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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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56
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
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@@ -452,7 +452,7 @@ void btDiscreteDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
int m_numConstraints;
btIDebugDraw* m_debugDrawer;
btStackAlloc* m_stackAlloc;
btDispatcher* m_dispatcher;
InplaceSolverIslandCallback(
btContactSolverInfo& solverInfo,
@@ -460,13 +460,15 @@ void btDiscreteDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
btTypedConstraint** sortedConstraints,
int numConstraints,
btIDebugDraw* debugDrawer,
btStackAlloc* stackAlloc)
btStackAlloc* stackAlloc,
btDispatcher* dispatcher)
:m_solverInfo(solverInfo),
m_solver(solver),
m_sortedConstraints(sortedConstraints),
m_numConstraints(numConstraints),
m_debugDrawer(debugDrawer),
m_stackAlloc(stackAlloc)
m_stackAlloc(stackAlloc),
m_dispatcher(dispatcher)
{
}
@@ -479,30 +481,38 @@ void btDiscreteDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
}
virtual void ProcessIsland(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifolds,int numManifolds, int islandId)
{
//also add all non-contact constraints/joints for this island
btTypedConstraint** startConstraint = 0;
int numCurConstraints = 0;
int i;
//find the first constraint for this island
for (i=0;i<m_numConstraints;i++)
if (islandId<0)
{
if (btGetConstraintIslandId(m_sortedConstraints[i]) == islandId)
{
startConstraint = &m_sortedConstraints[i];
break;
}
}
//count the number of constraints in this island
for (;i<m_numConstraints;i++)
///we don't split islands, so all constraints/contact manifolds/bodies are passed into the solver regardless the island id
m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,&m_sortedConstraints[0],m_numConstraints,m_solverInfo,m_debugDrawer,m_stackAlloc,m_dispatcher);
} else
{
if (btGetConstraintIslandId(m_sortedConstraints[i]) == islandId)
//also add all non-contact constraints/joints for this island
btTypedConstraint** startConstraint = 0;
int numCurConstraints = 0;
int i;
//find the first constraint for this island
for (i=0;i<m_numConstraints;i++)
{
numCurConstraints++;
if (btGetConstraintIslandId(m_sortedConstraints[i]) == islandId)
{
startConstraint = &m_sortedConstraints[i];
break;
}
}
//count the number of constraints in this island
for (;i<m_numConstraints;i++)
{
if (btGetConstraintIslandId(m_sortedConstraints[i]) == islandId)
{
numCurConstraints++;
}
}
}
m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,startConstraint,numCurConstraints,m_solverInfo,m_debugDrawer,m_stackAlloc);
m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,startConstraint,numCurConstraints,m_solverInfo,m_debugDrawer,m_stackAlloc,m_dispatcher);
}
}
};
@@ -524,7 +534,7 @@ void btDiscreteDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
btTypedConstraint** constraintsPtr = getNumConstraints() ? &sortedConstraints[0] : 0;
InplaceSolverIslandCallback solverCallback( solverInfo, m_constraintSolver, constraintsPtr,sortedConstraints.size(), m_debugDrawer,m_stackAlloc);
InplaceSolverIslandCallback solverCallback( solverInfo, m_constraintSolver, constraintsPtr,sortedConstraints.size(), m_debugDrawer,m_stackAlloc,m_dispatcher1);
m_constraintSolver->prepareSolve(getCollisionWorld()->getNumCollisionObjects(), getCollisionWorld()->getDispatcher()->getNumManifolds());