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Add target parameter to Vector and Rotation #25

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Add target parameter to Vector and Rotation #25

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27 changes: 15 additions & 12 deletions src.ts/dynamics/joint.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -67,19 +67,21 @@ export class Joint {
// #if DIM3
/**
* The rotation quaternion that aligns this joint's first local axis to the `x` axis.
* @param target - The target Rotation object to write to.
*/
public frameX1(): Rotation {
return RotationOps.fromRaw(this.rawSet.jointFrameX1(this.handle));
public frameX1(target?: Rotation): Rotation {
return RotationOps.fromRaw(this.rawSet.jointFrameX1(this.handle), target);
}

// #endif

// #if DIM3
/**
* The rotation matrix that aligns this joint's second local axis to the `x` axis.
* @param target - The target Rotation object to write to.
*/
public frameX2(): Rotation {
return RotationOps.fromRaw(this.rawSet.jointFrameX2(this.handle));
public frameX2(target?: Rotation): Rotation {
return RotationOps.fromRaw(this.rawSet.jointFrameX2(this.handle), target);
}

// #endif
Expand All @@ -89,9 +91,10 @@ export class Joint {
*
* The first anchor gives the position of the points application point on the
* local frame of the first rigid-body it is attached to.
* @param target - The target Vector object to write to.
*/
public anchor1(): Vector {
return VectorOps.fromRaw(this.rawSet.jointAnchor1(this.handle));
public anchor1(target?: Vector): Vector {
return VectorOps.fromRaw(this.rawSet.jointAnchor1(this.handle), target);
}

/**
Expand All @@ -100,8 +103,8 @@ export class Joint {
* The second anchor gives the position of the points application point on the
* local frame of the second rigid-body it is attached to.
*/
public anchor2(): Vector {
return VectorOps.fromRaw(this.rawSet.jointAnchor2(this.handle));
public anchor2(target?: Vector): Vector {
return VectorOps.fromRaw(this.rawSet.jointAnchor2(this.handle), target);
}

/**
Expand All @@ -111,8 +114,8 @@ export class Joint {
* this returns the application axis on the first rigid-body this joint is attached to, expressed
* in the local-space of this first rigid-body.
*/
public axis1(): Vector {
return VectorOps.fromRaw(this.rawSet.jointAxis1(this.handle));
public axis1(target?: Vector): Vector {
return VectorOps.fromRaw(this.rawSet.jointAxis1(this.handle), target);
}

/**
Expand All @@ -122,8 +125,8 @@ export class Joint {
* this returns the application axis on the second rigid-body this joint is attached to, expressed
* in the local-space of this second rigid-body.
*/
public axis2(): Vector {
return VectorOps.fromRaw(this.rawSet.jointAxis2(this.handle))
public axis2(target?: Vector): Vector {
return VectorOps.fromRaw(this.rawSet.jointAxis2(this.handle), target)
}

/**
Expand Down
62 changes: 52 additions & 10 deletions src.ts/dynamics/rigid_body.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -52,44 +52,84 @@ export class RigidBody {

/**
* The world-space translation of this rigid-body.
* @param target - The target Vector object to write to.
*/
public translation(): Vector {
public translation(target?: Vector): Vector {
let res = this.rawSet.rbTranslation(this.handle);
return VectorOps.fromRaw(res);
return VectorOps.fromRaw(res, target);
}

// #if DIM3

/**
* The world-space orientation of this rigid-body.
* @param target - The target Rotation object to write to.
*/
public rotation(target?: Rotation): Rotation {
let res = this.rawSet.rbRotation(this.handle);
return RotationOps.fromRaw(res, target);
}

// #endif

// #if DIM2

/**
* The world-space orientation of this rigid-body.
*/
public rotation(): Rotation {
public rotation(): Rotation {
let res = this.rawSet.rbRotation(this.handle);
return RotationOps.fromRaw(res);
}

// #endif

/**
* The world-space next translation of this rigid-body.
* @param target - The target Vector object to write to.
*
* If this rigid-body is kinematic this value is set by the `setNextKinematicTranslation`
* method and is used for estimating the kinematic body velocity at the next timestep.
* For non-kinematic bodies, this value is currently unspecified.
*/
public nextTranslation(): Vector {
public nextTranslation(target?: Vector): Vector {
let res = this.rawSet.rbNextTranslation(this.handle);
return VectorOps.fromRaw(res);
return VectorOps.fromRaw(res, target);
}

// #if DIM3

/**
* The world-space next orientation of this rigid-body.
* @param target - The target Rotation object to write to.
*
* If this rigid-body is kinematic this value is set by the `setNextKinematicRotation`
* method and is used for estimating the kinematic body velocity at the next timestep.
* For non-kinematic bodies, this value is currently unspecified.
*/
public nextRotation(target?: Rotation): Rotation {
let res = this.rawSet.rbNextRotation(this.handle);
return RotationOps.fromRaw(res, target);
}

// #endif

// #if DIM2

/**
* The world-space next orientation of this rigid-body.
*
* If this rigid-body is kinematic this value is set by the `setNextKinematicRotation`
* method and is used for estimating the kinematic body velocity at the next timestep.
* For non-kinematic bodies, this value is currently unspecified.
*/
public nextRotation(): Rotation {
public nextRotation(): Rotation {
let res = this.rawSet.rbNextRotation(this.handle);
return RotationOps.fromRaw(res);
}

