refactor(physics): createAnchorPoint() returns Vec3 SYNTH-341 (#1490)

Author: PepperLola

fission/src/systems/physics/ConstraintSettingsUtilities.ts

@@ -6,19 +6,17 @@ import { convertMirabufVector3ToJoltRVec3, convertMirabufVector3ToJoltVec3 } fro
 
 type LimitSpecs = Omit<DOFSpecs, "friction" | "axis">
 
-// Returns a STATIC_ALIAS `RVec3.AddRVec3()`'s scratch buffer.
 export function createAnchorPoint(jointInstance: mirabuf.joint.JointInstance, jointDefinition: mirabuf.joint.Joint) {
-    const jointOrigin = jointDefinition.origin
+    const anchorPoint = jointDefinition.origin
         ? convertMirabufVector3ToJoltRVec3(jointDefinition.origin)
         : new JOLT.RVec3(0, 0, 0)
     // TODO: Offset transformation for robot builder.
     const jointOriginOffset = jointInstance.offset
-        ? convertMirabufVector3ToJoltRVec3(jointInstance.offset)
-        : new JOLT.RVec3(0, 0, 0)
+        ? convertMirabufVector3ToJoltVec3(jointInstance.offset)
+        : new JOLT.Vec3(0, 0, 0)
 
-    const anchorPoint = jointOrigin.AddRVec3(jointOriginOffset)
+    anchorPoint.Add(jointOriginOffset)
 
-    JOLT.destroy(jointOrigin)
     JOLT.destroy(jointOriginOffset)
 
     return anchorPoint

fission/src/systems/physics/PhysicsSystem.ts

@@ -609,6 +609,7 @@ class PhysicsSystem extends WorldSystem {
 
         const anchorPoint = createAnchorPoint(jointInstance, jointDefinition)
         hingeConstraintSettings.mPoint1 = hingeConstraintSettings.mPoint2 = anchorPoint
+        JOLT.destroy(anchorPoint)
 
         const rotationalFreedom = jointDefinition.rotational!.rotationalFreedom!
 
@@ -642,6 +643,7 @@ class PhysicsSystem extends WorldSystem {
 
         const anchorPoint = createAnchorPoint(jointInstance, jointDefinition)
         constraintSettings.mPoint1 = constraintSettings.mPoint2 = anchorPoint
+        JOLT.destroy(anchorPoint)
 
         const freedom = jointDefinition.prismatic!.prismaticFreedom!
 
@@ -839,6 +841,7 @@ class PhysicsSystem extends WorldSystem {
 
         JOLT.destroy(axis)
         JOLT.destroy(unitAxis)
+        JOLT.destroy(anchorPoint)
 
         const vehicleConstraint = this.createVehicleConstraint(wheelSettings, bodyMain, maxAcc, urdfWheelBasis)
         const { listener, tester } = this.createVehicleListeners(vehicleConstraint, bodyWheel)
@@ -869,6 +872,7 @@ class PhysicsSystem extends WorldSystem {
         const dofs = jointDefinition.custom?.dofs
         if (!dofs || dofs.length < 3) {
             console.warn("Empty degrees-of-freedom in joint definition for ball constraint")
+            JOLT.destroy(anchorPoint)
 
             return
         }
@@ -922,6 +926,8 @@ class PhysicsSystem extends WorldSystem {
 
             JOLT.destroy(constraintSpecifications.axis)
         })
+
+        JOLT.destroy(anchorPoint)
     }
 
     /**