From 175bc9ea15bdfe767d23b5a5b82f261014884ff6 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Fri, 10 Jun 2016 18:13:53 +0200
Subject: [PATCH] Minor optimizations
---
src/BV/OBB.cpp | 4 ++--
src/BV/kIOS.cpp | 2 +-
src/BVH/BVH_model.cpp | 6 ++++--
3 files changed, 7 insertions(+), 5 deletions(-)
diff --git a/src/BV/OBB.cpp b/src/BV/OBB.cpp
index 2628e921..14b256d5 100644
--- a/src/BV/OBB.cpp
+++ b/src/BV/OBB.cpp
@@ -562,7 +562,7 @@ bool OBB::overlap(const OBB& other) const
bool OBB::contain(const Vec3f& p) const
{
- Vec3f local_p = p - To;
+ Vec3f local_p (p - To);
FCL_REAL proj = local_p.dot(axes.col(0));
if((proj > extent[0]) || (proj < -extent[0]))
return false;
@@ -581,7 +581,7 @@ bool OBB::contain(const Vec3f& p) const
OBB& OBB::operator += (const Vec3f& p)
{
OBB bvp;
- bvp.To.noalias() = p;
+ bvp.To = p;
bvp.axes.noalias() = axes;
bvp.extent.setZero();
diff --git a/src/BV/kIOS.cpp b/src/BV/kIOS.cpp
index a482c4d0..b523f455 100644
--- a/src/BV/kIOS.cpp
+++ b/src/BV/kIOS.cpp
@@ -183,7 +183,7 @@ bool overlap(const Matrix3f& R0, const Vec3f& T0, const kIOS& b1, const kIOS& b2
b2_temp.obb.To = R0 * b2_temp.obb.To + T0;
- b2_temp.obb.axes = R0 * b2_temp.obb.axes;
+ b2_temp.obb.axes.applyOnTheLeft(R0);
return b1.overlap(b2_temp);
}
diff --git a/src/BVH/BVH_model.cpp b/src/BVH/BVH_model.cpp
index ae4e903d..28d762b5 100644
--- a/src/BVH/BVH_model.cpp
+++ b/src/BVH/BVH_model.cpp
@@ -890,7 +890,8 @@ void BVHModel<OBB>::makeParentRelativeRecurse(int bv_id, Matrix3f& parent_axes,
}
// make self parent relative
- obb.axes = parent_axes.transpose() * obb.axes;
+ // obb.axes = parent_axes.transpose() * obb.axes;
+ obb.axes.applyOnTheLeft(parent_axes.transpose());
Vec3f t (obb.To - parent_c);
obb.To.noalias() = parent_axes.transpose() * t;
@@ -908,7 +909,8 @@ void BVHModel<RSS>::makeParentRelativeRecurse(int bv_id, Matrix3f& parent_axes,
}
// make self parent relative
- rss.axes = parent_axes.transpose() * rss.axes;
+ // rss.axes = parent_axes.transpose() * rss.axes;
+ rss.axes.applyOnTheLeft(parent_axes.transpose());
Vec3f t (rss.Tr - parent_c);
rss.Tr.noalias() = parent_axes.transpose() * t;
--
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