Mitigate JavaScript Object Allocation for Performance Gain (Phase 1)

src.ts/control/ray_cast_vehicle_controller.ts

@@ -1,5 +1,5 @@
 import {RawDynamicRayCastVehicleController} from "../raw";
-import {Vector, VectorOps} from "../math";
+import {scratchBuffer, Vector, VectorOps} from "../math";
 import {
     BroadPhase,
     Collider,
@@ -163,11 +163,17 @@ export class DynamicRayCastVehicleController {
     /*
      * Getters + setters
      */
+
     /**
      * The position of the i-th wheel, relative to the chassis.
+     *
+     * @param {number} i
+     * @param {Vector?} target - The object to be populated. If provided,
+     * the function returns this object instead of creating a new one.
      */
-    public wheelChassisConnectionPointCs(i: number): Vector | null {
-        return VectorOps.fromRaw(this.raw.wheel_chassis_connection_point_cs(i));
+    public wheelChassisConnectionPointCs(i: number, target?: Vector): Vector | null {
+        const exists = this.raw.wheel_chassis_connection_point_cs(i, scratchBuffer);
+        return exists ? VectorOps.fromBuffer(scratchBuffer, target) : null;
     }
 
     /**
@@ -331,9 +337,14 @@ export class DynamicRayCastVehicleController {
      * The direction of the i-th wheel’s suspension, relative to the chassis.
      *
      * The ray-casting will happen following this direction to detect the ground.
+     *
+     * @param {number} i
+     * @param {Vector?} target - The object to be populated. If provided,
+     * the function returns this object instead of creating a new one.
      */
-    public wheelDirectionCs(i: number): Vector | null {
-        return VectorOps.fromRaw(this.raw.wheel_direction_cs(i));
+    public wheelDirectionCs(i: number, target?: Vector): Vector | null {
+        const exists = this.raw.wheel_direction_cs(i, scratchBuffer);
+        return exists ? VectorOps.fromBuffer(scratchBuffer, target) : null;
     }
 
     /**
@@ -351,9 +362,14 @@ export class DynamicRayCastVehicleController {
      * The i-th wheel’s axle axis, relative to the chassis.
      *
      * The axis index defined as 0 = X, 1 = Y, 2 = Z.
+     *
+     * @param {number} i
+     * @param {Vector?} target - The object to be populated. If provided,
+     * the function returns this object instead of creating a new one.
      */
-    public wheelAxleCs(i: number): Vector | null {
-        return VectorOps.fromRaw(this.raw.wheel_axle_cs(i));
+    public wheelAxleCs(i: number, target?: Vector): Vector | null {
+        const exists = this.raw.wheel_axle_cs(i, scratchBuffer);
+        return exists ? VectorOps.fromBuffer(scratchBuffer, target) : null;
     }
 
     /**
@@ -439,16 +455,26 @@ export class DynamicRayCastVehicleController {
 
     /**
      *  The (world-space) contact normal between the i-th wheel and the floor.
+     *
+     * @param {number} i
+     * @param {Vector?} target - The object to be populated. If provided,
+     * the function returns this object instead of creating a new one.
      */
-    public wheelContactNormal(i: number): Vector | null {
-        return VectorOps.fromRaw(this.raw.wheel_contact_normal_ws(i));
+    public wheelContactNormal(i: number, target?: Vector): Vector | null {
+        const exists = this.raw.wheel_contact_normal_ws(i, scratchBuffer);
+        return exists ? VectorOps.fromBuffer(scratchBuffer, target) : null;
     }
 
     /**
      *  The (world-space) point hit by the wheel’s ray-cast for the i-th wheel.
+     *
+     * @param {number} i
+     * @param {Vector?} target - The object to be populated. If provided,
+     * the function returns this object instead of creating a new one.
      */
-    public wheelContactPoint(i: number): Vector | null {
-        return VectorOps.fromRaw(this.raw.wheel_contact_point_ws(i));
+    public wheelContactPoint(i: number, target?: Vector): Vector | null {
+        const exists = this.raw.wheel_contact_point_ws(i, scratchBuffer);
+        return exists ? VectorOps.fromBuffer(scratchBuffer, target) : null;
     }
 
