performance and other stuff from schteppe#366 recreated

packages/p2-es-sandbox/src/pixi/draw.ts

@@ -185,7 +185,8 @@ export const drawConvex = ({
     if (!debugPolygons) {
         graphics.lineStyle(lineWidth, lineColor, 1)
         graphics.beginFill(fillColor, isSleeping ? sleepOpacity : 1.0)
-        for (let i = 0; i !== verts.length; i++) {
+        const l = verts.length
+        for (let i = 0; i !== l; i++) {
             const v = verts[i]
             const x = v[0]
             const y = v[1]

packages/p2-es/package.json

@@ -1,6 +1,6 @@
 {
     "name": "p2-es",
-    "version": "1.2.2",
+    "version": "1.3.0",
     "license": "MIT",
     "description": "A JavaScript 2D physics engine.",
     "homepage": "https://github.com/pmndrs/p2-es",
@@ -77,4 +77,4 @@
     "lint-staged": {
         "*.{js,json,jsx,ts,tsx,md,yaml,yml}": "prettier --write"
     }
-}
+}

packages/p2-es/src/collision/AABB.ts

@@ -59,9 +59,11 @@ export class AABB {
         vec2.copy(u, l)
 
         // Compute cosines and sines just once
-        const cosAngle = Math.cos(angle)
-        const sinAngle = Math.sin(angle)
-        for (let i = 1; i < points.length; i++) {
+        const cosAngle = Math.cos(angle);
+        const sinAngle = Math.sin(angle);
+        const len = points.length;
+
+        for (let i = 1; i < len; i++) {
             let p = points[i]
 
             if (angle !== 0) {

packages/p2-es/src/collision/NaiveBroadphase.ts

@@ -44,8 +44,11 @@ export class NaiveBroadphase extends Broadphase {
      * @param result An array to store resulting bodies in.
      */
     aabbQuery(world: World, aabb: AABB, result: Body[] = []) {
-        const bodies = world.bodies
-        for (let i = 0; i < bodies.length; i++) {
+        const bodies = world.bodies;
+
+        const l = bodies.length;
+
+        for (let i = 0; i < l; i++) {
             const b = bodies[i]
 
             if (b.aabbNeedsUpdate) {

packages/p2-es/src/collision/Narrowphase.ts

@@ -186,12 +186,14 @@ export class Narrowphase {
             this.collidingBodiesLastStep.set(id1, id2, true)
         }
 
-        const ce = this.contactEquations
-        const fe = this.frictionEquations
-        for (let i = 0; i < ce.length; i++) {
+        const ce = this.contactEquations;
+        const fe = this.frictionEquations;
+        const cel = ce.length;
+        const fel = fe.length;
+        for (let i = 0; i < cel; i++) {
             this.contactEquationPool.release(ce[i])
         }
-        for (let i = 0; i < fe.length; i++) {
+        for (let i = 0; i < fel; i++) {
             this.frictionEquationPool.release(fe[i])
         }
 
@@ -666,9 +668,11 @@ export class Narrowphase {
         vec2.rotate(worldNormal, yAxis, planeAngle)
 
         // Check line ends
-        verts[0] = worldVertex0
-        verts[1] = worldVertex1
-        for (let i = 0; i < verts.length; i++) {
+        verts[0] = worldVertex0;
+        verts[1] = worldVertex1;
+
+        const l = verts.length;
+        for (let i = 0; i < l; i++) {
             const v = verts[i]
 
             vec2.subtract(dist, v, planeOffset)
@@ -880,10 +884,12 @@ export class Narrowphase {
         }
 
         // Add corner
-        verts[0] = worldVertex0
-        verts[1] = worldVertex1
+        verts[0] = worldVertex0;
+        verts[1] = worldVertex1;
+
+        const l = verts.length;
 
-        for (let i = 0; i < verts.length; i++) {
+        for (let i = 0; i < l; i++) {
             const v = verts[i]
 
             vec2.subtract(dist, v, circleOffset)
@@ -1555,16 +1561,16 @@ export class Narrowphase {
 
