optimize heap

src/Marble.hx

@@ -863,9 +863,6 @@ class Marble extends GameObject {
 						testTriangles.push({
 							v: [v0, v, v2],
 							n: surfaceNormal,
-							edge: surf.edgeData != null ? surf.edgeData[Math.floor(i / 3)] : 0,
-							concavity: surface.edgeConcavities != null ? surface.edgeConcavities.slice(Math.floor(i / 3),
-								Math.floor(i / 3) + 3) : [false, false, false],
 						});
 
 						// Time until collision with the plane
@@ -1110,166 +1107,9 @@ class Marble extends GameObject {
 		};
 	}
 
-	function getIntersectionTime(dt:Float, velocity:Vector) {
-		var searchbox = new Bounds();
-		searchbox.addSpherePos(this.x, this.y, this.z, _radius);
-		searchbox.addSpherePos(this.x + velocity.x * dt * 2, this.y + velocity.y * dt * 2, this.z + velocity.z * dt * 2, _radius);
-
-		var position = this.getAbsPos().getPosition();
-
-		var foundObjs = this.level.collisionWorld.boundingSearch(searchbox);
-		// var foundObjs = this.contactEntities;
-
-		function toDifPoint(vec:Vector) {
-			return new Point3F(vec.x, vec.y, vec.z);
-		}
-
-		var maxIntersectDist = 0.0;
-		var contactNorm = new Vector();
-		var contactPt = null;
-
-		var traceinfo = new TraceInfo();
-
-		traceinfo.resetTrace(position.clone(), position.add(velocity.multiply(dt)), this._radius);
-
-		var foundTriangles = [];
-
-		for (obj in foundObjs) {
-			var radius = _radius;
-
-			var invMatrix = @:privateAccess obj.invTransform;
-			if (obj.go is PathedInterior)
-				invMatrix = obj.transform.getInverse();
-			var localpos = position.clone();
-			localpos.transform(invMatrix);
-
-			var relLocalVel = velocity.sub(obj.velocity);
-			relLocalVel.transform3x3(invMatrix);
-
-			var boundThing = new Bounds();
-			boundThing.addSpherePos(localpos.x, localpos.y, localpos.z, radius * 1.1);
-			boundThing.addSpherePos(localpos.x + relLocalVel.x * dt * 2, localpos.y + relLocalVel.y * dt * 2, localpos.z + relLocalVel.z * dt * 2,
-				radius * 1.1);
-
-			var surfaces = obj.bvh == null ? obj.octree.boundingSearch(boundThing).map(x -> cast x) : obj.bvh.boundingSearch(boundThing);
-
-			var tform = obj.transform.clone();
-
-			var relVelocity = velocity.sub(obj.velocity);
-
-			// tform.setPosition(tform.getPosition().add(velDir.multiply(_radius)));
-			// tform.setPosition(tform.getPosition().add(obj.velocity.multiply(dt)));
-
-			var contacts = [];
-
-			for (surf in surfaces) {
-				var surface:CollisionSurface = cast surf;
-
-				var i = 0;
-				while (i < surface.indices.length) {
-					var v0 = surface.points[surface.indices[i]].transformed(tform);
-					var v = surface.points[surface.indices[i + 1]].transformed(tform);
-					var v2 = surface.points[surface.indices[i + 2]].transformed(tform);
-
-					var surfacenormal = surface.normals[surface.indices[i]].transformed3x3(obj.transform);
-
-					foundTriangles.push(v0);
-					foundTriangles.push(v);
-					foundTriangles.push(v2);
-					// foundTriangles.push(surfacenormal);
-
-					traceinfo.resetTrace(position.clone(), position.add(relVelocity.multiply(dt)), this._radius);
-					traceinfo.traceSphereTriangle(v2, v, v0);
-
-					if (traceinfo.collision) {
-						var tcolpos = traceinfo.getTraceEndpoint();
-						var closest = Collision.ClosestPtPointTriangle(tcolpos, _radius, v2.add(obj.velocity.multiply(traceinfo.t)),
-							v.add(obj.velocity.multiply(traceinfo.t)), v0.add(obj.velocity.multiply(traceinfo.t)), surfacenormal);
-						if (closest != null) {
-							var dist = tcolpos.sub(closest);
-							var distlen = dist.length();
-							if (maxIntersectDist < distlen && distlen < _radius) {
-								maxIntersectDist = distlen;
-								contactNorm = dist.normalized();
-								contactPt = closest;
-							}
-						}
-					}
-
-					// var closest = Collision.IntersectTriangleCapsule(position, position.add(relVelocity.multiply(dt)), _radius, v0, v, v2, surfacenormal);
-					// var closest = Collision.IntersectTriangleSphere(v0, v, v2, surfacenormal, position, radius);
-
-					// if (closest != null) {
-					// This is some ballpark approximation, very bruh
-					// var radiusDir = relVelocity.normalized().multiply(radius);
-					// var t = (-position.add(radiusDir).dot(surfacenormal) + v0.dot(surfacenormal)) / relVelocity.dot(surfacenormal);
-
-					// var pt = position.add(radiusDir).add(relVelocity.multiply(t));
-
-					// if (Collision.PointInTriangle(pt, v0, v, v2)) {
-					// 	if (t > 0 && t < intersectT) {
-					// 		intersectT = t;
-					// 	}
-					// }
-					// }
-
-					i += 3;
-				}
-			}
-		}
-
-		if (maxIntersectDist > 0) {
-			var finalPos = contactPt.add(contactNorm.multiply(_radius));
-
-			// Nudge the finalPos to the surface of the object
-
-			var chull = new ConvexHull(foundTriangles);
-			var sph = new collision.gjk.Sphere();
-			sph.position = finalPos;
-			sph.radius = _radius;
-
-			var pt = GJK.gjk(sph, chull).epa;
-
-			while (pt != null) {
-				if (pt.lengthSq() < 0.0001) {
-					break;
-				}
-				trace('Separating Vector Len: ${pt.length()}');
-				finalPos = finalPos.sub(pt);
-				sph.position = finalPos;
-				pt = GJK.gjk(sph, chull).epa;
-			}
-
-			// if (pt != null) {
-			// 	finalPos = finalPos.sub(pt);
-			// 	sph.position = finalPos;
-			// 	pt = GJK.gjk(sph, chull);
-			// 	if (pt != null) {
-			// 		trace("?????");
-			// 	}
-			// 	trace('Separating Vector Len: ${pt.length()}');
-			// }
-
-			// var colpos = finalPos;
-			// var msh = new h3d.prim.Sphere();
-			// var prim = new h3d.scene.Mesh(msh);
-			// msh.addNormals();
-			// prim.setTransform(Matrix.T(colpos.x, colpos.y, colpos.z));
-			// prim.setScale(this._radius);
-			// this.level.scene.addChild(prim);
-
-			var intersectT = finalPos.sub(position).length() / velocity.length();
-			return intersectT;
-		}
-
-		return 10e8;
-	}
-
 	function nudgeToContacts(position:Vector, radius:Float, foundContacts:Array<{
 		v:Array<Vector>,
-		n:Vector,
+		n:Vector
-		edge:Int,
-		concavity:Array<Bool>
 	}>) {
 		var it = 0;
 		var concernedContacts = foundContacts; // PathedInteriors have their own nudge logic

