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Change all btVector/btTransform to const btVector/btTransform& for SIMD alignment.

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This commit is contained in:
Benjamin Ellenberger
2016-10-19 18:35:01 +02:00
parent 062236af70
commit 134c788f93
2 changed files with 7 additions and 7 deletions
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2
examples/Evolution/NN3DWalkers.cpp
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@@ -460,7 +460,7 @@ public:
return getDistanceFitness(); // for now it is only distance return getDistanceFitness(); // for now it is only distance
} }
void resetAt(btVector3 position) { void resetAt(const btVector3& position) {
btTransform resetPosition(btQuaternion::getIdentity(), position); btTransform resetPosition(btQuaternion::getIdentity(), position);
for (int i = 0; i < BODYPART_COUNT; ++i) for (int i = 0; i < BODYPART_COUNT; ++i)
{ {

12
examples/Utils/b3ReferenceFrameHelper.hpp
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@@ -21,33 +21,33 @@ subject to the following restrictions:
class b3ReferenceFrameHelper { class b3ReferenceFrameHelper {
public: 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 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 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 btTransform local1 = localObjectCenterOfMassTransform.inverse(); // transforms the axis from the local frame into the world frame
btVector3 zero(0,0,0); btVector3 zero(0,0,0);
local1.setOrigin(zero); local1.setOrigin(zero);
return local1 * axis; 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 btTransform local1 = localObjectCenterOfMassTransform; // transforms the axis from the local frame into the world frame
btVector3 zero(0,0,0); btVector3 zero(0,0,0);
local1.setOrigin(zero); local1.setOrigin(zero);
return local1 * axis; 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 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 return localObjectCenterOfMassTransform * transform; // transforms the axis from the local frame into the world frame
} }