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Avoid per-step state allocations in static revolute and wheel joints #102

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Avoid per-step state allocations in static revolute and wheel joints #102

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6a343bf
perf: avoid static revolute state allocations
edwardgushchin Sep 30, 2026
d8cde1f
perf: avoid static wheel state allocations
edwardgushchin Sep 30, 2026
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8 changes: 4 additions & 4 deletions src/Box2D.NET/B2RevoluteJoints.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -282,8 +282,8 @@ internal static void b2WarmStartRevoluteJoint(B2JointSim @base, B2StepContext co
float iA = @base.invIA;
float iB = @base.invIB;

// dummy state for static bodies
B2BodyState dummyState = B2BodyState.Create(b2_identityBodyState);
// Static-body branches only read this shared identity state.
B2BodyState dummyState = b2_identityBodyState;

ref readonly B2RevoluteJoint joint = ref @base.uj.revoluteJoint;
B2BodyState stateA = joint.indexA == B2_NULL_INDEX ? dummyState : context.states[joint.indexA];
Expand Down Expand Up @@ -316,8 +316,8 @@ internal static void b2SolveRevoluteJoint(B2JointSim @base, B2StepContext contex
float iA = @base.invIA;
float iB = @base.invIB;

// dummy state for static bodies
B2BodyState dummyState = B2BodyState.Create(b2_identityBodyState);
// Static-body branches only read this shared identity state.
B2BodyState dummyState = b2_identityBodyState;

ref B2RevoluteJoint joint = ref @base.uj.revoluteJoint;

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8 changes: 4 additions & 4 deletions src/Box2D.NET/B2WheelJoints.cs
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Expand Up @@ -277,8 +277,8 @@ internal static void b2WarmStartWheelJoint(B2JointSim @base, B2StepContext conte
float iA = @base.invIA;
float iB = @base.invIB;

// dummy state for static bodies
B2BodyState dummyState = B2BodyState.Create(b2_identityBodyState);
// Static-body branches only read this shared identity state.
B2BodyState dummyState = b2_identityBodyState;

ref readonly B2WheelJoint joint = ref @base.uj.wheelJoint;

Expand Down Expand Up @@ -326,8 +326,8 @@ internal static void b2SolveWheelJoint(B2JointSim @base, B2StepContext context,
float iA = @base.invIA;
float iB = @base.invIB;

// dummy state for static bodies
B2BodyState dummyState = B2BodyState.Create(b2_identityBodyState);
// Static-body branches only read this shared identity state.
B2BodyState dummyState = b2_identityBodyState;

ref B2WheelJoint joint = ref @base.uj.wheelJoint;

Expand Down