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Remove gc pressure in debug build #183

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Sep 14, 2024
Merged

Remove gc pressure in debug build #183

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34 changes: 11 additions & 23 deletions src/Jitter2/World.Step.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -327,8 +327,6 @@ private unsafe void IterateSmallConstraintsCallback(Parallel.Batch batch)
ref RigidBodyData b1 = ref constraint.Body1.Data;
ref RigidBodyData b2 = ref constraint.Body2.Data;

AssertConstraint(ref b1, ref b2);

if (constraint.Iterate == null) continue;

LockTwoBody(ref b1, ref b2);
Expand Down Expand Up @@ -371,8 +369,6 @@ private unsafe void IterateConstraintsCallback(Parallel.Batch batch)
ref RigidBodyData b1 = ref constraint.Body1.Data;
ref RigidBodyData b2 = ref constraint.Body2.Data;

AssertConstraint(ref b1, ref b2);

if (constraint.Iterate == null) continue;

LockTwoBody(ref b1, ref b2);
Expand All @@ -391,8 +387,6 @@ private void IterateContactsCallback(Parallel.Batch batch)
ref RigidBodyData b1 = ref c.Body1.Data;
ref RigidBodyData b2 = ref c.Body2.Data;

AssertConstraint(ref b1, ref b2);

LockTwoBody(ref b1, ref b2);
c.Iterate();
UnlockTwoBody(ref b1, ref b2);
Expand All @@ -418,23 +412,6 @@ private void DetectCollisionsCallback(Parallel.Batch batch)
}
}

private void AssertConstraint(ref RigidBodyData rb1, ref RigidBodyData rb2)
{
Debug.Assert(!(rb1.IsStaticOrInactive && rb2.IsStaticOrInactive));

if (rb1.IsStatic)
{
Debug.Assert(rb1.InverseMass == 0.0f);
Debug.Assert(rb1.InverseInertiaWorld.Equals(JMatrix.Zero));
}

if (rb2.IsStatic)
{
Debug.Assert(rb2.InverseMass == 0.0f);
Debug.Assert(rb2.InverseInertiaWorld.Equals(JMatrix.Zero));
}
}

private void AssertNullBody()
{
ref RigidBodyData rigidBody = ref NullBody.Data;
Expand All @@ -458,6 +435,17 @@ private void ForeachActiveShape(bool multiThread)

private void ForeachActiveBody(bool multiThread)
{
#if DEBUG
foreach (var body in bodies)
{
if (body.IsStatic)
{
System.Diagnostics.Debug.Assert(MathHelper.UnsafeIsZero(body.Data.InverseInertiaWorld));
System.Diagnostics.Debug.Assert(body.Data.InverseMass == 0.0f);
}
}
#endif

if (multiThread)
{
bodies.ParallelForBatch(256, updateBodies);
Expand Down
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