From d46b3abe3fb045d83dde5888fa65a6ad79121409 Mon Sep 17 00:00:00 2001 From: Themis Skamagkis Date: Wed, 30 Jul 2025 16:00:56 +0200 Subject: [PATCH] [algorithm] use references to avoid copies for container variables - (const where appropriate) --- .../collisionAlgorithm/algorithm/InsertionAlgorithm.h | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/sofa/collisionAlgorithm/algorithm/InsertionAlgorithm.h b/src/sofa/collisionAlgorithm/algorithm/InsertionAlgorithm.h index 3c4b6fff..8100084c 100644 --- a/src/sofa/collisionAlgorithm/algorithm/InsertionAlgorithm.h +++ b/src/sofa/collisionAlgorithm/algorithm/InsertionAlgorithm.h @@ -80,14 +80,14 @@ class InsertionAlgorithm : public BaseAlgorithm return; vparams->drawTool()->disableLighting(); - DetectionOutput collisionOutput = d_collisionOutput.getValue(); + const AlgorithmOutput& collisionOutput = d_collisionOutput.getValue(); for (const auto& it : collisionOutput) { vparams->drawTool()->drawLine(it.first->getPosition(), it.second->getPosition(), type::RGBAColor(0, 1, 0, 1)); } - DetectionOutput insertionOutput = d_insertionOutput.getValue(); + const AlgorithmOutput& insertionOutput = d_insertionOutput.getValue(); for (const auto& it : insertionOutput) { vparams->drawTool()->drawSphere(it.first->getPosition(), d_drawPointsScale.getValue(), @@ -111,7 +111,7 @@ class InsertionAlgorithm : public BaseAlgorithm const MechStateTipType::SPtr mstate = l_tipGeom->getContext()->get(); if (m_constraintSolver) { - const auto lambda = + const auto& lambda = m_constraintSolver->getLambda()[mstate.get()].read()->getValue(); if (lambda[0].norm() > d_punctureForceThreshold.getValue()) { @@ -184,7 +184,7 @@ class InsertionAlgorithm : public BaseAlgorithm const type::Vec3 normal = (edgeProx->element()->getP1()->getPosition() - edgeProx->element()->getP0()->getPosition()) .normalized(); - type::Vec3 ab = m_couplingPts.back()->getPosition() - tipProx->getPosition(); + const type::Vec3 ab = m_couplingPts.back()->getPosition() - tipProx->getPosition(); const SReal dotProd = dot(ab, normal); if (dotProd > 0.0) {