mrq/reactphysics3d
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Do not compute transform inverse twice in SliderJoint

Browse Source
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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

14
src/constraint/SliderJoint.cpp
View File

@ -50,6 +50,8 @@ SliderJoint::SliderJoint(Entity entity, PhysicsWorld& world, const SliderJointIn
const Transform& transform1 = mWorld.mTransformComponents.getTransform(jointInfo.body1->getEntity()); const Transform& transform1 = mWorld.mTransformComponents.getTransform(jointInfo.body1->getEntity());
const Transform& transform2 = mWorld.mTransformComponents.getTransform(jointInfo.body2->getEntity()); const Transform& transform2 = mWorld.mTransformComponents.getTransform(jointInfo.body2->getEntity());
const Transform transform2Inverse = transform2.getInverse();
if (jointInfo.isUsingLocalSpaceAnchors) { if (jointInfo.isUsingLocalSpaceAnchors) {
anchorPointBody1Local = jointInfo.anchorPointBody1LocalSpace; anchorPointBody1Local = jointInfo.anchorPointBody1LocalSpace;
@ -60,13 +62,12 @@ SliderJoint::SliderJoint(Entity entity, PhysicsWorld& world, const SliderJointIn
else { else {
// Compute the local-space anchor point for each body // Compute the local-space anchor point for each body
anchorPointBody1Local = transform1.getInverse() * jointInfo.anchorPointWorldSpace; const Transform transform1Inverse = transform1.getInverse();
anchorPointBody2Local = transform2.getInverse() * jointInfo.anchorPointWorldSpace; anchorPointBody1Local = transform1Inverse * jointInfo.anchorPointWorldSpace;
anchorPointBody2Local = transform2Inverse * jointInfo.anchorPointWorldSpace;
// Compute the slider axis in local-space of body 1 // Compute the slider axis in local-space of body 1
// TODO : Do not compute the inverse here, it has already been computed above sliderLocalAxisBody1 = transform1Inverse.getOrientation() * jointInfo.sliderAxisWorldSpace;
sliderLocalAxisBody1 = transform1.getOrientation().getInverse() *
jointInfo.sliderAxisWorldSpace;
sliderLocalAxisBody1.normalize(); sliderLocalAxisBody1.normalize();
} }
@ -86,8 +87,7 @@ SliderJoint::SliderJoint(Entity entity, PhysicsWorld& world, const SliderJointIn
// q20 = initial orientation of body 2 // q20 = initial orientation of body 2
// q10 = initial orientation of body 1 // q10 = initial orientation of body 1
// r0 = initial rotation rotation from body 1 to body 2 // 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, transform2Inverse.getOrientation() * transform1.getOrientation());
mWorld.mSliderJointsComponents.setInitOrientationDifferenceInv(mEntity, transform2.getOrientation().getInverse() * transform1.getOrientation());
} }
// Enable/Disable the limits of the joint // Enable/Disable the limits of the joint