Add setLocalScaling() method to CollisionShape and ProxyShape and fix issue in collision detection test method

src/body/CollisionBody.cpp

@@ -197,15 +197,22 @@ void CollisionBody::updateBroadPhaseState() const {
     // For all the proxy collision shapes of the body
     for (ProxyShape* shape = mProxyCollisionShapes; shape != NULL; shape = shape->mNext) {
 
-        // Recompute the world-space AABB of the collision shape
+        // Update the proxy
-        AABB aabb;
+        updateProxyShapeInBroadPhase(shape);
-        shape->getCollisionShape()->computeAABB(aabb, mTransform *shape->getLocalToBodyTransform());
-
-        // Update the broad-phase state for the proxy collision shape
-        mWorld.mCollisionDetection.updateProxyCollisionShape(shape, aabb);
     }
 }
 
+// Update the broad-phase state of a proxy collision shape of the body
+void CollisionBody::updateProxyShapeInBroadPhase(ProxyShape* proxyShape) const {
+
+    // Recompute the world-space AABB of the collision shape
+    AABB aabb;
+    proxyShape->getCollisionShape()->computeAABB(aabb, mTransform * proxyShape->getLocalToBodyTransform());
+
+    // Update the broad-phase state for the proxy collision shape
+    mWorld.mCollisionDetection.updateProxyCollisionShape(proxyShape, aabb);
+}
+
 // Set whether or not the body is active
 /**
  * @param isActive True if you want to activate the body

src/body/CollisionBody.h

@@ -102,6 +102,9 @@ class CollisionBody : public Body {
         /// Update the broad-phase state for this body (because it has moved for instance)
         virtual void updateBroadPhaseState() const;
 
+        /// Update the broad-phase state of a proxy collision shape of the body
+        void updateProxyShapeInBroadPhase(ProxyShape* proxyShape) const;
+
         /// Ask the broad-phase to test again the collision shapes of the body for collision
         /// (as if the body has moved).
         void askForBroadPhaseCollisionCheck() const;

src/collision/CollisionDetection.cpp

@@ -335,9 +335,11 @@ void CollisionDetection::computeNarrowPhaseBetweenShapes(CollisionCallback* call
         CollisionShapeInfo shape2Info(shape2, shape2->getCollisionShape(), shape2->getLocalToWorldTransform(),
                                       pair, shape2->getCachedCollisionData());
 
+        TestCollisionBetweenShapesCallback narrowPhaseCallback(callback);
+
         // Use the narrow-phase collision detection algorithm to check
         // if there really is a collision
-        narrowPhaseAlgorithm->testCollision(shape1Info, shape2Info, this);
+        narrowPhaseAlgorithm->testCollision(shape1Info, shape2Info, &narrowPhaseCallback);
     }
 
     // Add all the contact manifolds (between colliding bodies) to the bodies
@@ -518,3 +520,9 @@ EventListener* CollisionDetection::getWorldEventListener() {
 MemoryAllocator& CollisionDetection::getWorldMemoryAllocator() {
   return mWorld->mMemoryAllocator;
 }
+
+// Called by a narrow-phase collision algorithm when a new contact has been found
+void TestCollisionBetweenShapesCallback::notifyContact(OverlappingPair* overlappingPair,
+                           const ContactPointInfo& contactInfo) {
+    mCollisionCallback->notifyContact(contactInfo);
+}

src/collision/CollisionDetection.h

@@ -47,6 +47,26 @@ class BroadPhaseAlgorithm;
 class CollisionWorld;
 class CollisionCallback;
 
+// Class TestCollisionBetweenShapesCallback
+class TestCollisionBetweenShapesCallback : public NarrowPhaseCallback {
+
+    private:
+
+        CollisionCallback* mCollisionCallback;
+
+    public:
+
+        // Constructor
+        TestCollisionBetweenShapesCallback(CollisionCallback* callback)
+            : mCollisionCallback(callback) {
+
+        }
+
+        // Called by a narrow-phase collision algorithm when a new contact has been found
+        virtual void notifyContact(OverlappingPair* overlappingPair,
+                                   const ContactPointInfo& contactInfo);
+};
+
 // Class CollisionDetection
 /**
  * This class computes the collision detection algorithms. We first

src/collision/ProxyShape.h

@@ -152,6 +152,12 @@ class ProxyShape {
         /// Return the pointer to the cached collision data
         void** getCachedCollisionData();
 
