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Do not compute transform inverse twice in SliderJoint

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This commit is contained in:
Daniel Chappuis 2021-11-04 16:41:03 +01:00
parent 39aa39e385
commit 4719d33ab4
1 changed files with 7 additions and 7 deletions
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14
src/constraint/SliderJoint.cpp
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@ -50,6 +50,8 @@ SliderJoint::SliderJoint(Entity entity, PhysicsWorld& world, const SliderJointIn
const Transform& transform1 = mWorld.mTransformComponents.getTransform(jointInfo.body1->getEntity());
const Transform& transform2 = mWorld.mTransformComponents.getTransform(jointInfo.body2->getEntity());
const Transform transform2Inverse = transform2.getInverse();
if (jointInfo.isUsingLocalSpaceAnchors) {
anchorPointBody1Local = jointInfo.anchorPointBody1LocalSpace;
@ -60,13 +62,12 @@ SliderJoint::SliderJoint(Entity entity, PhysicsWorld& world, const SliderJointIn
else {
// Compute the local-space anchor point for each body
anchorPointBody1Local = transform1.getInverse() * jointInfo.anchorPointWorldSpace;
anchorPointBody2Local = transform2.getInverse() * jointInfo.anchorPointWorldSpace;
const Transform transform1Inverse = transform1.getInverse();
anchorPointBody1Local = transform1Inverse * jointInfo.anchorPointWorldSpace;
anchorPointBody2Local = transform2Inverse * jointInfo.anchorPointWorldSpace;
// Compute the slider axis in local-space of body 1
// TODO : Do not compute the inverse here, it has already been computed above
sliderLocalAxisBody1 = transform1.getOrientation().getInverse() *
jointInfo.sliderAxisWorldSpace;
sliderLocalAxisBody1 = transform1Inverse.getOrientation() * jointInfo.sliderAxisWorldSpace;
sliderLocalAxisBody1.normalize();
}
@ -86,8 +87,7 @@ SliderJoint::SliderJoint(Entity entity, PhysicsWorld& world, const SliderJointIn
// q20 = initial orientation of body 2
// q10 = initial orientation of body 1
// r0 = initial rotation rotation from body 1 to body 2
// TODO : Do not compute the inverse here, it has already been computed above
mWorld.mSliderJointsComponents.setInitOrientationDifferenceInv(mEntity, transform2.getOrientation().getInverse() * transform1.getOrientation());
mWorld.mSliderJointsComponents.setInitOrientationDifferenceInv(mEntity, transform2Inverse.getOrientation() * transform1.getOrientation());
}
// Enable/Disable the limits of the joint