don't convert bullet to glm unless needed

3 files changed, 47 insertions, 68 deletions

diff --git a/src/components.hpp b/src/components.hpp
index f10dd63..0903492 100644
--- a/src/components.hpp
+++ b/src/components.hpp
@@ -7,7 +7,6 @@
 #include <BulletCollision/CollisionShapes/btCollisionShape.h>
 #include <LinearMath/btDefaultMotionState.h>
 #include <BulletDynamics/Dynamics/btRigidBody.h>
-#include <glm/gtc/quaternion.hpp>
 #include <vulkan/vulkan_core.h>
 
 const uint64_t ECS_UNSET_VAL = 0xFFFFFFFFFFFFFFFF;
@@ -55,9 +54,8 @@ struct CompGrBinds {
 };
 
 struct InstPos {
-	glm::vec3 pos;
-	glm::quat rot;
-	glm::vec3 scale;
+	btTransform posRot;
+	btVector3 scale;
 };
 
 struct CompInstance {
diff --git a/src/ecs.cpp b/src/ecs.cpp
index 9de5c44..b5b0ce4 100644
--- a/src/ecs.cpp
+++ b/src/ecs.cpp
@@ -403,20 +403,10 @@ CompInstance &ECS_CreateInstance(EntityHandle entHandle, EntityHandle entityType
 
 	if (btDynamicsWorld) {
 		comp->bt.localInertia = btVector3(0, 0, 0);
-		btVector3 scale;
-		GlmToBullet(instPos.scale, scale);
 		comp->bt.collisionShape = Pke_New<btBoxShape>(bulletBucket);
-		new (comp->bt.collisionShape) btBoxShape(scale);
+		new (comp->bt.collisionShape) btBoxShape(instPos.scale);
 		comp->bt.collisionShape->calculateLocalInertia(btScalar(1.f), comp->bt.localInertia);
-		btTransform transform;
-		transform.setIdentity();
-		btVector3 origin;
-		GlmToBullet(instPos.pos, origin);
-		transform.setOrigin(origin);
-		btQuaternion rot;
-		GlmToBullet(instPos.rot, rot);
-		transform.setRotation(rot);
-		comp->bt.defaultMotionState = btDefaultMotionState(transform);
+		comp->bt.defaultMotionState = btDefaultMotionState(instPos.posRot);
 		comp->bt.rigidBody = Pke_New<btRigidBody>(bulletBucket);
 		new (comp->bt.rigidBody) btRigidBody(btScalar(1.f), &comp->bt.defaultMotionState, comp->bt.collisionShape, comp->bt.localInertia);
 		comp->bt.rigidBody->setLinearVelocity(btVector3(0,0,0));
@@ -456,22 +446,8 @@ void ECS_UpdateInstance(EntityHandle entHandle, const InstPos &instPos, bool ove
 	auto *inst = &Comp_Instance_BucketContainer.buckets[b].instances[i];
 
 	if (btDynamicsWorld && overridePhysics) {
-		btTransform transform;
-		transform.setIdentity();
-
-		btVector3 origin;
-		GlmToBullet(instPos.pos, origin);
-		transform.setOrigin(origin);
-
-		btQuaternion rot;
-		GlmToBullet(instPos.rot, rot);
-		transform.setRotation(rot);
-		inst->bt.rigidBody->setWorldTransform(transform);
-
-		btVector3 scale;
-		GlmToBullet(instPos.scale, scale);
-		inst->bt.collisionShape->setLocalScaling(scale);
-
+		inst->bt.rigidBody->setWorldTransform(instPos.posRot);
+		inst->bt.collisionShape->setLocalScaling(instPos.scale);
 		inst->bt.rigidBody->setLinearVelocity(btVector3(0,0,0));
 		inst->bt.rigidBody->setAngularVelocity(btVector3(0,0,0));
 		btDynamicsWorld->getPairCache()->cleanProxyFromPairs(inst->bt.rigidBody->getBroadphaseProxy(), btDynamicsWorld->getDispatcher());
diff --git a/src/game.cpp b/src/game.cpp
index e1accc9..f0fac6c 100644
--- a/src/game.cpp
+++ b/src/game.cpp
@@ -130,35 +130,34 @@ void SerializeInstance(std::ofstream &stream, const CompInstance &comp) {
 	assert(et != nullptr);
 	CompInstance c{};
 	InstPos baseInst{};
-	baseInst.pos = glm::vec3(0, 0, 0);
-	baseInst.rot = glm::quat(1, 0, 0, 0);
-	baseInst.scale = glm::vec3(1, 1, 1);
+	baseInst.posRot = btTransform{};
+	baseInst.posRot.setIdentity();
+	baseInst.scale = btVector3(1, 1, 1);
 	if (comp.entHandle != c.entHandle)
 		stream << PKE_FILE_INSTANCE_ENTITY_HANDLE << handleStr << std::endl;
 	stream << PKE_FILE_INSTANCE_ENTITY_TYPE_CODE << et->entityTypeCode << std::endl;
 
