Merge branch 'raycast' of https://github.com/DanielChappuis/reactphysicsd into raycast

examples/cubes/Scene.cpp

@@ -132,7 +132,7 @@ void Scene::simulate() {
     if (mIsRunning) {
 
         counter++;
-        if (counter == 800) mIsRunning = false;
+        if (counter == 1000) mIsRunning = false;
 
         // Take a simulation step
         mDynamicsWorld->update();

src/body/RigidBody.cpp

@@ -298,6 +298,8 @@ void RigidBody::recomputeMassInformation() {
 // Update the broad-phase state for this body (because it has moved for instance)
 void RigidBody::updateBroadPhaseState() const {
 
+    PROFILE("RigidBody::updateBroadPhaseState()");
+
     DynamicsWorld& world = dynamic_cast<DynamicsWorld&>(mWorld);
     const Vector3 displacement = world.mTimer.getTimeStep() * mLinearVelocity;
 

src/collision/CollisionDetection.h

@@ -147,7 +147,6 @@ class CollisionDetection {
 
         // -------------------- Friendship -------------------- //
 
-        // TODO : REMOVE THIS
         friend class DynamicsWorld;
 };
 

src/collision/shapes/CollisionShape.cpp

@@ -25,6 +25,7 @@
 
 // Libraries
 #include "CollisionShape.h"
+#include "../../engine/Profiler.h"
 
 // We want to use the ReactPhysics3D namespace
 using namespace reactphysics3d;
@@ -50,6 +51,8 @@ CollisionShape::~CollisionShape() {
 // Compute the world-space AABB of the collision shape given a transform
 void CollisionShape::computeAABB(AABB& aabb, const Transform& transform) const {
 
+    PROFILE("CollisionShape::computeAABB()");
+
     // Get the local bounds in x,y and z direction
     Vector3 minBounds;
     Vector3 maxBounds;

src/configuration.h

@@ -129,7 +129,7 @@ const decimal DYNAMIC_TREE_AABB_GAP = decimal(0.1);
 /// In the broad-phase collision detection (dynamic AABB tree), the AABBs are
 /// also inflated in direction of the linear motion of the body by mutliplying the
 /// followin constant with the linear velocity and the elapsed time between two frames.
-const decimal DYNAMIC_TREE_AABB_LIN_GAP_MULTIPLIER = decimal(2.0);
+const decimal DYNAMIC_TREE_AABB_LIN_GAP_MULTIPLIER = decimal(1.7);
 
 }
 

src/engine/DynamicsWorld.cpp

@@ -219,10 +219,6 @@ void DynamicsWorld::updateBodiesState() {
 
             uint index = mMapBodyToConstrainedVelocityIndex.find(bodies[b])->second;
 
-            // TODO : Delete this
-            Vector3 linVel = mConstrainedLinearVelocities[index];
-            Vector3 angVel = mConstrainedAngularVelocities[index];
-
             // Update the linear and angular velocity of the body
             bodies[b]->mLinearVelocity = mConstrainedLinearVelocities[index];
             bodies[b]->mAngularVelocity = mConstrainedAngularVelocities[index];
@@ -230,9 +226,6 @@ void DynamicsWorld::updateBodiesState() {
             // Update the position of the center of mass of the body
             bodies[b]->mCenterOfMassWorld = mConstrainedPositions[index];
 
-            // TODO : DELETE THIS
-            Quaternion newOrient = mConstrainedOrientations[index];
-
             // Update the orientation of the body
             bodies[b]->mTransform.setOrientation(mConstrainedOrientations[index].getUnit());