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added hierarchical profiling (needs more cleanup)

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avoid dynamic allocations in btRaycastVehicle
This commit is contained in:
ejcoumans
2007-11-21 03:00:40 +00:00
parent 89382c0dc4
commit cab75b53ec
19 changed files with 695 additions and 128 deletions
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9
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@@ -33,6 +33,7 @@ subject to the following restrictions:
#include "btSolverBody.h"
#include "btSolverConstraint.h"
#include "LinearMath/btAlignedObjectArray.h"
#ifdef USE_PROFILE
@@ -415,6 +416,7 @@ void btSequentialImpulseConstraintSolver::addFrictionConstraint(const btVector3&
btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc)
{
PROFILE("solveGroupCacheFriendlySetup");
(void)stackAlloc;
(void)debugDrawer;
@@ -718,6 +720,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc)
{
PROFILE("solveGroupCacheFriendlyIterations");
BEGIN_PROFILE("solveConstraintsIterations");
int numConstraintPool = m_tmpSolverConstraintPool.size();
int numFrictionPool = m_tmpSolverFrictionConstraintPool.size();
@@ -750,6 +753,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations(
for (j=0;j<numConstraints;j++)
{
PROFILE("solveConstraint");
btTypedConstraint* constraint = constraints[j];
///todo: use solver bodies, so we don't need to copy from/to btRigidBody
@@ -776,9 +780,11 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations(
}
{
PROFILE("resolveSingleCollisionCombinedCacheFriendly");
int numPoolConstraints = m_tmpSolverConstraintPool.size();
for (j=0;j<numPoolConstraints;j++)
{
const btSolverConstraint& solveManifold = m_tmpSolverConstraintPool[m_orderTmpConstraintPool[j]];
resolveSingleCollisionCombinedCacheFriendly(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],
m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold,infoGlobal);
@@ -786,6 +792,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations(
}
{
PROFILE("resolveSingleFrictionCacheFriendly");
int numFrictionPoolConstraints = m_tmpSolverFrictionConstraintPool.size();
for (j=0;j<numFrictionPoolConstraints;j++)
@@ -850,7 +857,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendly(btCollisio
/// btSequentialImpulseConstraintSolver Sequentially applies impulses
btScalar btSequentialImpulseConstraintSolver::solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc,btDispatcher* dispatcher)
{
PROFILE("solveGroup");
if (getSolverMode() & SOLVER_CACHE_FRIENDLY)
{
//you need to provide at least some bodies