         // Do Narrowphase as two circles
         const numContacts1 = this.circlePlane(
-                capsuleBody,
-                circle,
-                end1,
-                0,
-                planeBody,
-                planeShape,
-                planeOffset,
-                planeAngle,
-                justTest
-            ),
+            capsuleBody,
+            circle,
+            end1,
+            0,
+            planeBody,
+            planeShape,
+            planeOffset,
+            planeAngle,
+            justTest
+        ),
             numContacts2 = this.circlePlane(
                 capsuleBody,
                 circle,

packages/p2-es/src/collision/SAPBroadphase.ts

@@ -28,9 +28,13 @@ export class SAPBroadphase extends Broadphase {
 
         this.removeBodyHandler = (e) => {
             // Remove from list
-            const idx = this.axisList.indexOf(e.body)
-            if (idx !== -1) {
-                this.axisList.splice(idx, 1)
+            const l = this.axisList.length;
+            const list = this.axisList;
+            for (let i = 0; i < l; i++) {
+                if (list[i] === e.body) {
+                    list.splice(i, 1);
+                    break;
+                }
             }
         }
     }
@@ -118,8 +122,9 @@ export class SAPBroadphase extends Broadphase {
     aabbQuery(world: World, aabb: AABB, result: Body[] = []): Body[] {
         this.sortList()
 
-        const axisList = this.axisList
-        for (let i = 0; i < axisList.length; i++) {
+        const axisList = this.axisList;
+        const l = axisList.length;
+        for (let i = 0; i < l; i++) {
             const b = axisList[i]
 
             if (b.aabbNeedsUpdate) {

packages/p2-es/src/constraints/Constraint.ts

@@ -97,8 +97,9 @@ export class Constraint {
      * @param stiffness
      */
     setStiffness(stiffness: number): void {
-        const eqs = this.equations
-        for (let i = 0; i !== eqs.length; i++) {
+        const eqs = this.equations;
+        const l = eqs.length;
+        for (let i = 0; i !== l; i++) {
             const eq = eqs[i]
             eq.stiffness = stiffness
             eq.needsUpdate = true
@@ -110,8 +111,9 @@ export class Constraint {
      * @param relaxation
      */
     setRelaxation(relaxation: number): void {
-        const eqs = this.equations
-        for (let i = 0; i !== eqs.length; i++) {
+        const eqs = this.equations;
+        const l = eqs.length;
+        for (let i = 0; i !== l; i++) {
             const eq = eqs[i]
             eq.relaxation = relaxation
             eq.needsUpdate = true
@@ -123,8 +125,9 @@ export class Constraint {
      * @param maxBias
      */
     setMaxBias(maxBias: number): void {
-        const eqs = this.equations
-        for (let i = 0; i !== eqs.length; i++) {
+        const eqs = this.equations;
+        const l = eqs.length;
+        for (let i = 0; i !== l; i++) {
             const eq = eqs[i]
             eq.maxBias = maxBias
         }

packages/p2-es/src/constraints/LockConstraint.ts

@@ -126,8 +126,9 @@ export class LockConstraint extends Constraint {
      * @param force
      */
     setMaxForce(force: number): void {
-        const eqs = this.equations
-        for (let i = 0; i < this.equations.length; i++) {
+        const eqs = this.equations;
+        const l = eqs.length;
+        for (let i = 0; i < l; i++) {
             eqs[i].maxForce = force
             eqs[i].minForce = -force
         }

packages/p2-es/src/constraints/PrismaticConstraint.ts

@@ -248,9 +248,14 @@ export class PrismaticConstraint extends Constraint {
         if (!this.motorEnabled) {
             return
         }
-        const i = this.equations.indexOf(this.motorEquation)
-        this.equations.splice(i, 1)
-        this.motorEnabled = false
+        const l = this.equations.length;
+        const eqs = this.equations;
+        for (let i = 0; i < l; i++) {
+            if (eqs[i] === this.motorEquation) {
+                eqs.splice(i, 1);
+                break;
+            }
+        }
     }
 
     /**
@@ -348,9 +353,12 @@ export class PrismaticConstraint extends Constraint {
                 eqs.push(upperLimitEquation)
             }
         } else {
-            const idx = eqs.indexOf(upperLimitEquation)
-            if (idx !== -1) {
-                eqs.splice(idx, 1)
+            const l = eqs.length;
+            for (let i = 0; i < l; i++) {
+                if (eqs[i] === upperLimitEquation) {
+                    eqs.splice(i, 1);
+                    break;
+                }
             }
         }
 
@@ -365,9 +373,12 @@ export class PrismaticConstraint extends Constraint {
                 eqs.push(lowerLimitEquation)
             }
         } else {
-            const idx = eqs.indexOf(lowerLimitEquation)
-            if (idx !== -1) {
-                eqs.splice(idx, 1)
+            const l = eqs.length;
+            for (let i = 0; i < l; i++) {
+                if (eqs[i] === lowerLimitEquation) {
+                    eqs.splice(i, 1);
+                    break;
+                }
             }
         }
     }

packages/p2-es/src/objects/Body.ts

@@ -748,16 +748,17 @@ export class Body extends EventEmitter<BodyEventMap> {
             throw new Error('A shape cannot be removed during step.')
         }
 
