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Based on feedback from another professional game company, there are several improvements, including some API change...

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Some dynamic memory allocations have been replace by pool allocation or stack allocations.
quantized aabb versus quantized aabb overlap check is made branch-free (helps a lot on consoles PS3/XBox 360)
Collision algorithms are now created through a new btDefaultCollisionConfiguration, to decouple dependency (this is the API change):
Example:
	btDefaultCollisionConfiguration* collisionConfiguration = new btDefaultCollisionConfiguration();
	m_dispatcher = new	btCollisionDispatcher(collisionConfiguration);
This commit is contained in:
ejcoumans
2007-09-08 05:40:01 +00:00
parent 30b1887f40
commit 87df3d0f32
67 changed files with 1116 additions and 972 deletions
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5
Extras/quickstep/OdeConstraintSolver.h
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@@ -20,6 +20,7 @@ subject to the following restrictions:
class btRigidBody;
struct OdeSolverBody;
class btDispatcher;
class BU_Joint;
/// OdeConstraintSolver is one of the available solvers for Bullet dynamics framework
@@ -45,7 +46,7 @@ public:
virtual ~OdeConstraintSolver() {}
virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc,btDispatcher* dispatcher);
///setConstraintForceMixing, the cfm adds some positive value to the main diagonal
///This can improve convergence (make matrix positive semidefinite), but it can make the simulation look more 'springy'
@@ -59,6 +60,8 @@ public:
{
m_erp = erp;
}
virtual void reset();
};