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Get rid of btSolverBody and use btRigidBody directly. btSolverBody didn't improve performance after all, due to random-access

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Tweak the BenchmarkDemo a bit: 

1) disable deactivation in graphical mode
2) add some settings that increase performance in the BenchmarkDemo2 (1000 stack) from 35ms to 15ms on this quad core (at the cost of a bit of quality)
This commit is contained in:
erwin.coumans
2010-02-11 20:30:56 +00:00
parent bb8d1b11df
commit d4c3633405
26 changed files with 348 additions and 805 deletions
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38
src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp
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@@ -304,7 +304,7 @@ void btConeTwistConstraint::buildJacobian()
void btConeTwistConstraint::solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar timeStep)
void btConeTwistConstraint::solveConstraintObsolete(btRigidBody& bodyA,btRigidBody& bodyB,btScalar timeStep)
{
#ifndef __SPU__
if (m_useSolveConstraintObsolete)
@@ -321,9 +321,9 @@ void btConeTwistConstraint::solveConstraintObsolete(btSolverBody& bodyA,btSolver
btVector3 rel_pos2 = pivotBInW - m_rbB.getCenterOfMassPosition();
btVector3 vel1;
bodyA.getVelocityInLocalPointObsolete(rel_pos1,vel1);
bodyA.internalGetVelocityInLocalPointObsolete(rel_pos1,vel1);
btVector3 vel2;
bodyB.getVelocityInLocalPointObsolete(rel_pos2,vel2);
bodyB.internalGetVelocityInLocalPointObsolete(rel_pos2,vel2);
btVector3 vel = vel1 - vel2;
for (int i=0;i<3;i++)
@@ -340,8 +340,8 @@ void btConeTwistConstraint::solveConstraintObsolete(btSolverBody& bodyA,btSolver
btVector3 ftorqueAxis1 = rel_pos1.cross(normal);
btVector3 ftorqueAxis2 = rel_pos2.cross(normal);
bodyA.applyImpulse(normal*m_rbA.getInvMass(), m_rbA.getInvInertiaTensorWorld()*ftorqueAxis1,impulse);
bodyB.applyImpulse(normal*m_rbB.getInvMass(), m_rbB.getInvInertiaTensorWorld()*ftorqueAxis2,-impulse);
bodyA.internalApplyImpulse(normal*m_rbA.getInvMass(), m_rbA.getInvInertiaTensorWorld()*ftorqueAxis1,impulse);
bodyB.internalApplyImpulse(normal*m_rbB.getInvMass(), m_rbB.getInvInertiaTensorWorld()*ftorqueAxis2,-impulse);
}
}
@@ -352,8 +352,8 @@ void btConeTwistConstraint::solveConstraintObsolete(btSolverBody& bodyA,btSolver
// compute current and predicted transforms
btTransform trACur = m_rbA.getCenterOfMassTransform();
btTransform trBCur = m_rbB.getCenterOfMassTransform();
btVector3 omegaA; bodyA.getAngularVelocity(omegaA);
btVector3 omegaB; bodyB.getAngularVelocity(omegaB);
btVector3 omegaA; bodyA.internalGetAngularVelocity(omegaA);
btVector3 omegaB; bodyB.internalGetAngularVelocity(omegaB);
btTransform trAPred; trAPred.setIdentity();
btVector3 zerovec(0,0,0);
btTransformUtil::integrateTransform(
@@ -427,15 +427,15 @@ void btConeTwistConstraint::solveConstraintObsolete(btSolverBody& bodyA,btSolver
btScalar impulseMag = impulse.length();
