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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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99
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
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@@ -22,6 +22,7 @@ subject to the following restrictions:
#include "BulletCollision/CollisionShapes/btCollisionShape.h"
#include "BulletCollision/CollisionDispatch/btSimulationIslandManager.h"
#include "LinearMath/btTransformUtil.h"
#include "LinearMath/btQuickProf.h"
//rigidbody & constraints
#include "BulletDynamics/Dynamics/btRigidBody.h"
@@ -122,14 +123,14 @@ void btDiscreteDynamicsWorld::saveKinematicState(btScalar timeStep)
}
}
void btDiscreteDynamicsWorld::synchronizeMotionStates()
void btDiscreteDynamicsWorld::debugDrawWorld()
{
//debug vehicle wheels
if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawWireframe)
{
int i;
//todo: iterate over awake simulation islands!
for ( int i=0;i<m_collisionObjects.size();i++)
for ( i=0;i<m_collisionObjects.size();i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawWireframe)
@@ -155,6 +156,47 @@ void btDiscreteDynamicsWorld::synchronizeMotionStates()
debugDrawObject(colObj->getWorldTransform(),colObj->getCollisionShape(),color);
}
}
for ( i=0;i<this->m_vehicles.size();i++)
{
for (int v=0;v<m_vehicles[i]->getNumWheels();v++)
{
btVector3 wheelColor(0,255,255);
if (m_vehicles[i]->getWheelInfo(v).m_raycastInfo.m_isInContact)
{
wheelColor.setValue(0,0,255);
} else
{
wheelColor.setValue(255,0,255);
}
btVector3 wheelPosWS = m_vehicles[i]->getWheelInfo(v).m_worldTransform.getOrigin();
btVector3 axle = btVector3(
m_vehicles[i]->getWheelInfo(v).m_worldTransform.getBasis()[0][m_vehicles[i]->getRightAxis()],
m_vehicles[i]->getWheelInfo(v).m_worldTransform.getBasis()[1][m_vehicles[i]->getRightAxis()],
m_vehicles[i]->getWheelInfo(v).m_worldTransform.getBasis()[2][m_vehicles[i]->getRightAxis()]);
//m_vehicles[i]->getWheelInfo(v).m_raycastInfo.m_wheelAxleWS
//debug wheels (cylinders)
m_debugDrawer->drawLine(wheelPosWS,wheelPosWS+axle,wheelColor);
m_debugDrawer->drawLine(wheelPosWS,m_vehicles[i]->getWheelInfo(v).m_raycastInfo.m_contactPointWS,wheelColor);
}
}
}
}
void btDiscreteDynamicsWorld::synchronizeMotionStates()
{
{
//todo: iterate over awake simulation islands!
for ( int i=0;i<m_collisionObjects.size();i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
btRigidBody* body = btRigidBody::upcast(colObj);
if (body && body->getMotionState() && !body->isStaticOrKinematicObject())
{
@@ -178,31 +220,8 @@ void btDiscreteDynamicsWorld::synchronizeMotionStates()
{
for (int v=0;v<m_vehicles[i]->getNumWheels();v++)
{
btVector3 wheelColor(0,255,255);
if (m_vehicles[i]->getWheelInfo(v).m_raycastInfo.m_isInContact)
{
wheelColor.setValue(0,0,255);
} else
{
wheelColor.setValue(255,0,255);
}
//synchronize the wheels with the (interpolated) chassis worldtransform
m_vehicles[i]->updateWheelTransform(v,true);
btVector3 wheelPosWS = m_vehicles[i]->getWheelInfo(v).m_worldTransform.getOrigin();
btVector3 axle = btVector3(
m_vehicles[i]->getWheelInfo(v).m_worldTransform.getBasis()[0][m_vehicles[i]->getRightAxis()],
m_vehicles[i]->getWheelInfo(v).m_worldTransform.getBasis()[1][m_vehicles[i]->getRightAxis()],
m_vehicles[i]->getWheelInfo(v).m_worldTransform.getBasis()[2][m_vehicles[i]->getRightAxis()]);
