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

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Merged
PepperLola merged 2 commits into from
Aug 12, 2026
Merged

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

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17a2c24
refactor(physics): createAnchorPoint returns Vec3
Dhruv-0-Arora Aug 7, 2026
30fbb28
fix(physics): cleaning up leaking anchorPoints Vec3
Dhruv-0-Arora Aug 7, 2026
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10 changes: 4 additions & 6 deletions fission/src/systems/physics/ConstraintSettingsUtilities.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -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
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6 changes: 6 additions & 0 deletions fission/src/systems/physics/PhysicsSystem.ts
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Expand Up @@ -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!

Expand Down Expand Up @@ -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!

Expand Down Expand Up @@ -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)
Expand Down Expand Up @@ -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
}
Expand Down Expand Up @@ -922,6 +926,8 @@ class PhysicsSystem extends WorldSystem {

JOLT.destroy(constraintSpecifications.axis)
})

JOLT.destroy(anchorPoint)
}

/**
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