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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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31
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@@ -52,18 +52,16 @@ struct btOrderIndex
static btOrderIndex gOrder[SEQUENTIAL_IMPULSE_MAX_SOLVER_POINTS];
static unsigned long btSeed2 = 0;
unsigned long btRand2()
unsigned long btSequentialImpulseConstraintSolver::btRand2()
{
btSeed2 = (1664525L*btSeed2 + 1013904223L) & 0xffffffff;
return btSeed2;
m_btSeed2 = (1664525L*m_btSeed2 + 1013904223L) & 0xffffffff;
return m_btSeed2;
}
//See ODE: adam's all-int straightforward(?) dRandInt (0..n-1)
int btRandInt2 (int n)
int btSequentialImpulseConstraintSolver::btRandInt2 (int n)
{
// seems good; xor-fold and modulus
const unsigned long un = n;
@@ -92,15 +90,7 @@ int btRandInt2 (int n)
int btRandIntWrong (int n)
{
btScalar a = btScalar(n) / btScalar(4294967296.0);
// printf("n = %d\n",n);
// printf("a = %f\n",a);
int res = (int) (btScalar(btRand2()) * a);
// printf("res=%d\n",res);
return res;
}
bool MyContactDestroyedCallback(void* userPersistentData)
{
@@ -115,7 +105,8 @@ bool MyContactDestroyedCallback(void* userPersistentData)
btSequentialImpulseConstraintSolver::btSequentialImpulseConstraintSolver()
:m_solverMode(SOLVER_RANDMIZE_ORDER | SOLVER_CACHE_FRIENDLY) //not using SOLVER_USE_WARMSTARTING
:m_solverMode(SOLVER_RANDMIZE_ORDER | SOLVER_CACHE_FRIENDLY), //not using SOLVER_USE_WARMSTARTING,
m_btSeed2(0)
{
gContactDestroyedCallback = &MyContactDestroyedCallback;
@@ -236,9 +227,9 @@ SIMD_FORCE_INLINE btScalar resolveSingleFrictionCacheFriendly(
{
btScalar combinedFriction = contactConstraint.m_friction;
const btScalar combinedFriction = contactConstraint.m_friction;
btScalar limit = appliedNormalImpulse * combinedFriction;
const btScalar limit = appliedNormalImpulse * combinedFriction;
if (appliedNormalImpulse>btScalar(0.))
//friction
@@ -248,9 +239,9 @@ SIMD_FORCE_INLINE btScalar resolveSingleFrictionCacheFriendly(
{
btScalar rel_vel;
btScalar vel1Dotn = contactConstraint.m_contactNormal.dot(body1.m_linearVelocity)
const btScalar vel1Dotn = contactConstraint.m_contactNormal.dot(body1.m_linearVelocity)
+ contactConstraint.m_relpos1CrossNormal.dot(body1.m_angularVelocity);
btScalar vel2Dotn = contactConstraint.m_contactNormal.dot(body2.m_linearVelocity)
const btScalar vel2Dotn = contactConstraint.m_contactNormal.dot(body2.m_linearVelocity)
+ contactConstraint.m_relpos2CrossNormal.dot(body2.m_angularVelocity);
rel_vel = vel1Dotn-vel2Dotn;