src/MarbleWorld.hx

@@ -1275,8 +1275,8 @@ class MarbleWorld extends Scheduler {
 						for (surface in chull.surfaces) {
 							var i = 0;
 							while (i < surface.indices.length) {
-								var surfaceN = surface.normals[surface.indices[i]].transformed3x3(chullinvT);
+								var surfaceN = surface.getNormal(surface.indices[i]).transformed3x3(chullinvT);
-								var v1 = surface.points[surface.indices[i]].transformed(chull.transform);
+								var v1 = surface.getPoint(surface.indices[i]).transformed(chull.transform);
 								var surfaceD = -surfaceN.dot(v1);
 
 								if (surfaceN.dot(padUp.multiply(-10)) < 0) {
@@ -1284,8 +1284,8 @@ class MarbleWorld extends Scheduler {
 									if (dist >= 0 && dist < 5) {
 										var intersectT = -(checkBoundsCenter.dot(surfaceN.toPoint()) + surfaceD) / (padUp.dot(surfaceN));
 										var intersectP = checkBoundsCenter.add(padUp.multiply(intersectT).toPoint()).toVector();
-										if (Collision.PointInTriangle(intersectP, v1, surface.points[surface.indices[i + 1]].transformed(chull.transform),
+										if (Collision.PointInTriangle(intersectP, v1, surface.getPoint(surface.indices[i + 1]).transformed(chull.transform),
-											surface.points[surface.indices[i + 2]].transformed(chull.transform))) {
+											surface.getPoint(surface.indices[i + 2]).transformed(chull.transform))) {
 											found = true;
 											break;
 										}

