Fix contacr constraints allocs

These show up a lot on tumbler but no more.
metalgearsloth · Nov 19, 2023 · 423ce0d · 423ce0d
1 parent 2459a9d
commit 423ce0d
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Showing 3 changed files with 3 additions and 9 deletions.
diff --git a/Robust.Shared/Physics/Dynamics/Contacts/ContactPositionConstraint.cs b/Robust.Shared/Physics/Dynamics/Contacts/ContactPositionConstraint.cs
@@ -21,7 +21,6 @@
 */
 
 using System.Numerics;
-using Robust.Shared.Maths;
 using Robust.Shared.Physics.Collision;
 
 namespace Robust.Shared.Physics.Dynamics.Contacts

diff --git a/Robust.Shared/Physics/Dynamics/Contacts/ContactVelocityConstraint.cs b/Robust.Shared/Physics/Dynamics/Contacts/ContactVelocityConstraint.cs
@@ -21,7 +21,6 @@
 */
 
 using System.Numerics;
-using Robust.Shared.Maths;
 
 namespace Robust.Shared.Physics.Dynamics.Contacts
 {

diff --git a/Robust.Shared/Physics/Systems/SharedPhysicsSystem.Solver.cs b/Robust.Shared/Physics/Systems/SharedPhysicsSystem.Solver.cs
@@ -67,12 +67,8 @@ private void ResetSolver(
             velocityConstraint.TangentSpeed = contact.TangentSpeed;
             velocityConstraint.IndexA = bodyA.IslandIndex[island.Index];
             velocityConstraint.IndexB = bodyB.IslandIndex[island.Index];
-            velocityConstraint.Points = new VelocityConstraintPoint[2];
-
-            for (var j = 0; j < 2; j++)
-            {
-                velocityConstraint.Points[j] = new VelocityConstraintPoint();
-            }
+            Array.Resize(ref velocityConstraint.Points, 2);
+            // Don't need to reset point data as it all gets set below.
 
             var (invMassA, invMassB) = GetInvMass(bodyA, bodyB);
 
@@ -91,7 +87,7 @@ private void ResetSolver(
             (positionConstraint.InvMassA, positionConstraint.InvMassB) = (invMassA, invMassB);
             positionConstraint.LocalCenterA = bodyA.LocalCenter;
             positionConstraint.LocalCenterB = bodyB.LocalCenter;
-            positionConstraint.LocalPoints = new Vector2[2];
+            Array.Resize(ref positionConstraint.LocalPoints, 2);
 
             positionConstraint.InvIA = bodyA.InvI;
             positionConstraint.InvIB = bodyB.InvI;
-Original file line number
+Diff line change
@@ Expand Up / @@ -21,7 +21,6 @@ @@
     */
     using System.Numerics;
-    using Robust.Shared.Maths;
     namespace Robust.Shared.Physics.Dynamics.Contacts
     {
@@ Expand Down @@