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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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82
src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
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@@ -148,7 +148,7 @@ int btRotationalLimitMotor::testLimitValue(btScalar test_value)
btScalar btRotationalLimitMotor::solveAngularLimits(
btScalar timeStep,btVector3& axis,btScalar jacDiagABInv,
btRigidBody * body0, btSolverBody& bodyA, btRigidBody * body1, btSolverBody& bodyB)
btRigidBody * body0, btRigidBody * body1 )
{
if (needApplyTorques()==false) return 0.0f;
@@ -167,9 +167,9 @@ btScalar btRotationalLimitMotor::solveAngularLimits(
// current velocity difference
btVector3 angVelA;
bodyA.getAngularVelocity(angVelA);
body0->internalGetAngularVelocity(angVelA);
btVector3 angVelB;
bodyB.getAngularVelocity(angVelB);
body1->internalGetAngularVelocity(angVelB);
btVector3 vel_diff;
vel_diff = angVelA-angVelB;
@@ -220,8 +220,8 @@ btScalar btRotationalLimitMotor::solveAngularLimits(
//body0->applyTorqueImpulse(motorImp);
//body1->applyTorqueImpulse(-motorImp);
bodyA.applyImpulse(btVector3(0,0,0), body0->getInvInertiaTensorWorld()*axis,clippedMotorImpulse);
bodyB.applyImpulse(btVector3(0,0,0), body1->getInvInertiaTensorWorld()*axis,-clippedMotorImpulse);
body0->internalApplyImpulse(btVector3(0,0,0), body0->getInvInertiaTensorWorld()*axis,clippedMotorImpulse);
body1->internalApplyImpulse(btVector3(0,0,0), body1->getInvInertiaTensorWorld()*axis,-clippedMotorImpulse);
return clippedMotorImpulse;
@@ -271,8 +271,8 @@ int btTranslationalLimitMotor::testLimitValue(int limitIndex, btScalar test_valu
btScalar btTranslationalLimitMotor::solveLinearAxis(
btScalar timeStep,
btScalar jacDiagABInv,
btRigidBody& body1,btSolverBody& bodyA,const btVector3 &pointInA,
btRigidBody& body2,btSolverBody& bodyB,const btVector3 &pointInB,
btRigidBody& body1,const btVector3 &pointInA,
btRigidBody& body2,const btVector3 &pointInB,
int limit_index,
const btVector3 & axis_normal_on_a,
const btVector3 & anchorPos)
@@ -285,9 +285,9 @@ btScalar btTranslationalLimitMotor::solveLinearAxis(
btVector3 rel_pos2 = anchorPos - body2.getCenterOfMassPosition();
btVector3 vel1;
bodyA.getVelocityInLocalPointObsolete(rel_pos1,vel1);
body1.internalGetVelocityInLocalPointObsolete(rel_pos1,vel1);
btVector3 vel2;
bodyB.getVelocityInLocalPointObsolete(rel_pos2,vel2);
body2.internalGetVelocityInLocalPointObsolete(rel_pos2,vel2);
btVector3 vel = vel1 - vel2;
btScalar rel_vel = axis_normal_on_a.dot(vel);
@@ -345,8 +345,8 @@ btScalar btTranslationalLimitMotor::solveLinearAxis(
btVector3 ftorqueAxis1 = rel_pos1.cross(axis_normal_on_a);
btVector3 ftorqueAxis2 = rel_pos2.cross(axis_normal_on_a);
bodyA.applyImpulse(axis_normal_on_a*body1.getInvMass(), body1.getInvInertiaTensorWorld()*ftorqueAxis1,normalImpulse);
bodyB.applyImpulse(axis_normal_on_a*body2.getInvMass(), body2.getInvInertiaTensorWorld()*ftorqueAxis2,-normalImpulse);
body1.internalApplyImpulse(axis_normal_on_a*body1.getInvMass(), body1.getInvInertiaTensorWorld()*ftorqueAxis1,normalImpulse);
body2.internalApplyImpulse(axis_normal_on_a*body2.getInvMass(), body2.getInvInertiaTensorWorld()*ftorqueAxis2,-normalImpulse);
@@ -677,66 +677,6 @@ int btGeneric6DofConstraint::setAngularLimits(btConstraintInfo2 *info, int row_o
void btGeneric6DofConstraint::solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar timeStep)
{
if (m_useSolveConstraintObsolete)
{
m_timeStep = timeStep;
//calculateTransforms();
int i;
// linear
btVector3 pointInA = m_calculatedTransformA.getOrigin();
btVector3 pointInB = m_calculatedTransformB.getOrigin();
btScalar jacDiagABInv;
btVector3 linear_axis;
for (i=0;i<3;i++)
{
if (m_linearLimits.isLimited(i))
{
jacDiagABInv = btScalar(1.) / m_jacLinear[i].getDiagonal();
if (m_useLinearReferenceFrameA)
linear_axis = m_calculatedTransformA.getBasis().getColumn(i);
else
linear_axis = m_calculatedTransformB.getBasis().getColumn(i);
m_linearLimits.solveLinearAxis(
m_timeStep,
jacDiagABInv,
m_rbA,bodyA,pointInA,
m_rbB,bodyB,pointInB,
i,linear_axis, m_AnchorPos);
}
}
// angular
btVector3 angular_axis;
btScalar angularJacDiagABInv;
for (i=0;i<3;i++)
{
if (m_angularLimits[i].needApplyTorques())
{
// get axis
angular_axis = getAxis(i);
angularJacDiagABInv = btScalar(1.) / m_jacAng[i].getDiagonal();
m_angularLimits[i].solveAngularLimits(m_timeStep,angular_axis,angularJacDiagABInv, &m_rbA,bodyA,&m_rbB,bodyB);
}
}
}
}
void btGeneric6DofConstraint::updateRHS(btScalar timeStep)
{