From 134c788f93b61b52a78ea9a1f65ebfa20528b6a2 Mon Sep 17 00:00:00 2001 From: Benjamin Ellenberger Date: Wed, 19 Oct 2016 18:35:01 +0200 Subject: [PATCH] Change all btVector/btTransform to const btVector/btTransform& for SIMD alignment. --- examples/Evolution/NN3DWalkers.cpp | 2 +- examples/Utils/b3ReferenceFrameHelper.hpp | 12 ++++++------ 2 files changed, 7 insertions(+), 7 deletions(-) diff --git a/examples/Evolution/NN3DWalkers.cpp b/examples/Evolution/NN3DWalkers.cpp index 52217b5c6..cba5abb0c 100755 --- a/examples/Evolution/NN3DWalkers.cpp +++ b/examples/Evolution/NN3DWalkers.cpp @@ -460,7 +460,7 @@ public: return getDistanceFitness(); // for now it is only distance } - void resetAt(btVector3 position) { + void resetAt(const btVector3& position) { btTransform resetPosition(btQuaternion::getIdentity(), position); for (int i = 0; i < BODYPART_COUNT; ++i) { diff --git a/examples/Utils/b3ReferenceFrameHelper.hpp b/examples/Utils/b3ReferenceFrameHelper.hpp index 06f63f087..05e839d53 100755 --- a/examples/Utils/b3ReferenceFrameHelper.hpp +++ b/examples/Utils/b3ReferenceFrameHelper.hpp @@ -21,33 +21,33 @@ subject to the following restrictions: class b3ReferenceFrameHelper { public: - static btVector3 getPointWorldToLocal( btTransform localObjectCenterOfMassTransform, btVector3 point) { + static btVector3 getPointWorldToLocal(const btTransform& localObjectCenterOfMassTransform, const btVector3& point) { return localObjectCenterOfMassTransform.inverse() * point; // transforms the point from the world frame into the local frame } - static btVector3 getPointLocalToWorld( btTransform localObjectCenterOfMassTransform, btVector3 point) { + static btVector3 getPointLocalToWorld(const btTransform& localObjectCenterOfMassTransform,const btVector3& point) { return localObjectCenterOfMassTransform * point; // transforms the point from the world frame into the local frame } - static btVector3 getAxisWorldToLocal(btTransform localObjectCenterOfMassTransform, btVector3 axis) { + static btVector3 getAxisWorldToLocal(const btTransform& localObjectCenterOfMassTransform, const btVector3& axis) { btTransform local1 = localObjectCenterOfMassTransform.inverse(); // transforms the axis from the local frame into the world frame btVector3 zero(0,0,0); local1.setOrigin(zero); return local1 * axis; } - static btVector3 getAxisLocalToWorld(btTransform localObjectCenterOfMassTransform, btVector3 axis) { + static btVector3 getAxisLocalToWorld(const btTransform& localObjectCenterOfMassTransform, const btVector3& axis) { btTransform local1 = localObjectCenterOfMassTransform; // transforms the axis from the local frame into the world frame btVector3 zero(0,0,0); local1.setOrigin(zero); return local1 * axis; } - static btTransform getTransformWorldToLocal(btTransform localObjectCenterOfMassTransform, btTransform transform) { + static btTransform getTransformWorldToLocal(const btTransform& localObjectCenterOfMassTransform, const btTransform& transform) { return localObjectCenterOfMassTransform.inverse() * transform; // transforms the axis from the local frame into the world frame } - static btTransform getTransformLocalToWorld(btTransform localObjectCenterOfMassTransform, btTransform transform) { + static btTransform getTransformLocalToWorld(const btTransform& localObjectCenterOfMassTransform, const btTransform& transform) { return localObjectCenterOfMassTransform * transform; // transforms the axis from the local frame into the world frame }