+        /// Return the scaling vector of the collision shape
+        Vector3 getScaling() const;
+
+        /// Set the scaling vector of the collision shape
+        virtual void setScaling(const Vector3& scaling);
+
         // -------------------- Friendship -------------------- //
 
         friend class OverlappingPair;
@@ -293,6 +299,21 @@ inline void ProxyShape::setCollideWithMaskBits(unsigned short collideWithMaskBit
     mCollideWithMaskBits = collideWithMaskBits;
 }
 
+// Return the scaling vector of the collision shape
+inline Vector3 ProxyShape::getScaling() const {
+    return mCollisionShape->getScaling();
+}
+
+// Set the scaling vector of the collision shape
+inline void ProxyShape::setScaling(const Vector3& scaling) {
+
+    // Set the local scaling of the collision shape
+    mCollisionShape->setLocalScaling(scaling);
+
+    // Notify the body that the proxy shape has to be updated in the broad-phase
+    mBody->updateProxyShapeInBroadPhase(this);
+}
+
 }
 
 #endif

src/collision/broadphase/DynamicAABBTree.cpp

@@ -37,6 +37,19 @@ const int TreeNode::NULL_TREE_NODE = -1;
 // Constructor
 DynamicAABBTree::DynamicAABBTree(decimal extraAABBGap) : mExtraAABBGap(extraAABBGap) {
 
+    init();
+}
+
+// Destructor
+DynamicAABBTree::~DynamicAABBTree() {
+
+    // Free the allocated memory for the nodes
+    free(mNodes);
+}
+
+// Initialize the tree
+void DynamicAABBTree::init() {
+
     mRootNodeID = TreeNode::NULL_TREE_NODE;
     mNbNodes = 0;
     mNbAllocatedNodes = 8;
@@ -56,11 +69,14 @@ DynamicAABBTree::DynamicAABBTree(decimal extraAABBGap) : mExtraAABBGap(extraAABB
     mFreeNodeID = 0;
 }
 
-// Destructor
+// Clear all the nodes and reset the tree
-DynamicAABBTree::~DynamicAABBTree() {
+void DynamicAABBTree::reset() {
 
     // Free the allocated memory for the nodes
     free(mNodes);
+
+    // Initialize the tree
+    init();
 }
 
 // Allocate and return a new node in the tree

src/collision/broadphase/DynamicAABBTree.h

@@ -159,6 +159,9 @@ class DynamicAABBTree {
         /// Internally add an object into the tree
         int addObjectInternal(const AABB& aabb);
 
+        /// Initialize the tree
+        void init();
+
 #ifndef NDEBUG
 
         /// Check if the tree structure is valid (for debugging purpose)
@@ -214,6 +217,9 @@ class DynamicAABBTree {
 
         /// Return the root AABB of the tree
         AABB getRootAABB() const;
+
+        /// Clear all the nodes and reset the tree
+        void reset();
 };
 
 // Return true if the node is a leaf of the tree

src/collision/narrowphase/ConcaveVsConvexAlgorithm.cpp

@@ -86,7 +86,7 @@ void ConvexVsTriangleCallback::testTriangle(const Vector3* trianglePoints) {
 
     // Create a triangle collision shape
     // TODO : Do we need to use a collision margin for a triangle ?
-    TriangleShape triangleShape(trianglePoints[0], trianglePoints[1], trianglePoints[2], 0.0);
+    TriangleShape triangleShape(trianglePoints[0], trianglePoints[1], trianglePoints[2]);
 
     // Select the collision algorithm to use between the triangle and the convex shape
     NarrowPhaseAlgorithm* algo = mCollisionDetection->getCollisionAlgorithm(triangleShape.getType(),

src/collision/shapes/BoxShape.h

@@ -97,6 +97,9 @@ class BoxShape : public ConvexShape {
         /// Return the extents of the box
         Vector3 getExtent() const;
 
+        /// Set the scaling vector of the collision shape
+        virtual void setLocalScaling(const Vector3& scaling);
+
         /// Return the local bounds of the shape in x, y and z directions
         virtual void getLocalBounds(Vector3& min, Vector3& max) const;
 
