clean up assert and unused statements

Author: shakiba

src/collision/Distance.ts

@@ -452,7 +452,7 @@ class Simplex {
   getSearchDirection(): Vec2Value {
     const v1 = this.m_v1;
     const v2 = this.m_v2;
-    const v3 = this.m_v3;
+    // const v3 = this.m_v3;
     switch (this.m_count) {
       case 1:
         return matrix.setVec2(searchDirection_reuse, -v1.w.x, -v1.w.y);
@@ -478,7 +478,7 @@ class Simplex {
   getClosestPoint(): Vec2Value {
     const v1 = this.m_v1;
     const v2 = this.m_v2;
-    const v3 = this.m_v3;
+    // const v3 = this.m_v3;
     switch (this.m_count) {
       case 0:
         if (_ASSERT) console.assert(false);

src/collision/DynamicTree.ts

@@ -578,15 +578,18 @@ export class DynamicTree<T> {
     // if (_ASSERT) console.assert(0 <= child1 && child1 < this.m_nodeCapacity);
     // if (_ASSERT) console.assert(0 <= child2 && child2 < this.m_nodeCapacity);
 
-    const height1 = child1.height;
-    const height2 = child2.height;
-    const height = 1 + math_max(height1, height2);
-    if (_ASSERT) console.assert(node.height === height);
-
-    const aabb = new AABB();
-    aabb.combine(child1.aabb, child2.aabb);
+    if (_ASSERT) {
+      const height1 = child1.height;
+      const height2 = child2.height;
+      const height = 1 + math_max(height1, height2);
+      console.assert(node.height === height);
+    }
 
-    if (_ASSERT) console.assert(AABB.areEqual(aabb, node.aabb));
+    if (_ASSERT) {
+      const aabb = new AABB();
+      aabb.combine(child1.aabb, child2.aabb);
+      console.assert(AABB.areEqual(aabb, node.aabb));
+    }
 
     this.validateMetrics(child1);
     this.validateMetrics(child2);

src/collision/shape/ChainShape.ts

@@ -145,11 +145,13 @@ export class ChainShape extends Shape {
       return;
     }
 
-    for (let i = 1; i < vertices.length; ++i) {
-      const v1 = vertices[i - 1];
-      const v2 = vertices[i];
-      // If the code crashes here, it means your vertices are too close together.
-      if (_ASSERT) console.assert(Vec2.distanceSquared(v1, v2) > Settings.linearSlopSquared);
+    if (_ASSERT) {
+      for (let i = 1; i < vertices.length; ++i) {
+        const v1 = vertices[i - 1];
+        const v2 = vertices[i];
+        // If the code crashes here, it means your vertices are too close together.
+        console.assert(Vec2.distanceSquared(v1, v2) > Settings.linearSlopSquared);
+      }
     }
 
     this.m_vertices = [];
@@ -175,11 +177,13 @@ export class ChainShape extends Shape {
   _createChain(vertices: Vec2Value[]): ChainShape {
     if (_ASSERT) console.assert(this.m_vertices.length == 0 && this.m_count == 0);
     if (_ASSERT) console.assert(vertices.length >= 2);
-    for (let i = 1; i < vertices.length; ++i) {
-      const v1 = vertices[i - 1];
-      const v2 = vertices[i];
-      // If the code crashes here, it means your vertices are too close together.
-      if (_ASSERT) console.assert(Vec2.distanceSquared(v1, v2) > Settings.linearSlopSquared);
+    if (_ASSERT) {
+      for (let i = 1; i < vertices.length; ++i) {
+        const v1 = vertices[i - 1];
+        const v2 = vertices[i];
+        // If the code crashes here, it means your vertices are too close together.
+        console.assert(Vec2.distanceSquared(v1, v2) > Settings.linearSlopSquared);
+      }
     }
 
     this.m_vertices = [];

src/dynamics/Contact.ts

@@ -626,8 +626,8 @@ export class Contact {
     const bodyB = fixtureB.m_body;
     if (bodyA === null || bodyB === null) return minSeparation;
 
-    const velocityA = bodyA.c_velocity;
-    const velocityB = bodyB.c_velocity;
+    // const velocityA = bodyA.c_velocity;
+    // const velocityB = bodyB.c_velocity;
     const positionA = bodyA.c_position;
     const positionB = bodyB.c_position;
 
@@ -882,8 +882,8 @@ export class Contact {
 
     const velocityA = bodyA.c_velocity;
     const velocityB = bodyB.c_velocity;
-    const positionA = bodyA.c_position;
-    const positionB = bodyB.c_position;
+    // const positionA = bodyA.c_position;
+    // const positionB = bodyB.c_position;
 
     const mA = this.v_invMassA;
     const iA = this.v_invIA;
@@ -932,10 +932,10 @@ export class Contact {
     if (bodyA === null || bodyB === null) return;
 
     const velocityA = bodyA.c_velocity;
-    const positionA = bodyA.c_position;
+    // const positionA = bodyA.c_position;
 
     const velocityB = bodyB.c_velocity;
-    const positionB = bodyB.c_position;
+    // const positionB = bodyB.c_position;
 
     const mA = this.v_invMassA;
     const iA = this.v_invIA;

src/dynamics/Solver.ts

@@ -564,8 +564,8 @@ export class Solver {
           const indexA = c.getChildIndexA();
           const indexB = c.getChildIndexB();
 
-          const sweepA = bA.m_sweep;
-          const sweepB = bB.m_sweep;
+          // const sweepA = bA.m_sweep;
+          // const sweepB = bB.m_sweep;
 
           // Compute the time of impact in interval [0, minTOI]
           input.proxyA.set(fA.getShape(), indexA);