Replacing ProxyShape data by corresponding component data

src/body/CollisionBody.cpp

@@ -78,7 +78,7 @@ ProxyShape* CollisionBody::addCollisionShape(CollisionShape* collisionShape,
     // Create a new proxy collision shape to attach the collision shape to the body
     ProxyShape* proxyShape = new (mWorld.mMemoryManager.allocate(MemoryManager::AllocationType::Pool,
                                       sizeof(ProxyShape))) ProxyShape(this, collisionShape,
-                                                                      transform, decimal(1), mWorld.mMemoryManager);
+                                                                      mWorld.mMemoryManager);
 
     // Add the proxy-shape component to the entity of the body
     Vector3 localBoundsMin;
@@ -289,7 +289,7 @@ void CollisionBody::setIsActive(bool isActive) {
 
             // Compute the world-space AABB of the new collision shape
             AABB aabb;
-            shape->getCollisionShape()->computeAABB(aabb, transform * shape->mLocalToBodyTransform);
+            shape->getCollisionShape()->computeAABB(aabb, transform * mWorld.mProxyShapesComponents.getLocalToBodyTransform(shape));
 
             // Add the proxy shape to the collision detection
             mWorld.mCollisionDetection.addProxyCollisionShape(shape, aabb);

src/body/RigidBody.cpp

@@ -284,7 +284,7 @@ ProxyShape* RigidBody::addCollisionShape(CollisionShape* collisionShape,
     // Create a new proxy collision shape to attach the collision shape to the body
     ProxyShape* proxyShape = new (mWorld.mMemoryManager.allocate(MemoryManager::AllocationType::Pool,
                                       sizeof(ProxyShape))) ProxyShape(this, collisionShape,
-                                                                      transform, mass, mWorld.mMemoryManager);
+                                                                      mWorld.mMemoryManager);
 
     // Add the proxy-shape component to the entity of the body
     Vector3 localBoundsMin;

src/collision/ProxyShape.cpp

@@ -39,8 +39,8 @@ using namespace reactphysics3d;
  * @param transform Transformation from collision shape local-space to body local-space
  * @param mass Mass of the collision shape (in kilograms)
  */
-ProxyShape::ProxyShape(CollisionBody* body, CollisionShape* shape, const Transform& transform, decimal mass, MemoryManager& memoryManager)
-           :mMemoryManager(memoryManager), mBody(body), mCollisionShape(shape), mLocalToBodyTransform(transform), mMass(mass),
+ProxyShape::ProxyShape(CollisionBody* body, CollisionShape* shape, MemoryManager& memoryManager)
+           :mMemoryManager(memoryManager), mBody(body), mCollisionShape(shape),
             mNext(nullptr), mBroadPhaseID(-1), mUserData(nullptr), mCollisionCategoryBits(0x0001), mCollideWithMaskBits(0xFFFF) {
 
 }
@@ -50,13 +50,23 @@ ProxyShape::~ProxyShape() {
 
 }
 
+// Return the mass of the collision shape
+/**
+ * @return Mass of the collision shape (in kilograms)
+ */
+decimal ProxyShape::getMass() const {
+    return mBody->mWorld.mProxyShapesComponents.getMass(this);
+}
+
+
 // Return true if a point is inside the collision shape
 /**
  * @param worldPoint Point to test in world-space coordinates
  * @return True if the point is inside the collision shape
  */
 bool ProxyShape::testPointInside(const Vector3& worldPoint) {
-    const Transform localToWorld = mBody->mWorld.mTransformComponents.getTransform(mBody->getEntity()) * mLocalToBodyTransform;
+    const Transform localToWorld = mBody->mWorld.mTransformComponents.getTransform(mBody->getEntity()) *
+                                   mBody->mWorld.mProxyShapesComponents.getLocalToBodyTransform(this);
     const Vector3 localPoint = localToWorld.getInverse() * worldPoint;
     return mCollisionShape->testPointInside(localPoint, this);
 }
@@ -88,7 +98,8 @@ void ProxyShape::setCollideWithMaskBits(unsigned short collideWithMaskBits) {
 // Set the local to parent body transform
 void ProxyShape::setLocalToBodyTransform(const Transform& transform) {
 
