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remove 32bit build ARCH from xcode4 generated files (premake4)

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optimization in btMultiBody::fillConstraintJacobianMultiDof:
only compute links between current link and root
This commit is contained in:
Erwin Coumans
2018-10-20 10:44:43 -07:00
parent eb490351ec
commit dc2d54df2c
2 changed files with 21 additions and 10 deletions
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4
build3/premake4.lua
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@@ -399,8 +399,8 @@ end
else
xcodebuildsettings
{
'ARCHS = "$(ARCHS_STANDARD_32_BIT) $(ARCHS_STANDARD_64_BIT)"',
'VALID_ARCHS = "x86_64 i386"',
'ARCHS = "$(ARCHS_STANDARD_64_BIT)"',
'VALID_ARCHS = "x86_64"',
-- 'SDKROOT = "macosx10.9"',
}
end

27
src/BulletDynamics/Featherstone/btMultiBody.cpp
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@@ -1711,7 +1711,7 @@ void btMultiBody::fillConstraintJacobianMultiDof(int link,
const btVector3 &normal_ang,
const btVector3 &normal_lin,
btScalar *jac,
btAlignedObjectArray<btScalar> &scratch_r,
btAlignedObjectArray<btScalar> &scratch_r1,
btAlignedObjectArray<btVector3> &scratch_v,
btAlignedObjectArray<btMatrix3x3> &scratch_m) const
{
@@ -1730,9 +1730,20 @@ void btMultiBody::fillConstraintJacobianMultiDof(int link,
v_ptr += num_links + 1;
btAssert(v_ptr - &scratch_v[0] == scratch_v.size());
scratch_r.resize(m_dofCount);
btScalar *results = m_dofCount > 0 ? &scratch_r[0] : 0;
//scratch_r.resize(m_dofCount);
//btScalar *results = m_dofCount > 0 ? &scratch_r[0] : 0;
scratch_r1.resize(m_dofCount+num_links);
btScalar * results = m_dofCount > 0 ? &scratch_r1[0] : 0;
btScalar* links = num_links? &scratch_r1[m_dofCount] : 0;
int numLinksChildToRoot=0;
int l = link;
while (l != -1)
{
links[numLinksChildToRoot++]=l;
l = m_links[l].m_parent;
}
btMatrix3x3 *rot_from_world = &scratch_m[0];
const btVector3 p_minus_com_world = contact_point - m_basePos;
@@ -1766,14 +1777,14 @@ void btMultiBody::fillConstraintJacobianMultiDof(int link,
// Qdot coefficients, if necessary.
if (num_links > 0 && link > -1)
{
// TODO: speed this up -- don't calculate for m_links we don't need.
// (Also, we are making 3 separate calls to this function, for the normal & the 2 friction directions,
// TODO: (Also, we are making 3 separate calls to this function, for the normal & the 2 friction directions,
// which is resulting in repeated work being done...)
// calculate required normals & positions in the local frames.
for (int i = 0; i < num_links; ++i)
{
// transform to local frame
for (int a = 0; a < numLinksChildToRoot; a++)
{
int i = links[numLinksChildToRoot-1-a];
// transform to local frame
const int parent = m_links[i].m_parent;
const btMatrix3x3 mtx(m_links[i].m_cachedRotParentToThis);
rot_from_world[i + 1] = mtx * rot_from_world[parent + 1];