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Small optimizations

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This commit is contained in:
Daniel Chappuis 2020-10-02 21:26:14 +02:00
parent d4be363e7c
commit 85103f7027
3 changed files with 31 additions and 33 deletions
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18
include/reactphysics3d/collision/shapes/BoxShape.h
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@ -217,17 +217,15 @@ RP3D_FORCE_INLINE HalfEdgeStructure::Vertex BoxShape::getVertex(uint vertexIndex
RP3D_FORCE_INLINE Vector3 BoxShape::getVertexPosition(uint vertexIndex) const { RP3D_FORCE_INLINE Vector3 BoxShape::getVertexPosition(uint vertexIndex) const {
assert(vertexIndex < getNbVertices()); assert(vertexIndex < getNbVertices());
Vector3 extent = getHalfExtents();
switch(vertexIndex) { switch(vertexIndex) {
case 0: return Vector3(-extent.x, -extent.y, extent.z); case 0: return Vector3(-mHalfExtents.x, -mHalfExtents.y, mHalfExtents.z);
case 1: return Vector3(extent.x, -extent.y, extent.z); case 1: return Vector3(mHalfExtents.x, -mHalfExtents.y, mHalfExtents.z);
case 2: return Vector3(extent.x, extent.y, extent.z); case 2: return Vector3(mHalfExtents.x, mHalfExtents.y, mHalfExtents.z);
case 3: return Vector3(-extent.x, extent.y, extent.z); case 3: return Vector3(-mHalfExtents.x, mHalfExtents.y, mHalfExtents.z);
case 4: return Vector3(-extent.x, -extent.y, -extent.z); case 4: return Vector3(-mHalfExtents.x, -mHalfExtents.y, -mHalfExtents.z);
case 5: return Vector3(extent.x, -extent.y, -extent.z); case 5: return Vector3(mHalfExtents.x, -mHalfExtents.y, -mHalfExtents.z);
case 6: return Vector3(extent.x, extent.y, -extent.z); case 6: return Vector3(mHalfExtents.x, mHalfExtents.y, -mHalfExtents.z);
case 7: return Vector3(-extent.x, extent.y, -extent.z); case 7: return Vector3(-mHalfExtents.x, mHalfExtents.y, -mHalfExtents.z);
} }
assert(false); assert(false);

23
include/reactphysics3d/collision/shapes/ConvexPolyhedronShape.h
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@ -99,6 +99,29 @@ RP3D_FORCE_INLINE bool ConvexPolyhedronShape::isPolyhedron() const {
} }
// Find and return the index of the polyhedron face with the most anti-parallel face
// normal given a direction vector. This is used to find the incident face on
// a polyhedron of a given reference face of another polyhedron
RP3D_FORCE_INLINE uint ConvexPolyhedronShape::findMostAntiParallelFace(const Vector3& direction) const {
decimal minDotProduct = DECIMAL_LARGEST;
uint mostAntiParallelFace = 0;
// For each face of the polyhedron
const uint32 nbFaces = getNbFaces();
for (uint32 i=0; i < nbFaces; i++) {
// Get the face normal
const decimal dotProduct = getFaceNormal(i).dot(direction);
if (dotProduct < minDotProduct) {
minDotProduct = dotProduct;
mostAntiParallelFace = i;
}
}
return mostAntiParallelFace;
}
} }
#endif #endif

23
src/collision/shapes/ConvexPolyhedronShape.cpp
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@ -35,26 +35,3 @@ ConvexPolyhedronShape::ConvexPolyhedronShape(CollisionShapeName name, MemoryAllo
: ConvexShape(name, CollisionShapeType::CONVEX_POLYHEDRON, allocator) { : ConvexShape(name, CollisionShapeType::CONVEX_POLYHEDRON, allocator) {
} }
// Find and return the index of the polyhedron face with the most anti-parallel face
// normal given a direction vector. This is used to find the incident face on
// a polyhedron of a given reference face of another polyhedron
uint ConvexPolyhedronShape::findMostAntiParallelFace(const Vector3& direction) const {
decimal minDotProduct = DECIMAL_LARGEST;
uint mostAntiParallelFace = 0;
// For each face of the polyhedron
uint32 nbFaces = getNbFaces();
for (uint32 i=0; i < nbFaces; i++) {
// Get the face normal
const decimal dotProduct = getFaceNormal(i).dot(direction);
if (dotProduct < minDotProduct) {
minDotProduct = dotProduct;
mostAntiParallelFace = i;
}
}
return mostAntiParallelFace;
}