Fix rotation error when add joint(opt code) #2527
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WalkthroughThis pull request introduces minor modifications across several physics-related TypeScript files. The changes include optimizing memory usage in joint handling, adjusting matrix operations, and making small syntactical improvements. The modifications primarily affect internal implementation details of physics components, with no significant changes to public interfaces or core functionality. Changes
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Codecov ReportAll modified and coverable lines are covered by tests ✅
Additional details and impacted files@@ Coverage Diff @@
## main #2527 +/- ##
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- Coverage 68.60% 68.58% -0.03%
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Files 957 957
Lines 100123 100125 +2
Branches 8572 8569 -3
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- Hits 68688 68669 -19
- Misses 31179 31200 +21
Partials 256 256
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Actionable comments posted: 0
🧹 Nitpick comments (1)
packages/core/src/physics/joint/Joint.ts (1)
18-18: Validate shared static usage for_tempQuat.
Reusing a staticQuaternionimproves performance by reducing allocations, but watch out for accidental reuse if multiple methods operate on it in parallel or re-entrantly.
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📒 Files selected for processing (4)
packages/core/src/physics/DynamicCollider.ts(1 hunks)packages/core/src/physics/joint/Joint.ts(3 hunks)packages/physics-physx/src/joint/PhysXHingeJoint.ts(1 hunks)packages/physics-physx/src/joint/PhysXJoint.ts(1 hunks)
✅ Files skipped from review due to trivial changes (1)
- packages/core/src/physics/DynamicCollider.ts
⏰ Context from checks skipped due to timeout of 90000ms (1)
- GitHub Check: e2e (22.x)
🔇 Additional comments (4)
packages/physics-physx/src/joint/PhysXJoint.ts (1)
52-52: Check order of operations insetRotationmethod.
By copying_rotationafter_setLocalPose(), the pose calculation for the connected anchor uses the old rotation. If this is intentional, consider adding a comment clarifying why_rotationmust be updated afterward. Otherwise, swap the order to ensure everything stays in sync.packages/physics-physx/src/joint/PhysXHingeJoint.ts (1)
31-33: Minor readability improvement with local variable usage.
Storingthis._axisin a localaxisvariable clarifies the code and is consistent with best practices in many codebases. No further issues.packages/core/src/physics/joint/Joint.ts (2)
246-246: Slightly more concise matrix inversion.
Replacing an extra copy step withMatrix.invert(...)is a fine micro-optimization. This is clear and looks correct.
281-281: Confirm correct usage of_tempQuatin_updateRotation().
Because_tempQuatis reused, ensure no asynchronous calls overwrite it within the same function scope. Otherwise, this approach is an efficient improvement.
Please check if the PR fulfills these requirements
What kind of change does this PR introduce? (Bug fix, feature, docs update, ...)
What is the current behavior? (You can also link to an open issue here)
What is the new behavior (if this is a feature change)?
Does this PR introduce a breaking change? (What changes might users need to make in their application due to this PR?)
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Summary by CodeRabbit
Performance Optimization
Code Refinement
Note: These changes are primarily internal improvements that may enhance overall system performance and code efficiency.