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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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24
src/BulletDynamics/Vehicle/btRaycastVehicle.cpp
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@@ -128,11 +128,10 @@ void btRaycastVehicle::updateWheelTransform( int wheelIndex , bool interpolatedT
void btRaycastVehicle::resetSuspension()
{
std::vector<btWheelInfo>::iterator wheelIt;
for (wheelIt = m_wheelInfo.begin();
!(wheelIt == m_wheelInfo.end());wheelIt++)
int i;
for (i=0;i<m_wheelInfo.size(); i++)
{
btWheelInfo& wheel = *wheelIt;
btWheelInfo& wheel = m_wheelInfo[i];
wheel.m_raycastInfo.m_suspensionLength = wheel.getSuspensionRestLength();
wheel.m_suspensionRelativeVelocity = 0.0f;
@@ -285,23 +284,21 @@ void btRaycastVehicle::updateVehicle( btScalar step )
//
// simulate suspension
//
std::vector<btWheelInfo>::iterator wheelIt;
int i=0;
for (wheelIt = m_wheelInfo.begin();
!(wheelIt == m_wheelInfo.end());wheelIt++,i++)
for (i=0;i<m_wheelInfo.size();i++)
{
btScalar depth;
depth = rayCast( *wheelIt );
depth = rayCast( m_wheelInfo[i]);
}
updateSuspension(step);
for (wheelIt = m_wheelInfo.begin();
!(wheelIt == m_wheelInfo.end());wheelIt++)
for (i=0;i<m_wheelInfo.size();i++)
{
//apply suspension force
btWheelInfo& wheel = *wheelIt;
btWheelInfo& wheel = m_wheelInfo[i];
float suspensionForce = wheel.m_wheelsSuspensionForce;
@@ -322,10 +319,9 @@ void btRaycastVehicle::updateVehicle( btScalar step )
updateFriction( step);
for (wheelIt = m_wheelInfo.begin();
!(wheelIt == m_wheelInfo.end());wheelIt++)
for (i=0;i<m_wheelInfo.size();i++)
{
btWheelInfo& wheel = *wheelIt;
btWheelInfo& wheel = m_wheelInfo[i];
btVector3 relpos = wheel.m_raycastInfo.m_hardPointWS - getRigidBody()->getCenterOfMassPosition();
btVector3 vel = getRigidBody()->getVelocityInLocalPoint( relpos );