@@ -112,6 +115,14 @@ inline Vector3 BoxShape::getExtent() const {
     return mExtent + Vector3(mMargin, mMargin, mMargin);
 }
 
+// Set the scaling vector of the collision shape
+inline void BoxShape::setLocalScaling(const Vector3& scaling) {
+
+    mExtent = (mExtent / mScaling) * scaling;
+
+    CollisionShape::setLocalScaling(scaling);
+}
+
 // Return the local bounds of the shape in x, y and z directions
 /// This method is used to compute the AABB of the box
 /**

src/collision/shapes/CapsuleShape.h

@@ -102,6 +102,9 @@ class CapsuleShape : public ConvexShape {
         /// Return the height of the capsule
         decimal getHeight() const;
 
+        /// Set the scaling vector of the collision shape
+        virtual void setLocalScaling(const Vector3& scaling);
+
         /// Return the local bounds of the shape in x, y and z directions
         virtual void getLocalBounds(Vector3& min, Vector3& max) const;
 
@@ -125,6 +128,15 @@ inline decimal CapsuleShape::getHeight() const {
     return mHalfHeight + mHalfHeight;
 }
 
+/// Set the scaling vector of the collision shape
+inline void CapsuleShape::setLocalScaling(const Vector3& scaling) {
+
+    mHalfHeight = (mHalfHeight / mScaling.y) * scaling.y;
+    mRadius = (mRadius / mScaling.x) * scaling.x;
+
+    CollisionShape::setLocalScaling(scaling);
+}
+
 // Return the number of bytes used by the collision shape
 inline size_t CapsuleShape::getSizeInBytes() const {
     return sizeof(CapsuleShape);

src/collision/shapes/CollisionShape.cpp

@@ -32,7 +32,7 @@
 using namespace reactphysics3d;
 
 // Constructor
-CollisionShape::CollisionShape(CollisionShapeType type) : mType(type){
+CollisionShape::CollisionShape(CollisionShapeType type) : mType(type), mScaling(1.0, 1.0, 1.0) {
     
 }
 

src/collision/shapes/CollisionShape.h

@@ -61,6 +61,9 @@ class CollisionShape {
         /// Type of the collision shape
         CollisionShapeType mType;
 
+        /// Scaling vector of the collision shape
+        Vector3 mScaling;
+        
         // -------------------- Methods -------------------- //
 
         /// Private copy-constructor
@@ -97,6 +100,12 @@ class CollisionShape {
         /// Return the local bounds of the shape in x, y and z directions
         virtual void getLocalBounds(Vector3& min, Vector3& max) const=0;
 
+        /// Return the scaling vector of the collision shape
+        Vector3 getScaling() const;
+
+        /// Set the local scaling vector of the collision shape
+        virtual void setLocalScaling(const Vector3& scaling);
+
         /// Return the local inertia tensor of the collision shapes
         virtual void computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass) const=0;
 
@@ -129,6 +138,16 @@ inline bool CollisionShape::isConvex(CollisionShapeType shapeType) {
     return shapeType != CONCAVE_MESH;
 }
 
+// Return the scaling vector of the collision shape
+inline Vector3 CollisionShape::getScaling() const {
+    return mScaling;
+}
+
+// Set the scaling vector of the collision shape
+inline void CollisionShape::setLocalScaling(const Vector3& scaling) {
+    mScaling = scaling;
+}
+
 // Return the maximum number of contact manifolds allowed in an overlapping
 // pair wit the given two collision shape types
 inline int CollisionShape::computeNbMaxContactManifolds(CollisionShapeType shapeType1,

