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improved performance by adding constructors to btTransform/btMatrix3x3 to avoid conversions, compoundshape returns const references (instead of duplicate objects)

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Thanks Marten Svanfeldt, Starbreeze Studios
This commit is contained in:
ejcoumans
2007-07-05 23:48:05 +00:00
parent b91886e1c2
commit 5c80ff1f7d
5 changed files with 36 additions and 43 deletions
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12
src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
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@@ -77,9 +77,9 @@ void btCompoundCollisionAlgorithm::processCollision (btCollisionObject* body0,bt
btTransform orgTrans = colObj->getWorldTransform();
btCollisionShape* orgShape = colObj->getCollisionShape();
btTransform childTrans = compoundShape->getChildTransform(i);
btTransform newChildWorldTrans = orgTrans*childTrans ;
colObj->setWorldTransform( newChildWorldTrans );
const btTransform& childTrans = compoundShape->getChildTransform(i);
//btTransform newChildWorldTrans = orgTrans*childTrans ;
colObj->setWorldTransform( orgTrans*childTrans );
//the contactpoint is still projected back using the original inverted worldtrans
colObj->setCollisionShape( childShape );
m_childCollisionAlgorithms[i]->processCollision(colObj,otherObj,dispatchInfo,resultOut);
@@ -119,9 +119,9 @@ btScalar btCompoundCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject*
btTransform orgTrans = colObj->getWorldTransform();
btCollisionShape* orgShape = colObj->getCollisionShape();
btTransform childTrans = compoundShape->getChildTransform(i);
btTransform newChildWorldTrans = orgTrans*childTrans ;
colObj->setWorldTransform( newChildWorldTrans );
const btTransform& childTrans = compoundShape->getChildTransform(i);
//btTransform newChildWorldTrans = orgTrans*childTrans ;
colObj->setWorldTransform( orgTrans*childTrans );
colObj->setCollisionShape( childShape );
btScalar frac = m_childCollisionAlgorithms[i]->calculateTimeOfImpact(colObj,otherObj,dispatchInfo,resultOut);

4
src/BulletCollision/CollisionShapes/btCompoundShape.h
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@@ -58,11 +58,11 @@ public:
return m_childShapes[index];
}
btTransform getChildTransform(int index)
btTransform& getChildTransform(int index)
{
return m_childTransforms[index];
}
const btTransform getChildTransform(int index) const
const btTransform& getChildTransform(int index) const
{
return m_childTransforms[index];
}