//m_vehicles[i]->getWheelInfo(v).m_raycastInfo.m_wheelAxleWS
//debug wheels (cylinders)
m_debugDrawer->drawLine(wheelPosWS,wheelPosWS+axle,wheelColor);
m_debugDrawer->drawLine(wheelPosWS,m_vehicles[i]->getWheelInfo(v).m_raycastInfo.m_contactPointWS,wheelColor);
}
}
}
@@ -212,6 +231,10 @@ void btDiscreteDynamicsWorld::synchronizeMotionStates()
int btDiscreteDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps, btScalar fixedTimeStep)
{
startProfiling(timeStep);
PROFILE("stepSimulation");
int numSimulationSubSteps = 0;
if (maxSubSteps)
@@ -262,13 +285,16 @@ int btDiscreteDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps,
synchronizeMotionStates();
CProfileManager::Increment_Frame_Counter();
return numSimulationSubSteps;
}
void btDiscreteDynamicsWorld::internalSingleStepSimulation(btScalar timeStep)
{
startProfiling(timeStep);
PROFILE("internalSingleStepSimulation");
///update aabbs information
updateAabbs();
@@ -306,8 +332,6 @@ void btDiscreteDynamicsWorld::internalSingleStepSimulation(btScalar timeStep)
updateActivationState( timeStep );
}
void btDiscreteDynamicsWorld::setGravity(const btVector3& gravity)
@@ -363,6 +387,7 @@ void btDiscreteDynamicsWorld::addRigidBody(btRigidBody* body, short group, short
void btDiscreteDynamicsWorld::updateVehicles(btScalar timeStep)
{
PROFILE("updateVehicles");
BEGIN_PROFILE("updateVehicles");
for ( int i=0;i<m_vehicles.size();i++)
@@ -375,6 +400,7 @@ void btDiscreteDynamicsWorld::updateVehicles(btScalar timeStep)
void btDiscreteDynamicsWorld::updateActivationState(btScalar timeStep)
{
PROFILE("updateActivationState");
BEGIN_PROFILE("updateActivationState");
for ( int i=0;i<m_collisionObjects.size();i++)
@@ -462,6 +488,7 @@ class btSortConstraintOnIslandPredicate
void btDiscreteDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
{
PROFILE("solveConstraints");
struct InplaceSolverIslandCallback : public btSimulationIslandManager::IslandCallback
{
@@ -569,6 +596,7 @@ void btDiscreteDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
void btDiscreteDynamicsWorld::calculateSimulationIslands()
{
PROFILE("calculateSimulationIslands");
BEGIN_PROFILE("calculateSimulationIslands");
getSimulationIslandManager()->updateActivationState(getCollisionWorld(),getCollisionWorld()->getDispatcher());
@@ -606,7 +634,8 @@ void btDiscreteDynamicsWorld::calculateSimulationIslands()
void btDiscreteDynamicsWorld::updateAabbs()
{
BEGIN_PROFILE("updateAabbs");
PROFILE("updateAabbs");
btVector3 colorvec(1,0,0);
btTransform predictedTrans;
@@ -658,6 +687,7 @@ void btDiscreteDynamicsWorld::updateAabbs()
void btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep)
{
PROFILE("integrateTransforms");
BEGIN_PROFILE("integrateTransforms");
btTransform predictedTrans;
for ( int i=0;i<m_collisionObjects.size();i++)
@@ -680,6 +710,7 @@ void btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep)
void btDiscreteDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
{
PROFILE("predictUnconstraintMotion");
BEGIN_PROFILE("predictUnconstraintMotion");
for ( int i=0;i<m_collisionObjects.size();i++)
{
@@ -705,6 +736,10 @@ void btDiscreteDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
void btDiscreteDynamicsWorld::startProfiling(btScalar timeStep)
{
(void)timeStep;
CProfileManager::Reset();
#ifdef USE_QUICKPROF