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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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32
Extras/quickstep/OdeConstraintSolver.cpp
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@@ -155,15 +155,17 @@ int OdeConstraintSolver::ConvertBody(btRigidBody* orgBody,OdeSolverBody** bodies
return -1;
}
if (orgBody->getCompanionId()>=0)
{
return orgBody->getCompanionId();
}
//first try to find
int i,j;
for (i=0;i<numBodies;i++)
{
if (bodies[i]->m_originalBody == orgBody)
return i;
}
//if not found, create a new body
OdeSolverBody* body = bodies[numBodies] = &gSolverBodyArray[numBodies];
orgBody->setCompanionId(numBodies);
numBodies++;
body->m_originalBody = orgBody;
@@ -186,23 +188,23 @@ int OdeConstraintSolver::ConvertBody(btRigidBody* orgBody,OdeSolverBody** bodies
body->m_I[i+4*j] = 0.f;
}
}
body->m_invI[0+4*0] = orgBody->getInvInertiaDiagLocal()[0];
body->m_invI[1+4*1] = orgBody->getInvInertiaDiagLocal()[1];
body->m_invI[2+4*2] = orgBody->getInvInertiaDiagLocal()[2];
body->m_invI[0+4*0] = orgBody->getInvInertiaDiagLocal().x();
body->m_invI[1+4*1] = orgBody->getInvInertiaDiagLocal().y();
body->m_invI[2+4*2] = orgBody->getInvInertiaDiagLocal().z();
body->m_I[0+0*4] = 1.f/orgBody->getInvInertiaDiagLocal()[0];
body->m_I[1+1*4] = 1.f/orgBody->getInvInertiaDiagLocal()[1];
body->m_I[2+2*4] = 1.f/orgBody->getInvInertiaDiagLocal()[2];
body->m_I[0+0*4] = 1.f/orgBody->getInvInertiaDiagLocal().x();
body->m_I[1+1*4] = 1.f/orgBody->getInvInertiaDiagLocal().y();
body->m_I[2+2*4] = 1.f/orgBody->getInvInertiaDiagLocal().z();
dQuaternion q;
q[1] = orgBody->getOrientation()[0];
q[2] = orgBody->getOrientation()[1];
q[3] = orgBody->getOrientation()[2];
q[0] = orgBody->getOrientation()[3];
q[1] = orgBody->getOrientation().x();
q[2] = orgBody->getOrientation().y();
q[3] = orgBody->getOrientation().z();
q[0] = orgBody->getOrientation().w();
dRfromQ1(body->m_R,q);

30
Extras/quickstep/OdeContactJoint.cpp
View File

@@ -96,9 +96,9 @@ void ContactJoint::GetInfo2(Info2 *info)
btManifoldPoint& point = m_manifold->getContactPoint(m_index);
normal[0] = swapFactor*point.m_normalWorldOnB[0];
normal[1] = swapFactor*point.m_normalWorldOnB[1];
normal[2] = swapFactor*point.m_normalWorldOnB[2];
normal[0] = swapFactor*point.m_normalWorldOnB.x();
normal[1] = swapFactor*point.m_normalWorldOnB.y();
normal[2] = swapFactor*point.m_normalWorldOnB.z();
normal[3] = 0; // @@@ hmmm
assert(m_body0);
@@ -107,9 +107,9 @@ void ContactJoint::GetInfo2(Info2 *info)
{
relativePositionA = point.getPositionWorldOnA() - m_body0->m_centerOfMassPosition;
dVector3 c1;
c1[0] = relativePositionA[0];
c1[1] = relativePositionA[1];
c1[2] = relativePositionA[2];
c1[0] = relativePositionA.x();
c1[1] = relativePositionA.y();
c1[2] = relativePositionA.z();
// set jacobian for normal
info->J1l[0] = normal[0];
@@ -131,9 +131,9 @@ void ContactJoint::GetInfo2(Info2 *info)
// for (i=0; i<3; i++) c2[i] = j->contact.geom.pos[i] -
// j->node[1].body->pos[i];
c2[0] = relativePositionB[0];
c2[1] = relativePositionB[1];
c2[2] = relativePositionB[2];
c2[0] = relativePositionB.x();
c2[1] = relativePositionB.y();
c2[2] = relativePositionB.z();
info->J2l[0] = -normal[0];
info->J2l[1] = -normal[1];
@@ -176,14 +176,14 @@ void ContactJoint::GetInfo2(Info2 *info)
dVector3 t1,t2; // two vectors tangential to normal
dVector3 c1;
c1[0] = relativePositionA[0];
c1[1] = relativePositionA[1];
c1[2] = relativePositionA[2];
c1[0] = relativePositionA.x();
c1[1] = relativePositionA.y();
c1[2] = relativePositionA.z();
dVector3 c2;
c2[0] = relativePositionB[0];
c2[1] = relativePositionB[1];
c2[2] = relativePositionB[2];
c2[0] = relativePositionB.x();
c2[1] = relativePositionB.y();
c2[2] = relativePositionB.z();
//combined friction is available in the contact point
float friction = 0.25;//FRICTION_CONSTANT ;//* m_body0->m_friction * m_body1->m_friction;