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Fix issues in CollisionBody

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This commit is contained in:
Daniel Chappuis 2014-11-20 21:59:53 +01:00
parent adc53c6523
commit 2570d794c3
5 changed files with 28 additions and 21 deletions
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25
src/body/CollisionBody.cpp
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@ -58,7 +58,7 @@ CollisionBody::~CollisionBody() {
/// shapes will also be destroyed automatically. Because an internal copy of the collision shape
/// you provided is performed, you can delete it right after calling this method. The second
/// parameter is the transformation that transform the local-space of the collision shape into
/// the local-space of the body. By default, the second parameter is the identity transform.
/// the local-space of the body.
/// This method will return a pointer to the proxy collision shape that links the body with
/// the collision shape you have added.
ProxyShape* CollisionBody::addCollisionShape(const CollisionShape& collisionShape,
@ -102,11 +102,16 @@ void CollisionBody::removeCollisionShape(const ProxyShape* proxyShape) {
// If the the first proxy shape is the one to remove
if (current == proxyShape) {
mProxyCollisionShapes = current->mNext;
mWorld.mCollisionDetection.removeProxyCollisionShape(current);
if (mIsActive) {
mWorld.mCollisionDetection.removeProxyCollisionShape(current);
}
mWorld.removeCollisionShape(proxyShape->mCollisionShape);
current->ProxyShape::~ProxyShape();
mWorld.mMemoryAllocator.release(current, sizeof(ProxyShape));
mNbCollisionShapes--;
assert(mNbCollisionShapes >= 0);
return;
}
@ -119,7 +124,11 @@ void CollisionBody::removeCollisionShape(const ProxyShape* proxyShape) {
// Remove the proxy collision shape
ProxyShape* elementToRemove = current->mNext;
current->mNext = elementToRemove->mNext;
mWorld.mCollisionDetection.removeProxyCollisionShape(elementToRemove);
if (mIsActive) {
mWorld.mCollisionDetection.removeProxyCollisionShape(elementToRemove);
}
mWorld.removeCollisionShape(proxyShape->mCollisionShape);
elementToRemove->ProxyShape::~ProxyShape();
mWorld.mMemoryAllocator.release(elementToRemove, sizeof(ProxyShape));
@ -137,6 +146,8 @@ void CollisionBody::removeCollisionShape(const ProxyShape* proxyShape) {
// Remove all the collision shapes
void CollisionBody::removeAllCollisionShapes() {
// TODO : Remove all the contact manifolds at the end of this call
ProxyShape* current = mProxyCollisionShapes;
// Look for the proxy shape that contains the collision shape in parameter
@ -144,7 +155,11 @@ void CollisionBody::removeAllCollisionShapes() {
// Remove the proxy collision shape
ProxyShape* nextElement = current->mNext;
mWorld.mCollisionDetection.removeProxyCollisionShape(current);
if (mIsActive) {
mWorld.mCollisionDetection.removeProxyCollisionShape(current);
}
mWorld.removeCollisionShape(current->mCollisionShape);
current->ProxyShape::~ProxyShape();
mWorld.mMemoryAllocator.release(current, sizeof(ProxyShape));
@ -196,8 +211,6 @@ void CollisionBody::setIsActive(bool isActive) {
Body::setIsActive(isActive);
// TODO : Implement this
// If we have to activate the body
if (isActive) {

4
src/body/CollisionBody.h
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@ -144,8 +144,8 @@ class CollisionBody : public Body {
void setTransform(const Transform& transform);
/// Add a collision shape to the body.
ProxyShape* addCollisionShape(const CollisionShape& collisionShape,
const Transform& transform = Transform::identity());
virtual ProxyShape* addCollisionShape(const CollisionShape& collisionShape,
const Transform& transform);
/// Remove a collision shape from the body
virtual void removeCollisionShape(const ProxyShape* proxyShape);

3
src/body/RigidBody.cpp
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@ -176,7 +176,8 @@ void RigidBody::removeJointFromJointsList(MemoryAllocator& memoryAllocator, cons
/// parameter is the transformation that transform the local-space of the collision shape into
/// the local-space of the body. By default, the second parameter is the identity transform.
ProxyShape* RigidBody::addCollisionShape(const CollisionShape& collisionShape,
decimal mass, const Transform& transform) {
const Transform& transform,
decimal mass) {
assert(mass > decimal(0.0));

6
src/body/RigidBody.h
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@ -204,9 +204,9 @@ class RigidBody : public CollisionBody {
void applyTorque(const Vector3& torque);
/// Add a collision shape to the body.
ProxyShape* addCollisionShape(const CollisionShape& collisionShape,
decimal mass,
const Transform& transform = Transform::identity());
virtual ProxyShape* addCollisionShape(const CollisionShape& collisionShape,
const Transform& transform,
decimal mass);
/// Remove a collision shape from the body
virtual void removeCollisionShape(const ProxyShape* proxyCollisionShape);

11
src/collision/CollisionDetection.cpp
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@ -142,14 +142,6 @@ void CollisionDetection::computeNarrowPhase() {
if (narrowPhaseAlgorithm.testCollision(shape1, shape2, contactInfo)) {
assert(contactInfo != NULL);
/*
// Set the bodies of the contact
contactInfo->body1 = dynamic_cast<RigidBody*>(body1);
contactInfo->body2 = dynamic_cast<RigidBody*>(body2);
assert(contactInfo->body1 != NULL);
assert(contactInfo->body2 != NULL);
*/
// Create a new contact
createContact(pair, contactInfo);
@ -256,7 +248,8 @@ void CollisionDetection::addContactManifoldToBody(ContactManifold* contactManifo
body1->mContactManifoldsList);
body1->mContactManifoldsList = listElement1;
// Add the joint at the beginning of the linked list of joints of the second body
// Add the contact manifold at the beginning of the linked
// list of the contact manifolds of the second body
void* allocatedMemory2 = mWorld->mMemoryAllocator.allocate(sizeof(ContactManifoldListElement));
ContactManifoldListElement* listElement2 = new (allocatedMemory2)
ContactManifoldListElement(contactManifold,