 	btTransform trans;
 	comp.bt.defaultMotionState.getWorldTransform(trans);
-	InstPos inst;
-	BulletToGlm(trans.getOrigin(), inst.pos);
-	BulletToGlm(trans.getRotation(), inst.rot);
-	BulletToGlm(comp.bt.collisionShape->getLocalScaling(), inst.scale);
-	if (inst.pos != baseInst.pos)
+	btVector3 scale = comp.bt.collisionShape->getLocalScaling();
+	if (trans != baseInst.posRot) {
+		btVector3 pos = trans.getOrigin();
+		btQuaternion rot = trans.getRotation();
 		stream << PKE_FILE_INSTANCE_POS_POS << "["
-			<< std::setw(10) << inst.pos[0] << ","
-			<< std::setw(10) << inst.pos[1] << ","
-			<< std::setw(10) << inst.pos[2] << "]" << std::endl;
-	if (inst.rot != baseInst.rot)
-		stream << PKE_FILE_INSTANCE_POS_ROT << "["
-			<< std::setw(10) << inst.rot[0] << ","
-			<< std::setw(10) << inst.rot[1] << ","
-			<< std::setw(10) << inst.rot[2] << ","
-			<< std::setw(10) << inst.rot[3] << "]" << std::endl;
-	if (inst.scale != baseInst.scale)
+			<< std::setw(10) << pos[0] << ","
+			<< std::setw(10) << pos[1] << ","
+			<< std::setw(10) << pos[2] << "]" << std::endl
+			<< PKE_FILE_INSTANCE_POS_ROT << "["
+			<< std::setw(10) << rot[0] << ","
+			<< std::setw(10) << rot[1] << ","
+			<< std::setw(10) << rot[2] << ","
+			<< std::setw(10) << rot[3] << "]" << std::endl;
+	}
+	if (scale != baseInst.scale)
 		stream << PKE_FILE_INSTANCE_POS_SCALE << "["
-			<< std::setw(10) << inst.scale[0] << ","
-			<< std::setw(10) << inst.scale[1] << ","
-			<< std::setw(10) << inst.scale[2] << "]" << std::endl;
+			<< std::setw(10) << scale[0] << ","
+			<< std::setw(10) << scale[1] << ","
+			<< std::setw(10) << scale[2] << "]" << std::endl;
 }
 
