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Replaced most STL std::vector with btAlignedObjectArray.

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Same interface but less features (push_back, pop_back, clear, size, [] etc).
To prepare for SIMD/SSE code: Added 		#define ATTRIBUTE_ALIGNED16(a) __declspec(align(16)) a
This commit is contained in:
ejcoumans
2006-12-06 04:22:36 +00:00
parent 2f21514f3d
commit bf591b44ec
29 changed files with 363 additions and 72 deletions
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2
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
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@@ -261,7 +261,7 @@ void btDiscreteDynamicsWorld::internalSingleStepSimulation(float timeStep)
dispatchInfo.m_debugDraw = getDebugDrawer();
///perform collision detection
performDiscreteCollisionDetection(dispatchInfo);
performDiscreteCollisionDetection();
calculateSimulationIslands();

5
src/BulletDynamics/Dynamics/btRigidBody.cpp
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@@ -110,16 +110,17 @@ btRigidBody::btRigidBody( float mass,const btTransform& worldTransform,btCollisi
#endif //OBSOLETE_MOTIONSTATE_LESS
#define EXPERIMENTAL_JITTER_REMOVAL 1
//#define EXPERIMENTAL_JITTER_REMOVAL 1
#ifdef EXPERIMENTAL_JITTER_REMOVAL
//Bullet 2.20b has experimental damping code to reduce jitter just before objects fall asleep/deactivate
//doesn't work very well yet (value 0 disabled this damping)
//note there this influences deactivation thresholds!
float gClippedAngvelThresholdSqr = 0.01f;
float gClippedLinearThresholdSqr = 0.01f;
float gJitterVelocityDampingFactor = 1.f;
#endif //EXPERIMENTAL_JITTER_REMOVAL
float gJitterVelocityDampingFactor = 1.f;
void btRigidBody::predictIntegratedTransform(btScalar timeStep,btTransform& predictedTransform)
{

4
src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp
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@@ -46,13 +46,13 @@ int btSimpleDynamicsWorld::stepSimulation( float timeStep,int maxSubSteps, floa
///apply gravity, predict motion
predictUnconstraintMotion(timeStep);
btDispatcherInfo dispatchInfo;
btDispatcherInfo& dispatchInfo = getDispatchInfo();
dispatchInfo.m_timeStep = timeStep;
dispatchInfo.m_stepCount = 0;
dispatchInfo.m_debugDraw = getDebugDrawer();
///perform collision detection
performDiscreteCollisionDetection(dispatchInfo );
performDiscreteCollisionDetection();
///solve contact constraints
int numManifolds = m_dispatcher1->getNumManifolds();