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Fix issue

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This commit is contained in:
Daniel Chappuis 2020-07-29 00:24:52 +02:00
parent 7f219dd99c
commit 0126677808
4 changed files with 9 additions and 17 deletions
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8
include/reactphysics3d/collision/ContactManifold.h
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@ -101,19 +101,13 @@ class ContactManifold {
/// True if the contact manifold has already been added into an island
bool isAlreadyInIsland;
/// Index of the first body of the manifold in the mRigidBodyComponents array (only if body 1 is a RigidBody)
uint32 rigidBody1Index;
/// Index of the second body of the manifold in the mRigidBodyComponents array (only if body 2 is a RigidBody)
uint32 rigidBody2Index;
public:
// -------------------- Methods -------------------- //
/// Constructor
ContactManifold(Entity bodyEntity1, Entity bodyEntity2, Entity colliderEntity1, Entity colliderEntity2,
uint contactPointsIndex, uint8 nbContactPoints, uint32 rigidBody1Index, uint32 rigidBody2Index);
uint contactPointsIndex, uint8 nbContactPoints);
// -------------------- Friendship -------------------- //

4
src/collision/ContactManifold.cpp
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@ -32,9 +32,9 @@ using namespace reactphysics3d;
// Constructor
ContactManifold::ContactManifold(Entity bodyEntity1, Entity bodyEntity2, Entity colliderEntity1, Entity colliderEntity2,
uint contactPointsIndex, uint8 nbContactPoints, uint32 rigidBody1Index, uint32 rigidBody2Index)
uint contactPointsIndex, uint8 nbContactPoints)
:contactPointsIndex(contactPointsIndex), bodyEntity1(bodyEntity1), bodyEntity2(bodyEntity2),
colliderEntity1(colliderEntity1), colliderEntity2(colliderEntity2), nbContactPoints(nbContactPoints), frictionImpulse1(0), frictionImpulse2(0),
frictionTwistImpulse(0), isAlreadyInIsland(false), rigidBody1Index(rigidBody1Index), rigidBody2Index(rigidBody2Index) {
frictionTwistImpulse(0), isAlreadyInIsland(false) {
}

10
src/systems/CollisionDetectionSystem.cpp
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@ -732,12 +732,10 @@ void CollisionDetectionSystem::createContacts() {
contactPair.contactPointsIndex = mCurrentContactPoints->size();
// Add the associated contact pair to both bodies of the pair (used to create islands later)
uint32 rigidBody1Index = 0;
uint32 rigidBody2Index = 0;
if (mRigidBodyComponents.hasComponentGetIndex(contactPair.body1Entity, rigidBody1Index)) {
if (mRigidBodyComponents.hasComponent(contactPair.body1Entity)) {
mRigidBodyComponents.addContacPair(contactPair.body1Entity, p);
}
if (mRigidBodyComponents.hasComponentGetIndex(contactPair.body2Entity, rigidBody2Index)) {
if (mRigidBodyComponents.hasComponent(contactPair.body2Entity)) {
mRigidBodyComponents.addContacPair(contactPair.body2Entity, p);
}
@ -753,7 +751,7 @@ void CollisionDetectionSystem::createContacts() {
// Create and add the contact manifold
mCurrentContactManifolds->emplace(contactPair.body1Entity, contactPair.body2Entity, contactPair.collider1Entity,
contactPair.collider2Entity, contactPointsIndex, nbContactPoints, rigidBody1Index, rigidBody2Index);
contactPair.collider2Entity, contactPointsIndex, nbContactPoints);
assert(potentialManifold.nbPotentialContactPoints > 0);
@ -837,7 +835,7 @@ void CollisionDetectionSystem::createSnapshotContacts(List<ContactPair>& contact
// Create and add the contact manifold
contactManifolds.emplace(contactPair.body1Entity, contactPair.body2Entity, contactPair.collider1Entity,
contactPair.collider2Entity, contactPointsIndex, nbContactPoints, 0, 0);
contactPair.collider2Entity, contactPointsIndex, nbContactPoints);
assert(potentialManifold.nbPotentialContactPoints > 0);

4
src/systems/ContactSolverSystem.cpp
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@ -127,8 +127,8 @@ void ContactSolverSystem::initializeForIsland(uint islandIndex) {
assert(externalManifold.nbContactPoints > 0);
const uint rigidBodyIndex1 = externalManifold.rigidBody1Index;
const uint rigidBodyIndex2 = externalManifold.rigidBody2Index;
const uint rigidBodyIndex1 = mRigidBodyComponents.getEntityIndex(externalManifold.bodyEntity1);
const uint rigidBodyIndex2 = mRigidBodyComponents.getEntityIndex(externalManifold.bodyEntity2);
// Get the two bodies of the contact
assert(body1 != nullptr);