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Attempts to improve performance. Not much gain yet, but good to experiment what has effect and what hasn't.

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Added 'DO_BENCHMARK_PYRAMID' to CcdPhysicsDemo.
This commit is contained in:
ejcoumans
2007-03-20 20:12:23 +00:00
parent f8fe7e8f2d
commit c1a54d9edc
19 changed files with 356 additions and 234 deletions
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2
Extras/AlternativeCollisionAlgorithms/BoxBoxCollisionAlgorithm.cpp
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@@ -55,6 +55,8 @@ void BoxBoxCollisionAlgorithm::processCollision (btCollisionObject* body0,btColl
/// report a contact. internally this will be kept persistent, and contact reduction is done
resultOut->setPersistentManifold(m_manifoldPtr);
m_manifoldPtr->clearManifold();
btDiscreteCollisionDetectorInterface::ClosestPointInput input;
input.m_maximumDistanceSquared = 1e30f;
input.m_transformA = body0->getWorldTransform();

24
Extras/AlternativeCollisionAlgorithms/BoxBoxDetector.cpp
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@@ -268,9 +268,7 @@ int dBoxBox2 (const btVector3& p1, const dMatrix3 R1,
int i,j,invert_normal,code;
// get vector from centers of box 1 to box 2, relative to box 1
p[0] = p2[0] - p1[0];
p[1] = p2[1] - p1[1];
p[2] = p2[2] - p1[2];
p = p2 - p1;
dMULTIPLY1_331 (pp,R1,p); // get pp = p relative to body 1
// get side lengths / 2
@@ -646,20 +644,26 @@ void BoxBoxDetector::getClosestPoints(const ClosestPointInput& input,Result& out
dMatrix3 R1;
dMatrix3 R2;
for (int i=0;i<3;i++)
for (int j=0;j<3;j++)
{
for (int j=0;j<3;j++)
{
R1[i+4*j] = transformA.getBasis()[j][i];
R2[i+4*j] = transformB.getBasis()[j][i];
}
R1[0+4*j] = transformA.getBasis()[j].x();
R2[0+4*j] = transformB.getBasis()[j].x();
R1[1+4*j] = transformA.getBasis()[j].y();
R2[1+4*j] = transformB.getBasis()[j].y();
R1[2+4*j] = transformA.getBasis()[j].z();
R2[2+4*j] = transformB.getBasis()[j].z();
}
btVector3 normal;
btScalar depth;
int return_code;
int maxc = 10;
int maxc = 4;
dBoxBox2 (transformA.getOrigin(),