// #endif

/**
* Sets the translation of this rigid-body.
*
Expand Down Expand Up @@ -248,17 +288,19 @@ export class RigidBody {

/**
* The linear velocity of this rigid-body.
* @param target - The target Vector object to write to.
*/
public linvel(): Vector {
return VectorOps.fromRaw(this.rawSet.rbLinvel(this.handle));
public linvel(target?: Vector): Vector {
return VectorOps.fromRaw(this.rawSet.rbLinvel(this.handle), target);
}

// #if DIM3
/**
* The angular velocity of this rigid-body.
* @param target - The target Vector object to write to.
*/
public angvel(): Vector {
return VectorOps.fromRaw(this.rawSet.rbAngvel(this.handle));
public angvel(target?: Vector): Vector {
return VectorOps.fromRaw(this.rawSet.rbAngvel(this.handle), target);
}

// #endif
Expand Down
31 changes: 24 additions & 7 deletions src.ts/geometry/collider.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -43,17 +43,32 @@ export class Collider {

/**
* The world-space translation of this rigid-body.
* @param target - The target Vector object to write to.
*/
public translation(): Vector {
return VectorOps.fromRaw(this.rawSet.coTranslation(this.handle));
public translation(target?: Vector): Vector {
return VectorOps.fromRaw(this.rawSet.coTranslation(this.handle), target);
}

// #if DIM3

/**
* The world-space orientation of this rigid-body.
* @param target - The target Rotation object to write to.
*/
public rotation(): Rotation {
public rotation(target?: Rotation): Rotation {
return RotationOps.fromRaw(this.rawSet.coRotation(this.handle), target);
}

// #endif

// #if DIM2
/**
* The world-space orientation of this rigid-body.
*/
public rotation(): Rotation {
return RotationOps.fromRaw(this.rawSet.coRotation(this.handle));
}
// #endif

/**
* Is this collider a sensor?
Expand All @@ -71,9 +86,10 @@ export class Collider {

/**
* The half-extents of this collider if it is a cuboid shape.
* @param target - The target Vector object to write to.
*/
public halfExtents(): Vector {
return VectorOps.fromRaw(this.rawSet.coHalfExtents(this.handle));
public halfExtents(target?: Vector): Vector {
return VectorOps.fromRaw(this.rawSet.coHalfExtents(this.handle), target);
}

/**
Expand Down Expand Up @@ -125,10 +141,11 @@ export class Collider {
/**
* If this collider has a heightfield shape, this returns the scale
* applied to it.
* @param target - The target Vector object to write to.
*/
public heightfieldScale(): Vector {
public heightfieldScale(target?: Vector): Vector {
let scale = this.rawSet.coHeightfieldScale(this.handle);
return VectorOps.fromRaw(scale);
return VectorOps.fromRaw(scale, target);
}

// #if DIM3
Expand Down
2 changes: 1 addition & 1 deletion src.ts/geometry/shape.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -371,7 +371,7 @@ export class Polyline {
*/
constructor(vertices: Float32Array, indices: Uint32Array) {
this.vertices = vertices;
this.indices = !!indices ? indices : new Uint32Array();
this.indices = !!indices ? indices : new Uint32Array(0);
}

public intoRaw(): RawShape {
Expand Down
42 changes: 36 additions & 6 deletions src.ts/math.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -29,11 +29,20 @@ export class VectorOps {
}

// FIXME: type ram: RawVector?
public static fromRaw(raw: RawVector): Vector {
public static fromRaw(raw: RawVector, target?: Vector): Vector {
if (!raw)
return null;

let res = VectorOps.new(raw.x, raw.y);
let res: Vector;

if (target) {
target.x = raw.x;
target.y = raw.y;
res = target;
} else {
res = VectorOps.new(raw.x, raw.y);
}

raw.free();
return res;
}
Expand Down Expand Up @@ -106,11 +115,21 @@ export class VectorOps {
}

// FIXME: type ram: RawVector?
public static fromRaw(raw: RawVector): Vector {
public static fromRaw(raw: RawVector, target?: Vector): Vector {
if (!raw)
return null;

let res = VectorOps.new(raw.x, raw.y, raw.z);
let res: Vector;

if (target) {
target.x = raw.x;
target.y = raw.y;
target.z = raw.z;
res = target;
} else {
res = VectorOps.new(raw.x, raw.y, raw.z);
}

raw.free();
return res;
}
Expand Down Expand Up @@ -145,11 +164,22 @@ export class RotationOps {
return new Quaternion(0.0, 0.0, 0.0, 1.0);
}

public static fromRaw(raw: RawRotation): Rotation {
public static fromRaw(raw: RawRotation, target?: Rotation): Rotation {
if (!raw)
return null;

let res = new Quaternion(raw.x, raw.y, raw.z, raw.w);
let res

if (target) {
target.x = raw.x;
target.y = raw.y;
target.z = raw.z;
target.w = raw.w;
res = target;
} else {
res = new Quaternion(raw.x, raw.y, raw.z, raw.w);
}

raw.free();
return res;
}
Expand Down