Mitigate JavaScript Object Allocation for Performance Gain (Phase 1)

builds/prepare_builds/templates/package.json.tera

@@ -14,7 +14,8 @@
     "//": "Better keep rimraf version in sync with wasm-pack, see https://github.com/rustwasm/wasm-pack/issues/1444",
     "devDependencies": {
         "rimraf": "^3.0.2",
-        "typedoc": "^0.25.13"
+        "typedoc": "^0.25.13",
+        "typescript": "~5.4.5"
     },
     "dependencies": {
         "wasm-pack": "^0.12.1"

builds/prepare_builds/templates/tsconfig.json

@@ -3,7 +3,7 @@
         "outDir": "./pkg",
         "module": "ES6",
         "target": "es6",
-        "lib": ["es6"],
+        "lib": ["es6", "ESNext.Disposable"],
         "moduleResolution": "node",
         "sourceMap": true,
         "declaration": true,

builds/prepare_builds/templates/tsconfig_typedoc.json

@@ -4,7 +4,7 @@
         "moduleResolution": "node",
         "sourceMap": true,
         "declaration": true,
-        "lib": ["es6"]
+        "lib": ["es6", "ESNext.Disposable"]
     },
     "files": ["./pkg/rapier.d.ts"]
 }

src.ts/control/character_controller.ts

@@ -1,5 +1,5 @@
 import {RawKinematicCharacterController, RawCharacterCollision} from "../raw";
-import {Rotation, Vector, VectorOps} from "../math";
+import {Rotation, Vector, VectorOps, scratchBuffer} from "../math";
 import {
     BroadPhase,
     Collider,
@@ -333,8 +333,9 @@ export class KinematicCharacterController {
     /**
      * The movement computed by the last call to `this.computeColliderMovement`.
      */
-    public computedMovement(): Vector {
-        return VectorOps.fromRaw(this.raw.computedMovement());
+    public computedMovement(target?: Vector): Vector {
+        this.raw.computedMovement(scratchBuffer);
+        return VectorOps.fromBuffer(scratchBuffer, target);
     }
 
     /**
@@ -368,17 +369,25 @@ export class KinematicCharacterController {
         } else {
             let c = this.rawCharacterCollision;
             out = out ?? new CharacterCollision();
-            out.translationDeltaApplied = VectorOps.fromRaw(
-                c.translationDeltaApplied(),
+            c.translationDeltaApplied(scratchBuffer);
+            out.translationDeltaApplied = VectorOps.fromBuffer(
+                scratchBuffer,
+                out.translationDeltaApplied,
             );
-            out.translationDeltaRemaining = VectorOps.fromRaw(
-                c.translationDeltaRemaining(),
+            c.translationDeltaRemaining(scratchBuffer);
+            out.translationDeltaRemaining = VectorOps.fromBuffer(
+                scratchBuffer,
+                out.translationDeltaRemaining,
             );
             out.toi = c.toi();
-            out.witness1 = VectorOps.fromRaw(c.worldWitness1());
-            out.witness2 = VectorOps.fromRaw(c.worldWitness2());
-            out.normal1 = VectorOps.fromRaw(c.worldNormal1());
-            out.normal2 = VectorOps.fromRaw(c.worldNormal2());
+            c.worldWitness1(scratchBuffer);
+            out.witness1 = VectorOps.fromBuffer(scratchBuffer, out.witness1);
+            c.worldWitness2(scratchBuffer);
+            out.witness2 = VectorOps.fromBuffer(scratchBuffer, out.witness2);
+            c.worldNormal1(scratchBuffer);
+            out.normal1 = VectorOps.fromBuffer(scratchBuffer, out.normal1);
+            c.worldNormal2(scratchBuffer);
+            out.normal2 = VectorOps.fromBuffer(scratchBuffer, out.normal2);
             out.collider = this.colliders.get(c.handle());
             return out;
         }

src.ts/control/pid_controller.ts

@@ -1,5 +1,5 @@
 import {RawPidController} from "../raw";
-import {Rotation, RotationOps, Vector, VectorOps} from "../math";
+import {Rotation, RotationOps, scratchBuffer, Vector, VectorOps} from "../math";
 import {Collider, ColliderSet, InteractionGroups, Shape} from "../geometry";
 import {QueryFilterFlags, World} from "../pipeline";
 import {IntegrationParameters, RigidBody, RigidBodySet} from "../dynamics";
@@ -151,20 +151,22 @@ export class PidController {
         body: RigidBody,
         targetPosition: Vector,
         targetLinvel: Vector,
+        target?: Vector,
     ): Vector {
         let rawPos = VectorOps.intoRaw(targetPosition);
         let rawVel = VectorOps.intoRaw(targetLinvel);
-        let correction = this.raw.linear_correction(
+        this.raw.linear_correction(
             this.params.dt,
             this.bodies.raw,
             body.handle,
             rawPos,
             rawVel,
+            scratchBuffer,
         );
         rawPos.free();
         rawVel.free();
 
-        return VectorOps.fromRaw(correction);
+        return VectorOps.fromBuffer(scratchBuffer, target);
     }
 
     // #if DIM2
@@ -188,20 +190,22 @@ export class PidController {
         body: RigidBody,
         targetRotation: Rotation,
         targetAngVel: Vector,
+        target?: Vector,
     ): Vector {
         let rawPos = RotationOps.intoRaw(targetRotation);
         let rawVel = VectorOps.intoRaw(targetAngVel);
-        let correction = this.raw.angular_correction(
+        this.raw.angular_correction(
             this.params.dt,
             this.bodies.raw,
             body.handle,
             rawPos,
             rawVel,
+            scratchBuffer,
         );
         rawPos.free();
         rawVel.free();
 
-        return VectorOps.fromRaw(correction);
+        return VectorOps.fromBuffer(scratchBuffer, target);
     }
     // #endif
 }