src/collision/shapes/ConcaveMeshShape.cpp

@@ -80,15 +80,15 @@ void ConcaveMeshShape::initBVHTree() {
                 // Get the vertices components of the triangle
                 if (vertexType == TriangleVertexArray::VERTEX_FLOAT_TYPE) {
                     const float* vertices = (float*)(verticesStart + vertexIndex * vertexStride);
-                    trianglePoints[k][0] = decimal(vertices[0]);
+                    trianglePoints[k][0] = decimal(vertices[0]) * mScaling.x;
-                    trianglePoints[k][1] = decimal(vertices[1]);
+                    trianglePoints[k][1] = decimal(vertices[1]) * mScaling.y;
-                    trianglePoints[k][2] = decimal(vertices[2]);
+                    trianglePoints[k][2] = decimal(vertices[2]) * mScaling.z;
                 }
                 else if (vertexType == TriangleVertexArray::VERTEX_DOUBLE_TYPE) {
                     const double* vertices = (double*)(verticesStart + vertexIndex * vertexStride);
-                    trianglePoints[k][0] = decimal(vertices[0]);
+                    trianglePoints[k][0] = decimal(vertices[0]) * mScaling.x;
-                    trianglePoints[k][1] = decimal(vertices[1]);
+                    trianglePoints[k][1] = decimal(vertices[1]) * mScaling.y;
-                    trianglePoints[k][2] = decimal(vertices[2]);
+                    trianglePoints[k][2] = decimal(vertices[2]) * mScaling.z;
                 }
             }
 
@@ -133,15 +133,15 @@ void ConcaveMeshShape::getTriangleVerticesWithIndexPointer(int32 subPart, int32
         // Get the vertices components of the triangle
         if (vertexType == TriangleVertexArray::VERTEX_FLOAT_TYPE) {
             const float* vertices = (float*)(verticesStart + vertexIndex * vertexStride);
-            outTriangleVertices[k][0] = decimal(vertices[0]);
+            outTriangleVertices[k][0] = decimal(vertices[0]) * mScaling.x;
-            outTriangleVertices[k][1] = decimal(vertices[1]);
+            outTriangleVertices[k][1] = decimal(vertices[1]) * mScaling.y;
-            outTriangleVertices[k][2] = decimal(vertices[2]);
+            outTriangleVertices[k][2] = decimal(vertices[2]) * mScaling.z;
         }
         else if (vertexType == TriangleVertexArray::VERTEX_DOUBLE_TYPE) {
             const double* vertices = (double*)(verticesStart + vertexIndex * vertexStride);
-            outTriangleVertices[k][0] = decimal(vertices[0]);
+            outTriangleVertices[k][0] = decimal(vertices[0]) * mScaling.x;
-            outTriangleVertices[k][1] = decimal(vertices[1]);
+            outTriangleVertices[k][1] = decimal(vertices[1]) * mScaling.y;
-            outTriangleVertices[k][2] = decimal(vertices[2]);
+            outTriangleVertices[k][2] = decimal(vertices[2]) * mScaling.z;
         }
     }
 }

src/collision/shapes/ConcaveMeshShape.h

@@ -30,7 +30,6 @@
 #include "ConcaveShape.h"
 #include "collision/broadphase/DynamicAABBTree.h"
 #include "collision/TriangleMesh.h"
-#include <iostream>
 
 namespace reactphysics3d {
 
@@ -130,6 +129,9 @@ class ConcaveMeshShape : public ConcaveShape {
         /// Return the local bounds of the shape in x, y and z directions.
         virtual void getLocalBounds(Vector3& min, Vector3& max) const;
 
+        /// Set the local scaling vector of the collision shape
+        virtual void setLocalScaling(const Vector3& scaling);
+
         /// Return the local inertia tensor of the collision shape
         virtual void computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass) const;
 
@@ -150,14 +152,16 @@ inline size_t ConcaveMeshShape::getSizeInBytes() const {
 inline Vector3 ConcaveMeshShape::getLocalSupportPointWithMargin(const Vector3& direction,
                                                            void** cachedCollisionData) const {
 
-    // TODO : Implement this
+    // Should not be used
+    assert(false);
     return Vector3(0, 0, 0);
 }
 
 // Return a local support point in a given direction without the object margin
 inline Vector3 ConcaveMeshShape::getLocalSupportPointWithoutMargin(const Vector3& direction,
                                                               void** cachedCollisionData) const {
-    // TODO : Implement this
+    // Should not be used
+    assert(false);
     return Vector3(0.0, 0.0, 0.0);
 }
 
@@ -176,6 +180,18 @@ inline void ConcaveMeshShape::getLocalBounds(Vector3& min, Vector3& max) const {
     max = treeAABB.getMax();
 }
 