-    mLocalToBodyTransform = transform;
+    //mLocalToBodyTransform = transform;
+    mBody->mWorld.mProxyShapesComponents.setLocalToBodyTransform(this, transform);
 
     mBody->setIsSleeping(false);
 
@@ -97,7 +108,16 @@ void ProxyShape::setLocalToBodyTransform(const Transform& transform) {
 
     RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::ProxyShape,
              "ProxyShape " + std::to_string(mBroadPhaseID) + ": Set localToBodyTransform=" +
-             mLocalToBodyTransform.to_string());
+             transform.to_string());
+}
+
+// Return the local to parent body transform
+/**
+ * @return The transformation that transforms the local-space of the collision shape
+ *         to the local-space of the parent body
+ */
+const Transform& ProxyShape::getLocalToBodyTransform() const {
+    return mBody->mWorld.mProxyShapesComponents.getLocalToBodyTransform(this);
 }
 
 // Raycast method with feedback information
@@ -135,6 +155,7 @@ bool ProxyShape::raycast(const Ray& ray, RaycastInfo& raycastInfo) {
  *         shape to the world-space
  */
 const Transform ProxyShape::getLocalToWorldTransform() const {
-    return mBody->mWorld.mTransformComponents.getTransform(mBody->getEntity()) * mLocalToBodyTransform;
+    return mBody->mWorld.mTransformComponents.getTransform(mBody->getEntity()) *
+           mBody->mWorld.mProxyShapesComponents.getLocalToBodyTransform(this);
 }
 

src/collision/ProxyShape.h

@@ -61,10 +61,10 @@ class ProxyShape {
         CollisionShape* mCollisionShape;
 
         /// Local-space to parent body-space transform (does not change over time)
-        Transform mLocalToBodyTransform;
+        //Transform mLocalToBodyTransform;
 
         /// Mass (in kilogramms) of the corresponding collision shape
-        decimal mMass;
+        //decimal mMass;
 
         /// Pointer to the next proxy shape of the body (linked list)
         ProxyShape* mNext;
@@ -111,8 +111,7 @@ class ProxyShape {
         // -------------------- Methods -------------------- //
 
         /// Constructor
-        ProxyShape(CollisionBody* body, CollisionShape* shape,
-                   const Transform& transform, decimal mass, MemoryManager& memoryManager);
+        ProxyShape(CollisionBody* body, CollisionShape* shape, MemoryManager& memoryManager);
 
         /// Destructor
         virtual ~ProxyShape();
@@ -234,14 +233,6 @@ inline CollisionBody* ProxyShape::getBody() const {
     return mBody;
 }
 
-// Return the mass of the collision shape
-/**
- * @return Mass of the collision shape (in kilograms)
- */
-inline decimal ProxyShape::getMass() const {
-    return mMass;
-}
-
 // Return a pointer to the user data attached to this body
 /**
  * @return A pointer to the user data stored into the proxy shape
@@ -258,15 +249,6 @@ inline void ProxyShape::setUserData(void* userData) {
     mUserData = userData;
 }
 
-// Return the local to parent body transform
-/**
- * @return The transformation that transforms the local-space of the collision shape
- *         to the local-space of the parent body
- */
-inline const Transform& ProxyShape::getLocalToBodyTransform() const {
-    return mLocalToBodyTransform;
-}
-
 // Return the AABB of the proxy shape in world-space
 /**
  * @return The AABB of the proxy shape in world-space

src/components/ProxyShapesComponents.cpp

@@ -200,7 +200,7 @@ void ProxyShapesComponents::addComponent(Entity entity, bool isSleeping, const P
     mCollisionShapes[index] = component.collisionShape;
     new (mMasses + index) decimal(component.mass);
 
-    mMapProxyShapeToComponentIndex.add(Pair<ProxyShape*, uint32>(component.proxyShape, index));
+    mMapProxyShapeToComponentIndex.add(Pair<const ProxyShape*, uint32>(component.proxyShape, index));
 
     mNbComponents++;
 