-        const idx = this.shapes.indexOf(shape)
-
-        if (idx !== -1) {
-            this.shapes.splice(idx, 1)
-            this.aabbNeedsUpdate = true
-            shape.body = null
-            return true
-        } else {
-            return false
+        const l = this.shapes.length;
+        const shapes = this.shapes;
+        for (let i = 0; i < l; i++) {
+            if (shapes[i] === shape) {
+                shapes.splice(i, 1);
+                this.aabbNeedsUpdate = true;
+                shape.body = null;
+                return true;
+            }
         }
+        return false;
     }
 
     /**
@@ -971,8 +972,9 @@ export class Body extends EventEmitter<BodyEventMap> {
         }
 
         // Copy the path
-        const p = []
-        for (let i = 0; i < path.length; i++) {
+        const p = [];
+        const l = path.length;
+        for (let i = 0; i < l; i++) {
             p[i] = vec2.clone(path[i])
         }
 
@@ -998,8 +1000,9 @@ export class Body extends EventEmitter<BodyEventMap> {
         }
 
         // Save this path for later
-        const concavePath: Vec2[] = (this.concavePath = [])
-        for (let i = 0; i < p.length; i++) {
+        const concavePath: Vec2[] = (this.concavePath = []);
+        const pl = p.length;
+        for (let i = 0; i < pl; i++) {
             concavePath[i] = vec2.clone(p[i])
         }
 
@@ -1014,15 +1017,17 @@ export class Body extends EventEmitter<BodyEventMap> {
             convexes = decomp.quickDecomp(p as decomp.Polygon)
         }
 
-        const cm = vec2create()
+        const cm = vec2create();
 
         // Add convexes
-        for (let i = 0; i !== convexes.length; i++) {
+        const convexL = convexes.length;
+        for (let i = 0; i !== convexL; i++) {
             // Create convex
             let c = new Convex({ vertices: convexes[i] })
 
             // Move all vertices so its center of mass is in the local center of the convex
-            for (let j = 0; j !== c.vertices.length; j++) {
+            const vertsL = c.vertices.length;
+            for (let j = 0; j !== vertsL; j++) {
                 const v = c.vertices[j]
                 subtract(v, v, c.centerOfMass)
             }
@@ -1258,8 +1263,9 @@ export class Body extends EventEmitter<BodyEventMap> {
         // Ignore all the ignored body pairs
         // This should probably be done somewhere else for optimization
         const ignoreBodies = []
-        const disabledPairs = this.world.disabledBodyCollisionPairs
-        for (let i = 0; i < disabledPairs.length; i += 2) {
+        const disabledPairs = this.world.disabledBodyCollisionPairs;
+        const l = disabledPairs.length;
+        for (let i = 0; i < l; i += 2) {
             const bodyA = disabledPairs[i]
             const bodyB = disabledPairs[i + 1]
             if (bodyA === this) {

packages/p2-es/src/shapes/Convex.ts

@@ -193,7 +193,8 @@ export class Convex extends Shape {
         const triangles = polyk.triangulate(polykVerts)
 
         // Loop over all triangles, add their inertia contributions to I
-        for (let i = 0; i < triangles.length; i += 3) {
+        const l = triangles.length;
+        for (let i = 0; i < l; i += 3) {
             const id1 = triangles[i],
                 id2 = triangles[i + 1],
                 id3 = triangles[i + 2]
@@ -221,9 +222,10 @@ export class Convex extends Shape {
         vec2.set(cm, 0, 0)
         let totalArea = 0
 
-        for (let i = 0; i !== triangles.length; i++) {
+        const l = triangles.length;
+        for (let i = 0; i !== l; i++) {
             const t = triangles[i]
-            ;(a = verts[t[0]]), (b = verts[t[1]]), (c = verts[t[2]])
+                ; (a = verts[t[0]]), (b = verts[t[1]]), (c = verts[t[2]])
 
             vec2.centroid(centroid, a, b, c)
 
@@ -266,7 +268,8 @@ export class Convex extends Shape {
         const verts = this.vertices
         let r2 = 0
 
-        for (let i = 0; i !== verts.length; i++) {
+        const l = verts.length;
+        for (let i = 0; i !== l; i++) {
             const l2 = vec2.squaredLength(verts[i])
             if (l2 > r2) {
                 r2 = l2
@@ -284,8 +287,9 @@ export class Convex extends Shape {
         this.area = 0
 
         const triangles = this.triangles,
-            verts = this.vertices
-        for (let i = 0; i !== triangles.length; i++) {
+            verts = this.vertices;
+        const l = triangles.length;
+        for (let i = 0; i !== l; i++) {
             const t = triangles[i],
                 a = verts[t[0]],
                 b = verts[t[1]],