 void ParseEntityType(std::ifstream &stream) {
@@ -245,9 +244,9 @@ void ParseEntityType(std::ifstream &stream) {
 void ParseInstance(std::ifstream &stream) {
 	CompInstance comp{};
 	InstPos instPos{};
-	instPos.pos = glm::vec3(0, 0, 0);
-	instPos.rot = glm::quat(1, 0, 0, 0);
-	instPos.scale = glm::vec3(1, 1, 1);
+	instPos.posRot = btTransform{};
+	instPos.posRot.setIdentity();
+	instPos.scale = btVector3(1, 1, 1);
 	char entTypeCode[21];
 	memset(reinterpret_cast<void *>(entTypeCode), '\0', 21);
 	while (stream.getline(readLine, readLineLength)) {
@@ -286,13 +285,15 @@ void ParseInstance(std::ifstream &stream) {
 			assert(startingChar != nullptr);
 			char *pEnd = nullptr;
 			long index = 0;
+			btVector3 pos;
 			do {
 				assert(index < 3);
-				STR2NUM_ERROR result = str2num(instPos.pos[index], startingChar, pEnd);
+				STR2NUM_ERROR result = str2num(pos[index], startingChar, pEnd);
 				assert(result == STR2NUM_ERROR::SUCCESS);
 				startingChar = pEnd + 1;
 				++index;
 			} while (*pEnd != ']');
+			instPos.posRot.setOrigin(pos);
 			continue;
 		}
 		if (strstr(readLine, PKE_FILE_INSTANCE_POS_ROT)) {
@@ -301,13 +302,15 @@ void ParseInstance(std::ifstream &stream) {
 			assert(startingChar != nullptr);
 			char *pEnd = nullptr;
 			long index = 0;
+			btQuaternion rot;
 			do {
 				assert(index < 4);
-				STR2NUM_ERROR result = str2num(instPos.rot[index], startingChar, pEnd);
+				STR2NUM_ERROR result = str2num(rot[index], startingChar, pEnd);
 				assert(result == STR2NUM_ERROR::SUCCESS);
 				startingChar = pEnd + 1;
 				++index;
 			} while (*pEnd != ']');
+			instPos.posRot.setRotation(rot);
 			continue;
 		}
 		if (strstr(readLine, PKE_FILE_INSTANCE_POS_SCALE)) {
@@ -437,9 +440,9 @@ void Game_Tick(double delta) {
 		auto createInfo = entityInstancesToCreate.Pop();
 		EntityHandle newEntity = ECS_CreateEntity();
 		InstPos instPos;
-		instPos.pos = glm::vec3(0, 0, 0);
-		instPos.rot = glm::quat(1, 0, 0, 0);
-		instPos.scale = glm::vec3(1);
+		instPos.posRot = btTransform{};
+		instPos.posRot.setIdentity();
+		instPos.scale = btVector3(1, 1, 1);
 		ECS_CreateInstance(newEntity, createInfo.entityTypeEntityHandle, instPos);
 	}
 
@@ -830,19 +833,21 @@ void RecordImGui_CompInstPos(bool readonly, CompInstance *component) {
 	ImGui::Separator();
 
 	bool changed = false;
-	btTransform trans;
-	component->bt.defaultMotionState.getWorldTransform(trans);
 	InstPos instPos;
-	BulletToGlm(trans.getOrigin(), instPos.pos);
-	BulletToGlm(trans.getRotation(), instPos.rot);
-	BulletToGlm(component->bt.collisionShape->getLocalScaling(), instPos.scale);
+	component->bt.defaultMotionState.getWorldTransform(instPos.posRot);
+	instPos.scale = component->bt.collisionShape->getLocalScaling();
+
+	btVector3 pos = instPos.posRot.getOrigin();
+	btQuaternion rot = instPos.posRot.getRotation();
 
 	changed = ImGui::InputScalar("Instance Index", ImGuiDataType_U64, &component->index, nullptr, nullptr, nullptr, ImGuiInputTextFlags_ReadOnly) || changed;
-	changed = ImGui::InputScalarN("pos", ImGuiDataType_Float, &instPos.pos, 3, nullptr, nullptr, nullptr, inputTextFlags) || changed;
-	changed = ImGui::InputScalarN("rot", ImGuiDataType_Float, &instPos.rot, 4, nullptr, nullptr, nullptr, inputTextFlags) || changed;
+	changed = ImGui::InputScalarN("pos", ImGuiDataType_Float, &pos, 3, nullptr, nullptr, nullptr, inputTextFlags) || changed;
+	changed = ImGui::InputScalarN("rot", ImGuiDataType_Float, &rot, 4, nullptr, nullptr, nullptr, inputTextFlags) || changed;
 	changed = ImGui::InputScalarN("scale", ImGuiDataType_Float, &instPos.scale, 3, nullptr, nullptr, nullptr, inputTextFlags) || changed;
 
 	if (changed) {
+		instPos.posRot.setOrigin(pos);
+		instPos.posRot.setRotation(rot);
 		ECS_UpdateInstance(component->entHandle, instPos, true);
 	}