Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Some performance improvements and fixes related to btVector3 being aligned on SPU.

Browse Source 
btQuantizedBvh has a version number, memory layout might be different now (due to aligned btVector3)
reorganized some data members of some classes, to reduce memory footprint
This commit is contained in:
erwin.coumans
2008-10-29 02:45:16 +00:00
parent b18aa2b375
commit aeb48644ee
4 changed files with 174 additions and 135 deletions
Download Patch File Download Diff File Expand all files Collapse all files

79
src/LinearMath/btTransformUtil.h
View File

@@ -100,6 +100,32 @@ public:
predictedTransform.setRotation(predictedOrn);
}
static void calculateVelocityQuaternion(const btVector3& pos0,const btVector3& pos1,const btQuaternion& orn0,const btQuaternion& orn1,btScalar timeStep,btVector3& linVel,btVector3& angVel)
{
linVel = (pos1 - pos0) / timeStep;
btVector3 axis;
btScalar angle;
calculateDiffAxisAngleQuaternion(orn0,orn1,axis,angle);
angVel = axis * angle / timeStep;
}
static void calculateDiffAxisAngleQuaternion(const btQuaternion& orn0,const btQuaternion& orn1a,btVector3& axis,btScalar& angle)
{
btQuaternion orn1 = orn0.farthest(orn1a);
btQuaternion dorn = orn1 * orn0.inverse();
///floating point inaccuracy can lead to w component > 1..., which breaks
dorn.normalize();
angle = dorn.getAngle();
axis = btVector3(dorn.x(),dorn.y(),dorn.z());
axis[3] = btScalar(0.);
//check for axis length
btScalar len = axis.length2();
if (len < SIMD_EPSILON*SIMD_EPSILON)
axis = btVector3(btScalar(1.),btScalar(0.),btScalar(0.));
else
axis /= btSqrt(len);
}
static void calculateVelocity(const btTransform& transform0,const btTransform& transform1,btScalar timeStep,btVector3& linVel,btVector3& angVel)
{
linVel = (transform1.getOrigin() - transform0.getOrigin()) / timeStep;
@@ -111,20 +137,11 @@ public:
static void calculateDiffAxisAngle(const btTransform& transform0,const btTransform& transform1,btVector3& axis,btScalar& angle)
{
#ifdef USE_QUATERNION_DIFF
btQuaternion orn0 = transform0.getRotation();
btQuaternion orn1a = transform1.getRotation();
btQuaternion orn1 = orn0.farthest(orn1a);
btQuaternion dorn = orn1 * orn0.inverse();
#else
btMatrix3x3 dmat = transform1.getBasis() * transform0.getBasis().inverse();
btQuaternion dorn;
dmat.getRotation(dorn);
#endif//USE_QUATERNION_DIFF
///floating point inaccuracy can lead to w component > 1..., which breaks
///floating point inaccuracy can lead to w component > 1..., which breaks
dorn.normalize();
angle = dorn.getAngle();
@@ -145,13 +162,15 @@ public:
///by conservatively updating a cached separating distance/vector instead of re-calculating the closest distance
class btConvexSeparatingDistanceUtil
{
btTransform m_cachedTransformA;
btTransform m_cachedTransformB;
btQuaternion m_ornA;
btQuaternion m_ornB;
btVector3 m_posA;
btVector3 m_posB;
btVector3 m_separatingNormal;
btScalar m_boundingRadiusA;
btScalar m_boundingRadiusB;
btVector3 m_separatingNormal;
btScalar m_separatingDistance;
public:
@@ -170,15 +189,18 @@ public:
void updateSeparatingDistance(const btTransform& transA,const btTransform& transB)
{
const btVector3& toPosA = transA.getOrigin();
const btVector3& toPosB = transB.getOrigin();
btQuaternion toOrnA = transA.getRotation();
btQuaternion toOrnB = transB.getRotation();
if (m_separatingDistance>0.f)
{
const btTransform& fromA = m_cachedTransformA;
const btTransform& fromB = m_cachedTransformB;
const btTransform& toA = transA;
const btTransform& toB = transB;
btVector3 linVelA,angVelA,linVelB,angVelB;
btTransformUtil::calculateVelocity(fromA,toA,btScalar(1.),linVelA,angVelA);
btTransformUtil::calculateVelocity(fromB,toB,btScalar(1.),linVelB,angVelB);
btTransformUtil::calculateVelocityQuaternion(m_posA,toPosA,m_ornA,toOrnA,btScalar(1.),linVelA,angVelA);
btTransformUtil::calculateVelocityQuaternion(m_posB,toPosB,m_ornB,toOrnB,btScalar(1.),linVelB,angVelB);
btScalar maxAngularProjectedVelocity = angVelA.length() * m_boundingRadiusA + angVelB.length() * m_boundingRadiusB;
btVector3 relLinVel = (linVelB-linVelA);
btScalar relLinVelocLength = (linVelB-linVelA).dot(m_separatingNormal);
@@ -191,16 +213,25 @@ public:
m_separatingDistance -= projectedMotion;
}
m_cachedTransformA = transA;
m_cachedTransformB = transB;
m_posA = toPosA;
m_posB = toPosB;
m_ornA = toOrnA;
m_ornB = toOrnB;
}
void initSeparatingDistance(const btVector3& separatingVector,btScalar separatingDistance,const btTransform& transA,const btTransform& transB)
{
m_separatingNormal = separatingVector;
m_separatingDistance = separatingDistance;
m_cachedTransformA = transA;
m_cachedTransformB = transB;
const btVector3& toPosA = transA.getOrigin();
const btVector3& toPosB = transB.getOrigin();
btQuaternion toOrnA = transA.getRotation();
btQuaternion toOrnB = transB.getRotation();
m_posA = toPosA;
m_posB = toPosB;
m_ornA = toOrnA;
m_ornB = toOrnB;
}
};