[Opal-commits] opal/src/ODE ODESolid.cpp,1.88,1.89

[tylerstreeter <tyl...@us...>]

Update of /cvsroot/opal/opal/src/ODE
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv1099/src/ODE

Modified Files:
	ODESolid.cpp 
Log Message:
Performance improvement, especially for simulations with a lot of sleeping Solids.  (In Simulator::simulate(), we were previously copying an updated transform matrix for each dynamic Solid every time step.  Now we only perform this operation for dynamic, awake Solids.)

Index: ODESolid.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESolid.cpp,v
retrieving revision 1.88
retrieving revision 1.89
diff -C2 -d -r1.88 -r1.89
*** ODESolid.cpp	24 Jun 2005 19:04:22 -0000	1.88
--- ODESolid.cpp	19 Jul 2005 17:53:29 -0000	1.89
***************
*** 183,198 ****
  	void ODESolid::internal_updateOPALTransform()
  	{
! 		if (!mData.isStatic)
! 		{
! 			const real* R = (const real*)dBodyGetRotation(mBodyID);
! 			const real* P = (const real*)dBodyGetPosition(mBodyID);
! 
! 			mData.transform.set(R[0], R[1], R[2], P[0],
! 				R[4], R[5], R[6], P[1],
! 				R[8], R[9], R[10], P[2],
! 				0, 0, 0, 1);
! 		}
  
! 		// Do nothing if this is a static solid.
  	}
  
--- 183,193 ----
  	void ODESolid::internal_updateOPALTransform()
  	{
! 		const real* R = (const real*)dBodyGetRotation(mBodyID);
! 		const real* P = (const real*)dBodyGetPosition(mBodyID);
  
! 		mData.transform.set(R[0], R[1], R[2], P[0],
! 			R[4], R[5], R[6], P[1],
! 			R[8], R[9], R[10], P[2],
! 			0, 0, 0, 1);
  	}