btVector3 impulseAxis = impulse / impulseMag;
bodyA.applyImpulse(btVector3(0,0,0), m_rbA.getInvInertiaTensorWorld()*impulseAxis, impulseMag);
bodyB.applyImpulse(btVector3(0,0,0), m_rbB.getInvInertiaTensorWorld()*impulseAxis, -impulseMag);
bodyA.internalApplyImpulse(btVector3(0,0,0), m_rbA.getInvInertiaTensorWorld()*impulseAxis, impulseMag);
bodyB.internalApplyImpulse(btVector3(0,0,0), m_rbB.getInvInertiaTensorWorld()*impulseAxis, -impulseMag);
}
}
else if (m_damping > SIMD_EPSILON) // no motor: do a little damping
{
btVector3 angVelA; bodyA.getAngularVelocity(angVelA);
btVector3 angVelB; bodyB.getAngularVelocity(angVelB);
btVector3 angVelA; bodyA.internalGetAngularVelocity(angVelA);
btVector3 angVelB; bodyB.internalGetAngularVelocity(angVelB);
btVector3 relVel = angVelB - angVelA;
if (relVel.length2() > SIMD_EPSILON)
{
@@ -447,8 +447,8 @@ void btConeTwistConstraint::solveConstraintObsolete(btSolverBody& bodyA,btSolver
btScalar impulseMag = impulse.length();
btVector3 impulseAxis = impulse / impulseMag;
bodyA.applyImpulse(btVector3(0,0,0), m_rbA.getInvInertiaTensorWorld()*impulseAxis, impulseMag);
bodyB.applyImpulse(btVector3(0,0,0), m_rbB.getInvInertiaTensorWorld()*impulseAxis, -impulseMag);
bodyA.internalApplyImpulse(btVector3(0,0,0), m_rbA.getInvInertiaTensorWorld()*impulseAxis, impulseMag);
bodyB.internalApplyImpulse(btVector3(0,0,0), m_rbB.getInvInertiaTensorWorld()*impulseAxis, -impulseMag);
}
}
@@ -456,9 +456,9 @@ void btConeTwistConstraint::solveConstraintObsolete(btSolverBody& bodyA,btSolver
{
///solve angular part
btVector3 angVelA;
bodyA.getAngularVelocity(angVelA);
bodyA.internalGetAngularVelocity(angVelA);
btVector3 angVelB;
bodyB.getAngularVelocity(angVelB);
bodyB.internalGetAngularVelocity(angVelB);
// solve swing limit
if (m_solveSwingLimit)
@@ -487,8 +487,8 @@ void btConeTwistConstraint::solveConstraintObsolete(btSolverBody& bodyA,btSolver
impulseMag = impulse.length();
btVector3 noTwistSwingAxis = impulse / impulseMag;
bodyA.applyImpulse(btVector3(0,0,0), m_rbA.getInvInertiaTensorWorld()*noTwistSwingAxis, impulseMag);
bodyB.applyImpulse(btVector3(0,0,0), m_rbB.getInvInertiaTensorWorld()*noTwistSwingAxis, -impulseMag);
bodyA.internalApplyImpulse(btVector3(0,0,0), m_rbA.getInvInertiaTensorWorld()*noTwistSwingAxis, impulseMag);
bodyB.internalApplyImpulse(btVector3(0,0,0), m_rbB.getInvInertiaTensorWorld()*noTwistSwingAxis, -impulseMag);
}
@@ -508,8 +508,8 @@ void btConeTwistConstraint::solveConstraintObsolete(btSolverBody& bodyA,btSolver
btVector3 impulse = m_twistAxis * impulseMag;
bodyA.applyImpulse(btVector3(0,0,0), m_rbA.getInvInertiaTensorWorld()*m_twistAxis,impulseMag);
bodyB.applyImpulse(btVector3(0,0,0), m_rbB.getInvInertiaTensorWorld()*m_twistAxis,-impulseMag);
bodyA.internalApplyImpulse(btVector3(0,0,0), m_rbA.getInvInertiaTensorWorld()*m_twistAxis,impulseMag);
bodyB.internalApplyImpulse(btVector3(0,0,0), m_rbB.getInvInertiaTensorWorld()*m_twistAxis,-impulseMag);
}
}
}