src/collision/Collision.hx

@@ -144,7 +144,7 @@ class Collision {
 		return res;
 	}
 
-	public static function TriangleSphereIntersection(A:Vector, B:Vector, C:Vector, N:Vector, P:Vector, r:Float, edgeData:Int, edgeConcavities:Array<Bool>) {
+	public static function TriangleSphereIntersection(A:Vector, B:Vector, C:Vector, N:Vector, P:Vector, r:Float) {
 		var res:ITSResult = {
 			result: false,
 			point: null,
@@ -356,7 +356,7 @@ class Collision {
 		return res;
 	}
 
-	public static function PointInTriangle(point:Vector, v0:Vector, v1:Vector, v2:Vector):Bool {
+	public static inline function PointInTriangle(point:Vector, v0:Vector, v1:Vector, v2:Vector):Bool {
 		var u = v1.sub(v0);
 		var v = v2.sub(v0);
 		var w = point.sub(v0);

src/collision/CollisionEntity.hx

@@ -38,8 +38,6 @@ class CollisionEntity implements IOctreeObject implements IBVHObject {
 	public var userData:Int;
 	public var fastTransform:Bool = false;
 
-	public var difEdgeMap:Map<Int, dif.Edge>;
-
 	var _transformKey:Int = 0;
 
 	var _dbgEntity:h3d.scene.Mesh;
@@ -216,28 +214,9 @@ class CollisionEntity implements IOctreeObject implements IBVHObject {
 				var v = verts.v2;
 				var v2 = verts.v3;
 
-				// var e1e2 = hashEdge(surface.originalIndices[i], surface.originalIndices[i + 1]);
-				// var e2e3 = hashEdge(surface.originalIndices[i + 1], surface.originalIndices[i + 2]);
-				// var e1e3 = hashEdge(surface.originalIndices[i], surface.originalIndices[i + 3]);
-
-				// var edgeData = 0;
-				// if (this.difEdgeMap.exists(e1e2)) {
-				// 	edgeData |= 1;
-				// }
-				// if (this.difEdgeMap.exists(e2e3)) {
-				// 	edgeData |= 2;
-				// }
-				// if (this.difEdgeMap.exists(e1e3)) {
-				// 	edgeData |= 4;
-				// }
-
-				var edgeData = surface.edgeData[Math.floor(i / 3)];
-
-				var edgeConcavities = surface.edgeConcavities.slice(Math.floor(i / 3), Math.floor(i / 3) + 3);
-
 				var surfacenormal = verts.n; // surface.normals[surface.indices[i]].transformed3x3(transform).normalized();
 
-				var res = Collision.TriangleSphereIntersection(v0, v, v2, surfacenormal, position, radius, edgeData, edgeConcavities);
+				var res = Collision.TriangleSphereIntersection(v0, v, v2, surfacenormal, position, radius);
 				var closest = res.point;
 				// var closest = Collision.ClosestPtPointTriangle(position, radius, v0, v, v2, surfacenormal);
 				if (closest != null) {

src/collision/CollisionHull.hx

@@ -60,7 +60,9 @@ class CollisionHull extends CollisionEntity {
 		super.addSurface(surface);
 		if (hull == null)
 			hull = new ConvexHull([]);
-		hull.vertices = hull.vertices.concat(surface.points);
+		for (i in 0...(Std.int(surface.points.length / 3))) {
+			hull.vertices.push(new Vector(surface.points[i * 3], surface.points[i * 3 + 1], surface.points[i * 3 + 2]));
+		}
 		if (surface.points.length != 0) {
 			this.force = surface.force;
 			this.friction = surface.friction;

src/collision/CollisionSurface.hx

@@ -10,20 +10,18 @@ class CollisionSurface implements IOctreeObject implements IBVHObject {
 	public var priority:Int;
 	public var position:Int;
 	public var boundingBox:Bounds;
-	public var points:Array<Vector>;
+	public var points:Array<Float>;
-	public var normals:Array<Vector>;
+	public var normals:Array<Float>;
 	public var indices:Array<Int>;
 	public var friction:Float = 1;
 	public var restitution:Float = 1;
 	public var force:Float = 0;
-	public var edgeData:Array<Int>;
-	public var edgeConcavities:Array<Bool>;
 	public var originalIndices:Array<Int>;
 	public var originalSurfaceIndex:Int;
 	public var transformKeys:Array<Int>;
 
