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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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44
src/LinearMath/btQuaternion.h
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@@ -68,13 +68,13 @@ public:
btQuaternion& operator+=(const btQuaternion& q)
{
m_x += q.x(); m_y += q.y(); m_z += q.z(); m_unusedW += q[3];
m_x += q.x(); m_y += q.y(); m_z += q.z(); m_unusedW += q.m_unusedW;
return *this;
}
btQuaternion& operator-=(const btQuaternion& q)
{
m_x -= q.x(); m_y -= q.y(); m_z -= q.z(); m_unusedW -= q[3];
m_x -= q.x(); m_y -= q.y(); m_z -= q.z(); m_unusedW -= q.m_unusedW;
return *this;
}
@@ -87,16 +87,16 @@ public:
btQuaternion& operator*=(const btQuaternion& q)
{
setValue(m_unusedW * q.x() + m_x * q[3] + m_y * q.z() - m_z * q.y(),
m_unusedW * q.y() + m_y * q[3] + m_z * q.x() - m_x * q.z(),
m_unusedW * q.z() + m_z * q[3] + m_x * q.y() - m_y * q.x(),
m_unusedW * q[3] - m_x * q.x() - m_y * q.y() - m_z * q.z());
setValue(m_unusedW * q.x() + m_x * q.m_unusedW + m_y * q.z() - m_z * q.y(),
m_unusedW * q.y() + m_y * q.m_unusedW + m_z * q.x() - m_x * q.z(),
m_unusedW * q.z() + m_z * q.m_unusedW + m_x * q.y() - m_y * q.x(),
m_unusedW * q.m_unusedW - m_x * q.x() - m_y * q.y() - m_z * q.z());
return *this;
}
btScalar dot(const btQuaternion& q) const
{
return m_x * q.x() + m_y * q.y() + m_z * q.z() + m_unusedW * q[3];
return m_x * q.x() + m_y * q.y() + m_z * q.z() + m_unusedW * q.m_unusedW;
}
btScalar length2() const
@@ -165,20 +165,20 @@ public:
operator+(const btQuaternion& q2) const
{
const btQuaternion& q1 = *this;
return btQuaternion(q1.x() + q2.x(), q1.y() + q2.y(), q1.z() + q2.z(), q1[3] + q2[3]);
return btQuaternion(q1.x() + q2.x(), q1.y() + q2.y(), q1.z() + q2.z(), q1.m_unusedW + q2.m_unusedW);
}
SIMD_FORCE_INLINE btQuaternion
operator-(const btQuaternion& q2) const
{
const btQuaternion& q1 = *this;
return btQuaternion(q1.x() - q2.x(), q1.y() - q2.y(), q1.z() - q2.z(), q1[3] - q2[3]);
return btQuaternion(q1.x() - q2.x(), q1.y() - q2.y(), q1.z() - q2.z(), q1.m_unusedW - q2.m_unusedW);
}
SIMD_FORCE_INLINE btQuaternion operator-() const
{
const btQuaternion& q2 = *this;
return btQuaternion( - q2.x(), - q2.y(), - q2.z(), - q2[3]);
return btQuaternion( - q2.x(), - q2.y(), - q2.z(), - q2.m_unusedW);
}
SIMD_FORCE_INLINE btQuaternion farthest( const btQuaternion& qd) const
@@ -202,7 +202,7 @@ public:
return btQuaternion((m_x * s0 + q.x() * s1) * d,
(m_y * s0 + q.y() * s1) * d,
(m_z * s0 + q.z() * s1) * d,
(m_unusedW * s0 + q[3] * s1) * d);
(m_unusedW * s0 + q.m_unusedW * s1) * d);
}
else
{
@@ -219,7 +219,7 @@ public:
SIMD_FORCE_INLINE btQuaternion
operator-(const btQuaternion& q)
{
return btQuaternion(-q.x(), -q.y(), -q.z(), -q[3]);
return btQuaternion(-q.x(), -q.y(), -q.z(), -q.w());
}
@@ -227,27 +227,27 @@ operator-(const btQuaternion& q)
SIMD_FORCE_INLINE btQuaternion
operator*(const btQuaternion& q1, const btQuaternion& q2) {
return btQuaternion(q1[3] * q2.x() + q1.x() * q2[3] + q1.y() * q2.z() - q1.z() * q2.y(),
q1[3] * q2.y() + q1.y() * q2[3] + q1.z() * q2.x() - q1.x() * q2.z(),
q1[3] * q2.z() + q1.z() * q2[3] + q1.x() * q2.y() - q1.y() * q2.x(),
q1[3] * q2[3] - q1.x() * q2.x() - q1.y() * q2.y() - q1.z() * q2.z());
return btQuaternion(q1.w() * q2.x() + q1.x() * q2.w() + q1.y() * q2.z() - q1.z() * q2.y(),
q1.w() * q2.y() + q1.y() * q2.w() + q1.z() * q2.x() - q1.x() * q2.z(),
q1.w() * q2.z() + q1.z() * q2.w() + q1.x() * q2.y() - q1.y() * q2.x(),
q1.w() * q2.w() - q1.x() * q2.x() - q1.y() * q2.y() - q1.z() * q2.z());
}
SIMD_FORCE_INLINE btQuaternion
operator*(const btQuaternion& q, const btVector3& w)
{
return btQuaternion( q[3] * w.x() + q.y() * w.z() - q.z() * w.y(),
q[3] * w.y() + q.z() * w.x() - q.x() * w.z(),
q[3] * w.z() + q.x() * w.y() - q.y() * w.x(),
return btQuaternion( q.w() * w.x() + q.y() * w.z() - q.z() * w.y(),
q.w() * w.y() + q.z() * w.x() - q.x() * w.z(),
q.w() * w.z() + q.x() * w.y() - q.y() * w.x(),
-q.x() * w.x() - q.y() * w.y() - q.z() * w.z());
}
SIMD_FORCE_INLINE btQuaternion
operator*(const btVector3& w, const btQuaternion& q)
{
return btQuaternion( w.x() * q[3] + w.y() * q.z() - w.z() * q.y(),
w.y() * q[3] + w.z() * q.x() - w.x() * q.z(),
w.z() * q[3] + w.x() * q.y() - w.y() * q.x(),
return btQuaternion( w.x() * q.w() + w.y() * q.z() - w.z() * q.y(),
w.y() * q.w() + w.z() * q.x() - w.x() * q.z(),
w.z() * q.w() + w.x() * q.y() - w.y() * q.x(),
-w.x() * q.x() - w.y() * q.y() - w.z() * q.z());
}