+// Set the local scaling vector of the collision shape
+inline void ConcaveMeshShape::setLocalScaling(const Vector3& scaling) {
+
+    CollisionShape::setLocalScaling(scaling);
+
+    // Reset the Dynamic AABB Tree
+    mDynamicAABBTree.reset();
+
+    // Rebuild Dynamic AABB Tree here
+    initBVHTree();
+}
+
 // Return the local inertia tensor of the sphere
 /**
  * @param[out] tensor The 3x3 inertia tensor matrix of the shape in local-space
@@ -213,9 +229,6 @@ inline void ConvexTriangleAABBOverlapCallback::notifyOverlappingNode(int nodeId)
 
     // Call the callback to test narrow-phase collision with this triangle
     mTriangleTestCallback.testTriangle(trianglePoints);
-
-    // TODO : Delete this
-    std::cout << "Notify triangle test" << std::endl;
 }
 
 }

src/collision/shapes/ConeShape.h

@@ -105,6 +105,9 @@ class ConeShape : public ConvexShape {
         /// Return the height
         decimal getHeight() const;
 
+        /// Set the scaling vector of the collision shape
+        virtual void setLocalScaling(const Vector3& scaling);
+
         /// Return the local bounds of the shape in x, y and z directions
         virtual void getLocalBounds(Vector3& min, Vector3& max) const;
 
@@ -128,6 +131,15 @@ inline decimal ConeShape::getHeight() const {
     return decimal(2.0) * mHalfHeight;
 }
 
+// Set the scaling vector of the collision shape
+inline void ConeShape::setLocalScaling(const Vector3& scaling) {
+
+    mHalfHeight = (mHalfHeight / mScaling.y) * scaling.y;
+    mRadius = (mRadius / mScaling.x) * scaling.x;
+
+    CollisionShape::setLocalScaling(scaling);
+}
+
 // Return the number of bytes used by the collision shape
 inline size_t ConeShape::getSizeInBytes() const {
     return sizeof(ConeShape);

src/collision/shapes/ConvexMeshShape.cpp

@@ -148,7 +148,7 @@ Vector3 ConvexMeshShape::getLocalSupportPointWithoutMargin(const Vector3& direct
         *((int*)(*cachedCollisionData)) = maxVertex;
 
         // Return the support vertex
-        return mVertices[maxVertex];
+        return mVertices[maxVertex] * mScaling;
     }
     else {  // If the edges information is not used
 
@@ -171,7 +171,7 @@ Vector3 ConvexMeshShape::getLocalSupportPointWithoutMargin(const Vector3& direct
         assert(maxDotProduct >= decimal(0.0));
 
         // Return the vertex with the largest dot product in the support direction
-        return mVertices[indexMaxDotProduct];
+        return mVertices[indexMaxDotProduct] * mScaling;
     }
 }
 

src/collision/shapes/ConvexMeshShape.h

@@ -44,7 +44,7 @@ class CollisionWorld;
 // TODO : Make possible to create a ConvexMeshShape using a TriangleMesh as for
 // the ConcaveMeshShape
 
-// TODO : Make possible for the user to have a scaling factor on the mesh
+// TODO : Check that scaling factor is working after the change of the previous TODO
 
 // Class ConvexMeshShape
 /**
@@ -64,6 +64,8 @@ class CollisionWorld;
  */
 class ConvexMeshShape : public ConvexShape {
 
+    // TODO : Implement method setLocalScaling() here
+
     protected :
 
         // -------------------- Attributes -------------------- //

src/collision/shapes/CylinderShape.h

@@ -102,6 +102,9 @@ class CylinderShape : public ConvexShape {
         /// Return the height
         decimal getHeight() const;
 
+        /// Set the scaling vector of the collision shape
+        virtual void setLocalScaling(const Vector3& scaling);
+
         /// Return the local bounds of the shape in x, y and z directions
         virtual void getLocalBounds(Vector3& min, Vector3& max) const;
 
@@ -125,6 +128,15 @@ inline decimal CylinderShape::getHeight() const {
     return mHalfHeight + mHalfHeight;
 }
 
