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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/btTransformUtil.h
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@@ -35,29 +35,21 @@ inline btVector3 btAabbSupport(const btVector3& halfExtents,const btVector3& sup
inline void btPlaneSpace1 (const btVector3& n, btVector3& p, btVector3& q)
{
if (btFabs(n[2]) > SIMDSQRT12) {
if (btFabs(n.z()) > SIMDSQRT12) {
// choose p in y-z plane
btScalar a = n[1]*n[1] + n[2]*n[2];
btScalar k = btRecipSqrt (a);
p[0] = 0;
p[1] = -n[2]*k;
p[2] = n[1]*k;
p.setValue(0,-n[2]*k,n[1]*k);
// set q = n x p
q[0] = a*k;
q[1] = -n[0]*p[2];
q[2] = n[0]*p[1];
q.setValue(a*k,-n[0]*p[2],n[0]*p[1]);
}
else {
// choose p in x-y plane
btScalar a = n[0]*n[0] + n[1]*n[1];
btScalar a = n.x()*n.x() + n.y()*n.y();
btScalar k = btRecipSqrt (a);
p[0] = -n[1]*k;
p[1] = n[0]*k;
p[2] = 0;
p.setValue(-n.y()*k,n.x()*k,0);
// set q = n x p
q[0] = -n[2]*p[1];
q[1] = n[2]*p[0];
q[2] = a*k;
q.setValue(-n.z()*p.y(),n.z()*p.x(),a*k);
}
}