     /**
@@ -460,9 +486,14 @@ export class DynamicRayCastVehicleController {
 
     /**
      *  The (world-space) starting point of the ray-cast for the i-th wheel.
+     *
+     * @param {number} i
+     * @param {Vector?} target - The object to be populated. If provided,
+     * the function returns this object instead of creating a new one.
      */
-    public wheelHardPoint(i: number): Vector | null {
-        return VectorOps.fromRaw(this.raw.wheel_hard_point_ws(i));
+    public wheelHardPoint(i: number, target?: Vector): Vector | null {
+        const exists = this.raw.wheel_hard_point_ws(i, scratchBuffer);
+        return exists ? VectorOps.fromBuffer(scratchBuffer, target) : null;
     }
 
     /**

src.ts/dynamics/impulse_joint.ts

@@ -1,4 +1,4 @@
-import {Rotation, Vector, VectorOps, RotationOps} from "../math";
+import {Rotation, Vector, VectorOps, RotationOps, scratchBuffer} from "../math";
 import {
     RawGenericJoint,
     RawImpulseJointSet,
@@ -149,19 +149,27 @@ export class ImpulseJoint {
     // #if DIM3
     /**
      * The rotation quaternion that aligns this joint's first local axis to the `x` axis.
+     *
+     * @param {Rotation?} target - The object to be populated. If provided,
+     * the function returns this object instead of creating a new one.
      */
-    public frameX1(): Rotation {
-        return RotationOps.fromRaw(this.rawSet.jointFrameX1(this.handle));
+    public frameX1(target?: Rotation): Rotation {
+        this.rawSet.jointFrameX1(this.handle, scratchBuffer);
+        return RotationOps.fromBuffer(scratchBuffer, target);
     }
 
     // #endif
 
     // #if DIM3
     /**
      * The rotation matrix that aligns this joint's second local axis to the `x` axis.
+     *
+     * @param {Rotation?} target - The object to be populated. If provided,
+     * the function returns this object instead of creating a new one.
      */
-    public frameX2(): Rotation {
-        return RotationOps.fromRaw(this.rawSet.jointFrameX2(this.handle));
+    public frameX2(target?: Rotation): Rotation {
+        this.rawSet.jointFrameX2(this.handle, scratchBuffer);
+        return RotationOps.fromBuffer(scratchBuffer, target);
     }
 
     // #endif
@@ -171,19 +179,27 @@ export class ImpulseJoint {
      *
      * The first anchor gives the position of the application point on the
      * local frame of the first rigid-body it is attached to.
+     *
+     * @param {Vector?} target - The object to be populated. If provided,
+     * the function returns this object instead of creating a new one.
      */
-    public anchor1(): Vector {
-        return VectorOps.fromRaw(this.rawSet.jointAnchor1(this.handle));
+    public anchor1(target?: Vector): Vector {
+        this.rawSet.jointAnchor1(this.handle, scratchBuffer);
+        return RotationOps.fromBuffer(scratchBuffer, target);
     }
 
     /**
      * The position of the second anchor of this joint.
      *
      * The second anchor gives the position of the application point on the
      * local frame of the second rigid-body it is attached to.
+     *
+     * @param {Vector?} target - The object to be populated. If provided,
+     * the function returns this object instead of creating a new one.
      */
-    public anchor2(): Vector {
-        return VectorOps.fromRaw(this.rawSet.jointAnchor2(this.handle));
+    public anchor2(target?: Vector): Vector {
+        this.rawSet.jointAnchor2(this.handle, scratchBuffer);
+        return RotationOps.fromBuffer(scratchBuffer, target);
     }
 
     /**