+// Set the scaling vector of the collision shape
+inline void CylinderShape::setLocalScaling(const Vector3& scaling) {
+
+    mHalfHeight = (mHalfHeight / mScaling.y) * scaling.y;
+    mRadius = (mRadius / mScaling.x) * scaling.x;
+
+    CollisionShape::setLocalScaling(scaling);
+}
+
 // Return the number of bytes used by the collision shape
 inline size_t CylinderShape::getSizeInBytes() const {
     return sizeof(CylinderShape);

src/collision/shapes/SphereShape.cpp

@@ -35,7 +35,7 @@ using namespace reactphysics3d;
 /**
  * @param radius Radius of the sphere (in meters)
  */
-SphereShape::SphereShape(decimal radius) : ConvexShape(SPHERE, radius), mRadius(radius) {
+SphereShape::SphereShape(decimal radius) : ConvexShape(SPHERE, radius) {
     assert(radius > decimal(0.0));
 }
 
@@ -51,7 +51,7 @@ bool SphereShape::raycast(const Ray& ray, RaycastInfo& raycastInfo, ProxyShape*
 
     const Vector3 sphereCenter = proxyShape->getLocalToWorldTransform().getPosition();
     const Vector3 m = ray.point1 - sphereCenter;
-    decimal c = m.dot(m) - mRadius * mRadius;
+    decimal c = m.dot(m) - mMargin * mMargin;
 
     // If the origin of the ray is inside the sphere, we return no intersection
     if (c < decimal(0.0)) return false;

src/collision/shapes/SphereShape.h

@@ -48,8 +48,6 @@ class SphereShape : public ConvexShape {
 
         // -------------------- Attributes -------------------- //
 
-        /// Radius of the sphere
-        decimal mRadius;
 
         // -------------------- Methods -------------------- //
 
@@ -89,6 +87,9 @@ class SphereShape : public ConvexShape {
         /// Return the radius of the sphere
         decimal getRadius() const;
 
+        /// Set the scaling vector of the collision shape
+        virtual void setLocalScaling(const Vector3& scaling);
+
         /// Return the local bounds of the shape in x, y and z directions.
         virtual void getLocalBounds(Vector3& min, Vector3& max) const;
 
@@ -104,7 +105,15 @@ class SphereShape : public ConvexShape {
  * @return Radius of the sphere (in meters)
  */
 inline decimal SphereShape::getRadius() const {
-    return mRadius;
+    return mMargin;
+}
+
+// Set the scaling vector of the collision shape
+inline void SphereShape::setLocalScaling(const Vector3& scaling) {
+
+    mMargin = (mMargin / mScaling.x) * scaling.x;
+
+    CollisionShape::setLocalScaling(scaling);
 }
 
 // Return the number of bytes used by the collision shape
@@ -145,12 +154,12 @@ inline Vector3 SphereShape::getLocalSupportPointWithoutMargin(const Vector3& dir
 inline void SphereShape::getLocalBounds(Vector3& min, Vector3& max) const {
 
     // Maximum bounds
-    max.x = mRadius;
+    max.x = mMargin;
-    max.y = mRadius;
+    max.y = mMargin;
-    max.z = mRadius;
+    max.z = mMargin;
 
     // Minimum bounds
-    min.x = -mRadius;
+    min.x = -mMargin;
     min.y = min.x;
     min.z = min.x;
 }
@@ -162,7 +171,7 @@ inline void SphereShape::getLocalBounds(Vector3& min, Vector3& max) const {
  * @param mass Mass to use to compute the inertia tensor of the collision shape
  */
 inline void SphereShape::computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass) const {
-    decimal diag = decimal(0.4) * mass * mRadius * mRadius;
+    decimal diag = decimal(0.4) * mass * mMargin * mMargin;
     tensor.setAllValues(diag, 0.0, 0.0,
                         0.0, diag, 0.0,
                         0.0, 0.0, diag);
@@ -177,7 +186,7 @@ inline void SphereShape::computeLocalInertiaTensor(Matrix3x3& tensor, decimal ma
 inline void SphereShape::computeAABB(AABB& aabb, const Transform& transform) {
 
     // Get the local extents in x,y and z direction
-    Vector3 extents(mRadius, mRadius, mRadius);
+    Vector3 extents(mMargin, mMargin, mMargin);
 
     // Update the AABB with the new minimum and maximum coordinates
     aabb.setMin(transform.getPosition() - extents);
@@ -186,7 +195,7 @@ inline void SphereShape::computeAABB(AABB& aabb, const Transform& transform) {
 
