diff --git a/include/reactphysics3d/collision/shapes/BoxShape.h b/include/reactphysics3d/collision/shapes/BoxShape.h
index c92967b4..50f3f3d7 100644
--- a/include/reactphysics3d/collision/shapes/BoxShape.h
+++ b/include/reactphysics3d/collision/shapes/BoxShape.h
@@ -112,7 +112,7 @@ class BoxShape : public ConvexPolyhedronShape {
virtual uint32 getNbVertices() const override;
/// Return a given vertex of the polyhedron
- virtual HalfEdgeStructure::Vertex getVertex(uint32 vertexIndex) const override;
+ virtual const HalfEdgeStructure::Vertex& getVertex(uint32 vertexIndex) const override;
/// Return the number of half-edges of the polyhedron
virtual uint32 getNbHalfEdges() const override;
diff --git a/include/reactphysics3d/collision/shapes/ConvexMeshShape.h b/include/reactphysics3d/collision/shapes/ConvexMeshShape.h
index 9f40f0e3..3139c76f 100644
--- a/include/reactphysics3d/collision/shapes/ConvexMeshShape.h
+++ b/include/reactphysics3d/collision/shapes/ConvexMeshShape.h
@@ -118,7 +118,7 @@ class ConvexMeshShape : public ConvexPolyhedronShape {
virtual uint32 getNbVertices() const override;
/// Return a given vertex of the polyhedron
- virtual HalfEdgeStructure::Vertex getVertex(uint32 vertexIndex) const override;
+ virtual const HalfEdgeStructure::Vertex& getVertex(uint32 vertexIndex) const override;
/// Return the number of half-edges of the polyhedron
virtual uint32 getNbHalfEdges() const override;
@@ -208,7 +208,7 @@ RP3D_FORCE_INLINE uint32 ConvexMeshShape::getNbVertices() const {
}
// Return a given vertex of the polyhedron
-RP3D_FORCE_INLINE HalfEdgeStructure::Vertex ConvexMeshShape::getVertex(uint32 vertexIndex) const {
+RP3D_FORCE_INLINE const HalfEdgeStructure::Vertex& ConvexMeshShape::getVertex(uint32 vertexIndex) const {
assert(vertexIndex < getNbVertices());
return mPolyhedronMesh->getHalfEdgeStructure().getVertex(vertexIndex);
}
diff --git a/include/reactphysics3d/collision/shapes/ConvexPolyhedronShape.h b/include/reactphysics3d/collision/shapes/ConvexPolyhedronShape.h
index a0eb8395..21dc02d8 100644
--- a/include/reactphysics3d/collision/shapes/ConvexPolyhedronShape.h
+++ b/include/reactphysics3d/collision/shapes/ConvexPolyhedronShape.h
@@ -68,7 +68,7 @@ class ConvexPolyhedronShape : public ConvexShape {
virtual uint32 getNbVertices() const=0;
/// Return a given vertex of the polyhedron
- virtual HalfEdgeStructure::Vertex getVertex(uint32 vertexIndex) const=0;
+ virtual const HalfEdgeStructure::Vertex& getVertex(uint32 vertexIndex) const=0;
/// Return the position of a given vertex
virtual Vector3 getVertexPosition(uint32 vertexIndex) const=0;
diff --git a/include/reactphysics3d/collision/shapes/TriangleShape.h b/include/reactphysics3d/collision/shapes/TriangleShape.h
index d78fcb3b..263315d2 100644
--- a/include/reactphysics3d/collision/shapes/TriangleShape.h
+++ b/include/reactphysics3d/collision/shapes/TriangleShape.h
@@ -151,7 +151,7 @@ class TriangleShape : public ConvexPolyhedronShape {
virtual uint32 getNbVertices() const override;
/// Return a given vertex of the polyhedron
- virtual HalfEdgeStructure::Vertex getVertex(uint32 vertexIndex) const override;
+ virtual const HalfEdgeStructure::Vertex& getVertex(uint32 vertexIndex) const override;
/// Return the position of a given vertex
virtual Vector3 getVertexPosition(uint32 vertexIndex) const override;
@@ -244,16 +244,9 @@ RP3D_FORCE_INLINE uint32 TriangleShape::getNbVertices() const {
}
// Return a given vertex of the polyhedron
-RP3D_FORCE_INLINE HalfEdgeStructure::Vertex TriangleShape::getVertex(uint32 vertexIndex) const {
+RP3D_FORCE_INLINE const HalfEdgeStructure::Vertex& TriangleShape::getVertex(uint32 vertexIndex) const {
assert(vertexIndex < 3);
-
- HalfEdgeStructure::Vertex vertex(vertexIndex);
- switch (vertexIndex) {
- case 0: vertex.edgeIndex = 0; break;
- case 1: vertex.edgeIndex = 2; break;
- case 2: vertex.edgeIndex = 4; break;
- }
- return vertex;
+ return mTriangleHalfEdgeStructure.getVertex(vertexIndex);
}
// Return the position of a given vertex
diff --git a/include/reactphysics3d/systems/CollisionDetectionSystem.h b/include/reactphysics3d/systems/CollisionDetectionSystem.h
index c8c4983c..d2bbe320 100644
