From 16d27f40b9369737fbb8bf3b0893f1e6d10a9433 Mon Sep 17 00:00:00 2001
From: Daniel Chappuis <chappuis.daniel@gmail.com>
Date: Thu, 3 Nov 2016 18:06:45 +0100
Subject: [PATCH] Remove bodies pointer from ContactPoint

---
 src/collision/CollisionDetection.cpp |  2 ++
 src/constraint/ContactPoint.cpp      |  3 +--
 src/constraint/ContactPoint.h        | 22 ----------------------
 src/engine/ContactSolver.cpp         |  4 ++--
 4 files changed, 5 insertions(+), 26 deletions(-)

diff --git a/src/collision/CollisionDetection.cpp b/src/collision/CollisionDetection.cpp
index c3caa97a..2fada228 100644
--- a/src/collision/CollisionDetection.cpp
+++ b/src/collision/CollisionDetection.cpp
@@ -433,6 +433,8 @@ void CollisionDetection::notifyContact(OverlappingPair* overlappingPair, const C
 void CollisionDetection::createContact(OverlappingPair* overlappingPair,
                                        const ContactPointInfo& contactInfo) {
 
+    PROFILE("CollisionDetection::createContact()");
+
     // Create a new contact
     ContactPoint* contact = new (mWorld->mPoolAllocator.allocate(sizeof(ContactPoint)))
                                  ContactPoint(contactInfo);
diff --git a/src/constraint/ContactPoint.cpp b/src/constraint/ContactPoint.cpp
index c0d567ea..7756d68b 100644
--- a/src/constraint/ContactPoint.cpp
+++ b/src/constraint/ContactPoint.cpp
@@ -32,8 +32,7 @@ using namespace std;
 
 // Constructor
 ContactPoint::ContactPoint(const ContactPointInfo& contactInfo)
-             : mBody1(contactInfo.shape1->getBody()), mBody2(contactInfo.shape2->getBody()),
-               mNormal(contactInfo.normal),
+             : mNormal(contactInfo.normal),
                mPenetrationDepth(contactInfo.penetrationDepth),
                mLocalPointOnBody1(contactInfo.localPoint1),
                mLocalPointOnBody2(contactInfo.localPoint2),
diff --git a/src/constraint/ContactPoint.h b/src/constraint/ContactPoint.h
index 18be17b0..c15dbafa 100644
--- a/src/constraint/ContactPoint.h
+++ b/src/constraint/ContactPoint.h
@@ -101,12 +101,6 @@ class ContactPoint {
 
         // -------------------- Attributes -------------------- //
 
-        /// First rigid body of the contact
-        CollisionBody* mBody1;
-
-        /// Second rigid body of the contact
-        CollisionBody* mBody2;
-
         /// Normalized normal vector of the contact (from body1 toward body2) in world space
         const Vector3 mNormal;
 
@@ -147,12 +141,6 @@ class ContactPoint {
         /// Deleted assignment operator
         ContactPoint& operator=(const ContactPoint& contact) = delete;
 
-        /// Return the reference to the body 1
-        CollisionBody* getBody1() const;
-
-        /// Return the reference to the body 2
-        CollisionBody* getBody2() const;
-
         /// Return the normal vector of the contact
         Vector3 getNormal() const;
 
@@ -196,16 +184,6 @@ class ContactPoint {
         size_t getSizeInBytes() const;
 };
 
-// Return the reference to the body 1
-inline CollisionBody* ContactPoint::getBody1() const {
-    return mBody1;
-}
-
-// Return the reference to the body 2
-inline CollisionBody* ContactPoint::getBody2() const {
-    return mBody2;
-}
-
 // Return the normal vector of the contact
 inline Vector3 ContactPoint::getNormal() const {
     return mNormal;
diff --git a/src/engine/ContactSolver.cpp b/src/engine/ContactSolver.cpp
index 5d61243a..d5825d5c 100644
--- a/src/engine/ContactSolver.cpp
+++ b/src/engine/ContactSolver.cpp
@@ -115,8 +115,8 @@ void ContactSolver::initializeForIsland(Island* island) {
         assert(externalManifold->getNbContactPoints() > 0);
 
         // Get the two bodies of the contact
-        RigidBody* body1 = static_cast<RigidBody*>(externalManifold->getContactPoint(0)->getBody1());
-        RigidBody* body2 = static_cast<RigidBody*>(externalManifold->getContactPoint(0)->getBody2());
+        RigidBody* body1 = static_cast<RigidBody*>(externalManifold->getBody1());
+        RigidBody* body2 = static_cast<RigidBody*>(externalManifold->getBody2());
         assert(body1 != nullptr);
         assert(body2 != nullptr);