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Improved performance of convex collision shapes, cache local AABB instead of recomputation. This fixes issue with very slow performance in larger .bsp levels.

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Moved some asserts into 'btFullAssert', which is disabled by default (see btScalar.h to enable them). This is to speed-up debugging.
This commit is contained in:
ejcoumans
2007-02-26 04:59:05 +00:00
parent 559c4e85d8
commit b73900bc60
18 changed files with 102 additions and 21 deletions
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7
src/LinearMath/btTransformUtil.h
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@@ -74,9 +74,9 @@ public:
predictedTransform.setOrigin(curTrans.getOrigin() + linvel * timeStep);
// #define QUATERNION_DERIVATIVE
#ifdef QUATERNION_DERIVATIVE
btQuaternion orn = curTrans.getRotation();
orn += (angvel * orn) * (timeStep * btScalar(0.5));
orn.normalize();
btQuaternion predictedOrn = curTrans.getRotation();
predictedOrn += (angvel * predictedOrn) * (timeStep * btScalar(0.5));
predictedOrn.normalize();
#else
//exponential map
btVector3 axis;
@@ -101,6 +101,7 @@ public:
btQuaternion orn0 = curTrans.getRotation();
btQuaternion predictedOrn = dorn * orn0;
predictedOrn.normalize();
#endif
predictedTransform.setRotation(predictedOrn);
}