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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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20
src/LinearMath/btTransform.h
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@@ -48,17 +48,19 @@ public:
m_origin = t1(t2.m_origin);
}
void multInverseLeft(const btTransform& t1, const btTransform& t2) {
/* void multInverseLeft(const btTransform& t1, const btTransform& t2) {
btVector3 v = t2.m_origin - t1.m_origin;
m_basis = btMultTransposeLeft(t1.m_basis, t2.m_basis);
m_origin = v * t1.m_basis;
}
*/
SIMD_FORCE_INLINE btVector3 operator()(const btVector3& x) const
{
return btVector3(m_basis[0].dot(x) + m_origin[0],
m_basis[1].dot(x) + m_origin[1],
m_basis[2].dot(x) + m_origin[2]);
return btVector3(m_basis[0].dot(x) + m_origin.x(),
m_basis[1].dot(x) + m_origin.y(),
m_basis[2].dot(x) + m_origin.z());
}
SIMD_FORCE_INLINE btVector3 operator*(const btVector3& x) const
@@ -88,17 +90,15 @@ public:
void setFromOpenGLMatrix(const btScalar *m)
{
m_basis.setFromOpenGLSubMatrix(m);
m_origin[0] = m[12];
m_origin[1] = m[13];
m_origin[2] = m[14];
m_origin.setValue(m[12],m[13],m[14]);
}
void getOpenGLMatrix(btScalar *m) const
{
m_basis.getOpenGLSubMatrix(m);
m[12] = m_origin[0];
m[13] = m_origin[1];
m[14] = m_origin[2];
m[12] = m_origin.x();
m[13] = m_origin.y();
m[14] = m_origin.z();
m[15] = btScalar(1.0);
}