-	var _transformedPoints:Array<Vector>;
+	var _transformedPoints:Array<Float>;
-	var _transformedNormals:Array<Vector>;
+	var _transformedNormals:Array<Float>;
 
 	public function new() {}
 
@@ -33,15 +31,21 @@ class CollisionSurface implements IOctreeObject implements IBVHObject {
 
 	public function generateNormals() {
 		var i = 0;
-		normals = [for (n in points) null];
+		normals = [for (n in points) 0.0];
 		while (i < indices.length) {
-			var p1 = points[indices[i]].clone();
+			var p1 = getPoint(indices[i]);
-			var p2 = points[indices[i + 1]].clone();
+			var p2 = getPoint(indices[i + 1]);
-			var p3 = points[indices[i + 2]].clone();
+			var p3 = getPoint(indices[i + 2]);
 			var n = p2.sub(p1).cross(p3.sub(p1)).normalized().multiply(-1);
-			normals[indices[i]] = n;
+			normals[indices[i] * 3] = n.x;
-			normals[indices[i + 1]] = n;
+			normals[indices[i] * 3 + 1] = n.y;
-			normals[indices[i + 2]] = n;
+			normals[indices[i] * 3 + 2] = n.z;
+			normals[indices[i + 1] * 3] = n.x;
+			normals[indices[i + 1] * 3 + 1] = n.y;
+			normals[indices[i + 1] * 3 + 2] = n.z;
+			normals[indices[i + 2] * 3] = n.x;
+			normals[indices[i + 2] * 3 + 1] = n.y;
+			normals[indices[i + 2] * 3 + 2] = n.z;
 			i += 3;
 		}
 	}
@@ -55,7 +59,8 @@ class CollisionSurface implements IOctreeObject implements IBVHObject {
 		boundingBox.yMax = -10e8;
 		boundingBox.zMax = -10e8;
 
-		for (point in points) {
+		for (i in 0...Std.int(points.length / 3)) {
+			var point = getPoint(i);
 			if (point.x > boundingBox.xMax) {
 				boundingBox.xMax = point.x;
 			}
@@ -82,14 +87,34 @@ class CollisionSurface implements IOctreeObject implements IBVHObject {
 		this.priority = priority;
 	}
 
+	inline public function getPoint(idx:Int) {
+		return new Vector(points[idx * 3], points[idx * 3 + 1], points[idx * 3 + 2]);
+	}
+
+	inline public function getNormal(idx:Int) {
+		return new Vector(normals[idx * 3], normals[idx * 3 + 1], normals[idx * 3 + 2]);
+	}
+
+	inline public function addPoint(x:Float, y:Float, z:Float) {
+		points.push(x);
+		points.push(y);
+		points.push(z);
+	}
+
+	inline public function addNormal(x:Float, y:Float, z:Float) {
+		normals.push(x);
+		normals.push(y);
+		normals.push(z);
+	}
+
 	public function rayCast(rayOrigin:Vector, rayDirection:Vector):Array<RayIntersectionData> {
 		var intersections = [];
 		var i = 0;
 		while (i < indices.length) {
-			var p1 = points[indices[i]].clone();
+			var p1 = getPoint(indices[i]);
-			var p2 = points[indices[i + 1]].clone();
+			var p2 = getPoint(indices[i + 1]);
-			var p3 = points[indices[i + 2]].clone();
+			var p3 = getPoint(indices[i + 2]);
-			var n = normals[indices[i]].clone();
+			var n = getNormal(indices[i]);
 			var d = -p1.dot(n);
 
 			var t = -(rayOrigin.dot(n) + d) / (rayDirection.dot(n));
@@ -107,7 +132,8 @@ class CollisionSurface implements IOctreeObject implements IBVHObject {
 		var furthestDistance:Float = Math.NEGATIVE_INFINITY;
 		var furthestVertex:Vector = new Vector();
 