 // Return true if a point is inside the collision shape
 inline bool SphereShape::testPointInside(const Vector3& localPoint, ProxyShape* proxyShape) const {
-    return (localPoint.lengthSquare() < mRadius * mRadius);
+    return (localPoint.lengthSquare() < mMargin * mMargin);
 }
 
 }

src/collision/shapes/TriangleShape.cpp

@@ -38,9 +38,8 @@ using namespace reactphysics3d;
  * @param point3 Third point of the triangle
  * @param margin The collision margin (in meters) around the collision shape
  */
-TriangleShape::TriangleShape(const Vector3& point1, const Vector3& point2,
+TriangleShape::TriangleShape(const Vector3& point1, const Vector3& point2, const Vector3& point3)
-                             const Vector3& point3, decimal margin)
+              : ConvexShape(TRIANGLE, 0) {
-              : ConvexShape(TRIANGLE, margin) {
     mPoints[0] = point1;
     mPoints[1] = point2;
     mPoints[2] = point3;

src/collision/shapes/TriangleShape.h

@@ -77,8 +77,7 @@ class TriangleShape : public ConvexShape {
         // -------------------- Methods -------------------- //
 
         /// Constructor
-        TriangleShape(const Vector3& point1, const Vector3& point2,
+        TriangleShape(const Vector3& point1, const Vector3& point2, const Vector3& point3);
-                      const Vector3& point3, decimal margin);
 
         /// Destructor
         virtual ~TriangleShape();
@@ -86,6 +85,9 @@ class TriangleShape : public ConvexShape {
         /// Return the local bounds of the shape in x, y and z directions.
         virtual void getLocalBounds(Vector3& min, Vector3& max) const;
 
+        /// Set the local scaling vector of the collision shape
+        virtual void setLocalScaling(const Vector3& scaling);
+
         /// Return the local inertia tensor of the collision shape
         virtual void computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass) const;
 
@@ -102,8 +104,6 @@ inline size_t TriangleShape::getSizeInBytes() const {
 inline Vector3 TriangleShape::getLocalSupportPointWithMargin(const Vector3& direction,
                                                            void** cachedCollisionData) const {
 
-    // TODO : Do we need to use margin for triangle support point ?
-
     return getLocalSupportPointWithoutMargin(direction, cachedCollisionData);
 }
 
@@ -129,6 +129,16 @@ inline void TriangleShape::getLocalBounds(Vector3& min, Vector3& max) const {
     max.setAllValues(xAxis.getMaxValue(), yAxis.getMaxValue(), zAxis.getMaxValue());
 }
 
+// Set the local scaling vector of the collision shape
+inline void TriangleShape::setLocalScaling(const Vector3& scaling) {
+
+    mPoints[0] = (mPoints[0] / mScaling) * scaling;
+    mPoints[1] = (mPoints[1] / mScaling) * scaling;
+    mPoints[2] = (mPoints[2] / mScaling) * scaling;
+
+    CollisionShape::setLocalScaling(scaling);
+}
+
 // Return the local inertia tensor of the triangle shape
 /**
  * @param[out] tensor The 3x3 inertia tensor matrix of the shape in local-space

src/mathematics/Vector2.h

@@ -145,7 +145,9 @@ struct Vector2 {
         friend Vector2 operator-(const Vector2& vector);
         friend Vector2 operator*(const Vector2& vector, decimal number);
         friend Vector2 operator*(decimal number, const Vector2& vector);
+        friend Vector2 operator*(const Vector2& vector1, const Vector2& vector2);
         friend Vector2 operator/(const Vector2& vector, decimal number);
+        friend Vector2 operator/(const Vector2& vector1, const Vector2& vector2);
 };
 
 // Set the vector to zero
@@ -279,12 +281,24 @@ inline Vector2 operator*(const Vector2& vector, decimal number) {
     return Vector2(number * vector.x, number * vector.y);
 }
 
