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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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62
src/BulletDynamics/Vehicle/btRaycastVehicle.cpp
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@@ -526,15 +526,10 @@ void btRaycastVehicle::updateFriction(btScalar timeStep)
if (!numWheel)
return;
void* mem = btAlignedAlloc(numWheel*sizeof(btVector3),16);
btVector3* forwardWS = new (mem)btVector3[numWheel];
mem = btAlignedAlloc(numWheel*sizeof(btVector3),16);
btVector3* axle = new (mem)btVector3[numWheel];
mem = btAlignedAlloc(numWheel*sizeof(btScalar),16);
btScalar* forwardImpulse = new (mem)btScalar[numWheel];
mem = btAlignedAlloc(numWheel*sizeof(btScalar),16);
btScalar* sideImpulse = new(mem) btScalar[numWheel];
m_forwardWS.resize(numWheel);
m_axle.resize(numWheel);
m_forwardImpulse.resize(numWheel);
m_sideImpulse.resize(numWheel);
int numWheelsOnGround = 0;
@@ -546,8 +541,8 @@ void btRaycastVehicle::updateFriction(btScalar timeStep)
class btRigidBody* groundObject = (class btRigidBody*) wheelInfo.m_raycastInfo.m_groundObject;
if (groundObject)
numWheelsOnGround++;
sideImpulse[i] = btScalar(0.);
forwardImpulse[i] = btScalar(0.);
m_sideImpulse[i] = btScalar(0.);
m_forwardImpulse[i] = btScalar(0.);
}
@@ -566,25 +561,25 @@ void btRaycastVehicle::updateFriction(btScalar timeStep)
const btTransform& wheelTrans = getWheelTransformWS( i );
btMatrix3x3 wheelBasis0 = wheelTrans.getBasis();
axle[i] = btVector3(
m_axle[i] = btVector3(
wheelBasis0[0][m_indexRightAxis],
wheelBasis0[1][m_indexRightAxis],
wheelBasis0[2][m_indexRightAxis]);
const btVector3& surfNormalWS = wheelInfo.m_raycastInfo.m_contactNormalWS;
btScalar proj = axle[i].dot(surfNormalWS);
axle[i] -= surfNormalWS * proj;
axle[i] = axle[i].normalize();
btScalar proj = m_axle[i].dot(surfNormalWS);
m_axle[i] -= surfNormalWS * proj;
m_axle[i] = m_axle[i].normalize();
forwardWS[i] = surfNormalWS.cross(axle[i]);
forwardWS[i].normalize();
m_forwardWS[i] = surfNormalWS.cross(m_axle[i]);
m_forwardWS[i].normalize();
resolveSingleBilateral(*m_chassisBody, wheelInfo.m_raycastInfo.m_contactPointWS,
*groundObject, wheelInfo.m_raycastInfo.m_contactPointWS,
btScalar(0.), axle[i],sideImpulse[i],timeStep);
btScalar(0.), m_axle[i],m_sideImpulse[i],timeStep);
sideImpulse[i] *= sideFrictionStiffness2;
m_sideImpulse[i] *= sideFrictionStiffness2;
}
@@ -613,7 +608,7 @@ void btRaycastVehicle::updateFriction(btScalar timeStep)
{
btScalar defaultRollingFrictionImpulse = 0.f;
btScalar maxImpulse = wheelInfo.m_brake ? wheelInfo.m_brake : defaultRollingFrictionImpulse;
btWheelContactPoint contactPt(m_chassisBody,groundObject,wheelInfo.m_raycastInfo.m_contactPointWS,forwardWS[wheel],maxImpulse);
btWheelContactPoint contactPt(m_chassisBody,groundObject,wheelInfo.m_raycastInfo.m_contactPointWS,m_forwardWS[wheel],maxImpulse);
rollingFriction = calcRollingFriction(contactPt);
}
}
@@ -623,7 +618,7 @@ void btRaycastVehicle::updateFriction(btScalar timeStep)
forwardImpulse[wheel] = btScalar(0.);
m_forwardImpulse[wheel] = btScalar(0.);
m_wheelInfo[wheel].m_skidInfo= btScalar(1.);
if (groundObject)
@@ -636,10 +631,10 @@ void btRaycastVehicle::updateFriction(btScalar timeStep)
btScalar maximpSquared = maximp * maximpSide;
forwardImpulse[wheel] = rollingFriction;//wheelInfo.m_engineForce* timeStep;
m_forwardImpulse[wheel] = rollingFriction;//wheelInfo.m_engineForce* timeStep;
btScalar x = (forwardImpulse[wheel] ) * fwdFactor;
btScalar y = (sideImpulse[wheel] ) * sideFactor;
btScalar x = (m_forwardImpulse[wheel] ) * fwdFactor;
btScalar y = (m_sideImpulse[wheel] ) * sideFactor;
btScalar impulseSquared = (x*x + y*y);
@@ -663,12 +658,12 @@ void btRaycastVehicle::updateFriction(btScalar timeStep)
{
for (int wheel = 0;wheel < getNumWheels(); wheel++)
{
if (sideImpulse[wheel] != btScalar(0.))
if (m_sideImpulse[wheel] != btScalar(0.))
{
if (m_wheelInfo[wheel].m_skidInfo< btScalar(1.))
{
forwardImpulse[wheel] *= m_wheelInfo[wheel].m_skidInfo;
sideImpulse[wheel] *= m_wheelInfo[wheel].m_skidInfo;
m_forwardImpulse[wheel] *= m_wheelInfo[wheel].m_skidInfo;
m_sideImpulse[wheel] *= m_wheelInfo[wheel].m_skidInfo;
}
}
}
@@ -683,11 +678,11 @@ void btRaycastVehicle::updateFriction(btScalar timeStep)
btVector3 rel_pos = wheelInfo.m_raycastInfo.m_contactPointWS -
m_chassisBody->getCenterOfMassPosition();
if (forwardImpulse[wheel] != btScalar(0.))
if (m_forwardImpulse[wheel] != btScalar(0.))
{
m_chassisBody->applyImpulse(forwardWS[wheel]*(forwardImpulse[wheel]),rel_pos);
m_chassisBody->applyImpulse(m_forwardWS[wheel]*(m_forwardImpulse[wheel]),rel_pos);
}
if (sideImpulse[wheel] != btScalar(0.))
if (m_sideImpulse[wheel] != btScalar(0.))
{
class btRigidBody* groundObject = (class btRigidBody*) m_wheelInfo[wheel].m_raycastInfo.m_groundObject;
@@ -695,7 +690,7 @@ void btRaycastVehicle::updateFriction(btScalar timeStep)
groundObject->getCenterOfMassPosition();
btVector3 sideImp = axle[wheel] * sideImpulse[wheel];
btVector3 sideImp = m_axle[wheel] * m_sideImpulse[wheel];
rel_pos[2] *= wheelInfo.m_rollInfluence;
m_chassisBody->applyImpulse(sideImp,rel_pos);
@@ -706,10 +701,7 @@ void btRaycastVehicle::updateFriction(btScalar timeStep)
}
}
btAlignedFree(forwardWS);
btAlignedFree(axle);
btAlignedFree(forwardImpulse);
btAlignedFree(sideImpulse);
}