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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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7
src/BulletCollision/CollisionShapes/btBoxShape.cpp
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@@ -49,10 +49,9 @@ void btBoxShape::calculateLocalInertia(btScalar mass,btVector3& inertia)
btScalar ly=btScalar(2.)*(halfExtents.y());
btScalar lz=btScalar(2.)*(halfExtents.z());
inertia[0] = mass/(btScalar(12.0)) * (ly*ly + lz*lz);
inertia[1] = mass/(btScalar(12.0)) * (lx*lx + lz*lz);
inertia[2] = mass/(btScalar(12.0)) * (lx*lx + ly*ly);
inertia.setValue(mass/(btScalar(12.0)) * (ly*ly + lz*lz),
mass/(btScalar(12.0)) * (lx*lx + lz*lz),
mass/(btScalar(12.0)) * (lx*lx + ly*ly));
}

2
src/BulletCollision/CollisionShapes/btSphereShape.cpp
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@@ -68,7 +68,7 @@ void btSphereShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& a
void btSphereShape::calculateLocalInertia(btScalar mass,btVector3& inertia)
{
btScalar elem = btScalar(0.4) * mass * getMargin()*getMargin();
inertia[0] = inertia[1] = inertia[2] = elem;
inertia.setValue(elem,elem,elem);
}