Cache optimization #135
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Cache optimization #135
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body set progress
started testing
back to sleeping and solver sets
bug fixes
more benchmarks and results
body disable wip
testing
improved validation fixes for graph coloring and sensors
cleanup
new benchmark results capacities from world def
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Refactored internal storage to use solver sets for improved memory locality and improved performance as a result.
There is now a hot/cold split for bodies, contacts, and joints.
This is a huge change as the layout of memory has changed completely. Some things, such as enable/disable bodies and changing the body type are quite complex now. So this required a lot of testing and validation code.
Bodies, contacts, and joints data is now moved when an island goes to sleep or wakes up.
Static bodies exist in their own solver set, but this is hidden from the user. All solver set details are hidden from the user and they provide no user facing features other than improved performance.
I also added a benchmark application with several benchmarks. These generate CSV files with results.
400 pyramids, 22000 bodies
time in milliseconds (8 cores on 7950x)
solver set branch
step 2.3
-- collide 1.15
-- solve 1.15
main branch
step 3.3
-- collide 1.45
-- solve 1.7