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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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8
src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h
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@@ -123,7 +123,7 @@ public:
int testLimitValue(btScalar test_value);
//! apply the correction impulses for two bodies
btScalar solveAngularLimits(btScalar timeStep,btVector3& axis, btScalar jacDiagABInv,btRigidBody * body0, btSolverBody& bodyA,btRigidBody * body1,btSolverBody& bodyB);
btScalar solveAngularLimits(btScalar timeStep,btVector3& axis, btScalar jacDiagABInv,btRigidBody * body0, btRigidBody * body1);
};
@@ -214,8 +214,8 @@ public:
btScalar 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);
@@ -413,8 +413,6 @@ public:
void getInfo2NonVirtual (btConstraintInfo2* info,const btTransform& transA,const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB,const btVector3& angVelA,const btVector3& angVelB);
virtual void solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar timeStep);
void updateRHS(btScalar timeStep);
//! Get the rotation axis in global coordinates