+// Overloaded operator for multiplication of two vectors
+inline Vector2 operator*(const Vector2& vector1, const Vector2& vector2) {
+    return Vector2(vector1.x * vector2.x, vector1.y * vector2.y);
+}
+
 // Overloaded operator for division by a number
 inline Vector2 operator/(const Vector2& vector, decimal number) {
     assert(number > MACHINE_EPSILON);
     return Vector2(vector.x / number, vector.y / number);
 }
 
+// Overload operator for division between two vectors
+inline Vector2 operator/(const Vector2& vector1, const Vector2& vector2) {
+    assert(vector2.x > MACHINE_EPSILON);
+    assert(vector2.y > MACHINE_EPSILON);
+    return Vector2(vector1.x / vector2.x, vector1.y / vector2.y);
+}
+
 // Overloaded operator for multiplication with a number
 inline Vector2 operator*(decimal number, const Vector2& vector) {
     return vector * number;

src/mathematics/Vector3.h

@@ -157,7 +157,9 @@ struct Vector3 {
         friend Vector3 operator-(const Vector3& vector);
         friend Vector3 operator*(const Vector3& vector, decimal number);
         friend Vector3 operator*(decimal number, const Vector3& vector);
+        friend Vector3 operator*(const Vector3& vector1, const Vector3& vector2);
         friend Vector3 operator/(const Vector3& vector, decimal number);
+        friend Vector3 operator/(const Vector3& vector1, const Vector3& vector2);
 };
 
 // Set the vector to zero
@@ -311,11 +313,24 @@ inline Vector3 operator/(const Vector3& vector, decimal number) {
     return Vector3(vector.x / number, vector.y / number, vector.z / number);
 }
 
+// Overload operator for division between two vectors
+inline Vector3 operator/(const Vector3& vector1, const Vector3& vector2) {
+    assert(vector2.x > MACHINE_EPSILON);
+    assert(vector2.y > MACHINE_EPSILON);
+    assert(vector2.z > MACHINE_EPSILON);
+    return Vector3(vector1.x / vector2.x, vector1.y / vector2.y, vector1.z / vector2.z);
+}
+
 // Overloaded operator for multiplication with a number
 inline Vector3 operator*(decimal number, const Vector3& vector) {
     return vector * number;
 }
 
+// Overload operator for multiplication between two vectors
+inline Vector3 operator*(const Vector3& vector1, const Vector3& vector2) {
+    return Vector3(vector1.x * vector2.x, vector1.y * vector2.y, vector1.z * vector2.z);
+}
+
 // Assignment operator
 inline Vector3& Vector3::operator=(const Vector3& vector) {
     if (&vector != this) {

test/tests/mathematics/TestVector2.h

@@ -201,10 +201,17 @@ class TestVector2 : public Test {
             vector4 /= 3;
             test(vector3 == Vector2(60, 330));
             test(vector4 == Vector2(5, 20));
+            Vector2 vector5(21, 80);
+            Vector2 vector6(7, 10);
+            Vector2 vector7 = vector5 * vector6;
+            test(vector7 == Vector2(147, 800));
+            Vector2 vector8 = vector5 / vector6;
+            test(approxEqual(vector8.x, 3));
+            test(approxEqual(vector8.y, 8));
 
             // Negative operator
-            Vector2 vector5(-34, 5);
+            Vector2 vector9(-34, 5);
-            Vector2 negative = -vector5;
+            Vector2 negative = -vector9;
             test(negative == Vector2(34, -5));
         }
  };

test/tests/mathematics/TestVector3.h

@@ -225,10 +225,18 @@ class TestVector3 : public Test {
             vector4 /= 3;
             test(vector3 == Vector3(60, 330, 620));
             test(vector4 == Vector3(5, 20, 11));
+            Vector3 vector5(21, 80, 45);
+            Vector3 vector6(7, 10, 3);
+            Vector3 vector7 = vector5 * vector6;
+            test(vector7 == Vector3(147, 800, 135));
+            Vector3 vector8 = vector5 / vector6;
+            test(approxEqual(vector8.x, 3));
+            test(approxEqual(vector8.y, 8));
+            test(approxEqual(vector8.z, 15));
 
             // Negative operator
-            Vector3 vector5(-34, 5, 422);
+            Vector3 vector9(-34, 5, 422);
-            Vector3 negative = -vector5;
+            Vector3 negative = -vector9;
             test(negative == Vector3(34, -5, -422));
         }
  };