-		for (v in points) {
+		for (i in 0...Std.int(points.length / 3)) {
+			var v = getPoint(i);
 			var v2 = v.transformed(transform);
 			var distance:Float = v2.dot(direction);
 			if (distance > furthestDistance) {
@@ -132,23 +158,35 @@ class CollisionSurface implements IOctreeObject implements IBVHObject {
 		var p2 = indices[idx + 1];
 		var p3 = indices[idx + 2];
 		if (transformKeys[p1] != key) {
-			_transformedPoints[p1] = points[p1].transformed(tform);
+			var pt = getPoint(p1).transformed(tform);
-			_transformedNormals[p1] = normals[p1].transformed3x3(invtform).normalized();
+			_transformedPoints[p1 * 3] = pt.x;
+			_transformedPoints[p1 * 3 + 1] = pt.y;
+			_transformedPoints[p1 * 3 + 2] = pt.z;
+			var pn = getNormal(p1).transformed3x3(invtform).normalized();
+			_transformedNormals[p1 * 3] = pn.x;
+			_transformedNormals[p1 * 3 + 1] = pn.y;
+			_transformedNormals[p1 * 3 + 2] = pn.z;
 			transformKeys[p1] = key;
 		}
 		if (transformKeys[p2] != key) {
-			_transformedPoints[p2] = points[p2].transformed(tform);
+			var pt = getPoint(p2).transformed(tform);
+			_transformedPoints[p2 * 3] = pt.x;
+			_transformedPoints[p2 * 3 + 1] = pt.y;
+			_transformedPoints[p2 * 3 + 2] = pt.z;
 			transformKeys[p2] = key;
 		}
 		if (transformKeys[p3] != key) {
-			_transformedPoints[p3] = points[p3].transformed(tform);
+			var pt = getPoint(p3).transformed(tform);
+			_transformedPoints[p3 * 3] = pt.x;
+			_transformedPoints[p3 * 3 + 1] = pt.y;
+			_transformedPoints[p3 * 3 + 2] = pt.z;
 			transformKeys[p3] = key;
 		}
 		return {
-			v1: _transformedPoints[p1],
+			v1: new Vector(_transformedPoints[p1 * 3], _transformedPoints[p1 * 3 + 1], _transformedPoints[p1 * 3 + 2]),
-			v2: _transformedPoints[p2],
+			v2: new Vector(_transformedPoints[p2 * 3], _transformedPoints[p2 * 3 + 1], _transformedPoints[p2 * 3 + 2]),
-			v3: _transformedPoints[p3],
+			v3: new Vector(_transformedPoints[p3 * 3], _transformedPoints[p3 * 3 + 1], _transformedPoints[p3 * 3 + 2]),
-			n: _transformedNormals[p1]
+			n: new Vector(_transformedNormals[p1 * 3], _transformedNormals[p1 * 3 + 1], _transformedNormals[p1 * 3 + 2])
 		};
 	}
 
@@ -158,8 +196,6 @@ class CollisionSurface implements IOctreeObject implements IBVHObject {
 		indices = null;
 		_transformedPoints = null;
 		_transformedNormals = null;
-		edgeData = null;
-		edgeConcavities = null;
 		originalIndices = null;
 	}
 }

src/rewind/RewindFrame.hx

@@ -40,9 +40,9 @@ class RewindFrame {
 		timeState:TimeState
 	};
 
-	public function new() {}
+	inline public function new() {}
 
-	public function clone() {
+	public inline function clone() {
 		var c = new RewindFrame();
 		c.timeState = timeState.clone();
 		c.marblePosition = marblePosition.clone();
@@ -85,7 +85,7 @@ class RewindFrame {
 		return c;
 	}
 
-	public function serialize(rm:RewindManager) {
+	public inline function serialize(rm:RewindManager) {
 		var bb = new BytesOutput();
 		var framesize = 0;
 		framesize += 32; // timeState
@@ -231,7 +231,7 @@ class RewindFrame {
 		return bb.getBytes();
 	}
 
-	public function deserialize(rm:RewindManager, br:haxe.io.BytesInput) {
+	public inline function deserialize(rm:RewindManager, br:haxe.io.BytesInput) {
 		marblePosition = new Vector();
 		marbleOrientation = new Quat();
 		marbleVelocity = new Vector();