Remove check() and checkNode() methods from DynamicAABBTree in release mode

src/collision/broadphase/BroadPhaseAlgorithm.cpp

@@ -26,6 +26,7 @@
 // Libraries
 #include "BroadPhaseAlgorithm.h"
 #include "../CollisionDetection.h"
+#include "../../engine/Profiler.h"
 
 // We want to use the ReactPhysics3D namespace
 using namespace reactphysics3d;

src/collision/broadphase/DynamicAABBTree.cpp

@@ -27,6 +27,7 @@
 #include "DynamicAABBTree.h"
 #include "BroadPhaseAlgorithm.h"
 #include "../../memory/Stack.h"
+#include "../../engine/Profiler.h"
 
 using namespace reactphysics3d;
 
@@ -159,6 +160,8 @@ void DynamicAABBTree::removeObject(int nodeID) {
 /// frames.
 bool DynamicAABBTree::updateObject(int nodeID, const AABB& newAABB, const Vector3& displacement) {
 
+    PROFILE("DynamicAABBTree::updateObject()");
+
     assert(nodeID >= 0 && nodeID < mNbAllocatedNodes);
     assert(mNodes[nodeID].isLeaf());
     assert(mNodes[nodeID].height >= 0);
@@ -333,9 +336,6 @@ void DynamicAABBTree::insertLeafNode(int nodeID) {
     }
 
     assert(mNodes[nodeID].isLeaf());
-
-    // Check the structure of the tree
-    check();
 }
 
 // Remove a leaf node from the tree
@@ -403,9 +403,6 @@ void DynamicAABBTree::removeLeafNode(int nodeID) {
         mNodes[siblingNodeID].parentID = TreeNode::NULL_TREE_NODE;
         releaseNode(parentNodeID);
     }
-
-    // Check the structure of the tree
-    check();
 }
 
 // Balance the sub-tree of a given node using left or right rotations.
@@ -608,6 +605,8 @@ void DynamicAABBTree::reportAllShapesOverlappingWith(int nodeID, const AABB& aab
     }
 }
 
+#ifndef NDEBUG
+
 // Check if the tree structure is valid (for debugging purpose)
 void DynamicAABBTree::check() const {
 
@@ -678,3 +677,5 @@ void DynamicAABBTree::checkNode(int nodeID) const {
         checkNode(rightChild);
     }
 }
+
+#endif

src/collision/broadphase/DynamicAABBTree.h

@@ -123,12 +123,16 @@ class DynamicAABBTree {
         /// Balance the sub-tree of a given node using left or right rotations.
         int balanceSubTreeAtNode(int nodeID);
 
+#ifndef NDEBUG
+
         /// Check if the tree structure is valid (for debugging purpose)
         void check() const;
 
         /// Check if the node structure is valid (for debugging purpose)
         void checkNode(int nodeID) const;
 
+#endif
+
     public:
 
         // -------------------- Methods -------------------- //