improve utilitiesPairID.jl (of no effect of allocation)

Author: AndreaNeumayr

src/contactDetection/ContactDetectionMPR/handler.jl

@@ -145,7 +145,7 @@ function computeDistances(scene::Composition.Scene{F}, ch::Composition.ContactDe
                                 n += 1
                                 nextObj  = nextSuperObj[j]
                                 nextAABB = nextSuperAABB[j]
-                                pairID = computePairID(scene, actObj, nextObj, is,i,js,j)
+                                pairID::Int64 = computePairID(scene, actObj, nextObj, is,i,js,j)
 
                                 storeDistancesForSolver!(world, pairID, ch, actObj, nextObj,
                                 actAABB, nextAABB, phase2, hasEvent)

src/contactDetection/ContactDetectionMPR/utilitiesPairID.jl

@@ -2,35 +2,35 @@
 # Copyright 2017-2018, DLR Institute of System Dynamics and Control
 
 
-const i16max = Int64(typemax(Int16))
-const i32max = Int64(typemax(Int32))
+i16max()::Int64 = Int64(typemax(Int16))
+i32max()::Int64 = Int64(typemax(Int32))
 
-pack16(i1::Integer, i2::Integer)::Integer = Int64(i1) + i16max*Int64(i2)
+pack16(i1::Int64, i2::Int64)::Int64 = Int64(i1) + i16max()*Int64(i2)
 
-function pack(i1::Integer, i2::Integer,i3::Integer,i4::Integer)::Integer
+function pack(i1::Int64, i2::Int64,i3::Int64,i4::Int64)::Int64
     @assert(i1 >= 0 && i1 <= typemax(Int16))
     @assert(i2 >= 0 && i2 <= typemax(Int16))
     @assert(i3 >= 0 && i3 <= typemax(Int16))
     @assert(i4 >= 0 && i4 <= typemax(Int16))
-    return pack16(i1,i2) + i32max*pack16(i3,i4)
+    return pack16(i1,i2) + i32max()*pack16(i3,i4)
 end
 
 
-function unpack16(i::Int64)
-    i1 = rem(i,i16max)
-    i2 = div(i-i1, i16max)
+function unpack16(i::Int64)::Tuple{Int64, Int64}
+    i1 = rem(i,i16max())
+    i2 = div(i-i1, i16max())
     return (i1,i2)
 end
 
 
-function unpack32(i::Int64)
-    i1 = rem(i,i32max)
-    i2 = div(i-i1, i32max)
+function unpack32(i::Int64)::Tuple{Int64, Int64}
+    i1 = rem(i,i32max())
+    i2 = div(i-i1, i32max())
     return (i1,i2)
 end
 
 
-function unpack(i::Int64)
+function unpack(i::Int64)::Tuple{Int64, Int64, Int64, Int64}
     @assert(i >= 0 && i <= typemax(Int64))
     (tmp1,tmp2) = unpack32(i)
     (i1,i2) = unpack16(tmp1)
@@ -41,14 +41,17 @@ end
 
 ### -------------------computation of pairID -----------------------------------
 ### it returns a unique ID
-function orderPositions(is,i,js,j)::Integer
+function orderPositions(is::Int64, i::Int64, js::Int64, j::Int64)::Int64
+    p = 0
     if is < js
-        return pack(is,i,js,j)
+        p = pack(is,i,js,j)
     elseif is > js
-        return pack(js,j,is,i)
+        p = pack(js,j,is,i)
     else
         error("from orderPositions: is == js.")
-end; end
+    end
+    return p
+end
 
 #getPositionsOfObj(scene::Composition.Scene, obj::Composition.Object3D,
 #                  movablePos::Nothing) = (false, 0, 0)
@@ -63,19 +66,22 @@ end
 
 function computePairID(scene::Composition.Scene,
         actObj::Composition.Object3D, nextObj::Composition.Object3D,
-        is, i, js, j)::Integer
+        is::Int64, i::Int64, js::Int64, j::Int64)::Int64
     # is: actual super - object
     # js: subsequent super - object
     # i: Object3D of is_th super - object
     # j: Object3D of js_th super - object
     (isSetAct, isPosActSuper, iPosActObj)    = getPositionsOfObj(scene, actObj,  actObj.interactionManner.movablePos)
     (isSetNext, jsPosNextSuper, jPosNextObj) = getPositionsOfObj(scene, nextObj, nextObj.interactionManner.movablePos)
+    pairID = 0
     if isSetAct && isSetNext
-        return orderPositions(isPosActSuper,iPosActObj,jsPosNextSuper,jPosNextObj)
+        pairID = orderPositions(isPosActSuper,iPosActObj,jsPosNextSuper,jPosNextObj)
     elseif isSetAct && !isSetNext
-        return orderPositions(isPosActSuper,iPosActObj,js,j)
+        pairID = orderPositions(isPosActSuper,iPosActObj,js,j)
     elseif isSetNext && !isSetAct
-        return orderPositions(is,i,jsPosNextSuper,jPosNextObj)
+        pairID = orderPositions(is,i,jsPosNextSuper,jPosNextObj)
     else
-        return orderPositions(is,i,js,j)
-end; end
+        pairID = orderPositions(is,i,js,j)
+    end
+    return pairID
+end