more optimization work (WIP)

sdk/dgPhysics/dgBodyMasterList.cpp

@@ -38,26 +38,10 @@ dgBodyMasterListRow::~dgBodyMasterListRow()
 	dgAssert (GetCount() == 0);
 }
 
-void dgBodyMasterListRow::OrderContactJoint(dgBodyMasterListRow::dgListNode* const node)
-{
-	dgScopeSpinLock lock(&m_body->m_criticalSectionLock);
-
-	dgContact* const contact = (dgContact*)node->GetInfo().m_joint;
-	if (contact->m_maxDOF) {
-		RotateToBegin(node);
-	} else {
-		dgListNode* ptr = GetLast();
-		for (; ptr && (ptr->GetInfo().m_joint->GetId() != dgConstraint::m_contactConstraint); ptr = ptr->GetPrev());
-		if (ptr && (ptr != node)) {
-			InsertAfter(ptr, node);
-		}
-	}
-}
-
 dgBodyMasterListRow::dgListNode* dgBodyMasterListRow::AddContactJoint (dgConstraint* const joint, dgBody* const body)
 {
-// no need for lock since this is called from the main thread only
-//	dgScopeSpinLock lock(&m_body->m_criticalSectionLock);
+	//no need for lock since this is called from the main thread only
+	//dgScopeSpinLock lock(&m_body->m_criticalSectionLock);
 
 	dgListNode* node;
 	dgContact* const contact = (dgContact*)joint;
@@ -336,26 +320,13 @@ void dgBodyMasterList::RemoveConstraint (dgConstraint* const constraint)
 	}
 }
 
-void dgBodyMasterList::OrderContactJoint(dgContact* const contact)
-{
-	dgBody* const body0 = contact->m_body0;
-	dgBody* const body1 = contact->m_body1;
-	dgAssert(body0);
-	dgAssert(body1);
-	dgBodyMasterListRow& row0 = body0->m_masterNode->GetInfo();
-	dgBodyMasterListRow& row1 = body1->m_masterNode->GetInfo();
-	row0.OrderContactJoint(contact->GetLink0());
-	row1.OrderContactJoint(contact->GetLink1());
-}
-
 DG_INLINE dgUnsigned32 dgBodyMasterList::MakeSortMask(const dgBody* const body) const
 {
 	dgUnsigned32 val0 = body->IsRTTIType(dgBody::m_dynamicBodyRTTI) ? (body->GetInvMass().m_w > 0.0f) << 30 : 0;
 	dgUnsigned32 val1 = body->IsRTTIType(dgBody::m_kinematicBodyRTTI) ? 1<<29 : 0;
 	return body->m_uniqueID | val0 | val1;
 }
 
-
 void dgBodyMasterList::SortMasterList()
 {
 	GetFirst()->GetInfo().SortList();

sdk/dgPhysics/dgBodyMasterList.h

@@ -54,10 +54,8 @@ class dgBodyMasterListRow: public dgList<dgBodyMasterListCell>
 
 	void RemoveContactJoint (dgListNode* const link);
 	void RemoveBilateralJoint (dgListNode* const link);
-
 	void RemoveAllJoints ();
-	void OrderContactJoint(dgBodyMasterListRow::dgListNode* const node);
-
+
 	dgBody* m_body;
 	friend class dgBodyMasterList;
 };
@@ -72,7 +70,6 @@ class dgBodyMasterList: public dgList<dgBodyMasterListRow>
 	void RemoveBody (dgBody* const body);
 	void RemoveConstraint (dgConstraint* const constraint);
 	void AttachConstraint (dgConstraint* const constraint, dgBody* const body0, dgBody* const body1);
-	void OrderContactJoint(dgContact* const contact);
 
 	dgContact* FindContactJoint (const dgBody* body0, const dgBody* body1) const;
 	dgBilateralConstraint* FindBilateralJoint (const dgBody* body0, const dgBody* body1) const;

sdk/dgPhysics/dgBroadPhase.cpp

@@ -1491,15 +1491,13 @@ void dgBroadPhase::UpdateRigidBodyContacts(dgBroadphaseSyncDescriptor* const des
 	DG_TRACKTIME(__FUNCTION__);
 	dgContactsList::dgListNode* node = nodePtr;
 	dgContactsList* const contactList = m_world;
-	dgBodyMasterList* const masterList = m_world;
 	const dgFloat32 timestep = descriptor->m_timestep;
 	const dgInt32 threadCount = m_world->GetThreadCount();
 	const dgUnsigned32 lru = m_lru - DG_CONTACT_DELAY_FRAMES;
 
 	while (node) {
 		dgContact* const contact = node->GetInfo();
 
-		bool stateChange = contact->m_maxDOF ? true : false;
 		const dgBody* const body0 = contact->GetBody0();
 		const dgBody* const body1 = contact->GetBody1();
 		if (!(body0->m_equilibrium & body1->m_equilibrium)) {
@@ -1555,11 +1553,6 @@ void dgBroadPhase::UpdateRigidBodyContacts(dgBroadphaseSyncDescriptor* const des
 			contact->m_broadphaseLru = m_lru;
 		}
 
-		stateChange = stateChange ^ (contact->m_maxDOF ? true : false);
-		if (stateChange) {
-			masterList->OrderContactJoint(contact);
-		}
-
 		for (dgInt32 i = 0; i < threadCount; i++) {
 			node = node ? node->GetNext() : NULL;
 		}