Fix issue

include/reactphysics3d/collision/ContactManifold.h

@@ -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 -------------------- //
 

src/collision/ContactManifold.cpp

@@ -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) {
 
 }

src/systems/CollisionDetectionSystem.cpp

@@ -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;
+        if (mRigidBodyComponents.hasComponent(contactPair.body1Entity)) {
-        uint32 rigidBody2Index = 0;
-        if (mRigidBodyComponents.hasComponentGetIndex(contactPair.body1Entity, rigidBody1Index)) {
            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);
 

src/systems/ContactSolverSystem.cpp

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