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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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35
Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp
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@@ -302,41 +302,6 @@ void CcdPhysicsDemo::clientMoveAndDisplay()
updateCamera(); updateCamera();
#ifdef CENTER_OF_MASS_SHIFT
btScalar m[16];
if (m_dynamicsWorld)
{
int numObjects = m_dynamicsWorld->getNumCollisionObjects();
btVector3 wireColor(1,0,0);
for (int i=0;i<numObjects;i++)
{
btCollisionObject* colObj = m_dynamicsWorld->getCollisionObjectArray()[i];
btRigidBody* body = btRigidBody::upcast(colObj);
if (body && body->getMotionState())
{
btDefaultMotionState* myMotionState = (btDefaultMotionState*)body->getMotionState();
btTransform offsetTrans = myMotionState->m_graphicsWorldTrans;
btVector3 worldShift = offsetTrans.getBasis() * comOffsetVec;
offsetTrans.setOrigin(offsetTrans.getOrigin() + worldShift);
offsetTrans.getOpenGLMatrix(m);
btVector3 wireColor(1.f,1.0f,1.f); //wants deactivation
btSphereShape sphereTmp(CUBE_HALF_EXTENTS);
GL_ShapeDrawer::drawOpenGL(m,&sphereTmp,wireColor,0);
}
}
}
#endif //CENTER_OF_MASS_SHIFT
#ifdef USE_QUICKPROF #ifdef USE_QUICKPROF
btProfiler::endBlock("render"); btProfiler::endBlock("render");

12
src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
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@@ -77,9 +77,9 @@ void btCompoundCollisionAlgorithm::processCollision (btCollisionObject* body0,bt
btTransform orgTrans = colObj->getWorldTransform(); btTransform orgTrans = colObj->getWorldTransform();
btCollisionShape* orgShape = colObj->getCollisionShape(); btCollisionShape* orgShape = colObj->getCollisionShape();
btTransform childTrans = compoundShape->getChildTransform(i); const btTransform& childTrans = compoundShape->getChildTransform(i);
btTransform newChildWorldTrans = orgTrans*childTrans ; //btTransform newChildWorldTrans = orgTrans*childTrans ;
colObj->setWorldTransform( newChildWorldTrans ); colObj->setWorldTransform( orgTrans*childTrans );
//the contactpoint is still projected back using the original inverted worldtrans //the contactpoint is still projected back using the original inverted worldtrans
colObj->setCollisionShape( childShape ); colObj->setCollisionShape( childShape );
m_childCollisionAlgorithms[i]->processCollision(colObj,otherObj,dispatchInfo,resultOut); m_childCollisionAlgorithms[i]->processCollision(colObj,otherObj,dispatchInfo,resultOut);
@@ -119,9 +119,9 @@ btScalar btCompoundCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject*
btTransform orgTrans = colObj->getWorldTransform(); btTransform orgTrans = colObj->getWorldTransform();
btCollisionShape* orgShape = colObj->getCollisionShape(); btCollisionShape* orgShape = colObj->getCollisionShape();
btTransform childTrans = compoundShape->getChildTransform(i); const btTransform& childTrans = compoundShape->getChildTransform(i);
btTransform newChildWorldTrans = orgTrans*childTrans ; //btTransform newChildWorldTrans = orgTrans*childTrans ;
colObj->setWorldTransform( newChildWorldTrans ); colObj->setWorldTransform( orgTrans*childTrans );
colObj->setCollisionShape( childShape ); colObj->setCollisionShape( childShape );
btScalar frac = m_childCollisionAlgorithms[i]->calculateTimeOfImpact(colObj,otherObj,dispatchInfo,resultOut); 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]; return m_childShapes[index];
} }
btTransform getChildTransform(int index) btTransform& getChildTransform(int index)
{ {
return m_childTransforms[index]; return m_childTransforms[index];
} }
const btTransform getChildTransform(int index) const const btTransform& getChildTransform(int index) const
{ {
return m_childTransforms[index]; return m_childTransforms[index];
} }

15
src/LinearMath/btMatrix3x3.h
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@@ -45,6 +45,21 @@ class btMatrix3x3 {
zx, zy, zz); zx, zy, zz);
} }
SIMD_FORCE_INLINE btMatrix3x3 (const btMatrix3x3& other)
{
m_el[0] = other.m_el[0];
m_el[1] = other.m_el[1];
m_el[2] = other.m_el[2];
}
SIMD_FORCE_INLINE btMatrix3x3& operator=(const btMatrix3x3& other)
{
m_el[0] = other.m_el[0];
m_el[1] = other.m_el[1];
m_el[2] = other.m_el[2];
return *this;
}
SIMD_FORCE_INLINE btVector3 getColumn(int i) const SIMD_FORCE_INLINE btVector3 getColumn(int i) const
{ {
return btVector3(m_el[0][i],m_el[1][i],m_el[2][i]); return btVector3(m_el[0][i],m_el[1][i],m_el[2][i]);

13
src/LinearMath/btTransform.h
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@@ -42,6 +42,19 @@ public:
m_origin(c) m_origin(c)
{} {}
SIMD_FORCE_INLINE btTransform (const btTransform& other)
: m_basis(other.m_basis),
m_origin(other.m_origin)
{
}
SIMD_FORCE_INLINE btTransform& operator=(const btTransform& other)
{
m_basis = other.m_basis;
m_origin = other.m_origin;
return *this;
}
SIMD_FORCE_INLINE void mult(const btTransform& t1, const btTransform& t2) { SIMD_FORCE_INLINE void mult(const btTransform& t1, const btTransform& t2) {
m_basis = t1.m_basis * t2.m_basis; m_basis = t1.m_basis * t2.m_basis;