVec) const;
@@ -136,40 +153,60 @@ public:
SIMD_FORCE_INLINE void setBasis(const SimdMatrix3x3& basis)
{
m_basis = basis;
#ifndef IGNORE_TYPE
m_type |= LINEAR;
#endif //IGNORE_TYPE
}
SIMD_FORCE_INLINE void setRotation(const SimdQuaternion& q)
{
m_basis.setRotation(q);
#ifndef IGNORE_TYPE
m_type = (m_type & ~LINEAR) | ROTATION;
#endif //IGNORE_TYPE
}
SIMD_FORCE_INLINE void scale(const SimdVector3& scaling)
{
m_basis = m_basis.scaled(scaling);
#ifndef IGNORE_TYPE
m_type |= SCALING;
#endif //IGNORE_TYPE
}
void setIdentity()
{
m_basis.setIdentity();
m_origin.setValue(SimdScalar(0.0), SimdScalar(0.0), SimdScalar(0.0));
#ifndef IGNORE_TYPE
m_type = 0x0;
#endif //IGNORE_TYPE
}
SIMD_FORCE_INLINE bool isIdentity() const { return m_type == 0x0; }
SIMD_FORCE_INLINE bool isIdentity() const {
#ifdef IGNORE_TYPE
return false;
#else
return m_type == 0x0;
#endif
}
SimdTransform& operator*=(const SimdTransform& t)
{
m_origin += m_basis * t.m_origin;
m_basis *= t.m_basis;
#ifndef IGNORE_TYPE
m_type |= t.m_type;
#endif //IGNORE_TYPE
return *this;
}
SimdTransform inverse() const
{
#ifdef IGNORE_TYPE
SimdMatrix3x3 inv = m_basis.transpose();
return SimdTransform(inv, inv * -m_origin, 0);
#else
if (m_type)
{
SimdMatrix3x3 inv = (m_type & SCALING) ?
@@ -180,6 +217,7 @@ public:
}
return *this;
#endif //IGNORE_TYPE
}
SimdTransform inverseTimes(const SimdTransform& t) const;
@@ -190,7 +228,9 @@ private:
SimdMatrix3x3 m_basis;
SimdVector3 m_origin;
#ifndef IGNORE_TYPE
unsigned int m_type;
#endif //IGNORE_TYPE
};
@@ -205,6 +245,7 @@ SIMD_FORCE_INLINE SimdTransform
SimdTransform::inverseTimes(const SimdTransform& t) const
{
SimdVector3 v = t.getOrigin() - m_origin;
#ifndef IGNORE_TYPE
if (m_type & SCALING)
{
SimdMatrix3x3 inv = m_basis.inverse();
@@ -212,10 +253,12 @@ SimdTransform::inverseTimes(const SimdTransform& t) const
m_type | t.m_type);
}
else
#else
{
return SimdTransform(m_basis.transposeTimes(t.m_basis),
v * m_basis, m_type | t.m_type);
v * m_basis, 0);
}
#endif //IGNORE_TYPE
}
SIMD_FORCE_INLINE SimdTransform
@@ -223,7 +266,11 @@ SimdTransform::operator*(const SimdTransform& t) const
{
return SimdTransform(m_basis * t.m_basis,
(*this)(t.m_origin),
#ifndef IGNORE_TYPE
m_type | t.m_type);
#else
0);
#endif
}