--- a/include/reactphysics3d/systems/CollisionDetectionSystem.h
+++ b/include/reactphysics3d/systems/CollisionDetectionSystem.h
@@ -413,11 +413,6 @@ RP3D_FORCE_INLINE void CollisionDetectionSystem::addCollider(Collider* collider,
mMapBroadPhaseIdToColliderEntity.add(Pair<int, Entity>(broadPhaseId, collider->getEntity()));
}
-// Add a pair of bodies that cannot collide with each other
-RP3D_FORCE_INLINE void CollisionDetectionSystem::addNoCollisionPair(Entity body1Entity, Entity body2Entity) {
- mNoCollisionPairs.add(OverlappingPairs::computeBodiesIndexPair(body1Entity, body2Entity));
-}
-
// Remove a pair of bodies that cannot collide with each other
RP3D_FORCE_INLINE void CollisionDetectionSystem::removeNoCollisionPair(Entity body1Entity, Entity body2Entity) {
mNoCollisionPairs.remove(OverlappingPairs::computeBodiesIndexPair(body1Entity, body2Entity));
diff --git a/src/collision/shapes/BoxShape.cpp b/src/collision/shapes/BoxShape.cpp
index 65813ec7..e3b2d868 100644
--- a/src/collision/shapes/BoxShape.cpp
+++ b/src/collision/shapes/BoxShape.cpp
@@ -130,7 +130,7 @@ const HalfEdgeStructure::Face& BoxShape::getFace(uint32 faceIndex) const {
}
// Return a given vertex of the polyhedron
-HalfEdgeStructure::Vertex BoxShape::getVertex(uint32 vertexIndex) const {
+const HalfEdgeStructure::Vertex& BoxShape::getVertex(uint32 vertexIndex) const {
assert(vertexIndex < getNbVertices());
return mPhysicsCommon.mBoxShapeHalfEdgeStructure.getVertex(vertexIndex);
}
diff --git a/src/systems/CollisionDetectionSystem.cpp b/src/systems/CollisionDetectionSystem.cpp
index a169be62..a3debed7 100644
--- a/src/systems/CollisionDetectionSystem.cpp
+++ b/src/systems/CollisionDetectionSystem.cpp
@@ -196,6 +196,34 @@ void CollisionDetectionSystem::addLostContactPair(OverlappingPairs::OverlappingP
mLostContactPairs.add(lostContactPair);
}
+// Add a pair of bodies that cannot collide with each other
+void CollisionDetectionSystem::addNoCollisionPair(Entity body1Entity, Entity body2Entity) {
+ mNoCollisionPairs.add(OverlappingPairs::computeBodiesIndexPair(body1Entity, body2Entity));
+
+ // If there already are OverlappingPairs involved, they should be removed; Or they will remain in collision state
+ Array<uint64> toBeRemove(mMemoryManager.getPoolAllocator());
+ const Array<Entity>& colliderEntities = mWorld->mCollisionBodyComponents.getColliders(body1Entity);
+ for (uint32 i = 0; i < colliderEntities.size(); ++i) {
+
+ // Get the currently overlapping pairs for colliders of body1
+ const Array<uint64>& overlappingPairs = mCollidersComponents.getOverlappingPairs(colliderEntities[i]);
+
+ for (uint32 j = 0; j < overlappingPairs.size(); ++j) {
+
+ OverlappingPairs::OverlappingPair *pair = mOverlappingPairs.getOverlappingPair(overlappingPairs[j]);
+ assert(pair != nullptr);
+
+ const Entity overlappingBody1 = mOverlappingPairs.mColliderComponents.getBody(pair->collider1);
+ const Entity overlappingBody2 = mOverlappingPairs.mColliderComponents.getBody(pair->collider2);
+ if (overlappingBody1 == body2Entity || overlappingBody2 == body2Entity)
+ toBeRemove.add(overlappingPairs[j]);
+ }
+ }
+
+ for (uint32 i = 0; i < toBeRemove.size(); ++i)
+ mOverlappingPairs.removePair(toBeRemove[i]);
+}
+
// Take an array of overlapping nodes in the broad-phase and create new overlapping pairs if necessary
void CollisionDetectionSystem::updateOverlappingPairs(const Array<Pair<int32, int32>>& overlappingNodes) {
@@ -742,7 +770,7 @@ void CollisionDetectionSystem::computeOverlapSnapshotContactPairs(NarrowPhaseInf
const bool isTrigger = mCollidersComponents.mIsTrigger[collider1Index] || mCollidersComponents.mIsTrigger[collider2Index];
// Create a new contact pair
- ContactPair contactPair(narrowPhaseInfoBatch.narrowPhaseInfos[i].overlappingPairId, body1Entity, body2Entity, collider1Entity, collider2Entity, static_cast<uint32>(contactPairs.size()), isTrigger, false);
+ ContactPair contactPair(narrowPhaseInfoBatch.narrowPhaseInfos[i].overlappingPairId, body1Entity, body2Entity, collider1Entity, collider2Entity, static_cast<uint32>(contactPairs.size()), false, isTrigger);
contactPairs.add(contactPair);
setOverlapContactPairId.add(narrowPhaseInfoBatch.narrowPhaseInfos[i].overlappingPairId);