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delay computation and declare const

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This commit is contained in:
Irlan
2017-03-26 15:23:06 -03:00
parent a683052e4c
commit 3e716c3658
3 changed files with 18 additions and 26 deletions
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28
src/bounce/collision/gjk/gjk.cpp
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@@ -249,11 +249,6 @@ void b3Simplex::Solve3(const b3Vec3& Q)
b3Barycentric(wBC, B.point, C.point, Q); b3Barycentric(wBC, B.point, C.point, Q);
b3Barycentric(wCA, C.point, A.point, Q); b3Barycentric(wCA, C.point, A.point, Q);
// Test edge regions
float32 wABC[4];
b3Barycentric(wABC, A.point, B.point, C.point, Q);
// Test vertex regions
// R A // R A
if (wAB[1] <= 0.0f && wCA[0] <= 0.0f) if (wAB[1] <= 0.0f && wCA[0] <= 0.0f)
{ {
@@ -282,6 +277,9 @@ void b3Simplex::Solve3(const b3Vec3& Q)
} }
// Test edge regions // Test edge regions
float32 wABC[4];
b3Barycentric(wABC, A.point, B.point, C.point, Q);
// This is used to help testing if the face degenerates // This is used to help testing if the face degenerates
// into an edge. // into an edge.
float32 area = wABC[3]; float32 area = wABC[3];
@@ -364,19 +362,6 @@ void b3Simplex::Solve4(const b3Vec3& Q)
b3Barycentric(wCD, C.point, D.point, Q); b3Barycentric(wCD, C.point, D.point, Q);
b3Barycentric(wDB, D.point, B.point, Q); b3Barycentric(wDB, D.point, B.point, Q);
// Test edge regions
float32 wACB[4], wABD[4], wADC[4], wBCD[4];
b3Barycentric(wACB, A.point, C.point, B.point, Q);
b3Barycentric(wABD, A.point, B.point, D.point, Q);
b3Barycentric(wADC, A.point, D.point, C.point, Q);
b3Barycentric(wBCD, B.point, C.point, D.point, Q);
// Test face regions
float32 wABCD[5];
b3Barycentric(wABCD, A.point, B.point, C.point, D.point, Q);
// Test vertex regions
// R A // R A
if (wAB[1] <= 0.0f && wAC[1] <= 0.0f && wAD[1] <= 0.0f) if (wAB[1] <= 0.0f && wAC[1] <= 0.0f && wAD[1] <= 0.0f)
{ {
@@ -414,6 +399,11 @@ void b3Simplex::Solve4(const b3Vec3& Q)
} }
// Test edge regions // Test edge regions
float32 wACB[4], wABD[4], wADC[4], wBCD[4];
b3Barycentric(wACB, A.point, C.point, B.point, Q);
b3Barycentric(wABD, A.point, B.point, D.point, Q);
b3Barycentric(wADC, A.point, D.point, C.point, Q);
b3Barycentric(wBCD, B.point, C.point, D.point, Q);
// R AB // R AB
if (wABD[2] <= 0.0f && wACB[1] <= 0.0f && wAB[0] > 0.0f && wAB[1] > 0.0f) if (wABD[2] <= 0.0f && wACB[1] <= 0.0f && wAB[0] > 0.0f && wAB[1] > 0.0f)
@@ -500,6 +490,8 @@ void b3Simplex::Solve4(const b3Vec3& Q)
} }
// Test face regions // Test face regions
float32 wABCD[5];
b3Barycentric(wABCD, A.point, B.point, C.point, D.point, Q);
// R ACB // R ACB
if (wABCD[3] <= 0.0f && wACB[0] > 0.0f && wACB[1] > 0.0f && wACB[2] > 0.0f) if (wABCD[3] <= 0.0f && wACB[0] > 0.0f && wACB[1] > 0.0f && wACB[2] > 0.0f)

6
src/bounce/dynamics/joints/revolute_joint.cpp
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@@ -164,9 +164,9 @@ static B3_FORCE_INLINE b3Vec4 q_to_v(const b3Quat& q)
return b3Vec4(q.w, q.x, q.y, q.z); return b3Vec4(q.w, q.x, q.y, q.z);
} }
static b3Mat34 P = P_mat(); static const b3Mat34 P = P_mat();
static b3Mat43 PT = b3Transpose(P); static const b3Mat43 PT = b3Transpose(P);
static b3Mat24 P_hinge = P_hinge_mat(); static const b3Mat24 P_hinge = P_hinge_mat();
void b3RevoluteJointDef::Initialize(b3Body* bA, b3Body* bB, void b3RevoluteJointDef::Initialize(b3Body* bA, b3Body* bB,
const b3Vec3& axis, const b3Vec3& anchor, const b3Vec3& axis, const b3Vec3& anchor,

6
src/bounce/dynamics/joints/weld_joint.cpp
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@@ -86,9 +86,9 @@ static b3Vec4 q_to_v(const b3Quat& q)
return b3Vec4(q.w, q.x, q.y, q.z); return b3Vec4(q.w, q.x, q.y, q.z);
} }
static b3Mat34 P = P_mat(); static const b3Mat34 P = P_mat();
static b3Mat43 PT = b3Transpose(P); static const b3Mat43 PT = b3Transpose(P);
static b3Mat34 P_lock = P_lock_mat(); static const b3Mat34 P_lock = P_lock_mat();
void b3WeldJointDef::Initialize(b3Body* bA, b3Body* bB, const b3Vec3& anchor) void b3WeldJointDef::Initialize(b3Body* bA, b3Body* bB, const b3Vec3& anchor)
{ {