@@ -255,7 +255,7 @@ void ProxyShapesComponents::moveComponentToIndex(uint32 srcIndex, uint32 destInd
         assert(mMapEntityToComponentIndex[mEntities[destIndex]] == destIndex);
     }
 
-    mMapProxyShapeToComponentIndex.add(Pair<ProxyShape*, uint32>(mProxyShapes[destIndex], destIndex));
+    mMapProxyShapeToComponentIndex.add(Pair<const ProxyShape*, uint32>(mProxyShapes[destIndex], destIndex));
 
     assert(mPreviousBodyProxyShapes[mNextBodyProxyShapes[destIndex]] == destIndex || !hasNextProxyShape(destIndex));
     assert(mNextBodyProxyShapes[mPreviousBodyProxyShapes[destIndex]] == destIndex || !hasPreviousProxyShape(destIndex));
@@ -305,7 +305,7 @@ void ProxyShapesComponents::swapComponents(uint32 index1, uint32 index2) {
         mPreviousBodyProxyShapes[mNextBodyProxyShapes[index2]] = index2;
     }
 
-    mMapProxyShapeToComponentIndex.add(Pair<ProxyShape*, uint32>(mProxyShapes[index2], index2));
+    mMapProxyShapeToComponentIndex.add(Pair<const ProxyShape*, uint32>(mProxyShapes[index2], index2));
 
     // Update the entity to component index mapping if it is the first body proxy-shape
     if (isFirstBodyProxyShape1) {

src/components/ProxyShapesComponents.h

@@ -87,7 +87,7 @@ class ProxyShapesComponents {
         Map<Entity, uint32> mMapEntityToComponentIndex;
 
         /// Map a proxy shape to the index of the corresponding component in the array
-        Map<ProxyShape*, uint32> mMapProxyShapeToComponentIndex;
+        Map<const ProxyShape*, uint32> mMapProxyShapeToComponentIndex;
 
         /// Array of entities of each component
         Entity* mEntities;
@@ -108,7 +108,7 @@ class ProxyShapesComponents {
         /// Pointers to the collision shapes of the proxy-shapes
         CollisionShape** mCollisionShapes;
 
-        /// Masses of the proxy-shapes
+        /// Masses (in kilogramms) of the proxy-shapes
         decimal* mMasses;
 
         /// Index of the previous proxy-shape in the same body
@@ -182,8 +182,41 @@ class ProxyShapesComponents {
 
         /// Notify if a given entity is sleeping or not
         void setIsEntitySleeping(Entity entity, bool isSleeping);
+
+        /// Return the mass of a proxy-shape
+        decimal getMass(const ProxyShape* proxyShape) const;
+
+        /// Return the local-to-body transform of a proxy-shape
+        const Transform& getLocalToBodyTransform(const ProxyShape* proxyShape) const;
+
+        /// Set the local-to-body transform of a proxy-shape
+        void setLocalToBodyTransform(const ProxyShape* proxyShape, const Transform& transform);
 };
 
+// Return the mass of a proxy-shape
+inline decimal ProxyShapesComponents::getMass(const ProxyShape* proxyShape) const {
+
+   assert(mMapProxyShapeToComponentIndex.containsKey(proxyShape));
+
+   return mMasses[mMapProxyShapeToComponentIndex[proxyShape]];
+}
+
+// Return the local-to-body transform of a proxy-shape
+inline const Transform& ProxyShapesComponents::getLocalToBodyTransform(const ProxyShape* proxyShape) const {
+
+   assert(mMapProxyShapeToComponentIndex.containsKey(proxyShape));
+
+   return mLocalToBodyTransforms[mMapProxyShapeToComponentIndex[proxyShape]];
+}
+
+// Set the local-to-body transform of a proxy-shape
+inline void ProxyShapesComponents::setLocalToBodyTransform(const ProxyShape* proxyShape, const Transform& transform) {
+
+   assert(mMapProxyShapeToComponentIndex.containsKey(proxyShape));
+
+   mLocalToBodyTransforms[mMapProxyShapeToComponentIndex[proxyShape]] = transform;
+}
+
 }
 
 #endif