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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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29
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
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@@ -29,7 +29,6 @@ class btSequentialImpulseConstraintSolver : public btConstraintSolver
{
protected:
btAlignedObjectArray<btSolverBody> m_tmpSolverBodyPool;
btConstraintArray m_tmpSolverContactConstraintPool;
btConstraintArray m_tmpSolverNonContactConstraintPool;
btConstraintArray m_tmpSolverContactFrictionConstraintPool;
@@ -37,38 +36,46 @@ protected:
btAlignedObjectArray<int> m_orderFrictionConstraintPool;
btAlignedObjectArray<btTypedConstraint::btConstraintInfo1> m_tmpConstraintSizesPool;
btSolverConstraint& addFrictionConstraint(const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity=0., btScalar cfmSlip=0.);
btSolverConstraint& addFrictionConstraint(const btVector3& normalAxis,btRigidBody* solverBodyA,btRigidBody* solverBodyB,int frictionIndex,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity=0., btScalar cfmSlip=0.);
///m_btSeed2 is used for re-arranging the constraint rows. improves convergence/quality of friction
unsigned long m_btSeed2;
void initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject);
// void initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject);
btScalar restitutionCurve(btScalar rel_vel, btScalar restitution);
void convertContact(btPersistentManifold* manifold,const btContactSolverInfo& infoGlobal);
void resolveSplitPenetrationSIMD(
btSolverBody& body1,
btSolverBody& body2,
btRigidBody& body1,
btRigidBody& body2,
const btSolverConstraint& contactConstraint);
void resolveSplitPenetrationImpulseCacheFriendly(
btSolverBody& body1,
btSolverBody& body2,
btRigidBody& body1,
btRigidBody& body2,
const btSolverConstraint& contactConstraint);
//internal method
int getOrInitSolverBody(btCollisionObject& body);
void resolveSingleConstraintRowGeneric(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& contactConstraint);
void resolveSingleConstraintRowGeneric(btRigidBody& body1,btRigidBody& body2,const btSolverConstraint& contactConstraint);
void resolveSingleConstraintRowGenericSIMD(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& contactConstraint);
void resolveSingleConstraintRowGenericSIMD(btRigidBody& body1,btRigidBody& body2,const btSolverConstraint& contactConstraint);
void resolveSingleConstraintRowLowerLimit(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& contactConstraint);
void resolveSingleConstraintRowLowerLimit(btRigidBody& body1,btRigidBody& body2,const btSolverConstraint& contactConstraint);
void resolveSingleConstraintRowLowerLimitSIMD(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& contactConstraint);
void resolveSingleConstraintRowLowerLimitSIMD(btRigidBody& body1,btRigidBody& body2,const btSolverConstraint& contactConstraint);
protected:
static btRigidBody& getFixedBody()
{
static btRigidBody s_fixed(0, 0,0);
s_fixed.setMassProps(btScalar(0.),btVector3(btScalar(0.),btScalar(0.),btScalar(0.)));
return s_fixed;
}
public: