Clean the code :

- Use the mVariable syntax for member variables
- Every lines contain at most 100 characters
- Add private copy-constructor and assignment operators when needed

src/body/Body.cpp

@@ -31,7 +31,7 @@
 using namespace reactphysics3d;
 
 // Constructor
-Body::Body(bodyindex id) : id(id) {
+Body::Body(bodyindex id) : mID(id) {
 
 }
 

src/body/Body.h

@@ -44,44 +44,69 @@ namespace reactphysics3d {
 class Body {
 
     protected :
-        bodyindex id;                   // ID of the body
+
+        // -------------------- Attributes -------------------- //
+
+        // ID of the body
+        bodyindex mID;
+
+        // -------------------- Methods -------------------- //
+
+        // Private copy-constructor
+        Body(const Body& body);
+
+        // Private assignment operator
+        Body& operator=(const Body& body);
 
     public :
-        Body(bodyindex id);     // Constructor
-        virtual ~Body();                                                                            // Destructor
 
-        bodyindex getID() const;                                // Return the id of the body
+        // -------------------- Methods -------------------- //
 
-        // Operators
+        // Constructor
-        bool operator<(const Body& body2) const;                // Smaller than operator
+        Body(bodyindex id);
-        bool operator>(const Body& body2) const;                // Larger than operator
+
-        bool operator==(const Body& body2) const;               // Equal operator
+        // Destructor
-        bool operator!=(const Body& body2) const;               // Not equal operator
+        virtual ~Body();
+
+        // Return the id of the body
+        bodyindex getID() const;
+
+        // Smaller than operator
+        bool operator<(const Body& body2) const;
+
+        // Larger than operator
+        bool operator>(const Body& body2) const;
+
+        // Equal operator
+        bool operator==(const Body& body2) const;
+
+        // Not equal operator
+        bool operator!=(const Body& body2) const;
 };
 
 // Return the id of the body
 inline bodyindex Body::getID() const {
-    return id;
+    return mID;
 }
 
 // Smaller than operator
 inline bool Body::operator<(const Body& body2) const {
-    return (id < body2.id);
+    return (mID < body2.mID);
 } 
 
 // Larger than operator
 inline bool Body::operator>(const Body& body2) const {
-    return (id > body2.id);
+    return (mID > body2.mID);
 } 
 
 // Equal operator
 inline bool Body::operator==(const Body& body2) const {
-    return (id == body2.id);
+    return (mID == body2.mID);
 }
         
 // Not equal operator
 inline bool Body::operator!=(const Body& body2) const {
-    return (id != body2.id);
+    return (mID != body2.mID);
 }               
 
 }

src/body/CollisionBody.cpp

@@ -31,25 +31,27 @@
 using namespace reactphysics3d;
 
 // Constructor
-CollisionBody::CollisionBody(const Transform& transform, CollisionShape *collisionShape, bodyindex id)
+CollisionBody::CollisionBody(const Transform& transform, CollisionShape *collisionShape,
-    : Body(id), collisionShape(collisionShape), transform(transform), isActive(true), hasMoved(false) {
+                             bodyindex id)
+    : Body(id), mCollisionShape(collisionShape), mTransform(transform),
+      mIsActive(true), mHasMoved(false) {
 
     assert(collisionShape);
 
-    isMotionEnabled = true;
+    mIsMotionEnabled = true;
-    isCollisionEnabled = true;
+    mIsCollisionEnabled = true;
-    interpolationFactor = 0.0;
+    mInterpolationFactor = 0.0;
 
     // Initialize the old transform
-    oldTransform = transform;
+    mOldTransform = transform;
 
     // Create the AABB for broad-phase collision detection
-    aabb = new AABB(transform, collisionShape->getLocalExtents(OBJECT_MARGIN));
+    mAabb = new AABB(transform, collisionShape->getLocalExtents(OBJECT_MARGIN));
 }
 
 // Destructor
 CollisionBody::~CollisionBody() {
 
     // Delete the AABB
-    delete aabb;
+    delete mAabb;
 }

src/body/CollisionBody.h

@@ -48,127 +48,194 @@ namespace reactphysics3d {
 class CollisionBody : public Body {
 
     protected :
-        CollisionShape* collisionShape; // Collision shape of the body
+
-        Transform transform;            // Position and orientation of the body
+        // -------------------- Attributes -------------------- //
-        Transform oldTransform;         // Last position and orientation of the body
+
-        decimal interpolationFactor;    // Interpolation factor used for the state interpolation
+        // Collision shape of the body
-        bool isActive;                  // True if the body is active (not sleeping because of deactivation)
+        CollisionShape* mCollisionShape;
-        bool isMotionEnabled;           // True if the body is able to move
+
-        bool isCollisionEnabled;        // True if the body can collide with others bodies
+        // Position and orientation of the body
-        AABB* aabb;                     // Axis-Aligned Bounding Box for Broad-Phase collision detection
+        Transform mTransform;
-        bool hasMoved;                  // True if the body has moved during the last frame
+
+        // Last position and orientation of the body
+        Transform mOldTransform;
+
+        // Interpolation factor used for the state interpolation
+        decimal mInterpolationFactor;
+
+        // True if the body is active (not sleeping)
+        bool mIsActive;
+
+        // True if the body is able to move
+        bool mIsMotionEnabled;
+
+        // True if the body can collide with others bodies
+        bool mIsCollisionEnabled;
+
+        // AABB for Broad-Phase collision detection
+        AABB* mAabb;
+
+        // True if the body has moved during the last frame
+        bool mHasMoved;
+
+        // -------------------- Methods -------------------- //
+
+        // Private copy-constructor
+        CollisionBody(const CollisionBody& body);
+
+        // Private assignment operator
+        CollisionBody& operator=(const CollisionBody& body);
 
     public :
-        CollisionBody(const Transform& transform, CollisionShape* collisionShape, bodyindex id);     // Constructor
-        virtual ~CollisionBody();                                                                            // Destructor
 
-        bool getHasMoved() const;                               // Return true if the body has moved during the last frame
+        // -------------------- Methods -------------------- //
-        void setHasMoved(bool hasMoved);                        // Set the hasMoved variable (true if the body has moved during the last frame)
+
-        CollisionShape* getCollisionShape() const;              // Return the collision shape
+        // Constructor
-        void setCollisionShape(CollisionShape* collisionShape); // Set the collision shape
+        CollisionBody(const Transform& transform, CollisionShape* collisionShape, bodyindex id);
-        bool getIsActive() const;                               // Return true if the body is active
+
-        void setIsActive(bool isActive);                        // Set the isActive variable
+        // Destructor
-        const Transform& getTransform() const;                  // Return the current position and orientation
+        virtual ~CollisionBody();
-        void setTransform(const Transform& transform);          // Set the current position and orientation
+
-        const AABB* getAABB() const;                            // Return the AAABB of the body
+        // Return true if the body has moved during the last frame
-        Transform getInterpolatedTransform() const;             // Return the interpolated transform for rendering
+        bool getHasMoved() const;
-        void setInterpolationFactor(decimal factor);            // Set the interpolation factor of the body
+
-        bool getIsMotionEnabled() const;                        // Return if the rigid body can move
+        // Set the hasMoved variable (true if the body has moved during the last frame)
-        void setIsMotionEnabled(bool isMotionEnabled);          // Set the value to true if the body can move
+        void setHasMoved(bool hasMoved);
-        bool getIsCollisionEnabled() const;                     // Return true if the body can collide with others bodies
+
-        void setIsCollisionEnabled(bool isCollisionEnabled);    // Set the isCollisionEnabled value
+        // Return the collision shape
-        void updateOldTransform();                              // Update the old transform with the current one
+        CollisionShape* getCollisionShape() const;
-        void updateAABB();                                      // Update the Axis-Aligned Bounding Box coordinates
+
+        // Set the collision shape
+        void setCollisionShape(CollisionShape* collisionShape);
+
+        // Return true for an active body
+        bool getIsActive() const;
+
+        // Set the isActive variable
+        void setIsActive(bool isActive);
+
+        // Return the current position and orientation
+        const Transform& getTransform() const;
+
+        // Set the current position and orientation
+        void setTransform(const Transform& transform);
+
+        // Return the AAABB of the body
+        const AABB* getAABB() const;
+
+        // Return the interpolated transform for rendering
+        Transform getInterpolatedTransform() const;
+
+        // Set the interpolation factor of the body
+        void setInterpolationFactor(decimal factor);
+
+        // Return if the rigid body can move
+        bool getIsMotionEnabled() const;
+
+        // Set the value to true if the body can move
+        void setIsMotionEnabled(bool isMotionEnabled);
+
+        // Return true if the body can collide with others bodies
+        bool getIsCollisionEnabled() const;
+
+        // Set the isCollisionEnabled value
+        void setIsCollisionEnabled(bool isCollisionEnabled);
+
+        // Update the old transform with the current one
+        void updateOldTransform();
+
+        // Update the Axis-Aligned Bounding Box coordinates
+        void updateAABB();
 };
 
 // Return true if the body has moved during the last frame
 inline bool CollisionBody::getHasMoved() const {
-    return hasMoved;
+    return mHasMoved;
 }
 
 // Set the hasMoved variable (true if the body has moved during the last frame)
 inline void CollisionBody::setHasMoved(bool hasMoved) {
-    this->hasMoved = hasMoved;
+    mHasMoved = hasMoved;
 }
 
 // Return the collision shape
 inline CollisionShape* CollisionBody::getCollisionShape() const {
-    assert(collisionShape);
+    assert(mCollisionShape);
-    return collisionShape;
+    return mCollisionShape;
 }
 
 // Set the collision shape
 inline void CollisionBody::setCollisionShape(CollisionShape* collisionShape) {
     assert(collisionShape);
-    this->collisionShape = collisionShape;
+    mCollisionShape = collisionShape;
 }
 
 // Return true if the body is active
 inline bool CollisionBody::getIsActive() const {
-    return isActive;
+    return mIsActive;
 }
 
 // Set the isActive variable
 inline void CollisionBody::setIsActive(bool isActive) {
-    this->isActive = isActive;
+    mIsActive = isActive;
 }
 
 // Return the interpolated transform for rendering
 inline Transform CollisionBody::getInterpolatedTransform() const {
-    return Transform::interpolateTransforms(oldTransform, transform, interpolationFactor);
+    return Transform::interpolateTransforms(mOldTransform, mTransform, mInterpolationFactor);
 }
 
 // Set the interpolation factor of the body
 inline void CollisionBody::setInterpolationFactor(decimal factor) {
     // Set the factor
-    interpolationFactor = factor;
+    mInterpolationFactor = factor;
 }
 
 // Return if the rigid body can move
 inline bool CollisionBody::getIsMotionEnabled() const {
-    return isMotionEnabled;
+    return mIsMotionEnabled;
 }
 
 // Set the value to true if the body can move
 inline void CollisionBody::setIsMotionEnabled(bool isMotionEnabled) {
-    this->isMotionEnabled = isMotionEnabled;
+    mIsMotionEnabled = isMotionEnabled;
 }
 
 // Return the current position and orientation
 inline const Transform& CollisionBody::getTransform() const {
-    return transform;
+    return mTransform;
 }
 
 // Set the current position and orientation
 inline void CollisionBody::setTransform(const Transform& transform) {
 
     // Check if the body has moved
-    if (this->transform != transform) {
+    if (this->mTransform != transform) {
-        hasMoved = true;
+        mHasMoved = true;
     }
 
-    this->transform = transform;
+    mTransform = transform;
 }
 
 // Return the AAABB of the body
 inline const AABB* CollisionBody::getAABB() const {
-    return aabb;
+    return mAabb;
 }
 
  // Return true if the body can collide with others bodies
 inline bool CollisionBody::getIsCollisionEnabled() const {
-    return isCollisionEnabled;
+    return mIsCollisionEnabled;
 }
 
 // Set the isCollisionEnabled value
 inline void CollisionBody::setIsCollisionEnabled(bool isCollisionEnabled) {
-    this->isCollisionEnabled = isCollisionEnabled;
+    mIsCollisionEnabled = isCollisionEnabled;
 }
 
 // Update the old transform with the current one
 // This is used to compute the interpolated position and orientation of the body
 inline void CollisionBody::updateOldTransform() {
-    oldTransform = transform;
+    mOldTransform = mTransform;
 }
 
 // Update the rigid body in order to reflect a change in the body state
@@ -177,7 +244,7 @@ inline void CollisionBody::updateAABB() {
     // TODO : An AABB should not be updated every frame but only if the body has moved
 
     // Update the AABB
-    aabb->update(transform, collisionShape->getLocalExtents(OBJECT_MARGIN));
+    mAabb->update(mTransform, mCollisionShape->getLocalExtents(OBJECT_MARGIN));
 }
 
 }

src/body/RigidBody.cpp

@@ -31,17 +31,19 @@
 using namespace reactphysics3d;
 
  // Constructor
- RigidBody::RigidBody(const Transform& transform, decimal mass, const Matrix3x3& inertiaTensorLocal, CollisionShape *collisionShape, bodyindex id)
+ RigidBody::RigidBody(const Transform& transform, decimal mass, const Matrix3x3& inertiaTensorLocal,
-           : CollisionBody(transform, collisionShape, id), inertiaTensorLocal(inertiaTensorLocal),
+                      CollisionShape *collisionShape, bodyindex id)
-             mass(mass), inertiaTensorLocalInverse(inertiaTensorLocal.getInverse()), massInverse(1.0/mass) {
+           : CollisionBody(transform, collisionShape, id), mInertiaTensorLocal(inertiaTensorLocal),
+             mMass(mass), mInertiaTensorLocalInverse(inertiaTensorLocal.getInverse()),
+             mMassInverse(1.0/mass) {
 
-    restitution = 1.0;
+    mRestitution = 1.0;
 
     // Set the body pointer of the AABB and the collision shape
-    aabb->setBodyPointer(this);
+    mAabb->setBodyPointer(this);
 
     assert(collisionShape);
-    assert(aabb);
+    assert(mAabb);
 }
 
 // Destructor

src/body/RigidBody.h

@@ -23,8 +23,8 @@
 *                                                                               *
 ********************************************************************************/
 
-#ifndef RIGIDBODY_H
+#ifndef RIGID_BODY_H
-#define RIGIDBODY_H
+#define RIGID_BODY_H
 
 // Libraries
 #include <cassert>
@@ -47,156 +47,236 @@ class RigidBody : public CollisionBody {
     protected :
 
         // TODO : Remove the mass variable (duplicate with inverseMass)
-        decimal mass;                           // Mass of the body
+
-        Vector3 linearVelocity;                 // Linear velocity of the body
+        // -------------------- Attributes -------------------- //
-        Vector3 angularVelocity;                // Angular velocity of the body
+
-        Vector3 externalForce;                  // Current external force on the body
+        // Mass of the body
-        Vector3 externalTorque;                 // Current external torque on the body
+        decimal mMass;
-        Matrix3x3 inertiaTensorLocal;           // Local inertia tensor of the body (in body coordinates)
+
-        Matrix3x3 inertiaTensorLocalInverse;    // Inverse of the inertia tensor of the body (in body coordinates)
+        // Linear velocity of the body
-        decimal massInverse;                     // Inverse of the mass of the body
+        Vector3 mLinearVelocity;
-        decimal restitution;                     // Coefficient of restitution (between 0 and 1), 1 for a very boucing body
+
+        // Angular velocity of the body
+        Vector3 mAngularVelocity;
+
+        // Current external force on the body
+        Vector3 mExternalForce;
+
+        // Current external torque on the body
+        Vector3 mExternalTorque;
+
+        // Local inertia tensor of the body (in local-space)
+        Matrix3x3 mInertiaTensorLocal;
+
+        // Inverse of the inertia tensor of the body
+        Matrix3x3 mInertiaTensorLocalInverse;
+
+        // Inverse of the mass of the body
+        decimal mMassInverse;
+
+        // Coefficient of restitution (between 0 and 1) where 1 is for a very bouncy body
+        decimal mRestitution;
+
+
+        // -------------------- Methods -------------------- //
+
+        // Private copy-constructor
+        RigidBody(const RigidBody& body);
+
+        // Private assignment operator
+        RigidBody& operator=(const RigidBody& body);
 
     public :
-        RigidBody(const Transform& transform, decimal mass, const Matrix3x3& inertiaTensorLocal,
-                  CollisionShape* collisionShape, bodyindex id);                                // Constructor                                                                                                         // Copy-constructor
-        virtual ~RigidBody();                                                                   // Destructor
 
-        decimal getMass() const;                                                // Return the mass of the body
+        // -------------------- Methods -------------------- //
-        void setMass(decimal mass);                                             // Set the mass of the body
+
-        Vector3 getLinearVelocity() const;                                     // Return the linear velocity
+        // Constructor
-        void setLinearVelocity(const Vector3& linearVelocity);                 // Set the linear velocity of the body
+        RigidBody(const Transform& transform, decimal mass, const Matrix3x3& inertiaTensorLocal,
-        Vector3 getAngularVelocity() const;                                    // Return the angular velocity
+                  CollisionShape* collisionShape, bodyindex id);                                                                                                                                         // Copy-constructor
-        void setAngularVelocity(const Vector3& angularVelocity);               // Set the angular velocity
+
-        void setMassInverse(decimal massInverse);                              // Set the inverse of the mass
+        // Destructor
-        Vector3 getExternalForce() const;                                      // Return the current external force of the body
+        virtual ~RigidBody();
-        void setExternalForce(const Vector3& force);                           // Set the current external force on the body
+
-        Vector3 getExternalTorque() const;                                     // Return the current external torque of the body
+        // Return the mass of the body
-        void setExternalTorque(const Vector3& torque);                         // Set the current external torque of the body
+        decimal getMass() const;
-        decimal getMassInverse() const;                                        // Return the inverse of the mass of the body
+
-        Matrix3x3 getInertiaTensorLocal() const;                               // Return the local inertia tensor of the body (in body coordinates)
+        // Set the mass of the body
-        void setInertiaTensorLocal(const Matrix3x3& inertiaTensorLocal);       // Set the local inertia tensor of the body (in body coordinates)
+        void setMass(decimal mass);
-        Matrix3x3 getInertiaTensorLocalInverse() const;                        // Get the inverse of the inertia tensor
+
-        Matrix3x3 getInertiaTensorWorld() const;                               // Return the inertia tensor in world coordinates
+        // Return the linear velocity
-        Matrix3x3 getInertiaTensorInverseWorld() const;                        // Return the inverse of the inertia tensor in world coordinates
+        Vector3 getLinearVelocity() const;
+
+        // Set the linear velocity of the body
+        void setLinearVelocity(const Vector3& linearVelocity);
+
+        // Return the angular velocity
+        Vector3 getAngularVelocity() const;
+
+        // Set the angular velocity
+        void setAngularVelocity(const Vector3& angularVelocity);
+
+        // Set the inverse of the mass
+        void setMassInverse(decimal massInverse);
+
+        // Return the current external force of the body
+        Vector3 getExternalForce() const;
+
+        // Set the current external force on the body
+        void setExternalForce(const Vector3& force);
+
+        // Return the current external torque of the body
+        Vector3 getExternalTorque() const;
+
+        // Set the current external torque of the body
+        void setExternalTorque(const Vector3& torque);
+
+        // Return the inverse of the mass of the body
+        decimal getMassInverse() const;
+
+        // Return the local inertia tensor of the body (in body coordinates)
+        Matrix3x3 getInertiaTensorLocal() const;
+
+        // Set the local inertia tensor of the body (in body coordinates)
+        void setInertiaTensorLocal(const Matrix3x3& inertiaTensorLocal);
+
+        // Get the inverse of the inertia tensor
+        Matrix3x3 getInertiaTensorLocalInverse() const;
+
+        // Return the inertia tensor in world coordinates
+        Matrix3x3 getInertiaTensorWorld() const;
+
+        // Return the inverse of the inertia tensor in world coordinates
+        Matrix3x3 getInertiaTensorInverseWorld() const;
         
-        decimal getRestitution() const;                                        // Get the restitution coefficient
+        // Get the restitution coefficient
-        void setRestitution(decimal restitution) throw(std::invalid_argument); // Set the restitution coefficient
+        decimal getRestitution() const;
+
+        // Set the restitution coefficient
+        void setRestitution(decimal restitution) throw(std::invalid_argument);
 };
 
 // Method that return the mass of the body
 inline decimal RigidBody::getMass() const {
-    return mass;
+    return mMass;
 };
 
 // Method that set the mass of the body
 inline void RigidBody::setMass(decimal mass) {
-    this->mass = mass;
+    mMass = mass;
 }
 
 // Return the linear velocity
 inline Vector3 RigidBody::getLinearVelocity() const {
-    return linearVelocity;
+    return mLinearVelocity;
 }
 
 // Return the angular velocity of the body
 inline Vector3 RigidBody::getAngularVelocity() const {
-    return angularVelocity;
+    return mAngularVelocity;
 }
 
 inline void RigidBody::setAngularVelocity(const Vector3& angularVelocity) {
-     this->angularVelocity = angularVelocity;
+     mAngularVelocity = angularVelocity;
 }
 
 // Set the inverse of the mass
 inline void RigidBody::setMassInverse(decimal massInverse) {
-    this->massInverse = massInverse;
+    mMassInverse = massInverse;
 }
 
 // Get the inverse of the inertia tensor
 inline Matrix3x3 RigidBody::getInertiaTensorLocalInverse() const {
-    return inertiaTensorLocalInverse;
+    return mInertiaTensorLocalInverse;
 }
 
 // Return the external force on the body
 inline Vector3 RigidBody::getExternalForce() const {
-    return externalForce;
+    return mExternalForce;
 }
 
 // Set the external force on the body
 inline void RigidBody::setExternalForce(const Vector3& force) {
-    this->externalForce = force;
+    mExternalForce = force;
 }
 
 // Return the current external torque on the body
 inline Vector3 RigidBody::getExternalTorque() const {
-    return externalTorque;
+    return mExternalTorque;
 }
 
  // Set the current external torque on the body
 inline void RigidBody::setExternalTorque(const Vector3& torque) {
-    this->externalTorque = torque;
+    mExternalTorque = torque;
 }
 
 // Return the inverse of the mass of the body
 inline decimal RigidBody::getMassInverse() const {
-    return massInverse;
+    return mMassInverse;
 }
 
 // Return the local inertia tensor of the body (in body coordinates)
 inline Matrix3x3 RigidBody::getInertiaTensorLocal() const {
-    return inertiaTensorLocal;
+    return mInertiaTensorLocal;
 }
 
 // Set the local inertia tensor of the body (in body coordinates)
 inline void RigidBody::setInertiaTensorLocal(const Matrix3x3& inertiaTensorLocal) {
-    this->inertiaTensorLocal = inertiaTensorLocal;
+    mInertiaTensorLocal = inertiaTensorLocal;
 }
 
 // Return the inertia tensor in world coordinates
-// The inertia tensor I_w in world coordinates in computed with the local inertia tensor I_b in body coordinates
+// The inertia tensor I_w in world coordinates is computed
+// with the local inertia tensor I_b in body coordinates
 // by I_w = R * I_b * R^T
-// where R is the rotation matrix (and R^T its transpose) of the current orientation quaternion of the body
+// where R is the rotation matrix (and R^T its transpose) of
+// the current orientation quaternion of the body
 inline Matrix3x3 RigidBody::getInertiaTensorWorld() const {
+
     // Compute and return the inertia tensor in world coordinates
-    return transform.getOrientation().getMatrix() * inertiaTensorLocal * transform.getOrientation().getMatrix().getTranspose();
+    return mTransform.getOrientation().getMatrix() * mInertiaTensorLocal *
+           mTransform.getOrientation().getMatrix().getTranspose();
 }
 
 // Return the inverse of the inertia tensor in world coordinates
-// The inertia tensor I_w in world coordinates in computed with the local inverse inertia tensor I_b^-1 in body coordinates
+// The inertia tensor I_w in world coordinates is computed with the
+// local inverse inertia tensor I_b^-1 in body coordinates
 // by I_w = R * I_b^-1 * R^T
-// where R is the rotation matrix (and R^T its transpose) of the current orientation quaternion of the body
+// where R is the rotation matrix (and R^T its transpose) of the
+// current orientation quaternion of the body
 inline Matrix3x3 RigidBody::getInertiaTensorInverseWorld() const {
+
     // Compute and return the inertia tensor in world coordinates
-    return transform.getOrientation().getMatrix() * inertiaTensorLocalInverse * transform.getOrientation().getMatrix().getTranspose();
+    return mTransform.getOrientation().getMatrix() * mInertiaTensorLocalInverse *
+           mTransform.getOrientation().getMatrix().getTranspose();
 }
 
 // Set the linear velocity of the rigid body
 inline void RigidBody::setLinearVelocity(const Vector3& linearVelocity) {
+
     // If the body is able to move
-    if (isMotionEnabled) {
+    if (mIsMotionEnabled) {
         // Update the linear velocity of the current body state
-        this->linearVelocity = linearVelocity;
+        mLinearVelocity = linearVelocity;
     }
 }
 
 // Get the restitution coeffficient of the rigid body
 inline decimal RigidBody::getRestitution() const {
-    return restitution;
+    return mRestitution;
 }
 
 // Set the restitution coefficient
 inline void RigidBody::setRestitution(decimal restitution) throw(std::invalid_argument) {
+
     // Check if the restitution coefficient is between 0 and 1
     if (restitution >= 0.0 && restitution <= 1.0) {
-        this->restitution = restitution;
+        mRestitution = restitution;
     }
     else {
         throw std::invalid_argument("Error : the restitution coefficent must be between 0 and 1");
     }
 }
 
-
 } // End of the ReactPhyscis3D namespace
 
  #endif

src/collision/BroadPhasePair.h

@@ -38,28 +38,49 @@ namespace reactphysics3d {
 struct BroadPhasePair {
 
     public:
-        CollisionBody* body1;                // Pointer to the first body
-        CollisionBody* body2;                // Pointer to the second body
-        Vector3 previousSeparatingAxis;      // Previous cached separating axis
 
-        BroadPhasePair(CollisionBody* body1, CollisionBody* body2);     // Constructor
+        // -------------------- Attributes -------------------- //
-        ~BroadPhasePair();                                              // Destructor
 
-        bodyindexpair getBodiesIndexPair() const;     // Return the pair of bodies index
+        // Pointer to the first body
+        CollisionBody* body1;
 
-        // Operators
+        // Pointer to the second body
-        bool operator<(const BroadPhasePair& broadPhasePair2) const;    // Smaller than operator
+        CollisionBody* body2;
-        bool operator>(const BroadPhasePair& broadPhasePair2) const;    // Larger than operator
+
-        bool operator==(const BroadPhasePair& broadPhasePair2) const;   // Equal operator
+        // Previous cached separating axis
-        bool operator!=(const BroadPhasePair& broadPhasePair2) const;   // Not equal operator
+        Vector3 previousSeparatingAxis;
+
+        // -------------------- Methods -------------------- //
+
+        // Constructor
+        BroadPhasePair(CollisionBody* body1, CollisionBody* body2);
+
+        // Destructor
+        ~BroadPhasePair();
+
+        // Return the pair of bodies index
+        bodyindexpair getBodiesIndexPair() const;
+
+        // Smaller than operator
+        bool operator<(const BroadPhasePair& broadPhasePair2) const;
+
+        // Larger than operator
+        bool operator>(const BroadPhasePair& broadPhasePair2) const;
+
+        // Equal operator
+        bool operator==(const BroadPhasePair& broadPhasePair2) const;
+
+        // Not equal operator
+        bool operator!=(const BroadPhasePair& broadPhasePair2) const;
 };
 
 // Return the pair of bodies index
 inline bodyindexpair BroadPhasePair::getBodiesIndexPair() const {
 
     // Construct the pair of body index
-   bodyindexpair indexPair = body1->getID() < body2->getID() ? std::make_pair(body1->getID(), body2->getID()) :
+   bodyindexpair indexPair = body1->getID() < body2->getID() ?
-                                                            std::make_pair(body2->getID(), body1->getID());
+                                 std::make_pair(body1->getID(), body2->getID()) :
+                                 std::make_pair(body2->getID(), body1->getID());
     assert(indexPair.first != indexPair.second);
     return indexPair;
 }

src/collision/CollisionDetection.cpp

@@ -46,19 +46,19 @@ using namespace std;
 
 // Constructor
 CollisionDetection::CollisionDetection(CollisionWorld* world)
-                   : world(world), narrowPhaseGJKAlgorithm(memoryPoolContactInfos),
+                   : mWorld(world), mNarrowPhaseGJKAlgorithm(mMemoryPoolContactInfos),
-                     narrowPhaseSphereVsSphereAlgorithm(memoryPoolContactInfos) {
+                     mNarrowPhaseSphereVsSphereAlgorithm(mMemoryPoolContactInfos) {
 
     // Create the broad-phase algorithm that will be used (Sweep and Prune with AABB)
-    broadPhaseAlgorithm = new SweepAndPruneAlgorithm(*this);
+    mBroadPhaseAlgorithm = new SweepAndPruneAlgorithm(*this);
-    assert(broadPhaseAlgorithm);
+    assert(mBroadPhaseAlgorithm);
 }
 
 // Destructor
 CollisionDetection::~CollisionDetection() {
     
     // Delete the broad-phase algorithm
-    delete broadPhaseAlgorithm;
+    delete mBroadPhaseAlgorithm;
 }
 
 // Compute the collision detection
@@ -90,13 +90,13 @@ bool CollisionDetection::computeCollisionDetection() {
 void CollisionDetection::computeBroadPhase() {
 
     // Notify the broad-phase algorithm about the bodies that have moved since last frame
-    for (set<CollisionBody*>::iterator it = world->getBodiesBeginIterator(); it != world->getBodiesEndIterator(); it++) {
+    for (set<CollisionBody*>::iterator it = mWorld->getBodiesBeginIterator(); it != mWorld->getBodiesEndIterator(); it++) {
 
         // If the body has moved
         if ((*it)->getHasMoved()) {
 
             // Notify the broad-phase that the body has moved
-            broadPhaseAlgorithm->updateObject(*it, *((*it)->getAABB()));
+            mBroadPhaseAlgorithm->updateObject(*it, *((*it)->getAABB()));
         }
     }  
 }
@@ -107,7 +107,7 @@ bool CollisionDetection::computeNarrowPhase() {
     map<bodyindexpair, BroadPhasePair*>::iterator it;
     
     // For each possible collision pair of bodies
-    for (it = overlappingPairs.begin(); it != overlappingPairs.end(); it++) {
+    for (it = mOverlappingPairs.begin(); it != mOverlappingPairs.end(); it++) {
         ContactInfo* contactInfo = 0;
 
         BroadPhasePair* pair = (*it).second;
@@ -117,7 +117,7 @@ bool CollisionDetection::computeNarrowPhase() {
         CollisionBody* const body2 = pair->body2;
         
         // Update the contact cache of the overlapping pair
-        world->updateOverlappingPair(pair);
+        mWorld->updateOverlappingPair(pair);
         
         // Select the narrow phase algorithm to use according to the two collision shapes
         NarrowPhaseAlgorithm& narrowPhaseAlgorithm = SelectNarrowPhaseAlgorithm(body1->getCollisionShape(), body2->getCollisionShape());
@@ -132,11 +132,11 @@ bool CollisionDetection::computeNarrowPhase() {
             collisionExists = true;
 
             // Notify the world about the new narrow-phase contact
-            world->notifyNewContact(pair, contactInfo);
+            mWorld->notifyNewContact(pair, contactInfo);
 
             // Delete and remove the contact info from the memory pool
             contactInfo->ContactInfo::~ContactInfo();
-            memoryPoolContactInfos.freeObject(contactInfo);
+            mMemoryPoolContactInfos.freeObject(contactInfo);
         }
     }
     
@@ -151,14 +151,14 @@ void CollisionDetection::broadPhaseNotifyAddedOverlappingPair(BodyPair* addedPai
     bodyindexpair indexPair = addedPair->getBodiesIndexPair();
 
     // Create the corresponding broad-phase pair object
-    BroadPhasePair* broadPhasePair = new (memoryPoolOverlappingPairs.allocateObject()) BroadPhasePair(addedPair->body1, addedPair->body2);
+    BroadPhasePair* broadPhasePair = new (mMemoryPoolBroadPhasePairs.allocateObject()) BroadPhasePair(addedPair->body1, addedPair->body2);
     
     // Add the pair into the set of overlapping pairs (if not there yet)
-    pair<map<bodyindexpair, BroadPhasePair*>::iterator, bool> check = overlappingPairs.insert(make_pair(indexPair, broadPhasePair));
+    pair<map<bodyindexpair, BroadPhasePair*>::iterator, bool> check = mOverlappingPairs.insert(make_pair(indexPair, broadPhasePair));
     assert(check.second);
 
     // Notify the world about the new broad-phase overlapping pair
-    world->notifyAddedOverlappingPair(broadPhasePair);
+    mWorld->notifyAddedOverlappingPair(broadPhasePair);
 }
 
 // Allow the broadphase to notify the collision detection about a removed overlapping pair
@@ -168,14 +168,14 @@ void CollisionDetection::broadPhaseNotifyRemovedOverlappingPair(BodyPair* remove
     bodyindexpair indexPair = removedPair->getBodiesIndexPair();
 
     // Get the broad-phase pair
-    BroadPhasePair* broadPhasePair = overlappingPairs[indexPair];
+    BroadPhasePair* broadPhasePair = mOverlappingPairs[indexPair];
     assert(broadPhasePair);
 
     // Notify the world about the removed broad-phase pair
-    world->notifyRemovedOverlappingPair(broadPhasePair);
+    mWorld->notifyRemovedOverlappingPair(broadPhasePair);
 
     // Remove the overlapping pair from the memory pool
     broadPhasePair->BroadPhasePair::~BroadPhasePair();
-    memoryPoolOverlappingPairs.freeObject(broadPhasePair);
+    mMemoryPoolBroadPhasePairs.freeObject(broadPhasePair);
-    overlappingPairs.erase(indexPair);
+    mOverlappingPairs.erase(indexPair);
 }

src/collision/CollisionDetection.h

@@ -59,39 +59,84 @@ class CollisionWorld;
 class CollisionDetection {
 
     private :
-        CollisionWorld* world;                                                            // Pointer to the physics world        
-        std::map<bodyindexpair, BroadPhasePair*> overlappingPairs;                                     // Broad-phase overlapping pairs of bodies
-        BroadPhaseAlgorithm* broadPhaseAlgorithm;                                       // Broad-phase algorithm
-        GJKAlgorithm narrowPhaseGJKAlgorithm;                                           // Narrow-phase GJK algorithm
-        SphereVsSphereAlgorithm narrowPhaseSphereVsSphereAlgorithm;                     // Narrow-phase Sphere vs Sphere algorithm
-        MemoryPool<ContactInfo> memoryPoolContactInfos;                                 // Memory pool for the contact info
-        MemoryPool<BroadPhasePair> memoryPoolOverlappingPairs;                          // Memory pool for the overlapping pairs
 
-        void computeBroadPhase();                                                       // Compute the broad-phase collision detection
+        // -------------------- Attributes -------------------- //
-        bool computeNarrowPhase();                                                      // Compute the narrow-phase collision detection
+
+        // Pointer to the physics world
+        CollisionWorld* mWorld;
+
+        // Broad-phase overlapping pairs
+        std::map<bodyindexpair, BroadPhasePair*> mOverlappingPairs;
+
+        // Broad-phase algorithm
+        BroadPhaseAlgorithm* mBroadPhaseAlgorithm;
+
+        // Narrow-phase GJK algorithm
+        GJKAlgorithm mNarrowPhaseGJKAlgorithm;
+
+        // Narrow-phase Sphere vs Sphere algorithm
+        SphereVsSphereAlgorithm mNarrowPhaseSphereVsSphereAlgorithm;
+
+        // Memory pool for contactinfo
+        MemoryPool<ContactInfo> mMemoryPoolContactInfos;
+
+        // Memory pool for broad-phase pairs
+        MemoryPool<BroadPhasePair> mMemoryPoolBroadPhasePairs;
+
+        // -------------------- Methods -------------------- //
+
+        // Private copy-constructor
+        CollisionDetection(const CollisionDetection& collisionDetection);
+
+        // Private assignment operator
+        CollisionDetection& operator=(const CollisionDetection& collisionDetection);
+
+        // Compute the broad-phase collision detection
+        void computeBroadPhase();
+
+        // Compute the narrow-phase collision detection
+        bool computeNarrowPhase();
+
+        // Select the narrow phase algorithm to use given two collision shapes
         NarrowPhaseAlgorithm& SelectNarrowPhaseAlgorithm(CollisionShape* collisionShape1,
-                                                         CollisionShape* collisionShape2);          // Select the narrow phase algorithm to use given two collision shapes
+                                                         CollisionShape* collisionShape2);
    
     public :
-        CollisionDetection(CollisionWorld* world);                                 // Constructor
+
-        ~CollisionDetection();                                                          // Destructor
+        // -------------------- Methods -------------------- //
-        
+
-        void addBody(CollisionBody* body);                                                       // Add a body to the collision detection
+        // Constructor
-        void removeBody(CollisionBody* body);                                                    // Remove a body from the collision detection
+        CollisionDetection(CollisionWorld* world);
-        bool computeCollisionDetection();                                               // Compute the collision detection
+
-        void broadPhaseNotifyAddedOverlappingPair(BodyPair* pair);          // Allow the broadphase to notify the collision detection about a new overlapping pair
+        // Destructor
-        void broadPhaseNotifyRemovedOverlappingPair(BodyPair* pair);        // Allow the broadphase to notify the collision detection about a removed overlapping pair
+        ~CollisionDetection();
+
+        // Add a body to the collision detection
+        void addBody(CollisionBody* body);
+
+        // Remove a body from the collision detection
+        void removeBody(CollisionBody* body);
+
+        // Compute the collision detection
+        bool computeCollisionDetection();
+
+        // Allow the broadphase to notify the collision detection about a new overlapping pair
+        void broadPhaseNotifyAddedOverlappingPair(BodyPair* pair);
+
+        // Allow the broadphase to notify the collision detection about a removed overlapping pair
+        void broadPhaseNotifyRemovedOverlappingPair(BodyPair* pair);
 };
 
 // Select the narrow-phase collision algorithm to use given two collision shapes
-inline NarrowPhaseAlgorithm& CollisionDetection::SelectNarrowPhaseAlgorithm(CollisionShape* collisionShape1, CollisionShape* collisionShape2) {
+inline NarrowPhaseAlgorithm& CollisionDetection::SelectNarrowPhaseAlgorithm(
+                             CollisionShape* collisionShape1, CollisionShape* collisionShape2) {
     
     // Sphere vs Sphere algorithm
     if (collisionShape1->getType() == SPHERE && collisionShape2->getType() == SPHERE) {
-        return narrowPhaseSphereVsSphereAlgorithm;
+        return mNarrowPhaseSphereVsSphereAlgorithm;
     }
     else {   // GJK algorithm
-        return narrowPhaseGJKAlgorithm; 
+        return mNarrowPhaseGJKAlgorithm;
     }
 }  
 
@@ -99,14 +144,14 @@ inline NarrowPhaseAlgorithm& CollisionDetection::SelectNarrowPhaseAlgorithm(Coll
 inline void CollisionDetection::addBody(CollisionBody* body) {
     
     // Add the body to the broad-phase
-    broadPhaseAlgorithm->addObject(body, *(body->getAABB()));
+    mBroadPhaseAlgorithm->addObject(body, *(body->getAABB()));
 }  
 
 // Remove a body from the collision detection
 inline void CollisionDetection::removeBody(CollisionBody* body) {
     
     // Remove the body from the broad-phase
-    broadPhaseAlgorithm->removeObject(body);
+    mBroadPhaseAlgorithm->removeObject(body);
 }                                                    
 
 } // End of the ReactPhysics3D namespace

src/collision/ContactInfo.h

@@ -42,14 +42,38 @@ namespace reactphysics3d {
     -------------------------------------------------------------------
 */
 struct ContactInfo {
+
+    private:
+
+        // -------------------- Methods -------------------- //
+
+        // Private copy-constructor
+        ContactInfo(const ContactInfo& contactInfo);
+
+        // Private assignment operator
+        ContactInfo& operator=(const ContactInfo& contactInfo);
+
     public:
-        const Vector3 normal;           // Normal vector the the collision contact in world space
+
-        const decimal penetrationDepth; // Penetration depth of the contact
+        // -------------------- Attributes -------------------- //
-        const Vector3 localPoint1;      // Contact point of body 1 in local space of body 1
+
-        const Vector3 localPoint2;      // Contact point of body 2 in local space of body 2
+        // Normal vector the the collision contact in world space
-        
+        const Vector3 normal;
+
+        // Penetration depth of the contact
+        const decimal penetrationDepth;
+
+        // Contact point of body 1 in local space of body 1
+        const Vector3 localPoint1;
+
+        // Contact point of body 2 in local space of body 2
+        const Vector3 localPoint2;
+
+        // -------------------- Methods -------------------- //
+
+        // Constructor
         ContactInfo(const Vector3& normal, decimal penetrationDepth,
-                    const Vector3& localPoint1, const Vector3& localPoint2);    // Constructor
+                    const Vector3& localPoint1, const Vector3& localPoint2);
 };
 
 } // End of the ReactPhysics3D namespace

src/collision/broadphase/BroadPhaseAlgorithm.cpp

@@ -31,7 +31,7 @@ using namespace reactphysics3d;
 
 // Constructor
 BroadPhaseAlgorithm::BroadPhaseAlgorithm(CollisionDetection& collisionDetection)
-                    :pairManager(collisionDetection), collisionDetection(collisionDetection) {
+                    :mPairManager(collisionDetection), mCollisionDetection(collisionDetection) {
 
 }
 

src/collision/broadphase/BroadPhaseAlgorithm.h

@@ -51,39 +51,68 @@ class CollisionDetection;
     --------------------------------------------------------------------
 */
 class BroadPhaseAlgorithm {
+
     protected :
-        PairManager pairManager;                        // Pair manager that contains the active pairs of bodies
+
-        CollisionDetection& collisionDetection;         // Reference to the collision detection object
+        // -------------------- Attributes -------------------- //
+
+        // Pair manager containing the overlapping pairs
+        PairManager mPairManager;
+
+        // Reference to the collision detection object
+        CollisionDetection& mCollisionDetection;
         
+        // -------------------- Methods -------------------- //
+
+        // Private copy-constructor
+        BroadPhaseAlgorithm(const BroadPhaseAlgorithm& algorithm);
+
+        // Private assignment operator
+        BroadPhaseAlgorithm& operator=(const BroadPhaseAlgorithm& algorithm);
+
     public :
-        BroadPhaseAlgorithm(CollisionDetection& collisionDetection);    // Constructor
+
-        virtual ~BroadPhaseAlgorithm();                                 // Destructor
+        // -------------------- Methods -------------------- //
+
+        // Constructor
+        BroadPhaseAlgorithm(CollisionDetection& collisionDetection);
+
+        // Destructor
+        virtual ~BroadPhaseAlgorithm();
         
         // TODO : DELETE THIS METHOD
         uint getNbOverlappingPairs() const;
         
-        virtual void addObject(CollisionBody* body, const AABB& aabb)=0;         // Notify the broad-phase about a new object in the world
+        // Notify the broad-phase about a new object in the world
-        virtual void removeObject(CollisionBody* body)=0;                        // Notify the broad-phase about an object that has been removed from the world
+        virtual void addObject(CollisionBody* body, const AABB& aabb)=0;
-        virtual void updateObject(CollisionBody* body, const AABB& aabb)=0;      // Notify the broad-phase that the AABB of an object has changed
 
-        BodyPair* beginOverlappingPairsPointer() const;                                                       // Return a pointer to the first active pair (used to iterate over the active pairs)
+        // Notify the broad-phase about an object that has been removed from the world
-        BodyPair* endOverlappingPairsPointer() const;                                                         // Return a pointer to the last active pair (used to iterate over the active pairs)
+        virtual void removeObject(CollisionBody* body)=0;
+
+        // Notify the broad-phase that the AABB of an object has changed
+        virtual void updateObject(CollisionBody* body, const AABB& aabb)=0;
+
+        // Return a pointer to the first active pair (used to iterate over the active pairs)
+        BodyPair* beginOverlappingPairsPointer() const;
+
+        // Return a pointer to the last active pair (used to iterate over the active pairs)
+        BodyPair* endOverlappingPairsPointer() const;
 };
 
 // TODO : DELETE THIS METHOD
 inline uint BroadPhaseAlgorithm::getNbOverlappingPairs() const {
-    return pairManager.getNbOverlappingPairs();
+    return mPairManager.getNbOverlappingPairs();
 }
 
 
 // Return a pointer to the first active pair (used to iterate over the overlapping pairs)
 inline BodyPair* BroadPhaseAlgorithm::beginOverlappingPairsPointer() const {
-    return pairManager.beginOverlappingPairsPointer();
+    return mPairManager.beginOverlappingPairsPointer();
 }                                                           
 
 // Return a pointer to the last active pair (used to iterate over the overlapping pairs)
 inline BodyPair* BroadPhaseAlgorithm::endOverlappingPairsPointer() const {
-   return pairManager.endOverlappingPairsPointer(); 
+   return mPairManager.endOverlappingPairsPointer();
 }   
 
 } // End of reactphysics3d namespace

src/collision/broadphase/NoBroadPhaseAlgorithm.h

@@ -43,16 +43,40 @@ namespace reactphysics3d {
     --------------------------------------------------------------------
 */
 class NoBroadPhaseAlgorithm : public BroadPhaseAlgorithm {
+
     protected :
-        std::set<CollisionBody*> bodies;                               // All bodies of the world
+
+        // -------------------- Attributes -------------------- //
+
+        // All bodies of the world
+        std::set<CollisionBody*> mBodies;
+
+        // -------------------- Methods -------------------- //
+
+        // Private copy-constructor
+        NoBroadPhaseAlgorithm(const NoBroadPhaseAlgorithm& algorithm);
+
+        // Private assignment operator
+        NoBroadPhaseAlgorithm& operator=(const NoBroadPhaseAlgorithm& algorithm);
 
     public :
-        NoBroadPhaseAlgorithm(CollisionDetection& collisionDetection);  // Constructor
+
-        virtual ~NoBroadPhaseAlgorithm();                               // Destructor
+        // -------------------- Methods -------------------- //
+
+        // Constructor
+        NoBroadPhaseAlgorithm(CollisionDetection& collisionDetection);
+
+        // Destructor
+        virtual ~NoBroadPhaseAlgorithm();
         
-        virtual void addObject(CollisionBody* body, const AABB& aabb);         // Notify the broad-phase about a new object in the world
+        // Notify the broad-phase about a new object in the world
-        virtual void removeObject(CollisionBody* body);                        // Notify the broad-phase about an object that has been removed from the world
+        virtual void addObject(CollisionBody* body, const AABB& aabb);
-        virtual void updateObject(CollisionBody* body, const AABB& aabb);      // Notify the broad-phase that the AABB of an object has changed
+
+        // Notify the broad-phase about an object that has been removed from the world
+        virtual void removeObject(CollisionBody* body);
+
+        // Notify the broad-phase that the AABB of an object has changed
+        virtual void updateObject(CollisionBody* body, const AABB& aabb);
 };
 
         
@@ -62,31 +86,31 @@ inline void NoBroadPhaseAlgorithm::addObject(CollisionBody* body, const AABB& aa
     std::cout << "New body in broadphase with id=" << body->getID() << std::endl;
     
     // For each body that is already in the world
-    for (std::set<CollisionBody*>::iterator it = bodies.begin(); it != bodies.end(); ++it) {
+    for (std::set<CollisionBody*>::iterator it = mBodies.begin(); it != mBodies.end(); ++it) {
         
         // Add an overlapping pair with the new body
-        pairManager.addPair(*it, body);
+        mPairManager.addPair(*it, body);
     }
     
     // Add the new body into the list of bodies
-    bodies.insert(body);
+    mBodies.insert(body);
 }   
 
 // Notify the broad-phase about an object that has been removed from the world
 inline void NoBroadPhaseAlgorithm::removeObject(CollisionBody* body) {
     
     // For each body that is in the world
-    for (std::set<CollisionBody*>::iterator it = bodies.begin(); it != bodies.end(); ++it) {
+    for (std::set<CollisionBody*>::iterator it = mBodies.begin(); it != mBodies.end(); ++it) {
         
         if ((*it)->getID() != body->getID()) {
             
            // Remove the overlapping pair with the new body
-           pairManager.removePair((*it)->getID(), body->getID());
+           mPairManager.removePair((*it)->getID(), body->getID());
         }
     }
     
     // Remove the body from the broad-phase
-    bodies.erase(body);
+    mBodies.erase(body);
 }  
         
 // Notify the broad-phase that the AABB of an object has changed

src/collision/broadphase/PairManager.cpp

@@ -34,22 +34,23 @@ using namespace reactphysics3d;
 bodyindex PairManager::INVALID_INDEX = std::numeric_limits<reactphysics3d::bodyindex>::max();
 
 // Constructor of PairManager
-PairManager::PairManager(CollisionDetection& collisionDetection) : collisionDetection(collisionDetection) {
+PairManager::PairManager(CollisionDetection& collisionDetection)
-    hashTable = 0;
+            : mCollisionDetection(collisionDetection) {
-    overlappingPairs = 0;
+    mHashTable = 0;
-    offsetNextPair = 0;
+    mOverlappingPairs = 0;
-    nbOverlappingPairs = 0;
+    mOffsetNextPair = 0;
-    hashMask = 0;
+    mNbOverlappingPairs = 0;
-    nbElementsHashTable = 0;
+    mHashMask = 0;
+    mNbElementsHashTable = 0;
 }
 
 // Destructor of PairManager
 PairManager::~PairManager() {
     
     // Release the allocated memory
-    free(offsetNextPair);
+    free(mOffsetNextPair);
-    free(overlappingPairs);
+    free(mOverlappingPairs);
-    free(hashTable);
+    free(mHashTable);
 }
 
 // Add a pair of bodies in the pair manager and returns a pointer to
@@ -66,7 +67,7 @@ BodyPair* PairManager::addPair(CollisionBody* body1, CollisionBody* body2) {
     bodyindex id2 = body2->getID();
     
     // Compute the hash value of the two bodies
-    uint hashValue = computeHashBodies(id1, id2) & hashMask;
+    uint hashValue = computeHashBodies(id1, id2) & mHashMask;
     
     // Try to find the pair in the current overlapping pairs.
     BodyPair* pair = findPairWithHashValue(id1, id2, hashValue);
@@ -78,31 +79,31 @@ BodyPair* PairManager::addPair(CollisionBody* body1, CollisionBody* body2) {
     }
     
     // If we need to allocate more pairs in the set of overlapping pairs
-    if (nbOverlappingPairs >= nbElementsHashTable) {
+    if (mNbOverlappingPairs >= mNbElementsHashTable) {
         // Increase the size of the hash table (always a power of two)
-        nbElementsHashTable = computeNextPowerOfTwo(nbOverlappingPairs + 1);
+        mNbElementsHashTable = computeNextPowerOfTwo(mNbOverlappingPairs + 1);
         
         // Compute the new hash mask with the new hash size
-        hashMask = nbElementsHashTable - 1;
+        mHashMask = mNbElementsHashTable - 1;
         
         // Reallocate more pairs
         reallocatePairs();
         
         // Compute the new hash value (using the new hash size and hash mask)
-        hashValue = computeHashBodies(id1, id2) & hashMask;
+        hashValue = computeHashBodies(id1, id2) & mHashMask;
     }
     
     // Create the new overlapping pair
-    BodyPair* newPair = &overlappingPairs[nbOverlappingPairs];
+    BodyPair* newPair = &mOverlappingPairs[mNbOverlappingPairs];
     newPair->body1 = body1;
     newPair->body2 = body2;
     
     // Put the new pair as the initial pair with this hash value
-    offsetNextPair[nbOverlappingPairs] = hashTable[hashValue];
+    mOffsetNextPair[mNbOverlappingPairs] = mHashTable[hashValue];
-    hashTable[hashValue] = nbOverlappingPairs++;
+    mHashTable[hashValue] = mNbOverlappingPairs++;
     
     // Notify the collision detection about this new overlapping pair
-    collisionDetection.broadPhaseNotifyAddedOverlappingPair(newPair);
+    mCollisionDetection.broadPhaseNotifyAddedOverlappingPair(newPair);
     
     // Return a pointer to the new created pair
     return newPair;
@@ -116,7 +117,7 @@ bool PairManager::removePair(bodyindex id1, bodyindex id2) {
     sortIDs(id1, id2);
     
     // Compute the hash value of the pair to remove
-    const uint hashValue = computeHashBodies(id1, id2) & hashMask;
+    const uint hashValue = computeHashBodies(id1, id2) & mHashMask;
     
     // Find the pair to remove
     BodyPair* pair = findPairWithHashValue(id1, id2, hashValue);
@@ -130,7 +131,7 @@ bool PairManager::removePair(bodyindex id1, bodyindex id2) {
     assert(pair->body2->getID() == id2);
     
     // Notify the collision detection about this removed overlapping pair
-    collisionDetection.broadPhaseNotifyRemovedOverlappingPair(pair);
+    mCollisionDetection.broadPhaseNotifyRemovedOverlappingPair(pair);
     
     // Remove the pair from the set of overlapping pairs
     removePairWithHashValue(id1, id2, hashValue, computePairOffset(pair));
@@ -142,18 +143,19 @@ bool PairManager::removePair(bodyindex id1, bodyindex id2) {
 }
 
 // Internal method to remove a pair from the set of overlapping pair
-void PairManager::removePairWithHashValue(bodyindex id1, bodyindex id2, luint hashValue, bodyindex indexPair) {
+void PairManager::removePairWithHashValue(bodyindex id1, bodyindex id2, luint hashValue,
+                                          bodyindex indexPair) {
     
     // Get the initial offset of the pairs with
     // the corresponding hash value
-    bodyindex offset = hashTable[hashValue];
+    bodyindex offset = mHashTable[hashValue];
     assert(offset != INVALID_INDEX);
     
     // Look for the pair in the set of overlapping pairs
     bodyindex previousPair = INVALID_INDEX;
     while(offset != indexPair) {
         previousPair = offset;
-        offset = offsetNextPair[offset];
+        offset = mOffsetNextPair[offset];
     }
   
     // If the pair was the first one with this hash
@@ -161,22 +163,22 @@ void PairManager::removePairWithHashValue(bodyindex id1, bodyindex id2, luint ha
     if (previousPair == INVALID_INDEX) {
         // Replace the pair to remove in the
         // hash table by the next one
-        hashTable[hashValue] = offsetNextPair[indexPair];
+        mHashTable[hashValue] = mOffsetNextPair[indexPair];
     }
     else {  // If the pair was not the first one
         // Replace the pair to remove in the
         // hash table by the next one
-        assert(offsetNextPair[previousPair] == indexPair);
+        assert(mOffsetNextPair[previousPair] == indexPair);
-        offsetNextPair[previousPair] = offsetNextPair[indexPair];
+        mOffsetNextPair[previousPair] = mOffsetNextPair[indexPair];
     }
     
-    const bodyindex indexLastPair = nbOverlappingPairs - 1;
+    const bodyindex indexLastPair = mNbOverlappingPairs - 1;
     
     // If the pair to remove is the last one in the list
     if (indexPair == indexLastPair) {
         
         // We simply decrease the number of overlapping pairs
-        nbOverlappingPairs--;
+        mNbOverlappingPairs--;
     }
     else {  // If the pair to remove is in the middle of the list
         
@@ -184,11 +186,12 @@ void PairManager::removePairWithHashValue(bodyindex id1, bodyindex id2, luint ha
         // now free because of the pair we want to remove
         
         // Get the last pair
-        const BodyPair* lastPair = &overlappingPairs[indexLastPair];
+        const BodyPair* lastPair = &mOverlappingPairs[indexLastPair];
-        const uint lastPairHashValue = computeHashBodies(lastPair->body1->getID(), lastPair->body2->getID()) & hashMask;
+        const uint lastPairHashValue = computeHashBodies(lastPair->body1->getID(),
+                                                         lastPair->body2->getID()) & mHashMask;
         
         // Compute the initial offset of the last pair
-        bodyindex offset = hashTable[lastPairHashValue];
+        bodyindex offset = mHashTable[lastPairHashValue];
         assert(offset != INVALID_INDEX);
         
         // Go through the pairs with the same hash value
@@ -196,29 +199,29 @@ void PairManager::removePairWithHashValue(bodyindex id1, bodyindex id2, luint ha
         bodyindex previous = INVALID_INDEX;
         while(offset != indexLastPair) {
            previous = offset;
-           offset = offsetNextPair[offset];
+           offset = mOffsetNextPair[offset];
         }
         
         // If the last pair is not the first one with this hash value
         if (previous != INVALID_INDEX) {
             
             // Remove the offset of the last pair in the "nextOffset" array
-            assert(offsetNextPair[previous] == indexLastPair);
+            assert(mOffsetNextPair[previous] == indexLastPair);
-            offsetNextPair[previous] = offsetNextPair[indexLastPair];
+            mOffsetNextPair[previous] = mOffsetNextPair[indexLastPair];
         }
         else {  // If the last pair is the first offset with this hash value
             
             // Remove the offset of the last pair in the "nextOffset" array
-            hashTable[lastPairHashValue] = offsetNextPair[indexLastPair];
+            mHashTable[lastPairHashValue] = mOffsetNextPair[indexLastPair];
         }
         
         // Replace the pair to remove by the last pair in
         // the overlapping pairs array
-        overlappingPairs[indexPair] = overlappingPairs[indexLastPair];
+        mOverlappingPairs[indexPair] = mOverlappingPairs[indexLastPair];
-        offsetNextPair[indexPair] = hashTable[lastPairHashValue];
+        mOffsetNextPair[indexPair] = mHashTable[lastPairHashValue];
-        hashTable[lastPairHashValue] = indexPair;
+        mHashTable[lastPairHashValue] = indexPair;
         
-        nbOverlappingPairs--;
+        mNbOverlappingPairs--;
     }
 }                                
 
@@ -226,9 +229,9 @@ void PairManager::removePairWithHashValue(bodyindex id1, bodyindex id2, luint ha
 BodyPair* PairManager::lookForAPair(bodyindex id1, bodyindex id2, luint hashValue) const {
     
     // Look for the pair in the set of overlapping pairs
-    bodyindex offset = hashTable[hashValue];
+    bodyindex offset = mHashTable[hashValue];
-    while (offset != INVALID_INDEX && isDifferentPair(overlappingPairs[offset], id1, id2)) {
+    while (offset != INVALID_INDEX && isDifferentPair(mOverlappingPairs[offset], id1, id2)) {
-        offset = offsetNextPair[offset];
+        offset = mOffsetNextPair[offset];
     }
     
     // If the pair has not been found in the overlapping pairs
@@ -237,50 +240,51 @@ BodyPair* PairManager::lookForAPair(bodyindex id1, bodyindex id2, luint hashValu
         return 0;
     }
     
-    assert(offset < nbOverlappingPairs);
+    assert(offset < mNbOverlappingPairs);
     
     // The pair has been found in the set of overlapping pairs, then
     // we return a pointer to it
-    return &overlappingPairs[offset];
+    return &mOverlappingPairs[offset];
 }
 
 // Reallocate more pairs
 void PairManager::reallocatePairs() {
     
     // Reallocate the hash table and initialize it
-    free(hashTable);
+    free(mHashTable);
-    hashTable = (bodyindex*) malloc(nbElementsHashTable * sizeof(bodyindex));
+    mHashTable = (bodyindex*) malloc(mNbElementsHashTable * sizeof(bodyindex));
-    assert(hashTable);
+    assert(mHashTable);
-    for (bodyindex i=0; i<nbElementsHashTable; i++) {
+    for (bodyindex i=0; i<mNbElementsHashTable; i++) {
-        hashTable[i] = INVALID_INDEX;
+        mHashTable[i] = INVALID_INDEX;
     }
     
     // Reallocate the overlapping pairs
-    BodyPair* newOverlappingPairs = (BodyPair*) malloc(nbElementsHashTable * sizeof(BodyPair));
+    BodyPair* newOverlappingPairs = (BodyPair*) malloc(mNbElementsHashTable * sizeof(BodyPair));
-    bodyindex* newOffsetNextPair = (bodyindex*) malloc(nbElementsHashTable * sizeof(bodyindex));
+    bodyindex* newOffsetNextPair = (bodyindex*) malloc(mNbElementsHashTable * sizeof(bodyindex));
     
     assert(newOverlappingPairs);
     assert(newOffsetNextPair);
     
     // If there is already some overlapping pairs
-    if (nbOverlappingPairs) {
+    if (mNbOverlappingPairs) {
         // Copy the pairs to the new location
-        memcpy(newOverlappingPairs, overlappingPairs, nbOverlappingPairs * sizeof(BodyPair));
+        memcpy(newOverlappingPairs, mOverlappingPairs, mNbOverlappingPairs * sizeof(BodyPair));
     }
     
     // Recompute the hash table with the new hash values
-    for (bodyindex i=0; i<nbOverlappingPairs; i++) {
+    for (bodyindex i=0; i<mNbOverlappingPairs; i++) {
-        const uint newHashValue = computeHashBodies(overlappingPairs[i].body1->getID(), overlappingPairs[i].body2->getID()) & hashMask;
+        const uint newHashValue = computeHashBodies(mOverlappingPairs[i].body1->getID(),
-        newOffsetNextPair[i] = hashTable[newHashValue];
+                                                   mOverlappingPairs[i].body2->getID()) & mHashMask;
-        hashTable[newHashValue] = i;
+        newOffsetNextPair[i] = mHashTable[newHashValue];
+        mHashTable[newHashValue] = i;
     }
     
     // Delete the old pairs
-    free(offsetNextPair);
+    free(mOffsetNextPair);
-    free(overlappingPairs);
+    free(mOverlappingPairs);
     
     // Replace by the new data
-    overlappingPairs = newOverlappingPairs;
+    mOverlappingPairs = newOverlappingPairs;
-    offsetNextPair = newOffsetNextPair;
+    mOffsetNextPair = newOffsetNextPair;
 }                                
 

src/collision/broadphase/PairManager.h

@@ -43,6 +43,7 @@ class CollisionDetection;
 struct BodyPair {
 
     public:
+
         CollisionBody* body1;                // Pointer to the first body
         CollisionBody* body2;                // Pointer to the second body
 
@@ -50,8 +51,10 @@ struct BodyPair {
         bodyindexpair getBodiesIndexPair() const {
 
             // Construct the pair of body index
-           bodyindexpair indexPair = body1->getID() < body2->getID() ? std::make_pair(body1->getID(), body2->getID()) :
+           bodyindexpair indexPair = body1->getID() < body2->getID() ?
-                                                                    std::make_pair(body2->getID(), body1->getID());
+                                     std::make_pair(body1->getID(), body2->getID()) :
+                                     std::make_pair(body2->getID(), body1->getID());
+
             assert(indexPair.first != indexPair.second);
             return indexPair;
         }
@@ -66,54 +69,134 @@ struct BodyPair {
     --------------------------------------------------------------------
 */
 class PairManager {
+
     private :
-        bodyindex nbElementsHashTable;                                          // Number of elements in the hash table
+
-        uint hashMask;                                                          // Hash mask for the hash function
+        // -------------------- Attributes -------------------- //
-        bodyindex nbOverlappingPairs;                                           // Number of overlapping pairs
+
-        bodyindex* hashTable;                                                   // Hash table that contains the offset of the first pair of the list of
+        // Number of elements in the hash table
-                                                                                // pairs with the same hash value in the "overlappingPairs" array
+        bodyindex mNbElementsHashTable;
-        bodyindex* offsetNextPair;                                              // Array that contains for each offset, the offset of the next pair with
+
-                                                                                // the same hash value
+        // Hash mask for the hash function
-                                                                                // for a given same hash value
+        uint mHashMask;
-        BodyPair* overlappingPairs;                                             // Array that contains the currently active pairs
+
-        static bodyindex INVALID_INDEX;                                         // Invalid ID
+        // Number of overlapping pairs
-        CollisionDetection& collisionDetection;                                 // Reference to the collision detection
+        bodyindex mNbOverlappingPairs;
+
+        // Hash table that contains the offset of the first pair of the list of
+        // pairs with the same hash value in the "overlappingPairs" array
+        bodyindex* mHashTable;
+
+        // Array that contains for each offset, the offset of the next pair with
+        // the same hash value for a given same hash value
+        bodyindex* mOffsetNextPair;
+
+        // Array that contains the overlapping pairs
+        BodyPair* mOverlappingPairs;
+
+        // Invalid ID
+        static bodyindex INVALID_INDEX;
+
+        // Reference to the collision detection
+        CollisionDetection& mCollisionDetection;
         
-        void sortBodiesUsingID(CollisionBody*& body1, CollisionBody*& body2) const; // Sort the bodies according to their IDs (smallest ID first)
+        // -------------------- Methods -------------------- //
-        void sortIDs(bodyindex& id1, bodyindex& id2) const;                         // Sort the IDs (smallest ID first)
+
-        bool isDifferentPair(const BodyPair& pair1, bodyindex pair2ID1,
+        // Private copy-constructor
-                             bodyindex pair2ID2) const;                         // Return true if pair1 and pair2 are the same
+        PairManager(const PairManager& pairManager);
-        uint computeHashBodies(uint id1, uint id2) const;                       // Compute the hash value of two bodies using their IDs
+
-        int computeHash32Bits(int key) const;                                   // This method returns an hash value for a 32 bits key
+        // Private assignment operator
-        luint computeNextPowerOfTwo(luint number) const;                        // Return the next power of two
+        PairManager& operator=(const PairManager& pairManager);
-        void reallocatePairs();                                                 // Reallocate memory for more pairs
+
-        void shrinkMemory();                                                    // Shrink the allocated memory
+        // Sort the bodies according to their IDs (smallest ID first)
-        bodyindex computePairOffset(const BodyPair* pair) const;                // Compute the offset of a given pair
+        void sortBodiesUsingID(CollisionBody*& body1, CollisionBody*& body2) const;
-        BodyPair* lookForAPair(bodyindex id1, bodyindex id2,
+
-                                     luint hashValue) const;                    // Look for a pair in the set of overlapping pairs
+        // Sort the IDs (smallest ID first)
-        BodyPair* findPairWithHashValue(bodyindex id1, bodyindex id2,
+        void sortIDs(bodyindex& id1, bodyindex& id2) const;
-                                              luint hashValue) const;           // Find a pair given two body IDs and an hash value
+
+        // Return true if pair1 and pair2 are the same
+        bool isDifferentPair(const BodyPair& pair1, bodyindex pair2ID1, bodyindex pair2ID2) const;
+
+        // Compute the hash value of two bodies using their IDs
+        uint computeHashBodies(uint id1, uint id2) const;
+
+        // This method returns an hash value for a 32 bits key
+        int computeHash32Bits(int key) const;
+
+        // Return the next power of two
+        luint computeNextPowerOfTwo(luint number) const;
+
+        // Reallocate memory for more pairs
+        void reallocatePairs();
+
+        // Shrink the allocated memory
+        void shrinkMemory();
+
+        // Compute the offset of a given pair
+        bodyindex computePairOffset(const BodyPair* pair) const;
+
+        // Look for a pair in the set of overlapping pairs
+        BodyPair* lookForAPair(bodyindex id1, bodyindex id2, luint hashValue) const;
+
+        // Find a pair given two body IDs and an hash value
+        BodyPair* findPairWithHashValue(bodyindex id1, bodyindex id2, luint hashValue) const;
+
+        // Remove a pair from the set of active pair
         void removePairWithHashValue(bodyindex id1, bodyindex id2, luint hashValue,
-                                     bodyindex indexPair);                      // Remove a pair from the set of active pair
+                                     bodyindex indexPair);
+
     public :
-        PairManager(CollisionDetection& collisionDetection);                    // Constructor
+
-        ~PairManager();                                                         // Destructor
+        // ----- Methods ----- //
+
+        // Constructor
+        PairManager(CollisionDetection& collisionDetection);
+
+        // Destructor
+        ~PairManager();
         
-        bodyindex getNbOverlappingPairs() const;                                // Return the number of active pairs
+        // Return the number of active pairs
-        BodyPair* addPair(CollisionBody* body1, CollisionBody* body2);                                                      // Add a pair of bodies in the pair manager
+        bodyindex getNbOverlappingPairs() const;
-        bool removePair(bodyindex id1, bodyindex id2);                                                                      // Remove a pair of bodies from the pair manager
+
-        BodyPair* findPair(bodyindex id1, bodyindex id2) const;                                                             // Find a pair given two body IDs
+        // Add a pair of bodies in the pair manager
-        BodyPair* beginOverlappingPairsPointer() const;                                                                     // Return a pointer to the first overlapping pair (used to iterate over the active pairs)
+        BodyPair* addPair(CollisionBody* body1, CollisionBody* body2);
-        BodyPair* endOverlappingPairsPointer() const;                                                                       // Return a pointer to the last overlapping pair (used to iterate over the active pairs)
+
-        void registerAddedOverlappingPairCallback(void (CollisionDetection::*callbackFunction) (const BodyPair* addedActivePair));     // Register a callback function (using a function pointer) that will be called when a new overlapping pair is added in the pair manager
+        // Remove a pair of bodies from the pair manager
-        void unregisterAddedOverlappingPairCallback();                                                                   // Unregister the callback function that will be called when a new active pair is added in the pair manager
+        bool removePair(bodyindex id1, bodyindex id2);
-        void registerRemovedOverlappingPairCallback(void (CollisionDetection::*callbackFunction) (const BodyPair* removedActivePair)); // Register a callback function (using a function pointer) that will be called when an overlapping pair is removed from the pair manager
+
-        void unregisterRemovedOverlappingPairCallback();                                                                 // Unregister a callback function that will be called when a active pair is removed from the pair manager
+        // Find a pair given two body IDs
+        BodyPair* findPair(bodyindex id1, bodyindex id2) const;
+
+        // Return a pointer to the first overlapping pair (used to
+        // iterate over the active pairs)
+        BodyPair* beginOverlappingPairsPointer() const;
+
+        // Return a pointer to the last overlapping pair (used to
+        // iterate over the active pairs)
+        BodyPair* endOverlappingPairsPointer() const;
+
+        // Register a callback function (using a function pointer) that will be
+        // called when a new overlapping pair is added in the pair manager
+        void registerAddedOverlappingPairCallback(void (CollisionDetection::*callbackFunction)
+                                                  (const BodyPair* addedActivePair));
+
+        // Unregister the callback function that will be called
+        // when a new active pair is added in the pair manager
+        void unregisterAddedOverlappingPairCallback();
+
+        // Register a callback function (using a function pointer)
+        // that will be called when an overlapping pair is removed from the pair manager
+        void registerRemovedOverlappingPairCallback(void (CollisionDetection::*callbackFunction)
+                                                    (const BodyPair* removedActivePair));
+
+        // Unregister a callback function that will be called
+        // when a active pair is removed from the pair manager
+        void unregisterRemovedOverlappingPairCallback();
 };
 
 // Return the number of overlapping pairs
 inline bodyindex PairManager::getNbOverlappingPairs() const {
-    return nbOverlappingPairs;
+    return mNbOverlappingPairs;
 }                                         
 
 // Compute the hash value of two bodies
@@ -122,7 +205,8 @@ inline uint PairManager::computeHashBodies(uint id1, uint id2) const {
 }  
 
 // Return true if pair1 and pair2 are the same
-inline bool PairManager::isDifferentPair(const BodyPair& pair1, bodyindex pair2ID1, bodyindex pair2ID2) const {
+inline bool PairManager::isDifferentPair(const BodyPair& pair1, bodyindex pair2ID1,
+                                         bodyindex pair2ID2) const {
     return (pair2ID1 != pair1.body1->getID() || pair2ID2 != pair1.body2->getID());
 }
 
@@ -176,13 +260,13 @@ inline int PairManager::computeHash32Bits(int key) const {
 inline BodyPair* PairManager::findPair(bodyindex id1, bodyindex id2) const {
     
     // Check if the hash table has been allocated yet
-    if (!hashTable) return 0;
+    if (!mHashTable) return 0;
     
     // Sort the IDs
     sortIDs(id1, id2);
     
     // Compute the hash value of the pair to find
-    uint hashValue = computeHashBodies(id1, id2) & hashMask;
+    uint hashValue = computeHashBodies(id1, id2) & mHashMask;
     
     // Look for the pair in the set of overlapping pairs
     lookForAPair(id1, id2, hashValue);
@@ -191,10 +275,11 @@ inline BodyPair* PairManager::findPair(bodyindex id1, bodyindex id2) const {
 // Find a pair given two body IDs and an hash value
 // This internal version is used to avoid computing multiple times in the 
 // caller method
-inline BodyPair* PairManager::findPairWithHashValue(bodyindex id1, bodyindex id2, luint hashValue) const {
+inline BodyPair* PairManager::findPairWithHashValue(bodyindex id1, bodyindex id2,
+                                                    luint hashValue) const {
     
     // Check if the hash table has been allocated yet
-    if (!hashTable) return 0;
+    if (!mHashTable) return 0;
     
     // Look for the pair in the set of overlapping pairs
     return lookForAPair(id1, id2, hashValue);
@@ -204,34 +289,34 @@ inline BodyPair* PairManager::findPairWithHashValue(bodyindex id1, bodyindex id2
 inline void PairManager::shrinkMemory() {
     
     // Check if the allocated memory can be reduced
-    const bodyindex correctNbElementsHashTable = computeNextPowerOfTwo(nbOverlappingPairs);
+    const bodyindex correctNbElementsHashTable = computeNextPowerOfTwo(mNbOverlappingPairs);
-    if (nbElementsHashTable == correctNbElementsHashTable) return;
+    if (mNbElementsHashTable == correctNbElementsHashTable) return;
     
     // Reduce the allocated memory
-    nbElementsHashTable = correctNbElementsHashTable;
+    mNbElementsHashTable = correctNbElementsHashTable;
-    hashMask = nbElementsHashTable - 1;
+    mHashMask = mNbElementsHashTable - 1;
     reallocatePairs();
 }
 
 // Compute the offset of a given pair in the array of overlapping pairs
 inline bodyindex PairManager::computePairOffset(const BodyPair* pair) const {
-    return ((bodyindex)((size_t(pair) - size_t(overlappingPairs))) / sizeof(BodyPair));
+    return ((bodyindex)((size_t(pair) - size_t(mOverlappingPairs))) / sizeof(BodyPair));
 }
 
 // Return a pointer to the first overlapping pair (used to iterate over the overlapping pairs) or
 // returns 0 if there is no overlapping pairs.
 inline BodyPair* PairManager::beginOverlappingPairsPointer() const {
-    return &overlappingPairs[0];
+    return &mOverlappingPairs[0];
 }
 
 // Return a pointer to the last overlapping pair (used to iterate over the overlapping pairs) or
 // returns 0 if there is no overlapping pairs.
 inline BodyPair* PairManager::endOverlappingPairsPointer() const {
-    if (nbOverlappingPairs > 0) {
+    if (mNbOverlappingPairs > 0) {
-        return &overlappingPairs[nbOverlappingPairs-1];
+        return &mOverlappingPairs[mNbOverlappingPairs-1];
     }
     else {
-        return &overlappingPairs[0];
+        return &mOverlappingPairs[0];
     }
 }
 

src/collision/broadphase/SweepAndPruneAlgorithm.cpp

@@ -47,20 +47,20 @@ AABBInt::AABBInt(const AABB& aabb) {
 // Constructor
 SweepAndPruneAlgorithm::SweepAndPruneAlgorithm(CollisionDetection& collisionDetection)
              :BroadPhaseAlgorithm(collisionDetection) {
-    boxes = 0;
+    mBoxes = 0;
-    endPoints[0] = 0;
+    mEndPoints[0] = 0;
-    endPoints[1] = 0;
+    mEndPoints[1] = 0;
-    endPoints[2] = 0;
+    mEndPoints[2] = 0;
-    nbBoxes = 0;
+    mNbBoxes = 0;
-    nbMaxBoxes = 0;
+    mNbMaxBoxes = 0;
 }
 
 // Destructor
 SweepAndPruneAlgorithm::~SweepAndPruneAlgorithm() {
-    delete[] boxes;
+    delete[] mBoxes;
-    delete[] endPoints[0];
+    delete[] mEndPoints[0];
-    delete[] endPoints[1];
+    delete[] mEndPoints[1];
-    delete[] endPoints[2];
+    delete[] mEndPoints[2];
 }
 
 // Notify the broad-phase about a new object in the world
@@ -71,50 +71,50 @@ void SweepAndPruneAlgorithm::addObject(CollisionBody* body, const AABB& aabb) {
     // If the index of the first free box is valid (means that
     // there is a bucket in the middle of the array that doesn't
     // contain a box anymore because it has been removed)
-    if (!freeBoxIndices.empty()) {
+    if (!mFreeBoxIndices.empty()) {
-        boxIndex = freeBoxIndices.back();
+        boxIndex = mFreeBoxIndices.back();
-        freeBoxIndices.pop_back();
+        mFreeBoxIndices.pop_back();
     }
     else {
         // If the array boxes and end-points arrays are full
-        if (nbBoxes == nbMaxBoxes) {
+        if (mNbBoxes == mNbMaxBoxes) {
             // Resize the arrays to make them larger
             resizeArrays();
         }
         
-        boxIndex = nbBoxes;
+        boxIndex = mNbBoxes;
     }
     
     // Move the maximum limit end-point two elements further
     // at the end-points array in all three axis
     const luint nbSentinels = 2;
-    const luint indexLimitEndPoint = 2 * nbBoxes + nbSentinels - 1;
+    const luint indexLimitEndPoint = 2 * mNbBoxes + nbSentinels - 1;
     for (uint axis=0; axis<3; axis++) {
-        EndPoint* maxLimitEndPoint = &endPoints[axis][indexLimitEndPoint];
+        EndPoint* maxLimitEndPoint = &mEndPoints[axis][indexLimitEndPoint];
-        assert(endPoints[axis][0].boxID == INVALID_INDEX && endPoints[axis][0].isMin == true);
+        assert(mEndPoints[axis][0].boxID == INVALID_INDEX && mEndPoints[axis][0].isMin == true);
         assert(maxLimitEndPoint->boxID == INVALID_INDEX && maxLimitEndPoint->isMin == false);
-        EndPoint* newMaxLimitEndPoint = &endPoints[axis][indexLimitEndPoint + 2];
+        EndPoint* newMaxLimitEndPoint = &mEndPoints[axis][indexLimitEndPoint + 2];
         newMaxLimitEndPoint->setValues(maxLimitEndPoint->boxID, maxLimitEndPoint->isMin, maxLimitEndPoint->value);
     }
     
     // Create a new box
-    BoxAABB* box = &boxes[boxIndex];
+    BoxAABB* box = &mBoxes[boxIndex];
     box->body = body;
     const uint minEndPointValue = encodeFloatIntoInteger(DECIMAL_LARGEST - 2.0);
     const uint maxEndPointValue = encodeFloatIntoInteger(DECIMAL_LARGEST - 1.0);
     for (uint axis=0; axis<3; axis++) {
         box->min[axis] = indexLimitEndPoint;
         box->max[axis] = indexLimitEndPoint + 1;
-        EndPoint* minimumEndPoint = &endPoints[axis][box->min[axis]];
+        EndPoint* minimumEndPoint = &mEndPoints[axis][box->min[axis]];
         minimumEndPoint->setValues(body->getID(), true, minEndPointValue);
-        EndPoint* maximumEndPoint = &endPoints[axis][box->max[axis]];
+        EndPoint* maximumEndPoint = &mEndPoints[axis][box->max[axis]];
         maximumEndPoint->setValues(body->getID(), false, maxEndPointValue);
     }
     
     // Add the body pointer to box index mapping
-    mapBodyToBoxIndex.insert(pair<CollisionBody*, bodyindex>(body, boxIndex));
+    mMapBodyToBoxIndex.insert(pair<CollisionBody*, bodyindex>(body, boxIndex));
     
-    nbBoxes++;
+    mNbBoxes++;
 
     // Call the update method to put the end-points of the new AABB at the
     // correct position in the array. This will also create the overlapping
@@ -134,14 +134,14 @@ void SweepAndPruneAlgorithm::removeObject(CollisionBody* body) {
     updateObject(body, aabb);
 
     // Get the corresponding box
-    bodyindex boxIndex = mapBodyToBoxIndex[body];
+    bodyindex boxIndex = mMapBodyToBoxIndex[body];
-    BoxAABB* box = &boxes[boxIndex];
+    BoxAABB* box = &mBoxes[boxIndex];
 
     // Add the box index into the list of free indices
-    freeBoxIndices.push_back(boxIndex);
+    mFreeBoxIndices.push_back(boxIndex);
 
-    mapBodyToBoxIndex.erase(body);
+    mMapBodyToBoxIndex.erase(body);
-    nbBoxes--;
+    mNbBoxes--;
 } 
         
 // Notify the broad-phase that the AABB of an object has changed
@@ -151,8 +151,8 @@ void SweepAndPruneAlgorithm::updateObject(CollisionBody* body, const AABB& aabb)
     AABBInt aabbInt(aabb);
     
     // Get the corresponding box
-    bodyindex boxIndex = mapBodyToBoxIndex[body];
+    bodyindex boxIndex = mMapBodyToBoxIndex[body];
-    BoxAABB* box = &boxes[boxIndex];
+    BoxAABB* box = &mBoxes[boxIndex];
         
     // Current axis
     for (uint axis=0; axis<3; axis++) {
@@ -162,7 +162,7 @@ void SweepAndPruneAlgorithm::updateObject(CollisionBody* body, const AABB& aabb)
         const uint otherAxis2 = (1 << otherAxis1) & 3;
         
         // Get the starting end-point of the current axis
-        EndPoint* startEndPointsCurrentAxis = endPoints[axis];
+        EndPoint* startEndPointsCurrentAxis = mEndPoints[axis];
         
         // -------- Update the minimum end-point ------------//
         
@@ -184,7 +184,7 @@ void SweepAndPruneAlgorithm::updateObject(CollisionBody* body, const AABB& aabb)
             const luint savedEndPointIndex = indexEndPoint;
             
             while ((--currentMinEndPoint)->value > limit) {
-                BoxAABB* id1 = &boxes[currentMinEndPoint->boxID];
+                BoxAABB* id1 = &mBoxes[currentMinEndPoint->boxID];
                 const bool isMin = currentMinEndPoint->isMin;
                 
                 // If it's a maximum end-point
@@ -198,7 +198,7 @@ void SweepAndPruneAlgorithm::updateObject(CollisionBody* body, const AABB& aabb)
                             testIntersect1DSortedAABBs(*id1, aabbInt, startEndPointsCurrentAxis, axis)) {
                             
                             // Add an overlapping pair to the pair manager
-                            pairManager.addPair(body, id1->body);
+                            mPairManager.addPair(body, id1->body);
                         }
                     }
                     
@@ -214,10 +214,10 @@ void SweepAndPruneAlgorithm::updateObject(CollisionBody* body, const AABB& aabb)
             // Update the current minimum endpoint that we are moving
             if (savedEndPointIndex != indexEndPoint) {
                 if (savedEndPoint.isMin) {
-                    boxes[savedEndPoint.boxID].min[axis] = indexEndPoint;
+                    mBoxes[savedEndPoint.boxID].min[axis] = indexEndPoint;
                 }
                 else {
-                    boxes[savedEndPoint.boxID].max[axis] = indexEndPoint;
+                    mBoxes[savedEndPoint.boxID].max[axis] = indexEndPoint;
                 }
 
                 startEndPointsCurrentAxis[indexEndPoint] = savedEndPoint;
@@ -235,7 +235,7 @@ void SweepAndPruneAlgorithm::updateObject(CollisionBody* body, const AABB& aabb)
             // For each end-point between the current position of the minimum
             // end-point and the new position of the minimum end-point
             while ((++currentMinEndPoint)->value < limit) {
-                BoxAABB* id1 = &boxes[currentMinEndPoint->boxID];
+                BoxAABB* id1 = &mBoxes[currentMinEndPoint->boxID];
                 const bool isMin = currentMinEndPoint->isMin;
                 
                 // If it's a maximum end-point
@@ -247,7 +247,7 @@ void SweepAndPruneAlgorithm::updateObject(CollisionBody* body, const AABB& aabb)
                         if (testIntersect2D(*box, *id1, otherAxis1, otherAxis2)) {
                             
                             // Remove the pair from the pair manager
-                            pairManager.removePair(body->getID(), id1->body->getID());
+                            mPairManager.removePair(body->getID(), id1->body->getID());
                         }
                     }
                     
@@ -263,10 +263,10 @@ void SweepAndPruneAlgorithm::updateObject(CollisionBody* body, const AABB& aabb)
             // Update the current minimum endpoint that we are moving
             if (savedEndPointIndex != indexEndPoint) {
                 if (savedEndPoint.isMin) {
-                    boxes[savedEndPoint.boxID].min[axis] = indexEndPoint;
+                    mBoxes[savedEndPoint.boxID].min[axis] = indexEndPoint;
                 }
                 else {
-                    boxes[savedEndPoint.boxID].max[axis] = indexEndPoint;
+                    mBoxes[savedEndPoint.boxID].max[axis] = indexEndPoint;
                 }
 
                 startEndPointsCurrentAxis[indexEndPoint] = savedEndPoint;
@@ -295,7 +295,7 @@ void SweepAndPruneAlgorithm::updateObject(CollisionBody* body, const AABB& aabb)
             while ((++currentMaxEndPoint)->value < limit) {
                 
                 // Get the next end-point
-                BoxAABB* id1 = &boxes[currentMaxEndPoint->boxID];
+                BoxAABB* id1 = &mBoxes[currentMaxEndPoint->boxID];
                 const bool isMin = currentMaxEndPoint->isMin;
                 
                 // If it's a maximum end-point
@@ -309,7 +309,7 @@ void SweepAndPruneAlgorithm::updateObject(CollisionBody* body, const AABB& aabb)
                             testIntersect1DSortedAABBs(*id1, aabbInt, startEndPointsCurrentAxis,axis)) {
                             
                             // Add an overlapping pair to the pair manager
-                            pairManager.addPair(body, id1->body);
+                            mPairManager.addPair(body, id1->body);
                         }
                     }
                     
@@ -325,10 +325,10 @@ void SweepAndPruneAlgorithm::updateObject(CollisionBody* body, const AABB& aabb)
             // Update the current minimum endpoint that we are moving
             if (savedEndPointIndex != indexEndPoint) {
                 if (savedEndPoint.isMin) {
-                    boxes[savedEndPoint.boxID].min[axis] = indexEndPoint;
+                    mBoxes[savedEndPoint.boxID].min[axis] = indexEndPoint;
                 }
                 else {
-                    boxes[savedEndPoint.boxID].max[axis] = indexEndPoint;
+                    mBoxes[savedEndPoint.boxID].max[axis] = indexEndPoint;
                 }
 
                 startEndPointsCurrentAxis[indexEndPoint] = savedEndPoint;
@@ -344,7 +344,7 @@ void SweepAndPruneAlgorithm::updateObject(CollisionBody* body, const AABB& aabb)
             // For each end-point between the current position of the maximum
             // end-point and the new position of the maximum end-point
             while ((--currentMaxEndPoint)->value > limit) {
-                BoxAABB* id1 = &boxes[currentMaxEndPoint->boxID];
+                BoxAABB* id1 = &mBoxes[currentMaxEndPoint->boxID];
                 const bool isMin = currentMaxEndPoint->isMin;
                 
                 // If it's a minimum end-point
@@ -356,7 +356,7 @@ void SweepAndPruneAlgorithm::updateObject(CollisionBody* body, const AABB& aabb)
                         if (testIntersect2D(*box, *id1, otherAxis1, otherAxis2)) {
                             
                             // Remove the pair from the pair manager
-                            pairManager.removePair(body->getID(), id1->body->getID());
+                            mPairManager.removePair(body->getID(), id1->body->getID());
                         }
                     }
                     
@@ -372,10 +372,10 @@ void SweepAndPruneAlgorithm::updateObject(CollisionBody* body, const AABB& aabb)
             // Update the current minimum endpoint that we are moving
             if (savedEndPointIndex != indexEndPoint) {
                 if (savedEndPoint.isMin) {
-                    boxes[savedEndPoint.boxID].min[axis] = indexEndPoint;
+                    mBoxes[savedEndPoint.boxID].min[axis] = indexEndPoint;
                 }
                 else {
-                    boxes[savedEndPoint.boxID].max[axis] = indexEndPoint;
+                    mBoxes[savedEndPoint.boxID].max[axis] = indexEndPoint;
                 }
 
                 startEndPointsCurrentAxis[indexEndPoint] = savedEndPoint;
@@ -389,8 +389,8 @@ void SweepAndPruneAlgorithm::resizeArrays() {
     
     // New number of boxes in the array
     const luint nbSentinels = 2;
-    const luint newNbMaxBoxes = nbMaxBoxes ? 2 * nbMaxBoxes : 100;
+    const luint newNbMaxBoxes = mNbMaxBoxes ? 2 * mNbMaxBoxes : 100;
-    const luint nbEndPoints = nbBoxes * 2 + nbSentinels;
+    const luint nbEndPoints = mNbBoxes * 2 + nbSentinels;
     const luint newNbEndPoints = newNbMaxBoxes * 2 + nbSentinels;
     
     // Allocate memory for the new boxes and end-points arrays
@@ -405,14 +405,14 @@ void SweepAndPruneAlgorithm::resizeArrays() {
     assert(newEndPointsZArray);
     
     // If the arrays were not empty before
-    if (nbBoxes > 0) {
+    if (mNbBoxes > 0) {
         
         // Copy the data in the old arrays into the new one
-        memcpy(newBoxesArray, boxes, sizeof(BoxAABB) * nbBoxes);
+        memcpy(newBoxesArray, mBoxes, sizeof(BoxAABB) * mNbBoxes);
         size_t nbBytesNewEndPoints = sizeof(EndPoint) * nbEndPoints;
-        memcpy(newEndPointsXArray, endPoints[0], nbBytesNewEndPoints);
+        memcpy(newEndPointsXArray, mEndPoints[0], nbBytesNewEndPoints);
-        memcpy(newEndPointsYArray, endPoints[1], nbBytesNewEndPoints);
+        memcpy(newEndPointsYArray, mEndPoints[1], nbBytesNewEndPoints);
-        memcpy(newEndPointsZArray, endPoints[2], nbBytesNewEndPoints);
+        memcpy(newEndPointsZArray, mEndPoints[2], nbBytesNewEndPoints);
     }
     else {   // If the arrays were empty
         
@@ -428,16 +428,16 @@ void SweepAndPruneAlgorithm::resizeArrays() {
     }
 
     // Delete the old arrays
-    delete[] boxes;
+    delete[] mBoxes;
-    delete[] endPoints[0];
+    delete[] mEndPoints[0];
-    delete[] endPoints[1];
+    delete[] mEndPoints[1];
-    delete[] endPoints[2];
+    delete[] mEndPoints[2];
     
     // Assign the pointer to the new arrays
-    boxes = newBoxesArray;
+    mBoxes = newBoxesArray;
-    endPoints[0] = newEndPointsXArray;
+    mEndPoints[0] = newEndPointsXArray;
-    endPoints[1] = newEndPointsYArray;
+    mEndPoints[1] = newEndPointsYArray;
-    endPoints[2] = newEndPointsZArray;
+    mEndPoints[2] = newEndPointsZArray;
     
-    nbMaxBoxes = newNbMaxBoxes;
+    mNbMaxBoxes = newNbMaxBoxes;
 }

src/collision/broadphase/SweepAndPruneAlgorithm.h

@@ -39,40 +39,43 @@ namespace reactphysics3d {
 // EndPoint structure that represent an end-point of an AABB
 // on one of the three x,y or z axis
 struct EndPoint {
+
     public:
         
-        // TODO : Use uint here
         bodyindex boxID;            // ID of the AABB box corresponding to this end-point
         bool isMin;                 // True if the end-point is a minimum end-point of a box
         uint value;                 // Value (one dimension coordinate) of the end-point
         
-        void setValues(bodyindex boxID, bool isMin, uint value);    // Set the values of the endpoint
+        // Set the values of the endpoint
-};
+        void setValues(bodyindex boxID, bool isMin, uint value) {
-
+            this->boxID = boxID;
-// Set the values of the endpoint
+            this->isMin = isMin;
-inline void EndPoint::setValues(bodyindex boxID, bool isMin, uint value) {
+            this->value = value;
-    this->boxID = boxID;
+        }
-    this->isMin = isMin;
+};            
-    this->value = value;
-}                
 
 // Structure BoxAABB that represents an AABB in the
 // Sweep-And-Prune algorithm
 struct BoxAABB {
+
     public:
-        bodyindex min[3];       // Index of the three minimum end-points of the AABB over the axis X, Y and Z
+
-        bodyindex max[3];       // Index of the three maximum end-points of the AABB over the axis X, Y and Z
+        bodyindex min[3];       // Index of the 3 minimum end-points of the AABB over the x,y,z axis
+        bodyindex max[3];       // Index of the 3 maximum end-points of the AABB over the x,y,z axis
         CollisionBody* body;    // Body that corresponds to the owner of the AABB
 };
 
 // Structure AABBInt
 // Axis-Aligned Bounding box with integer coordinates
 struct AABBInt {
+
     public:
+
         uint min[3];            // Minimum values on the three axis
         uint max[3];            // Maximum values on the three axis
         
-        AABBInt(const AABB& aabb);      // Constructor
+        // Constructor
+        AABBInt(const AABB& aabb);
 };
 
 
@@ -87,29 +90,70 @@ struct AABBInt {
 class SweepAndPruneAlgorithm : public BroadPhaseAlgorithm {
     
     protected :
-        static bodyindex INVALID_INDEX;                                 // Invalid array index
+
+        // -------------------- Attributes -------------------- //
+
+        // Invalid array index
+        static bodyindex INVALID_INDEX;
+
+        // Array that contains all the AABB boxes of the broad-phase
+        BoxAABB* mBoxes;
+
+        // Array of end-points on the three axis
+        EndPoint* mEndPoints[3];
+
+        // Number of AABB boxes in the broad-phase
+        bodyindex mNbBoxes;
+
+        // Max number of boxes in the boxes array
+        bodyindex mNbMaxBoxes;
+
+        // Indices that are not used by any boxes
+        std::vector<bodyindex> mFreeBoxIndices;
+
+        // Map a body pointer to a box index
+        std::map<CollisionBody*,bodyindex> mMapBodyToBoxIndex;
         
-        BoxAABB* boxes;                                                 // Array that contains all the AABB boxes of the broad-phase
+        // -------------------- Methods -------------------- //
-        EndPoint* endPoints[3];                                         // Array of end-points on the three axis
+
-        bodyindex nbBoxes;                                              // Number of AABB boxes in the broad-phase
+        // Private copy-constructor
-        bodyindex nbMaxBoxes;                                           // Maximum number of boxes in the boxes array
+        SweepAndPruneAlgorithm(const SweepAndPruneAlgorithm& algorithm);
-        std::vector<bodyindex> freeBoxIndices;                          // Indices that are not used by any boxes
+
-        std::map<CollisionBody*, bodyindex> mapBodyToBoxIndex;          // Map a body pointer to its box index
+        // Private assignment operator
-        
+        SweepAndPruneAlgorithm& operator=(const SweepAndPruneAlgorithm& algorithm);
-        void resizeArrays();                                            // Resize the boxes and end-points arrays when it's full
+
-        void addPair(CollisionBody* body1, CollisionBody* body2);       // Add an overlapping pair of AABBS
+        // Resize the boxes and end-points arrays when it's full
+        void resizeArrays();
+
+        // Add an overlapping pair of AABBS
+        void addPair(CollisionBody* body1, CollisionBody* body2);
+
+        // Check for 1D box intersection
         bool testIntersect1DSortedAABBs(const BoxAABB& box1, const AABBInt& box2,
-                            const EndPoint* const baseEndPoint, uint axis) const;      // Check for 1D box intersection
+                                        const EndPoint* const baseEndPoint, uint axis) const;
+
+        // Check for 2D box intersection
         bool testIntersect2D(const BoxAABB& box1, const BoxAABB& box2,
-                            luint axis1, uint axis2) const;                            // Check for 2D box intersection
+                             luint axis1, uint axis2) const;
         
     public :
-        SweepAndPruneAlgorithm(CollisionDetection& collisionDetection);   // Constructor
-        virtual ~SweepAndPruneAlgorithm();                                // Destructor
 
-        virtual void addObject(CollisionBody* body, const AABB& aabb);         // Notify the broad-phase about a new object in the world
+        // -------------------- Methods -------------------- //
-        virtual void removeObject(CollisionBody* body);                        // Notify the broad-phase about a object that has been removed from the world
+
-        virtual void updateObject(CollisionBody* body, const AABB& aabb);      // Notify the broad-phase that the AABB of an object has changed
+        // Constructor
+        SweepAndPruneAlgorithm(CollisionDetection& mCollisionDetection);
+
+        // Destructor
+        virtual ~SweepAndPruneAlgorithm();
+
+        // Notify the broad-phase about a new object in the world
+        virtual void addObject(CollisionBody* body, const AABB& aabb);
+
+        // Notify the broad-phase about a object that has been removed from the world
+        virtual void removeObject(CollisionBody* body);
+
+        // Notify the broad-phase that the AABB of an object has changed
+        virtual void updateObject(CollisionBody* body, const AABB& aabb);
 };
 
 // Encode a floating value into a integer value in order to
@@ -135,8 +179,10 @@ inline uint encodeFloatIntoInteger(float number) {
 // Check for 1D box intersection between two boxes that are sorted on the 
 // given axis. Therefore, only one test is necessary here. We know that the
 // minimum of box1 cannot be larger that the maximum of box2 on the axis.
-inline bool SweepAndPruneAlgorithm::testIntersect1DSortedAABBs(const BoxAABB& box1, const AABBInt& box2,
+inline bool SweepAndPruneAlgorithm::testIntersect1DSortedAABBs(const BoxAABB& box1,
-                                                           const EndPoint* const endPointsArray, uint axis) const {
+                                                               const AABBInt& box2,
+                                                               const EndPoint* const endPointsArray,
+                                                               uint axis) const {
     return !(endPointsArray[box1.max[axis]].value < box2.min[axis]);
 }    
 

src/collision/narrowphase/EPA/EPAAlgorithm.cpp

@@ -33,7 +33,7 @@ using namespace reactphysics3d;
 
 // Constructor
 EPAAlgorithm::EPAAlgorithm(MemoryPool<ContactInfo>& memoryPoolContactInfos)
-             : memoryPoolContactInfos(memoryPoolContactInfos) {
+             : mMemoryPoolContactInfos(memoryPoolContactInfos) {
 
 }
 
@@ -45,7 +45,8 @@ EPAAlgorithm::~EPAAlgorithm() {
 // Decide if the origin is in the tetrahedron
 // Return 0 if the origin is in the tetrahedron and return the number (1,2,3 or 4) of
 // the vertex that is wrong if the origin is not in the tetrahedron
-int EPAAlgorithm::isOriginInTetrahedron(const Vector3& p1, const Vector3& p2, const Vector3& p3, const Vector3& p4) const {
+int EPAAlgorithm::isOriginInTetrahedron(const Vector3& p1, const Vector3& p2,
+                                        const Vector3& p3, const Vector3& p4) const {
 
     // Check vertex 1
     Vector3 normal1 = (p2-p1).cross(p3-p1);
@@ -81,20 +82,28 @@ int EPAAlgorithm::isOriginInTetrahedron(const Vector3& p1, const Vector3& p2, co
 // intersect. An initial simplex that contains origin has been computed with
 // GJK algorithm. The EPA Algorithm will extend this simplex polytope to find
 // the correct penetration depth
-bool EPAAlgorithm::computePenetrationDepthAndContactPoints(Simplex simplex, const CollisionShape* collisionShape1, const Transform& transform1,
+bool EPAAlgorithm::computePenetrationDepthAndContactPoints(const Simplex& simplex,
-                                                           const CollisionShape* collisionShape2, const Transform& transform2,
+                                                           const CollisionShape* collisionShape1,
+                                                           const Transform& transform1,
+                                                           const CollisionShape* collisionShape2,
+                                                           const Transform& transform2,
                                                            Vector3& v, ContactInfo*& contactInfo) {
-    Vector3 suppPointsA[MAX_SUPPORT_POINTS];       // Support points of object A in local coordinates
-    Vector3 suppPointsB[MAX_SUPPORT_POINTS];       // Support points of object B in local coordinates
-    Vector3 points[MAX_SUPPORT_POINTS];            // Current points
-    TrianglesStore triangleStore;                  // Store the triangles
-    TriangleEPA* triangleHeap[MAX_FACETS];         // Heap that contains the face candidate of the EPA algorithm
 
-    // Transform a point from local space of body 2 to local space of body 1 (the GJK algorithm is done in local space of body 1)
+    Vector3 suppPointsA[MAX_SUPPORT_POINTS];  // Support points of object A in local coordinates
+    Vector3 suppPointsB[MAX_SUPPORT_POINTS];  // Support points of object B in local coordinates
+    Vector3 points[MAX_SUPPORT_POINTS];       // Current points
+    TrianglesStore triangleStore;             // Store the triangles
+    TriangleEPA* triangleHeap[MAX_FACETS];    // Heap that contains the face
+                                              // candidate of the EPA algorithm
+
+    // Transform a point from local space of body 2 to local
+    // space of body 1 (the GJK algorithm is done in local space of body 1)
     Transform body2Tobody1 = transform1.inverse() * transform2;
 
-    // Matrix that transform a direction from local space of body 1 into local space of body 2
+    // Matrix that transform a direction from local
-    Matrix3x3 rotateToBody2 = transform2.getOrientation().getMatrix().getTranspose() * transform1.getOrientation().getMatrix();
+    // space of body 1 into local space of body 2
+    Matrix3x3 rotateToBody2 = transform2.getOrientation().getMatrix().getTranspose() *
+                              transform1.getOrientation().getMatrix();
 
     // Get the simplex computed previously by the GJK algorithm
     unsigned int nbVertices = simplex.getSimplex(suppPointsA, suppPointsB, points);
@@ -113,8 +122,9 @@ bool EPAAlgorithm::computePenetrationDepthAndContactPoints(Simplex simplex, cons
     // The EPA algorithm.
     switch(nbVertices) {
         case 1:
-            // Only one point in the simplex (which should be the origin). We have a touching contact
+            // Only one point in the simplex (which should be the origin).
-            // with zero penetration depth. We drop that kind of contact. Therefore, we return false
+            // We have a touching contact with zero penetration depth.
+            // We drop that kind of contact. Therefore, we return false
             return false;
 
         case 2: {
@@ -149,17 +159,23 @@ bool EPAAlgorithm::computePenetrationDepthAndContactPoints(Simplex simplex, cons
 
             // Compute the support point in the direction of v1
             suppPointsA[2] = collisionShape1->getLocalSupportPoint(v1, OBJECT_MARGIN);
-            suppPointsB[2] = body2Tobody1 * collisionShape2->getLocalSupportPoint(rotateToBody2 * (-v1), OBJECT_MARGIN);
+            suppPointsB[2] = body2Tobody1 * collisionShape2->getLocalSupportPoint(rotateToBody2 *
+                                                                                  (-v1),
+                                                                                  OBJECT_MARGIN);
             points[2] = suppPointsA[2] - suppPointsB[2];
 
             // Compute the support point in the direction of v2
             suppPointsA[3] = collisionShape1->getLocalSupportPoint(v2, OBJECT_MARGIN);
-            suppPointsB[3] = body2Tobody1 * collisionShape2->getLocalSupportPoint(rotateToBody2 * (-v2), OBJECT_MARGIN);
+            suppPointsB[3] = body2Tobody1 * collisionShape2->getLocalSupportPoint(rotateToBody2 *
+                                                                                  (-v2),
+                                                                                  OBJECT_MARGIN);
             points[3] = suppPointsA[3] - suppPointsB[3];
 
             // Compute the support point in the direction of v3
             suppPointsA[4] = collisionShape1->getLocalSupportPoint(v3, OBJECT_MARGIN);
-            suppPointsB[4] = body2Tobody1 * collisionShape2->getLocalSupportPoint(rotateToBody2 * (-v3), OBJECT_MARGIN);
+            suppPointsB[4] = body2Tobody1 * collisionShape2->getLocalSupportPoint(rotateToBody2 *
+                                                                                  (-v3),
+                                                                                  OBJECT_MARGIN);
             points[4] = suppPointsA[4] - suppPointsB[4];
 
             // Now we have an hexahedron (two tetrahedron glued together). We can simply keep the
@@ -173,7 +189,8 @@ bool EPAAlgorithm::computePenetrationDepthAndContactPoints(Simplex simplex, cons
                 suppPointsB[1] = suppPointsB[4];
                 points[1] = points[4];
             }
-            else if (isOriginInTetrahedron(points[1], points[2], points[3], points[4]) == 0) {  // If the origin is in the tetrahedron of points 1, 2, 3, 4
+            // If the origin is in the tetrahedron of points 1, 2, 3, 4
+            else if (isOriginInTetrahedron(points[1], points[2], points[3], points[4]) == 0) {
                 // We use the point 4 instead of point 0 for the initial tetrahedron
                 suppPointsA[0] = suppPointsA[4];
                 suppPointsB[0] = suppPointsB[4];
@@ -209,7 +226,8 @@ bool EPAAlgorithm::computePenetrationDepthAndContactPoints(Simplex simplex, cons
 
                 // If the constructed tetrahedron is not correct
                 if (!(face0 && face1 && face2 && face3 && face0->getDistSquare() > 0.0 &&
-                      face1->getDistSquare() > 0.0 && face2->getDistSquare() > 0.0 && face3->getDistSquare() > 0.0)) {
+                      face1->getDistSquare() > 0.0 && face2->getDistSquare() > 0.0 &&
+                      face3->getDistSquare() > 0.0)) {
                     return false;
                 }
 
@@ -254,10 +272,13 @@ bool EPAAlgorithm::computePenetrationDepthAndContactPoints(Simplex simplex, cons
 
             // Compute the two new vertices to obtain a hexahedron
             suppPointsA[3] = collisionShape1->getLocalSupportPoint(n, OBJECT_MARGIN);
-            suppPointsB[3] = body2Tobody1 * collisionShape2->getLocalSupportPoint(rotateToBody2 * (-n), OBJECT_MARGIN);
+            suppPointsB[3] = body2Tobody1 * collisionShape2->getLocalSupportPoint(rotateToBody2 *
+                                                                                  (-n),
+                                                                                  OBJECT_MARGIN);
             points[3] = suppPointsA[3] - suppPointsB[3];
             suppPointsA[4] = collisionShape1->getLocalSupportPoint(-n, OBJECT_MARGIN);
-            suppPointsB[4] = body2Tobody1 * collisionShape2->getLocalSupportPoint(rotateToBody2 * n, OBJECT_MARGIN);
+            suppPointsB[4] = body2Tobody1 * collisionShape2->getLocalSupportPoint(rotateToBody2 * n,
+                                                                                  OBJECT_MARGIN);
             points[4] = suppPointsA[4] - suppPointsB[4];
 
             // Construct the triangle faces
@@ -314,7 +335,7 @@ bool EPAAlgorithm::computePenetrationDepthAndContactPoints(Simplex simplex, cons
         triangle = triangleHeap[0];
 
         // Get the next candidate face (the face closest to the origin)
-        std::pop_heap(&triangleHeap[0], &triangleHeap[nbTriangles], triangleComparison);
+        std::pop_heap(&triangleHeap[0], &triangleHeap[nbTriangles], mTriangleComparison);
         nbTriangles--;
 
         // If the candidate face in the heap is not obsolete
@@ -325,9 +346,13 @@ bool EPAAlgorithm::computePenetrationDepthAndContactPoints(Simplex simplex, cons
                 break;
             }
 
-            // Compute the support point of the Minkowski difference (A-B) in the closest point direction
+            // Compute the support point of the Minkowski
-            suppPointsA[nbVertices] = collisionShape1->getLocalSupportPoint(triangle->getClosestPoint(), OBJECT_MARGIN);
+            // difference (A-B) in the closest point direction
-            suppPointsB[nbVertices] = body2Tobody1 * collisionShape2->getLocalSupportPoint(rotateToBody2 * (-triangle->getClosestPoint()), OBJECT_MARGIN);
+            suppPointsA[nbVertices] = collisionShape1->getLocalSupportPoint(
+                                        triangle->getClosestPoint(), OBJECT_MARGIN);
+            suppPointsB[nbVertices] = body2Tobody1 * collisionShape2->getLocalSupportPoint(
+                                        rotateToBody2 * (-triangle->getClosestPoint()),
+                                        OBJECT_MARGIN);
             points[nbVertices] = suppPointsA[nbVertices] - suppPointsB[nbVertices];
 
             int indexNewVertex = nbVertices;
@@ -377,7 +402,9 @@ bool EPAAlgorithm::computePenetrationDepthAndContactPoints(Simplex simplex, cons
     assert(penetrationDepth > 0.0);
     
     // Create the contact info object
-    contactInfo = new (memoryPoolContactInfos.allocateObject()) ContactInfo(normal, penetrationDepth, pALocal, pBLocal);
+    contactInfo = new (mMemoryPoolContactInfos.allocateObject()) ContactInfo(normal,
+                                                                             penetrationDepth,
+                                                                             pALocal, pBLocal);
     
     return true;
 }

src/collision/narrowphase/EPA/EPAAlgorithm.h

@@ -72,35 +72,67 @@ class TriangleComparison {
     -------------------------------------------------------------------
 */
 class EPAAlgorithm {
+
     private:
-        MemoryPool<ContactInfo>& memoryPoolContactInfos; // Reference to the memory pool for contact infos
+
-        TriangleComparison triangleComparison;           // Triangle comparison operator
+        // -------------------- Attributes -------------------- //
+
+        // Reference to the memory pool
+        MemoryPool<ContactInfo>& mMemoryPoolContactInfos;
+
+        // Triangle comparison operator
+        TriangleComparison mTriangleComparison;
         
-        void addFaceCandidate(TriangleEPA* triangle, TriangleEPA** heap,
+        // -------------------- Methods -------------------- //
-                              uint& nbTriangles, decimal upperBoundSquarePenDepth);      // Add a triangle face in the candidate triangle heap
+
+        // Private copy-constructor
+        EPAAlgorithm(const EPAAlgorithm& algorithm);
+
+        // Private assignment operator
+        EPAAlgorithm& operator=(const EPAAlgorithm& algorithm);
+
+        // Add a triangle face in the candidate triangle heap
+        void addFaceCandidate(TriangleEPA* triangle, TriangleEPA** heap, uint& nbTriangles,
+                              decimal upperBoundSquarePenDepth);
+
+        // Decide if the origin is in the tetrahedron
         int isOriginInTetrahedron(const Vector3& p1, const Vector3& p2,
-                                  const Vector3& p3, const Vector3& p4) const;        // Decide if the origin is in the tetrahedron
+                                  const Vector3& p3, const Vector3& p4) const;
 
     public:
-        EPAAlgorithm(MemoryPool<ContactInfo>& memoryPoolContactInfos);          // Constructor
-        ~EPAAlgorithm();                                                        // Destructor
 
-        bool computePenetrationDepthAndContactPoints(Simplex simplex, const CollisionShape* collisionShape1, const Transform& transform1,
+        // -------------------- Methods -------------------- //
-                                                     const CollisionShape* collisionShape2, const Transform& transform2,
+
-                                                     Vector3& v, ContactInfo*& contactInfo);                         // Compute the penetration depth with EPA algorithm
+        // Constructor
+        EPAAlgorithm(MemoryPool<ContactInfo>& memoryPoolContactInfos);
+
+        // Destructor
+        ~EPAAlgorithm();
+
+        // Compute the penetration depth with EPA algorithm
+        bool computePenetrationDepthAndContactPoints(const Simplex& simplex,
+                                                     const CollisionShape* collisionShape1,
+                                                     const Transform& transform1,
+                                                     const CollisionShape* collisionShape2,
+                                                     const Transform& transform2,
+                                                     Vector3& v, ContactInfo*& contactInfo);
 };
 
 // Add a triangle face in the candidate triangle heap in the EPA algorithm
 inline void EPAAlgorithm::addFaceCandidate(TriangleEPA* triangle, TriangleEPA** heap,
                                            uint& nbTriangles, decimal upperBoundSquarePenDepth) {
     
-    // If the closest point of the affine hull of triangle points is internal to the triangle and
+    // If the closest point of the affine hull of triangle
-    // if the distance of the closest point from the origin is at most the penetration depth upper bound
+    // points is internal to the triangle and if the distance
-    if (triangle->isClosestPointInternalToTriangle() && triangle->getDistSquare() <= upperBoundSquarePenDepth) {
+    // of the closest point from the origin is at most the
+    // penetration depth upper bound
+    if (triangle->isClosestPointInternalToTriangle() &&
+        triangle->getDistSquare() <= upperBoundSquarePenDepth) {
+
         // Add the triangle face to the list of candidates
         heap[nbTriangles] = triangle;
         nbTriangles++;
-        std::push_heap(&heap[0], &heap[nbTriangles], triangleComparison);
+        std::push_heap(&heap[0], &heap[nbTriangles], mTriangleComparison);
     }
 }
 

src/collision/narrowphase/EPA/EdgeEPA.cpp

@@ -40,10 +40,16 @@ EdgeEPA::EdgeEPA() {
 
 // Constructor
 EdgeEPA::EdgeEPA(TriangleEPA* ownerTriangle, int index)
-        : ownerTriangle(ownerTriangle), index(index) {
+        : mOwnerTriangle(ownerTriangle), mIndex(index) {
     assert(index >= 0 && index < 3);
 }
 
+// Copy-constructor
+EdgeEPA::EdgeEPA(const EdgeEPA& edge) {
+    mOwnerTriangle = edge.mOwnerTriangle;
+    mIndex = edge.mIndex;
+}
+
 // Destructor
 EdgeEPA::~EdgeEPA() {
 
@@ -51,21 +57,24 @@ EdgeEPA::~EdgeEPA() {
 
 // Return the index of the source vertex of the edge (vertex starting the edge)
 uint EdgeEPA::getSourceVertexIndex() const {
-    return (*ownerTriangle)[index];
+    return (*mOwnerTriangle)[mIndex];
 }
 
 // Return the index of the target vertex of the edge (vertex ending the edge)
 uint EdgeEPA::getTargetVertexIndex() const {
-    return (*ownerTriangle)[indexOfNextCounterClockwiseEdge(index)];
+    return (*mOwnerTriangle)[indexOfNextCounterClockwiseEdge(mIndex)];
 }
 
 // Execute the recursive silhouette algorithm from this edge
-bool EdgeEPA::computeSilhouette(const Vector3* vertices, uint indexNewVertex, TrianglesStore& triangleStore) {
+bool EdgeEPA::computeSilhouette(const Vector3* vertices, uint indexNewVertex,
+                                TrianglesStore& triangleStore) {
     // If the edge has not already been visited
-    if (!ownerTriangle->getIsObsolete()) {
+    if (!mOwnerTriangle->getIsObsolete()) {
         // If the triangle of this edge is not visible from the given point
-        if (!ownerTriangle->isVisibleFromVertex(vertices, indexNewVertex)) {
+        if (!mOwnerTriangle->isVisibleFromVertex(vertices, indexNewVertex)) {
-            TriangleEPA* triangle = triangleStore.newTriangle(vertices, indexNewVertex, getTargetVertexIndex(), getSourceVertexIndex());
+            TriangleEPA* triangle = triangleStore.newTriangle(vertices, indexNewVertex,
+                                                              getTargetVertexIndex(),
+                                                              getSourceVertexIndex());
 
             // If the triangle has been created
             if (triangle) {
@@ -77,14 +86,19 @@ bool EdgeEPA::computeSilhouette(const Vector3* vertices, uint indexNewVertex, Tr
         }
         else {
             // The current triangle is visible and therefore obsolete
-            ownerTriangle->setIsObsolete(true);
+            mOwnerTriangle->setIsObsolete(true);
 
             int backup = triangleStore.getNbTriangles();
 
-            if(!ownerTriangle->getAdjacentEdge(indexOfNextCounterClockwiseEdge(this->index)).computeSilhouette(vertices, indexNewVertex, triangleStore)) {
+            if(!mOwnerTriangle->getAdjacentEdge(indexOfNextCounterClockwiseEdge(
-                ownerTriangle->setIsObsolete(false);
+                                                this->mIndex)).computeSilhouette(vertices,
+                                                                                 indexNewVertex,
+                                                                                 triangleStore)) {
+                mOwnerTriangle->setIsObsolete(false);
 
-                TriangleEPA* triangle = triangleStore.newTriangle(vertices, indexNewVertex, getTargetVertexIndex(), getSourceVertexIndex());
+                TriangleEPA* triangle = triangleStore.newTriangle(vertices, indexNewVertex,
+                                                                  getTargetVertexIndex(),
+                                                                  getSourceVertexIndex());
 
                 // If the triangle has been created
                 if (triangle) {
@@ -94,12 +108,17 @@ bool EdgeEPA::computeSilhouette(const Vector3* vertices, uint indexNewVertex, Tr
 
                 return false;
             }
-            else if (!ownerTriangle->getAdjacentEdge(indexOfPreviousCounterClockwiseEdge(this->index)).computeSilhouette(vertices, indexNewVertex, triangleStore)) {
+            else if (!mOwnerTriangle->getAdjacentEdge(indexOfPreviousCounterClockwiseEdge(
-                ownerTriangle->setIsObsolete(false);
+                                                  this->mIndex)).computeSilhouette(vertices,
+                                                                                   indexNewVertex,
+                                                                                   triangleStore)) {
+                mOwnerTriangle->setIsObsolete(false);
 
                 triangleStore.setNbTriangles(backup);
 
-                TriangleEPA* triangle = triangleStore.newTriangle(vertices, indexNewVertex, getTargetVertexIndex(), getSourceVertexIndex());
+                TriangleEPA* triangle = triangleStore.newTriangle(vertices, indexNewVertex,
+                                                                  getTargetVertexIndex(),
+                                                                  getSourceVertexIndex());
 
                 if (triangle) {
                     halfLink(EdgeEPA(triangle, 1), *this);

src/collision/narrowphase/EPA/EdgeEPA.h

@@ -44,31 +44,67 @@ class TrianglesStore;
     -------------------------------------------------------------------
 */
 class EdgeEPA {
+
     private:
-        TriangleEPA* ownerTriangle;         // Pointer to the triangle that contains this edge
+
-        int index;                          // Index of the edge in the triangle (between 0 and 2). 
+        // -------------------- Attributes -------------------- //
-                                            // The edge with index i connect triangle vertices i and (i+1 % 3)
+
+        // Pointer to the triangle that contains this edge
+        TriangleEPA* mOwnerTriangle;
+
+        // Index of the edge in the triangle (between 0 and 2).
+        // The edge with index i connect triangle vertices i and (i+1 % 3)
+        int mIndex;
 
     public:
-        EdgeEPA();                                                      // Constructor
+
-        EdgeEPA(TriangleEPA* ownerTriangle, int index);                 // Constructor
+        // -------------------- Methods -------------------- //
-        ~EdgeEPA();                                                     // Destructor
+
-        TriangleEPA* getOwnerTriangle() const;                          // Return the pointer to the owner triangle
+        // Constructor
-        int getIndex() const;                                           // Return the index of the edge in the triangle
+        EdgeEPA();
-        uint getSourceVertexIndex() const;                              // Return index of the source vertex of the edge
+
-        uint getTargetVertexIndex() const;                              // Return the index of the target vertex of the edge
+        // Constructor
-        bool computeSilhouette(const Vector3* vertices, uint index,
+        EdgeEPA(TriangleEPA* ownerTriangle, int index);
-                               TrianglesStore& triangleStore);          // Execute the recursive silhouette algorithm from this edge
+
+        // Copy-constructor
+        EdgeEPA(const EdgeEPA& edge);
+
+        // Destructor
+        ~EdgeEPA();
+
+        // Return the pointer to the owner triangle
+        TriangleEPA* getOwnerTriangle() const;
+
+        // Return the index of the edge in the triangle
+        int getIndex() const;
+
+        // Return index of the source vertex of the edge
+        uint getSourceVertexIndex() const;
+
+        // Return the index of the target vertex of the edge
+        uint getTargetVertexIndex() const;
+
+        // Execute the recursive silhouette algorithm from this edge
+        bool computeSilhouette(const Vector3* vertices, uint index, TrianglesStore& triangleStore);
+
+        // Assignment operator
+        EdgeEPA& operator=(const EdgeEPA& edge);
 };
 
 // Return the pointer to the owner triangle
 inline TriangleEPA* EdgeEPA::getOwnerTriangle() const {
-    return ownerTriangle;
+    return mOwnerTriangle;
 }
 
 // Return the edge index
 inline int EdgeEPA::getIndex() const {
-    return index;
+    return mIndex;
+}
+
+// Assignment operator
+inline EdgeEPA& EdgeEPA::operator=(const EdgeEPA& edge) {
+    mOwnerTriangle = edge.mOwnerTriangle;
+    mIndex = edge.mIndex;
 }
 
 // Return the index of the next counter-clockwise edge of the ownver triangle

src/collision/narrowphase/EPA/TriangleEPA.cpp

@@ -39,10 +39,10 @@ TriangleEPA::TriangleEPA() {
 
 // Constructor
 TriangleEPA::TriangleEPA(uint indexVertex1, uint indexVertex2, uint indexVertex3)
-            : isObsolete(false) {
+            : mIsObsolete(false) {
-    indicesVertices[0] = indexVertex1;
+    mIndicesVertices[0] = indexVertex1;
-    indicesVertices[1] = indexVertex2;
+    mIndicesVertices[1] = indexVertex2;
-    indicesVertices[2] = indexVertex3;
+    mIndicesVertices[2] = indexVertex3;
 }
 
 // Destructor
@@ -52,10 +52,10 @@ TriangleEPA::~TriangleEPA() {
 
 // Compute the point v closest to the origin of this triangle
 bool TriangleEPA::computeClosestPoint(const Vector3* vertices) {
-    const Vector3& p0 = vertices[indicesVertices[0]];
+    const Vector3& p0 = vertices[mIndicesVertices[0]];
 
-    Vector3 v1 = vertices[indicesVertices[1]] - p0;
+    Vector3 v1 = vertices[mIndicesVertices[1]] - p0;
-    Vector3 v2 = vertices[indicesVertices[2]] - p0;
+    Vector3 v2 = vertices[mIndicesVertices[2]] - p0;
     decimal v1Dotv1 = v1.dot(v1);
     decimal v1Dotv2 = v1.dot(v2);
     decimal v2Dotv2 = v2.dot(v2);
@@ -63,19 +63,19 @@ bool TriangleEPA::computeClosestPoint(const Vector3* vertices) {
     decimal p0Dotv2 = p0.dot(v2);
 
     // Compute determinant
-    det = v1Dotv1 * v2Dotv2 - v1Dotv2 * v1Dotv2;
+    mDet = v1Dotv1 * v2Dotv2 - v1Dotv2 * v1Dotv2;
 
     // Compute lambda values
-    lambda1 = p0Dotv2 * v1Dotv2 - p0Dotv1 * v2Dotv2;
+    mLambda1 = p0Dotv2 * v1Dotv2 - p0Dotv1 * v2Dotv2;
-    lambda2 = p0Dotv1 * v1Dotv2 - p0Dotv2 * v1Dotv1;
+    mLambda2 = p0Dotv1 * v1Dotv2 - p0Dotv2 * v1Dotv1;
 
     // If the determinant is positive
-    if (det > 0.0) {
+    if (mDet > 0.0) {
         // Compute the closest point v
-        closestPoint = p0 + 1.0 / det * (lambda1 * v1 + lambda2 * v2);
+        mClosestPoint = p0 + 1.0 / mDet * (mLambda1 * v1 + mLambda2 * v2);
 
         // Compute the square distance of closest point to the origin
-        distSquare = closestPoint.dot(closestPoint);
+        mDistSquare = mClosestPoint.dot(mClosestPoint);
 
         return true;
     }
@@ -91,8 +91,8 @@ bool reactphysics3d::link(const EdgeEPA& edge0, const EdgeEPA& edge1) {
                        edge0.getTargetVertexIndex() == edge1.getSourceVertexIndex());
 
     if (isPossible) {
-        edge0.getOwnerTriangle()->adjacentEdges[edge0.getIndex()] = edge1;
+        edge0.getOwnerTriangle()->mAdjacentEdges[edge0.getIndex()] = edge1;
-        edge1.getOwnerTriangle()->adjacentEdges[edge1.getIndex()] = edge0;
+        edge1.getOwnerTriangle()->mAdjacentEdges[edge1.getIndex()] = edge0;
     }
 
     return isPossible;
@@ -107,7 +107,7 @@ void reactphysics3d::halfLink(const EdgeEPA& edge0, const EdgeEPA& edge1) {
            edge0.getTargetVertexIndex() == edge1.getSourceVertexIndex());
 
     // Link
-    edge0.getOwnerTriangle()->adjacentEdges[edge0.getIndex()] = edge1;
+    edge0.getOwnerTriangle()->mAdjacentEdges[edge0.getIndex()] = edge1;
 }
 
 // Execute the recursive silhouette algorithm from this triangle face
@@ -128,9 +128,9 @@ bool TriangleEPA::computeSilhouette(const Vector3* vertices, uint indexNewVertex
 
     // Execute recursively the silhouette algorithm for the adjacent edges of neighboring
     // triangles of the current triangle
-    bool result = adjacentEdges[0].computeSilhouette(vertices, indexNewVertex, triangleStore) &&
+    bool result = mAdjacentEdges[0].computeSilhouette(vertices, indexNewVertex, triangleStore) &&
-                  adjacentEdges[1].computeSilhouette(vertices, indexNewVertex, triangleStore) &&
+                  mAdjacentEdges[1].computeSilhouette(vertices, indexNewVertex, triangleStore) &&
-                  adjacentEdges[2].computeSilhouette(vertices, indexNewVertex, triangleStore);
+                  mAdjacentEdges[2].computeSilhouette(vertices, indexNewVertex, triangleStore);
 
     if (result) {
         int i,j;

src/collision/narrowphase/EPA/TriangleEPA.h

@@ -47,95 +47,155 @@ void halfLink(const EdgeEPA& edge0, const EdgeEPA& edge1);
     -------------------------------------------------------------------
 */
 class TriangleEPA {
+
     private:
-        uint indicesVertices[3];    // Indices of the vertices y_i of the triangle
+
-        EdgeEPA adjacentEdges[3];   // Three adjacent edges of the triangle (edges of other triangles)
+        // -------------------- Attributes -------------------- //
-        bool isObsolete;            // True if the triangle face is visible from the new support point
+
-        decimal det;                // Determinant
+        // Indices of the vertices y_i of the triangle
-        Vector3 closestPoint;       // Point v closest to the origin on the affine hull of the triangle
+        uint mIndicesVertices[3];
-        decimal lambda1;            // Lambda1 value such that v = lambda0 * y_0 + lambda1 * y_1 + lambda2 * y_2
+
-        decimal lambda2;            // Lambda1 value such that v = lambda0 * y_0 + lambda1 * y_1 + lambda2 * y_2
+        // Three adjacent edges of the triangle (edges of other triangles)
-        decimal distSquare;         // Square distance of the point closest point v to the origin
+        EdgeEPA mAdjacentEdges[3];
+
+        // True if the triangle face is visible from the new support point
+        bool mIsObsolete;
+
+        // Determinant
+        decimal mDet;
+
+        // Point v closest to the origin on the affine hull of the triangle
+        Vector3 mClosestPoint;
+
+        // Lambda1 value such that v = lambda0 * y_0 + lambda1 * y_1 + lambda2 * y_2
+        decimal mLambda1;
+
+        // Lambda1 value such that v = lambda0 * y_0 + lambda1 * y_1 + lambda2 * y_2
+        decimal mLambda2;
+
+        // Square distance of the point closest point v to the origin
+        decimal mDistSquare;
+
+        // -------------------- Methods -------------------- //
+
+        // Private copy-constructor
+        TriangleEPA(const TriangleEPA& triangle);
+
+        // Private assignment operator
+        TriangleEPA& operator=(const TriangleEPA& triangle);
 
     public:
-        TriangleEPA();                              // Constructor
-        TriangleEPA(uint v1, uint v2, uint v3);     // Constructor
-        ~TriangleEPA();                             // Destructor
 
-        EdgeEPA& getAdjacentEdge(int index);                                                // Return an adjacent edge of the triangle
+        // -------------------- Methods -------------------- //
-        void setAdjacentEdge(int index, EdgeEPA& edge);                                     // Set an adjacent edge of the triangle
-        decimal getDistSquare() const;                                                       // Return the square distance  of the closest point to origin
-        void setIsObsolete(bool isObsolete);                                                // Set the isObsolete value
-        bool getIsObsolete() const;                                                         // Return true if the triangle face is obsolete
-        const Vector3& getClosestPoint() const;                                            // Return the point closest to the origin
-        bool isClosestPointInternalToTriangle() const;                                      // Return true if the closest point on affine hull is inside the triangle
-        bool isVisibleFromVertex(const Vector3* vertices, uint index) const;               // Return true if the triangle is visible from a given vertex
-        bool computeClosestPoint(const Vector3* vertices);                                 // Compute the point v closest to the origin of this triangle
-        Vector3 computeClosestPointOfObject(const Vector3* supportPointsOfObject) const;  // Compute the point of an object closest to the origin
-        bool computeSilhouette(const Vector3* vertices, uint index,
-                               TrianglesStore& triangleStore);                              // Execute the recursive silhouette algorithm from this triangle face
 
-        uint operator[](int i) const;                                                       // Access operator
+        // Constructor
-        friend bool link(const EdgeEPA& edge0, const EdgeEPA& edge1);                       // Associate two edges
+        TriangleEPA();
-        friend void halfLink(const EdgeEPA& edge0, const EdgeEPA& edge1);                   // Make a half-link between two edges
+
+        // Constructor
+        TriangleEPA(uint v1, uint v2, uint v3);
+
+        // Destructor
+        ~TriangleEPA();
+
+        // Return an adjacent edge of the triangle
+        EdgeEPA& getAdjacentEdge(int index);
+
+        // Set an adjacent edge of the triangle
+        void setAdjacentEdge(int index, EdgeEPA& edge);
+
+        // Return the square distance of the closest point to origin
+        decimal getDistSquare() const;
+
+        // Set the isObsolete value
+        void setIsObsolete(bool isObsolete);
+
+        // Return true if the triangle face is obsolete
+        bool getIsObsolete() const;
+
+        // Return the point closest to the origin
+        const Vector3& getClosestPoint() const;
+
+        // Return true if the closest point on affine hull is inside the triangle
+        bool isClosestPointInternalToTriangle() const;
+
+        // Return true if the triangle is visible from a given vertex
+        bool isVisibleFromVertex(const Vector3* vertices, uint index) const;
+
+        // Compute the point v closest to the origin of this triangle
+        bool computeClosestPoint(const Vector3* vertices);
+
+        // Compute the point of an object closest to the origin
+        Vector3 computeClosestPointOfObject(const Vector3* supportPointsOfObject) const;
+
+        // Execute the recursive silhouette algorithm from this triangle face
+        bool computeSilhouette(const Vector3* vertices, uint index, TrianglesStore& triangleStore);
+
+        // Access operator
+        uint operator[](int i) const;
+
+        // Associate two edges
+        friend bool link(const EdgeEPA& edge0, const EdgeEPA& edge1);
+
+        // Make a half-link between two edges
+        friend void halfLink(const EdgeEPA& edge0, const EdgeEPA& edge1);
 };
 
 // Return an edge of the triangle
 inline EdgeEPA& TriangleEPA::getAdjacentEdge(int index) {
     assert(index >= 0 && index < 3);
-    return adjacentEdges[index];
+    return mAdjacentEdges[index];
 }
 
 // Set an adjacent edge of the triangle
 inline void TriangleEPA::setAdjacentEdge(int index, EdgeEPA& edge) {
     assert(index >=0 && index < 3);
-    adjacentEdges[index] = edge;
+    mAdjacentEdges[index] = edge;
 }
 
 // Return the square distance  of the closest point to origin
 inline decimal TriangleEPA::getDistSquare() const {
-    return distSquare;
+    return mDistSquare;
 }
 
 // Set the isObsolete value
 inline void TriangleEPA::setIsObsolete(bool isObsolete) {
-    this->isObsolete = isObsolete;
+    mIsObsolete = isObsolete;
 }
 
 // Return true if the triangle face is obsolete
 inline bool TriangleEPA::getIsObsolete() const {
-    return isObsolete;
+    return mIsObsolete;
 }
 
 // Return the point closest to the origin
 inline const Vector3& TriangleEPA::getClosestPoint() const {
-    return closestPoint;
+    return mClosestPoint;
 }
 
 // Return true if the closest point on affine hull is inside the triangle
 inline bool TriangleEPA::isClosestPointInternalToTriangle() const {
-    return (lambda1 >= 0.0 && lambda2 >= 0.0 && (lambda1 + lambda2) <= det);
+    return (mLambda1 >= 0.0 && mLambda2 >= 0.0 && (mLambda1 + mLambda2) <= mDet);
 }
 
 // Return true if the triangle is visible from a given vertex
 inline bool TriangleEPA::isVisibleFromVertex(const Vector3* vertices, uint index) const {
-    Vector3 closestToVert = vertices[index] - closestPoint;
+    Vector3 closestToVert = vertices[index] - mClosestPoint;
-    return (closestPoint.dot(closestToVert) > 0.0);
+    return (mClosestPoint.dot(closestToVert) > 0.0);
 }
 
 // Compute the point of an object closest to the origin
-inline Vector3 TriangleEPA::computeClosestPointOfObject(const Vector3* supportPointsOfObject) const {
+inline Vector3 TriangleEPA::computeClosestPointOfObject(const Vector3* supportPointsOfObject) const{
-    const Vector3& p0 = supportPointsOfObject[indicesVertices[0]];
+    const Vector3& p0 = supportPointsOfObject[mIndicesVertices[0]];
-    return p0 + 1.0/det * (lambda1 * (supportPointsOfObject[indicesVertices[1]] - p0) +
+    return p0 + 1.0/mDet * (mLambda1 * (supportPointsOfObject[mIndicesVertices[1]] - p0) +
-                           lambda2 * (supportPointsOfObject[indicesVertices[2]] - p0));
+                           mLambda2 * (supportPointsOfObject[mIndicesVertices[2]] - p0));
 }
 
 // Access operator
 inline uint TriangleEPA::operator[](int i) const {
     assert(i >= 0 && i <3);
-    return indicesVertices[i];
+    return mIndicesVertices[i];
 }
 
 }   // End of ReactPhysics3D namespace
 
-#endif
+#endif

src/collision/narrowphase/EPA/TrianglesStore.cpp

@@ -30,7 +30,7 @@
 using namespace reactphysics3d;
 
 // Constructor
-TrianglesStore::TrianglesStore() : nbTriangles(0) {
+TrianglesStore::TrianglesStore() : mNbTriangles(0) {
     
 }
 

src/collision/narrowphase/EPA/TrianglesStore.h

@@ -46,55 +46,86 @@ const unsigned int MAX_TRIANGLES = 200;     // Maximum number of triangles
     -------------------------------------------------------------------
 */
 class TrianglesStore {
+
     private:
-        TriangleEPA triangles[MAX_TRIANGLES];       // Triangles
+
-        int nbTriangles;                            // Number of triangles
+        // -------------------- Attributes -------------------- //
+
+        // Triangles
+        TriangleEPA mTriangles[MAX_TRIANGLES];
+
+        // Number of triangles
+        int mNbTriangles;
+
+        // -------------------- Methods -------------------- //
+
+        // Private copy-constructor
+        TrianglesStore(const TrianglesStore& triangleStore);
+
+        // Private assignment operator
+        TrianglesStore& operator=(const TrianglesStore& triangleStore);
         
     public:
-        TrianglesStore();                           // Constructor
-        ~TrianglesStore();                          // Destructor
 
-        void clear();                               // Clear all the storage
+        // -------------------- Methods -------------------- //
-        int getNbTriangles() const;                 // Return the number of triangles
-        void setNbTriangles(int backup);            // Set the number of triangles
-        TriangleEPA& last();                        // Return the last triangle
 
-        TriangleEPA* newTriangle(const Vector3* vertices, uint v0, uint v1, uint v2);  // Create a new triangle
+        // Constructor
+        TrianglesStore();
 
-        TriangleEPA& operator[](int i);     // Access operator
+        // Destructor
+        ~TrianglesStore();
+
+        // Clear all the storage
+        void clear();
+
+        // Return the number of triangles
+        int getNbTriangles() const;
+
+        // Set the number of triangles
+        void setNbTriangles(int backup);
+
+        // Return the last triangle
+        TriangleEPA& last();
+
+        // Create a new triangle
+        TriangleEPA* newTriangle(const Vector3* vertices, uint v0, uint v1, uint v2);
+
+        // Access operator
+        TriangleEPA& operator[](int i);
 };
 
 // Clear all the storage
 inline void TrianglesStore::clear() {
-    nbTriangles = 0;
+    mNbTriangles = 0;
 }
 
 // Return the number of triangles
 inline int TrianglesStore::getNbTriangles() const {
-    return nbTriangles;
+    return mNbTriangles;
 }
 
 
 inline void TrianglesStore::setNbTriangles(int backup) {
-    nbTriangles = backup;
+    mNbTriangles = backup;
 }
 
 // Return the last triangle
 inline TriangleEPA& TrianglesStore::last() {
-    assert(nbTriangles > 0);
+    assert(mNbTriangles > 0);
-    return triangles[nbTriangles - 1];
+    return mTriangles[mNbTriangles - 1];
 }
 
 // Create a new triangle
-inline TriangleEPA* TrianglesStore::newTriangle(const Vector3* vertices, uint v0, uint v1, uint v2) {
+inline TriangleEPA* TrianglesStore::newTriangle(const Vector3* vertices,
+                                                uint v0,uint v1, uint v2) {
     TriangleEPA* newTriangle = 0;
 
     // If we have not reached the maximum number of triangles
-    if (nbTriangles != MAX_TRIANGLES) {
+    if (mNbTriangles != MAX_TRIANGLES) {
-        newTriangle = &triangles[nbTriangles++];
+        newTriangle = &mTriangles[mNbTriangles++];
         new (newTriangle) TriangleEPA(v0, v1, v2);
         if (!newTriangle->computeClosestPoint(vertices)) {
-            nbTriangles--;
+            mNbTriangles--;
             newTriangle = 0;
         }
     }
@@ -105,9 +136,9 @@ inline TriangleEPA* TrianglesStore::newTriangle(const Vector3* vertices, uint v0
 
 // Access operator
 inline TriangleEPA& TrianglesStore::operator[](int i) {
-    return triangles[i];
+    return mTriangles[i];
 }
 
 }   // End of ReactPhysics3D namespace
 
-#endif
+#endif

src/collision/narrowphase/GJK/GJKAlgorithm.cpp

@@ -32,15 +32,13 @@
 #include <cmath>
 #include <cfloat>
 #include <cassert>
-#include <iostream> // TODO : DELETE THIS
-
 
 // We want to use the ReactPhysics3D namespace
 using namespace reactphysics3d;
 
 // Constructor
 GJKAlgorithm::GJKAlgorithm(MemoryPool<ContactInfo>& memoryPoolContactInfos)
-             :NarrowPhaseAlgorithm(memoryPoolContactInfos), algoEPA(memoryPoolContactInfos) {
+             :NarrowPhaseAlgorithm(memoryPoolContactInfos), mAlgoEPA(memoryPoolContactInfos) {
     
 }
 
@@ -59,8 +57,10 @@ GJKAlgorithm::~GJKAlgorithm() {
 // algorithm on the enlarged object to obtain a simplex polytope that contains the
 // origin, they we give that simplex polytope to the EPA algorithm which will compute
 // the correct penetration depth and contact points between the enlarged objects.
-bool GJKAlgorithm::testCollision(const CollisionShape* collisionShape1, const Transform& transform1,
+bool GJKAlgorithm::testCollision(const CollisionShape* collisionShape1,
-                                 const CollisionShape* collisionShape2,  const Transform& transform2,
+                                 const Transform& transform1,
+                                 const CollisionShape* collisionShape2,
+                                 const Transform& transform2,
 		                         ContactInfo*& contactInfo) {
     
     Vector3 suppA;             // Support point of object A
@@ -71,11 +71,14 @@ bool GJKAlgorithm::testCollision(const CollisionShape* collisionShape1, const Tr
     decimal vDotw;
     decimal prevDistSquare;
 
-    // Transform a point from local space of body 2 to local space of body 1 (the GJK algorithm is done in local space of body 1)
+    // Transform a point from local space of body 2 to local
+    // space of body 1 (the GJK algorithm is done in local space of body 1)
     Transform body2Tobody1 = transform1.inverse() * transform2;
 
-    // Matrix that transform a direction from local space of body 1 into local space of body 2
+    // Matrix that transform a direction from local
-    Matrix3x3 rotateToBody2 = transform2.getOrientation().getMatrix().getTranspose() * transform1.getOrientation().getMatrix();
+    // space of body 1 into local space of body 2
+    Matrix3x3 rotateToBody2 = transform2.getOrientation().getMatrix().getTranspose() *
+                              transform1.getOrientation().getMatrix();
 
     // Initialize the margin (sum of margins of both objects)
     decimal margin = 2 * OBJECT_MARGIN;
@@ -86,7 +89,7 @@ bool GJKAlgorithm::testCollision(const CollisionShape* collisionShape1, const Tr
     Simplex simplex;
 
     // Get the previous point V (last cached separating axis)
-    Vector3 v = currentOverlappingPair->previousSeparatingAxis;
+    Vector3 v = mCurrentOverlappingPair->previousSeparatingAxis;
 
     // Initialize the upper bound for the square distance
     decimal distSquare = DECIMAL_LARGEST;
@@ -106,7 +109,7 @@ bool GJKAlgorithm::testCollision(const CollisionShape* collisionShape1, const Tr
         if (vDotw > 0.0 && vDotw * vDotw > distSquare * marginSquare) {
                         
             // Cache the current separating axis for frame coherence
-            currentOverlappingPair->previousSeparatingAxis = v;
+            mCurrentOverlappingPair->previousSeparatingAxis = v;
             
             // No intersection, we return false
             return false;
@@ -132,7 +135,9 @@ bool GJKAlgorithm::testCollision(const CollisionShape* collisionShape1, const Tr
 			if (penetrationDepth <= 0.0) return false;
 			
             // Create the contact info object
-            contactInfo = new (memoryPoolContactInfos.allocateObject()) ContactInfo(normal, penetrationDepth, pA, pB);
+            contactInfo = new (mMemoryPoolContactInfos.allocateObject()) ContactInfo(normal,
+                                                                                   penetrationDepth,
+                                                                                    pA, pB);
 
             // There is an intersection, therefore we return true
             return true;
@@ -161,7 +166,9 @@ bool GJKAlgorithm::testCollision(const CollisionShape* collisionShape1, const Tr
 			if (penetrationDepth <= 0.0) return false;
 			
             // Create the contact info object
-            contactInfo = new (memoryPoolContactInfos.allocateObject()) ContactInfo(normal, penetrationDepth, pA, pB);
+            contactInfo = new (mMemoryPoolContactInfos.allocateObject()) ContactInfo(normal,
+                                                                                   penetrationDepth,
+                                                                                   pA, pB);
 
             // There is an intersection, therefore we return true
             return true;
@@ -188,7 +195,9 @@ bool GJKAlgorithm::testCollision(const CollisionShape* collisionShape1, const Tr
 			if (penetrationDepth <= 0.0) return false;
 			
             // Create the contact info object
-            contactInfo = new (memoryPoolContactInfos.allocateObject()) ContactInfo(normal, penetrationDepth, pA, pB);
+            contactInfo = new (mMemoryPoolContactInfos.allocateObject()) ContactInfo(normal,
+                                                                                   penetrationDepth,
+                                                                                    pA, pB);
 
             // There is an intersection, therefore we return true
             return true;
@@ -223,18 +232,22 @@ bool GJKAlgorithm::testCollision(const CollisionShape* collisionShape1, const Tr
 			if (penetrationDepth <= 0.0) return false;
 			
             // Create the contact info object
-            contactInfo = new (memoryPoolContactInfos.allocateObject()) ContactInfo(normal, penetrationDepth, pA, pB);
+            contactInfo = new (mMemoryPoolContactInfos.allocateObject()) ContactInfo(normal,
+                                                                                   penetrationDepth,
+                                                                                    pA, pB);
 
             // There is an intersection, therefore we return true
             return true;
         }
-    } while(!simplex.isFull() && distSquare > MACHINE_EPSILON * simplex.getMaxLengthSquareOfAPoint());
+    } while(!simplex.isFull() && distSquare > MACHINE_EPSILON *
+                                 simplex.getMaxLengthSquareOfAPoint());
 
-    // The objects (without margins) intersect. Therefore, we run the GJK algorithm again but on the
+    // The objects (without margins) intersect. Therefore, we run the GJK algorithm
-    // enlarged objects to compute a simplex polytope that contains the origin. Then, we give that simplex
+    // again but on the enlarged objects to compute a simplex polytope that contains
-    // polytope to the EPA algorithm to compute the correct penetration depth and contact points between
+    // the origin. Then, we give that simplex polytope to the EPA algorithm to compute
-    // the enlarged objects.
+    // the correct penetration depth and contact points between the enlarged objects.
-    return computePenetrationDepthForEnlargedObjects(collisionShape1, transform1, collisionShape2, transform2, contactInfo, v);
+    return computePenetrationDepthForEnlargedObjects(collisionShape1, transform1, collisionShape2,
+                                                     transform2, contactInfo, v);
 }
 
 // This method runs the GJK algorithm on the two enlarged objects (with margin)
@@ -242,9 +255,12 @@ bool GJKAlgorithm::testCollision(const CollisionShape* collisionShape1, const Tr
 // assumed to intersect in the original objects (without margin). Therefore such
 // a polytope must exist. Then, we give that polytope to the EPA algorithm to
 // compute the correct penetration depth and contact points of the enlarged objects.
-bool GJKAlgorithm::computePenetrationDepthForEnlargedObjects(const CollisionShape* const collisionShape1, const Transform& transform1,
+bool GJKAlgorithm::computePenetrationDepthForEnlargedObjects(const CollisionShape* collisionShape1,
-                                                             const CollisionShape* const collisionShape2, const Transform& transform2,
+                                                             const Transform& transform1,
-                                                             ContactInfo*& contactInfo, Vector3& v) {
+                                                             const CollisionShape* collisionShape2,
+                                                             const Transform& transform2,
+                                                             ContactInfo*& contactInfo,
+                                                             Vector3& v) {
     Simplex simplex;
     Vector3 suppA;
     Vector3 suppB;
@@ -253,16 +269,19 @@ bool GJKAlgorithm::computePenetrationDepthForEnlargedObjects(const CollisionShap
     decimal distSquare = DECIMAL_LARGEST;
     decimal prevDistSquare;
 
-    // Transform a point from local space of body 2 to local space of body 1 (the GJK algorithm is done in local space of body 1)
+    // Transform a point from local space of body 2 to local space
+    // of body 1 (the GJK algorithm is done in local space of body 1)
     Transform body2ToBody1 = transform1.inverse() * transform2;
 
     // Matrix that transform a direction from local space of body 1 into local space of body 2
-    Matrix3x3 rotateToBody2 = transform2.getOrientation().getMatrix().getTranspose() * transform1.getOrientation().getMatrix();
+    Matrix3x3 rotateToBody2 = transform2.getOrientation().getMatrix().getTranspose() *
+                              transform1.getOrientation().getMatrix();
     
     do {
         // Compute the support points for the enlarged object A and B
         suppA = collisionShape1->getLocalSupportPoint(-v, OBJECT_MARGIN);
-        suppB = body2ToBody1 * collisionShape2->getLocalSupportPoint(rotateToBody2 * v, OBJECT_MARGIN);
+        suppB = body2ToBody1 * collisionShape2->getLocalSupportPoint(rotateToBody2 * v,
+                                                                     OBJECT_MARGIN);
 
         // Compute the support point for the Minkowski difference A-B
         w = suppA - suppB;
@@ -294,9 +313,13 @@ bool GJKAlgorithm::computePenetrationDepthForEnlargedObjects(const CollisionShap
             return false;
         }
 
-    } while(!simplex.isFull() && distSquare > MACHINE_EPSILON * simplex.getMaxLengthSquareOfAPoint());
+    } while(!simplex.isFull() && distSquare > MACHINE_EPSILON *
+                                 simplex.getMaxLengthSquareOfAPoint());
 
-    // Give the simplex computed with GJK algorithm to the EPA algorithm which will compute the correct
+    // Give the simplex computed with GJK algorithm to the EPA algorithm
-    // penetration depth and contact points between the two enlarged objects
+    // which will compute the correct penetration depth and contact points
-    return algoEPA.computePenetrationDepthAndContactPoints(simplex, collisionShape1, transform1, collisionShape2, transform2, v, contactInfo);
+    // between the two enlarged objects
+    return mAlgoEPA.computePenetrationDepthAndContactPoints(simplex, collisionShape1,
+                                                            transform1, collisionShape2, transform2,
+                                                            v, contactInfo);
 }

src/collision/narrowphase/GJK/GJKAlgorithm.h

@@ -58,20 +58,45 @@ const decimal REL_ERROR_SQUARE = REL_ERROR * REL_ERROR;
     -------------------------------------------------------------------
 */
 class GJKAlgorithm : public NarrowPhaseAlgorithm {
-    private :
-        EPAAlgorithm algoEPA;             // EPA Algorithm
 
-        bool computePenetrationDepthForEnlargedObjects(const CollisionShape* collisionShape1, const Transform& transform1,
+    private :
-                                                       const CollisionShape* collisionShape2, const Transform& transform2,
+
-                                                       ContactInfo*& contactInfo, Vector3& v);             // Compute the penetration depth for enlarged objects
+        // -------------------- Attributes -------------------- //
+
+        // EPA Algorithm
+        EPAAlgorithm mAlgoEPA;
+
+        // -------------------- Methods -------------------- //
+
+        // Private copy-constructor
+        GJKAlgorithm(const GJKAlgorithm& algorithm);
+
+        // Private assignment operator
+        GJKAlgorithm& operator=(const GJKAlgorithm& algorithm);
+
+        // Compute the penetration depth for enlarged objects
+        bool computePenetrationDepthForEnlargedObjects(const CollisionShape* collisionShape1,
+                                                       const Transform& transform1,
+                                                       const CollisionShape* collisionShape2,
+                                                       const Transform& transform2,
+                                                       ContactInfo*& contactInfo, Vector3& v);
 
     public :
-        GJKAlgorithm(MemoryPool<ContactInfo>& memoryPoolContactInfos);  // Constructor
-        ~GJKAlgorithm();                                                // Destructor
 
-        virtual bool testCollision(const CollisionShape* collisionShape1, const Transform& transform1,
+        // -------------------- Methods -------------------- //
-                                   const CollisionShape* collisionShape2,  const Transform& transform2,
+
-                                   ContactInfo*& contactInfo);                      // Return true and compute a contact info if the two bounding volume collide
+        // Constructor
+        GJKAlgorithm(MemoryPool<ContactInfo>& memoryPoolContactInfos);
+
+        // Destructor
+        ~GJKAlgorithm();
+
+        // Return true and compute a contact info if the two bounding volume collide
+        virtual bool testCollision(const CollisionShape* collisionShape1,
+                                   const Transform& transform1,
+                                   const CollisionShape* collisionShape2,
+                                   const Transform& transform2,
+                                   ContactInfo*& contactInfo);
 };
 
 } // End of the ReactPhysics3D namespace

src/collision/narrowphase/GJK/Simplex.cpp

@@ -31,7 +31,7 @@
 using namespace reactphysics3d;
 
 // Constructor
-Simplex::Simplex() : bitsCurrentSimplex(0x0), allBits(0x0) {
+Simplex::Simplex() : mBitsCurrentSimplex(0x0), mAllBits(0x0) {
 
 }
 
@@ -47,22 +47,22 @@ Simplex::~Simplex() {
 void Simplex::addPoint(const Vector3& point, const Vector3& suppPointA, const Vector3& suppPointB) {
     assert(!isFull());
 
-    lastFound = 0;
+    mLastFound = 0;
-    lastFoundBit = 0x1;
+    mLastFoundBit = 0x1;
 
     // Look for the bit corresponding to one of the four point that is not in
     // the current simplex
-    while (overlap(bitsCurrentSimplex, lastFoundBit)) {
+    while (overlap(mBitsCurrentSimplex, mLastFoundBit)) {
-        lastFound++;
+        mLastFound++;
-        lastFoundBit <<= 1;
+        mLastFoundBit <<= 1;
     }
 
-    assert(lastFound >= 0 && lastFound < 4);
+    assert(mLastFound >= 0 && mLastFound < 4);
 
     // Add the point into the simplex
-    points[lastFound] = point;
+    mPoints[mLastFound] = point;
-    pointsLengthSquare[lastFound] = point.dot(point);
+    mPointsLengthSquare[mLastFound] = point.dot(point);
-    allBits = bitsCurrentSimplex | lastFoundBit;
+    mAllBits = mBitsCurrentSimplex | mLastFoundBit;
 
     // Update the cached values
     updateCache();
@@ -71,8 +71,8 @@ void Simplex::addPoint(const Vector3& point, const Vector3& suppPointA, const Ve
     computeDeterminants();
     
     // Add the support points of objects A and B
-    suppPointsA[lastFound] = suppPointA;
+    mSuppPointsA[mLastFound] = suppPointA;
-    suppPointsB[lastFound] = suppPointB;
+    mSuppPointsB[mLastFound] = suppPointB;
 }
 
 // Return true if the point is in the simplex
@@ -83,7 +83,7 @@ bool Simplex::isPointInSimplex(const Vector3& point) const {
     // For each four possible points in the simplex
     for (i=0, bit = 0x1; i<4; i++, bit <<= 1) {
         // Check if the current point is in the simplex
-        if (overlap(allBits, bit) && point == points[i]) return true;
+        if (overlap(mAllBits, bit) && point == mPoints[i]) return true;
     }
 
     return false;
@@ -97,20 +97,23 @@ void Simplex::updateCache() {
     // For each of the four possible points of the simplex
     for (i=0, bit = 0x1; i<4; i++, bit <<= 1) {
         // If the current points is in the simplex
-        if (overlap(bitsCurrentSimplex, bit)) {
+        if (overlap(mBitsCurrentSimplex, bit)) {
             
             // Compute the distance between two points in the possible simplex set
-            diffLength[i][lastFound] = points[i] - points[lastFound];
+            mDiffLength[i][mLastFound] = mPoints[i] - mPoints[mLastFound];
-            diffLength[lastFound][i] = -diffLength[i][lastFound];
+            mDiffLength[mLastFound][i] = -mDiffLength[i][mLastFound];
 
-            // Compute the squared length of the vector distances from points in the possible simplex set
+            // Compute the squared length of the vector
-            normSquare[i][lastFound] = normSquare[lastFound][i] = diffLength[i][lastFound].dot(diffLength[i][lastFound]);
+            // distances from points in the possible simplex set
+            mNormSquare[i][mLastFound] = mNormSquare[mLastFound][i] =
+                                         mDiffLength[i][mLastFound].dot(mDiffLength[i][mLastFound]);
         }
     }
 }
 
 // Return the points of the simplex
-unsigned int Simplex::getSimplex(Vector3* suppPointsA, Vector3* suppPointsB, Vector3* points) const {
+unsigned int Simplex::getSimplex(Vector3* suppPointsA, Vector3* suppPointsB,
+                                 Vector3* points) const {
     unsigned int nbVertices = 0;
     int i;
     Bits bit;
@@ -118,11 +121,11 @@ unsigned int Simplex::getSimplex(Vector3* suppPointsA, Vector3* suppPointsB, Vec
     // For each four point in the possible simplex
     for (i=0, bit=0x1; i<4; i++, bit <<=1) {
         // If the current point is in the simplex
-        if (overlap(bitsCurrentSimplex, bit)) {
+        if (overlap(mBitsCurrentSimplex, bit)) {
             // Store the points
-            suppPointsA[nbVertices] = this->suppPointsA[nbVertices];
+            suppPointsA[nbVertices] = this->mSuppPointsA[nbVertices];
-            suppPointsB[nbVertices] = this->suppPointsB[nbVertices];
+            suppPointsB[nbVertices] = this->mSuppPointsB[nbVertices];
-            points[nbVertices] = this->points[nbVertices];
+            points[nbVertices] = this->mPoints[nbVertices];
 
             nbVertices++;
         }
@@ -134,7 +137,7 @@ unsigned int Simplex::getSimplex(Vector3* suppPointsA, Vector3* suppPointsB, Vec
 
 // Compute the cached determinant values
 void Simplex::computeDeterminants() {
-    det[lastFoundBit][lastFound] = 1.0;
+    mDet[mLastFoundBit][mLastFound] = 1.0;
 
     // If the current simplex is not empty
     if (!isEmpty()) {
@@ -145,59 +148,72 @@ void Simplex::computeDeterminants() {
         for (i=0, bitI = 0x1; i<4; i++, bitI <<= 1) {
 
             // If the current point is in the simplex
-            if (overlap(bitsCurrentSimplex, bitI)) {
+            if (overlap(mBitsCurrentSimplex, bitI)) {
-                Bits bit2 = bitI | lastFoundBit;
+                Bits bit2 = bitI | mLastFoundBit;
 
-                det[bit2][i] = diffLength[lastFound][i].dot(points[lastFound]);
+                mDet[bit2][i] = mDiffLength[mLastFound][i].dot(mPoints[mLastFound]);
-                det[bit2][lastFound] = diffLength[i][lastFound].dot(points[i]);
+                mDet[bit2][mLastFound] = mDiffLength[i][mLastFound].dot(mPoints[i]);
       
 
                 int j;
                 Bits bitJ;
 
                 for (j=0, bitJ = 0x1; j<i; j++, bitJ <<= 1) {
-                    if (overlap(bitsCurrentSimplex, bitJ)) {
+                    if (overlap(mBitsCurrentSimplex, bitJ)) {
                         int k;
                         Bits bit3 = bitJ | bit2;
 
-                        k = normSquare[i][j] < normSquare[lastFound][j] ? i : lastFound;
+                        k = mNormSquare[i][j] < mNormSquare[mLastFound][j] ? i : mLastFound;
-                        det[bit3][j] = det[bit2][i] * diffLength[k][j].dot(points[i]) +
+                        mDet[bit3][j] = mDet[bit2][i] * mDiffLength[k][j].dot(mPoints[i]) +
-                                       det[bit2][lastFound] * diffLength[k][j].dot(points[lastFound]);
+                                       mDet[bit2][mLastFound] *
+                                       mDiffLength[k][j].dot(mPoints[mLastFound]);
 
-                        k = normSquare[j][i] < normSquare[lastFound][i] ? j : lastFound;
+                        k = mNormSquare[j][i] < mNormSquare[mLastFound][i] ? j : mLastFound;
-                        det[bit3][i] = det[bitJ | lastFoundBit][j] * diffLength[k][i].dot(points[j]) +
+                        mDet[bit3][i] = mDet[bitJ | mLastFoundBit][j] *
-                                       det[bitJ | lastFoundBit][lastFound] * diffLength[k][i].dot(points[lastFound]);
+                                        mDiffLength[k][i].dot(mPoints[j]) +
+                                        mDet[bitJ | mLastFoundBit][mLastFound] *
+                                        mDiffLength[k][i].dot(mPoints[mLastFound]);
 
-                        k = normSquare[i][lastFound] < normSquare[j][lastFound] ? i : j;
+                        k = mNormSquare[i][mLastFound] < mNormSquare[j][mLastFound] ? i : j;
-                        det[bit3][lastFound] = det[bitJ | bitI][j] * diffLength[k][lastFound].dot(points[j]) +
+                        mDet[bit3][mLastFound] = mDet[bitJ | bitI][j] *
-                                               det[bitJ | bitI][i] * diffLength[k][lastFound].dot(points[i]);
+                                                 mDiffLength[k][mLastFound].dot(mPoints[j]) +
+                                                 mDet[bitJ | bitI][i] *
+                                                 mDiffLength[k][mLastFound].dot(mPoints[i]);
                     }
                 }
             }
         }
 
-        if (allBits == 0xf) {
+        if (mAllBits == 0xf) {
             int k;
 
-            k = normSquare[1][0] < normSquare[2][0] ? (normSquare[1][0] < normSquare[3][0] ? 1 : 3) : (normSquare[2][0] < normSquare[3][0] ? 2 : 3);
+            k = mNormSquare[1][0] < mNormSquare[2][0] ?
-            det[0xf][0] = det[0xe][1] * diffLength[k][0].dot(points[1]) +
+                                   (mNormSquare[1][0] < mNormSquare[3][0] ? 1 : 3) :
-                        det[0xe][2] * diffLength[k][0].dot(points[2]) +
+                                   (mNormSquare[2][0] < mNormSquare[3][0] ? 2 : 3);
-                        det[0xe][3] * diffLength[k][0].dot(points[3]);
+            mDet[0xf][0] = mDet[0xe][1] * mDiffLength[k][0].dot(mPoints[1]) +
+                        mDet[0xe][2] * mDiffLength[k][0].dot(mPoints[2]) +
+                        mDet[0xe][3] * mDiffLength[k][0].dot(mPoints[3]);
 
-            k = normSquare[0][1] < normSquare[2][1] ? (normSquare[0][1] < normSquare[3][1] ? 0 : 3) : (normSquare[2][1] < normSquare[3][1] ? 2 : 3);
+            k = mNormSquare[0][1] < mNormSquare[2][1] ?
-            det[0xf][1] = det[0xd][0] * diffLength[k][1].dot(points[0]) +
+                                   (mNormSquare[0][1] < mNormSquare[3][1] ? 0 : 3) :
-                        det[0xd][2] * diffLength[k][1].dot(points[2]) +
+                                   (mNormSquare[2][1] < mNormSquare[3][1] ? 2 : 3);
-                        det[0xd][3] * diffLength[k][1].dot(points[3]);
+            mDet[0xf][1] = mDet[0xd][0] * mDiffLength[k][1].dot(mPoints[0]) +
+                        mDet[0xd][2] * mDiffLength[k][1].dot(mPoints[2]) +
+                        mDet[0xd][3] * mDiffLength[k][1].dot(mPoints[3]);
 
-            k = normSquare[0][2] < normSquare[1][2] ? (normSquare[0][2] < normSquare[3][2] ? 0 : 3) : (normSquare[1][2] < normSquare[3][2] ? 1 : 3);
+            k = mNormSquare[0][2] < mNormSquare[1][2] ?
-            det[0xf][2] = det[0xb][0] * diffLength[k][2].dot(points[0]) +
+                                   (mNormSquare[0][2] < mNormSquare[3][2] ? 0 : 3) :
-                        det[0xb][1] * diffLength[k][2].dot(points[1]) +
+                                   (mNormSquare[1][2] < mNormSquare[3][2] ? 1 : 3);
-                        det[0xb][3] * diffLength[k][2].dot(points[3]);
+            mDet[0xf][2] = mDet[0xb][0] * mDiffLength[k][2].dot(mPoints[0]) +
+                        mDet[0xb][1] * mDiffLength[k][2].dot(mPoints[1]) +
+                        mDet[0xb][3] * mDiffLength[k][2].dot(mPoints[3]);
 
-            k = normSquare[0][3] < normSquare[1][3] ? (normSquare[0][3] < normSquare[2][3] ? 0 : 2) : (normSquare[1][3] < normSquare[2][3] ? 1 : 2);
+            k = mNormSquare[0][3] < mNormSquare[1][3] ?
-            det[0xf][3] = det[0x7][0] * diffLength[k][3].dot(points[0]) +
+                                   (mNormSquare[0][3] < mNormSquare[2][3] ? 0 : 2) :
-                        det[0x7][1] * diffLength[k][3].dot(points[1]) +
+                                   (mNormSquare[1][3] < mNormSquare[2][3] ? 1 : 2);
-                        det[0x7][2] * diffLength[k][3].dot(points[2]);
+            mDet[0xf][3] = mDet[0x7][0] * mDiffLength[k][3].dot(mPoints[0]) +
+                        mDet[0x7][1] * mDiffLength[k][3].dot(mPoints[1]) +
+                        mDet[0x7][2] * mDiffLength[k][3].dot(mPoints[2]);
         }
     }
 }
@@ -211,7 +227,7 @@ bool Simplex::isProperSubset(Bits subset) const {
 
     // For each four point of the possible simplex set
     for (i=0, bit=0x1; i<4; i++, bit <<=1) {
-        if (overlap(subset, bit) && det[subset][i] <= 0.0) {
+        if (overlap(subset, bit) && mDet[subset][i] <= 0.0) {
             return false;
         }
     }
@@ -228,8 +244,8 @@ bool Simplex::isAffinelyDependent() const {
 
     // For each four point of the possible simplex set
     for (i=0, bit=0x1; i<4; i++, bit <<= 1) {
-        if (overlap(allBits, bit)) {
+        if (overlap(mAllBits, bit)) {
-            sum += det[allBits][i];
+            sum += mDet[mAllBits][i];
         }
     }
 
@@ -246,18 +262,18 @@ bool Simplex::isValidSubset(Bits subset) const {
 
     // For each four point in the possible simplex set
     for (i=0, bit=0x1; i<4; i++, bit <<= 1) {
-        if (overlap(allBits, bit)) {
+        if (overlap(mAllBits, bit)) {
             // If the current point is in the subset
             if (overlap(subset, bit)) {
                 // If one delta(X)_i is smaller or equal to zero
-                if (det[subset][i] <= 0.0) {
+                if (mDet[subset][i] <= 0.0) {
                     // The subset is not valid
                     return false;
                 }
             }
             // If the point is not in the subset and the value delta(X U {y_j})_j
             // is bigger than zero
-            else if (det[subset | bit][i] > 0.0) {
+            else if (mDet[subset | bit][i] > 0.0) {
                 // The subset is not valid
                 return false;
             }
@@ -282,10 +298,10 @@ void Simplex::computeClosestPointsOfAandB(Vector3& pA, Vector3& pB) const {
     // For each four points in the possible simplex set
     for (i=0, bit=0x1; i<4; i++, bit <<= 1) {
         // If the current point is part of the simplex
-        if (overlap(bitsCurrentSimplex, bit)) {
+        if (overlap(mBitsCurrentSimplex, bit)) {
-            deltaX += det[bitsCurrentSimplex][i];
+            deltaX += mDet[mBitsCurrentSimplex][i];
-            pA += det[bitsCurrentSimplex][i] * suppPointsA[i];
+            pA += mDet[mBitsCurrentSimplex][i] * mSuppPointsA[i];
-            pB += det[bitsCurrentSimplex][i] * suppPointsB[i];
+            pB += mDet[mBitsCurrentSimplex][i] * mSuppPointsB[i];
         }
     }
 
@@ -303,21 +319,21 @@ bool Simplex::computeClosestPoint(Vector3& v) {
     Bits subset;
 
     // For each possible simplex set
-    for (subset=bitsCurrentSimplex; subset != 0x0; subset--) {
+    for (subset=mBitsCurrentSimplex; subset != 0x0; subset--) {
         // If the simplex is a subset of the current simplex and is valid for the Johnson's
         // algorithm test
-        if (isSubset(subset, bitsCurrentSimplex) && isValidSubset(subset | lastFoundBit)) {
+        if (isSubset(subset, mBitsCurrentSimplex) && isValidSubset(subset | mLastFoundBit)) {
-           bitsCurrentSimplex = subset | lastFoundBit;              // Add the last added point to the current simplex
+           mBitsCurrentSimplex = subset | mLastFoundBit;              // Add the last added point to the current simplex
-           v = computeClosestPointForSubset(bitsCurrentSimplex);    // Compute the closest point in the simplex
+           v = computeClosestPointForSubset(mBitsCurrentSimplex);    // Compute the closest point in the simplex
            return true;
         }
     }
 
     // If the simplex that contains only the last added point is valid for the Johnson's algorithm test
-    if (isValidSubset(lastFoundBit)) {
+    if (isValidSubset(mLastFoundBit)) {
-        bitsCurrentSimplex = lastFoundBit;                  // Set the current simplex to the set that contains only the last added point
+        mBitsCurrentSimplex = mLastFoundBit;                  // Set the current simplex to the set that contains only the last added point
-        maxLengthSquare = pointsLengthSquare[lastFound];    // Update the maximum square length
+        mMaxLengthSquare = mPointsLengthSquare[mLastFound];    // Update the maximum square length
-        v = points[lastFound];                              // The closest point of the simplex "v" is the last added point
+        v = mPoints[mLastFound];                              // The closest point of the simplex "v" is the last added point
         return true;
     }
 
@@ -330,13 +346,13 @@ void Simplex::backupClosestPointInSimplex(Vector3& v) {
     decimal minDistSquare = DECIMAL_LARGEST;
     Bits bit;
 
-    for (bit = allBits; bit != 0x0; bit--) {
+    for (bit = mAllBits; bit != 0x0; bit--) {
-        if (isSubset(bit, allBits) && isProperSubset(bit)) {
+        if (isSubset(bit, mAllBits) && isProperSubset(bit)) {
             Vector3 u = computeClosestPointForSubset(bit);
             decimal distSquare = u.dot(u);
             if (distSquare < minDistSquare) {
                 minDistSquare = distSquare;
-                bitsCurrentSimplex = bit;
+                mBitsCurrentSimplex = bit;
                 v = u;
             }
         }
@@ -347,7 +363,7 @@ void Simplex::backupClosestPointInSimplex(Vector3& v) {
 // represented by the bits "subset"
 Vector3 Simplex::computeClosestPointForSubset(Bits subset) {
     Vector3 v(0.0, 0.0, 0.0);      // Closet point v = sum(lambda_i * points[i])
-    maxLengthSquare = 0.0;
+    mMaxLengthSquare = 0.0;
     decimal deltaX = 0.0;            // deltaX = sum of all det[subset][i]
     int i;
     Bits bit;
@@ -357,14 +373,14 @@ Vector3 Simplex::computeClosestPointForSubset(Bits subset) {
         // If the current point is in the subset
         if (overlap(subset, bit)) {
             // deltaX = sum of all det[subset][i]
-            deltaX += det[subset][i];
+            deltaX += mDet[subset][i];
 
-            if (maxLengthSquare < pointsLengthSquare[i]) {
+            if (mMaxLengthSquare < mPointsLengthSquare[i]) {
-                maxLengthSquare = pointsLengthSquare[i];
+                mMaxLengthSquare = mPointsLengthSquare[i];
             }
 
             // Closest point v = sum(lambda_i * points[i])
-            v += det[subset][i] * points[i];
+            v += mDet[subset][i] * mPoints[i];
         }
     }
 
@@ -372,4 +388,4 @@ Vector3 Simplex::computeClosestPointForSubset(Bits subset) {
 
     // Return the closet point "v" in the convex hull for the given subset
     return (1.0 / deltaX) * v;
-}
+}

src/collision/narrowphase/GJK/Simplex.h

@@ -47,43 +47,117 @@ typedef unsigned int Bits;
     -------------------------------------------------------------------
 */
 class Simplex {
-    private:
-        Vector3 points[4];                 // Current points
-        decimal pointsLengthSquare[4];       // pointsLengthSquare[i] = (points[i].length)^2
-        decimal maxLengthSquare;             // Maximum length of pointsLengthSquare[i]
-        Vector3 suppPointsA[4];            // Support points of object A in local coordinates
-        Vector3 suppPointsB[4];            // Support points of object B in local coordinates
-        Vector3 diffLength[4][4];          // diff[i][j] contains points[i] - points[j]
-        decimal det[16][4];                  // Cached determinant values
-        decimal normSquare[4][4];            // norm[i][j] = (diff[i][j].length())^2
-        Bits bitsCurrentSimplex;            // 4 bits that identify the current points of the simplex
-                                            // For instance, 0101 means that points[1] and points[3] are in the simplex
-        Bits lastFound;                     // Number between 1 and 4 that identify the last found support point
-        Bits lastFoundBit;                  // Position of the last found support point (lastFoundBit = 0x1 << lastFound)
-        Bits allBits;                       // allBits = bitsCurrentSimplex | lastFoundBit;
 
-        bool overlap(Bits a, Bits b) const;                         // Return true if some bits of "a" overlap with bits of "b"
+    private:
-        bool isSubset(Bits a, Bits b) const;                        // Return true if the bits of "b" is a subset of the bits of "a"
+
-        bool isValidSubset(Bits subset) const;                      // Return true if the subset is a valid one for the closest point computation
+        // -------------------- Attributes -------------------- //
-        bool isProperSubset(Bits subset) const;                     // Return true if the subset is a proper subset
+
-        void updateCache();                                         // Update the cached values used during the GJK algorithm
+        // Current points
-        void computeDeterminants();                                 // Compute the cached determinant values
+        Vector3 mPoints[4];
-        Vector3 computeClosestPointForSubset(Bits subset);         // Return the closest point "v" in the convex hull of a subset of points
+
+        // pointsLengthSquare[i] = (points[i].length)^2
+        decimal mPointsLengthSquare[4];
+
+        // Maximum length of pointsLengthSquare[i]
+        decimal mMaxLengthSquare;
+
+        // Support points of object A in local coordinates
+        Vector3 mSuppPointsA[4];
+
+        // Support points of object B in local coordinates
+        Vector3 mSuppPointsB[4];
+
+        // diff[i][j] contains points[i] - points[j]
+        Vector3 mDiffLength[4][4];
+
+        // Cached determinant values
+        decimal mDet[16][4];
+
+        // norm[i][j] = (diff[i][j].length())^2
+        decimal mNormSquare[4][4];
+
+        // 4 bits that identify the current points of the simplex
+        // For instance, 0101 means that points[1] and points[3] are in the simplex
+        Bits mBitsCurrentSimplex;
+
+        // Number between 1 and 4 that identify the last found support point
+        Bits mLastFound;
+
+        // Position of the last found support point (lastFoundBit = 0x1 << lastFound)
+        Bits mLastFoundBit;
+
+        // allBits = bitsCurrentSimplex | lastFoundBit;
+        Bits mAllBits;
+
+        // -------------------- Methods -------------------- //
+
+        // Private copy-constructor
+        Simplex(const Simplex& simplex);
+
+        // Private assignment operator
+        Simplex& operator=(const Simplex& simplex);
+
+        // Return true if some bits of "a" overlap with bits of "b"
+        bool overlap(Bits a, Bits b) const;
+
+        // Return true if the bits of "b" is a subset of the bits of "a"
+        bool isSubset(Bits a, Bits b) const;
+
+        // Return true if the subset is a valid one for the closest point computation
+        bool isValidSubset(Bits subset) const;
+
+        // Return true if the subset is a proper subset
+        bool isProperSubset(Bits subset) const;
+
+        // Update the cached values used during the GJK algorithm
+        void updateCache();
+
+        // Compute the cached determinant values
+        void computeDeterminants();
+
+        // Return the closest point "v" in the convex hull of a subset of points
+        Vector3 computeClosestPointForSubset(Bits subset);
 
     public:
-        Simplex();                          // Constructor
-        ~Simplex();                         // Destructor
 
-        bool isFull() const;                                                                            // Return true if the simplex contains 4 points
+        // -------------------- Methods -------------------- //
-        bool isEmpty() const;                                                                           // Return true if the simple is empty
+
-        unsigned int getSimplex(Vector3* suppPointsA, Vector3* suppPointsB, Vector3* points) const;  // Return the points of the simplex
+        // Constructor
-        decimal getMaxLengthSquareOfAPoint() const;                                                      // Return the maximum squared length of a point
+        Simplex();
-        void addPoint(const Vector3& point, const Vector3& suppPointA, const Vector3& suppPointB);   // Addd a point to the simplex
+
-        bool isPointInSimplex(const Vector3& point) const;                                             // Return true if the point is in the simplex
+        // Destructor
-        bool isAffinelyDependent() const;                                                               // Return true if the set is affinely dependent
+        ~Simplex();
-        void backupClosestPointInSimplex(Vector3& point);                                              // Backup the closest point
+
-        void computeClosestPointsOfAandB(Vector3& pA, Vector3& pB) const;                             // Compute the closest points of object A and B
+        // Return true if the simplex contains 4 points
-        bool computeClosestPoint(Vector3& v);                                                          // Compute the closest point to the origin of the current simplex
+        bool isFull() const;
+
+        // Return true if the simple is empty
+        bool isEmpty() const;
+
+        // Return the points of the simplex
+        unsigned int getSimplex(Vector3* mSuppPointsA, Vector3* mSuppPointsB,
+                                Vector3* mPoints) const;
+
+        // Return the maximum squared length of a point
+        decimal getMaxLengthSquareOfAPoint() const;
+
+        // Addd a point to the simplex
+        void addPoint(const Vector3& point, const Vector3& suppPointA, const Vector3& suppPointB);
+
+        // Return true if the point is in the simplex
+        bool isPointInSimplex(const Vector3& point) const;
+
+        // Return true if the set is affinely dependent
+        bool isAffinelyDependent() const;
+
+        // Backup the closest point
+        void backupClosestPointInSimplex(Vector3& point);
+
+        // Compute the closest points of object A and B
+        void computeClosestPointsOfAandB(Vector3& pA, Vector3& pB) const;
+
+        // Compute the closest point to the origin of the current simplex
+        bool computeClosestPoint(Vector3& v);
 };
 
 // Return true if some bits of "a" overlap with bits of "b"
@@ -98,19 +172,19 @@ inline bool Simplex::isSubset(Bits a, Bits b) const {
 
 // Return true if the simplex contains 4 points
 inline bool Simplex::isFull() const {
-    return (bitsCurrentSimplex == 0xf);
+    return (mBitsCurrentSimplex == 0xf);
 }
 
 // Return true if the simple is empty
 inline bool Simplex::isEmpty() const {
-    return (bitsCurrentSimplex == 0x0);
+    return (mBitsCurrentSimplex == 0x0);
 }
 
 // Return the maximum squared length of a point
 inline decimal Simplex::getMaxLengthSquareOfAPoint() const {
-    return maxLengthSquare;
+    return mMaxLengthSquare;
 }
 
 } // End of the ReactPhysics3D namespace
 
-#endif
+#endif

src/collision/narrowphase/NarrowPhaseAlgorithm.cpp

@@ -31,7 +31,7 @@ using namespace reactphysics3d;
 
 // Constructor
 NarrowPhaseAlgorithm::NarrowPhaseAlgorithm(MemoryPool<ContactInfo>& memoryPool)
-                     :memoryPoolContactInfos(memoryPool), currentOverlappingPair(0) {
+                     :mMemoryPoolContactInfos(memoryPool), mCurrentOverlappingPair(0) {
 
 }
 

src/collision/narrowphase/NarrowPhaseAlgorithm.h

@@ -47,23 +47,49 @@ namespace reactphysics3d {
     -------------------------------------------------------------------
 */
 class NarrowPhaseAlgorithm {
+
     protected :
-        MemoryPool<ContactInfo>& memoryPoolContactInfos;        // Reference to the memory pool for contact infos
+
-        BroadPhasePair* currentOverlappingPair;                 // Overlapping pair of the bodies currently tested for collision
+        // -------------------- Attributes -------------------- //
+
+        // Reference to the memory pool
+        MemoryPool<ContactInfo>& mMemoryPoolContactInfos;
+
+        // Overlapping pair of the bodies currently tested for collision
+        BroadPhasePair* mCurrentOverlappingPair;
         
+        // -------------------- Methods -------------------- //
+
+        // Private copy-constructor
+        NarrowPhaseAlgorithm(const NarrowPhaseAlgorithm& algorithm);
+
+        // Private assignment operator
+        NarrowPhaseAlgorithm& operator=(const NarrowPhaseAlgorithm& algorithm);
+
     public :
-        NarrowPhaseAlgorithm(MemoryPool<ContactInfo>& memoryPool);      // Constructor
+
-        virtual ~NarrowPhaseAlgorithm();                                // Destructor
+        // -------------------- Methods -------------------- //
+
+        // Constructor
+        NarrowPhaseAlgorithm(MemoryPool<ContactInfo>& memoryPool);
+
+        // Destructor
+        virtual ~NarrowPhaseAlgorithm();
         
-        void setCurrentOverlappingPair(BroadPhasePair* overlappingPair);          // Set the current overlapping pair of bodies
+        // Set the current overlapping pair of bodies
-        virtual bool testCollision(const CollisionShape* collisionShape1, const Transform& transform1,
+        void setCurrentOverlappingPair(BroadPhasePair* overlappingPair);
-                                   const CollisionShape* collisionShape2, const Transform& transform2,
+
-                                   ContactInfo*& contactInfo)=0;  // Return true and compute a contact info if the two bounding volume collide
+        // Return true and compute a contact info if the two bounding volume collide
+        virtual bool testCollision(const CollisionShape* collisionShape1,
+                                   const Transform& transform1,
+                                   const CollisionShape* collisionShape2,
+                                   const Transform& transform2,
+                                   ContactInfo*& contactInfo)=0;
 };
 
 // Set the current overlapping pair of bodies
 inline void NarrowPhaseAlgorithm::setCurrentOverlappingPair(BroadPhasePair *overlappingPair) {
-    currentOverlappingPair = overlappingPair;
+    mCurrentOverlappingPair = overlappingPair;
 }      
 
 } // End of reactphysics3d namespace

src/collision/narrowphase/SphereVsSphereAlgorithm.cpp

@@ -41,8 +41,11 @@ SphereVsSphereAlgorithm::~SphereVsSphereAlgorithm() {
     
 }   
 
-bool SphereVsSphereAlgorithm::testCollision(const CollisionShape* collisionShape1, const Transform& transform1,
+bool SphereVsSphereAlgorithm::testCollision(const CollisionShape* collisionShape1,
-                                            const CollisionShape* collisionShape2, const Transform& transform2, ContactInfo*& contactInfo) {
+                                            const Transform& transform1,
+                                            const CollisionShape* collisionShape2,
+                                            const Transform& transform2,
+                                            ContactInfo*& contactInfo) {
     
     // Get the sphere collision shapes
     const SphereShape* sphereShape1 = dynamic_cast<const SphereShape*>(collisionShape1);
@@ -59,13 +62,16 @@ bool SphereVsSphereAlgorithm::testCollision(const CollisionShape* collisionShape
     if (squaredDistanceBetweenCenters <= sumRadius * sumRadius) {
         Vector3 centerSphere2InBody1LocalSpace = transform1.inverse() * transform2.getPosition();
         Vector3 centerSphere1InBody2LocalSpace = transform2.inverse() * transform1.getPosition();
-        Vector3 intersectionOnBody1 = sphereShape1->getRadius() * centerSphere2InBody1LocalSpace.getUnit();
+        Vector3 intersectionOnBody1 = sphereShape1->getRadius() *
-        Vector3 intersectionOnBody2 = sphereShape2->getRadius() * centerSphere1InBody2LocalSpace.getUnit();
+                                      centerSphere2InBody1LocalSpace.getUnit();
+        Vector3 intersectionOnBody2 = sphereShape2->getRadius() *
+                                      centerSphere1InBody2LocalSpace.getUnit();
         decimal penetrationDepth = sumRadius - std::sqrt(squaredDistanceBetweenCenters);
         
         // Create the contact info object
-        contactInfo = new (memoryPoolContactInfos.allocateObject()) ContactInfo(vectorBetweenCenters.getUnit(), penetrationDepth,
+        contactInfo = new (mMemoryPoolContactInfos.allocateObject()) ContactInfo(
-                                                                                intersectionOnBody1, intersectionOnBody2);
+                           vectorBetweenCenters.getUnit(), penetrationDepth,
+                           intersectionOnBody1, intersectionOnBody2);
     
         return true;
     }

src/collision/narrowphase/SphereVsSphereAlgorithm.h

@@ -42,15 +42,33 @@ namespace reactphysics3d {
     -------------------------------------------------------------------
 */
 class SphereVsSphereAlgorithm : public NarrowPhaseAlgorithm {
+
     protected :
+
+        // -------------------- Methods -------------------- //
+
+        // Private copy-constructor
+        SphereVsSphereAlgorithm(const SphereVsSphereAlgorithm& algorithm);
+
+        // Private assignment operator
+        SphereVsSphereAlgorithm& operator=(const SphereVsSphereAlgorithm& algorithm);
         
     public :
-        SphereVsSphereAlgorithm(MemoryPool<ContactInfo>& memoryPoolContactInfos);       // Constructor
-        virtual ~SphereVsSphereAlgorithm();                                             // Destructor
 
-        virtual bool testCollision(const CollisionShape* collisionShape1, const Transform& transform1,
+        // -------------------- Methods -------------------- //
-                                   const CollisionShape* collisionShape2, const Transform& transform2,
+
-                                   ContactInfo*& contactInfo);  // Return true and compute a contact info if the two bounding volume collide
+        // Constructor
+        SphereVsSphereAlgorithm(MemoryPool<ContactInfo>& memoryPoolContactInfos);
+
+        // Destructor
+        virtual ~SphereVsSphereAlgorithm();
+
+        // Return true and compute a contact info if the two bounding volume collide
+        virtual bool testCollision(const CollisionShape* collisionShape1,
+                                   const Transform& transform1,
+                                   const CollisionShape* collisionShape2,
+                                   const Transform& transform2,
+                                   ContactInfo*& contactInfo);
 };
 
 } // End of reactphysics3d namespace

src/collision/shapes/AABB.cpp

@@ -45,18 +45,18 @@ using namespace reactphysics3d;
 using namespace std;
 
 // Constructor
-AABB::AABB() : bodyPointer(0) {
+AABB::AABB() : mBodyPointer(0) {
     
 }
 
 // Constructor
-AABB::AABB(const Vector3& minCoordinates, const Vector3& maxCoordinates, Body* bodyPointer)
+AABB::AABB(const Vector3& minCoordinates, const Vector3& maxCoordinates, Body* modyPointer)
-     :minCoordinates(minCoordinates), maxCoordinates(maxCoordinates), bodyPointer(bodyPointer) {
+     :mMinCoordinates(minCoordinates), mMaxCoordinates(maxCoordinates), mBodyPointer(modyPointer) {
 
 }
 
 // Constructor
-AABB::AABB(const Transform& transform, const Vector3& extents) : bodyPointer(0) {
+AABB::AABB(const Transform& transform, const Vector3& extents) : mBodyPointer(0) {
     update(transform, extents);
 }
 
@@ -74,41 +74,41 @@ void AABB::draw() const {
 
     // Draw the AABB
     glBegin(GL_LINES);
-        glVertex3f(maxCoordinates.getX(), minCoordinates.getY(), minCoordinates.getZ());
+        glVertex3f(mMaxCoordinates.getX(), mMinCoordinates.getY(), mMinCoordinates.getZ());
-        glVertex3f(maxCoordinates.getX(), maxCoordinates.getY(), minCoordinates.getZ());
+        glVertex3f(mMaxCoordinates.getX(), mMaxCoordinates.getY(), mMinCoordinates.getZ());
 
-        glVertex3f(maxCoordinates.getX(), minCoordinates.getY(), minCoordinates.getZ());
+        glVertex3f(mMaxCoordinates.getX(), mMinCoordinates.getY(), mMinCoordinates.getZ());
-        glVertex3f(maxCoordinates.getX(), minCoordinates.getY(), maxCoordinates.getZ());
+        glVertex3f(mMaxCoordinates.getX(), mMinCoordinates.getY(), mMaxCoordinates.getZ());
 
-        glVertex3f(maxCoordinates.getX(), minCoordinates.getY(), maxCoordinates.getZ());
+        glVertex3f(mMaxCoordinates.getX(), mMinCoordinates.getY(), mMaxCoordinates.getZ());
-        glVertex3f(maxCoordinates.getX(), maxCoordinates.getY(), maxCoordinates.getZ());
+        glVertex3f(mMaxCoordinates.getX(), mMaxCoordinates.getY(), mMaxCoordinates.getZ());
 
-        glVertex3f(maxCoordinates.getX(), maxCoordinates.getY(), minCoordinates.getZ());
+        glVertex3f(mMaxCoordinates.getX(), mMaxCoordinates.getY(), mMinCoordinates.getZ());
-        glVertex3f(maxCoordinates.getX(), maxCoordinates.getY(), maxCoordinates.getZ());
+        glVertex3f(mMaxCoordinates.getX(), mMaxCoordinates.getY(), mMaxCoordinates.getZ());
 
-        glVertex3f(minCoordinates.getX(), minCoordinates.getY(), minCoordinates.getZ());
+        glVertex3f(mMinCoordinates.getX(), mMinCoordinates.getY(), mMinCoordinates.getZ());
-        glVertex3f(minCoordinates.getX(), maxCoordinates.getY(), minCoordinates.getZ());
+        glVertex3f(mMinCoordinates.getX(), mMaxCoordinates.getY(), mMinCoordinates.getZ());
 
-        glVertex3f(minCoordinates.getX(), minCoordinates.getY(), minCoordinates.getZ());
+        glVertex3f(mMinCoordinates.getX(), mMinCoordinates.getY(), mMinCoordinates.getZ());
-        glVertex3f(minCoordinates.getX(), minCoordinates.getY(), maxCoordinates.getZ());
+        glVertex3f(mMinCoordinates.getX(), mMinCoordinates.getY(), mMaxCoordinates.getZ());
 
-        glVertex3f(minCoordinates.getX(), minCoordinates.getY(), maxCoordinates.getZ());
+        glVertex3f(mMinCoordinates.getX(), mMinCoordinates.getY(), mMaxCoordinates.getZ());
-        glVertex3f(minCoordinates.getX(), maxCoordinates.getY(), maxCoordinates.getZ());
+        glVertex3f(mMinCoordinates.getX(), mMaxCoordinates.getY(), mMaxCoordinates.getZ());
 
-        glVertex3f(minCoordinates.getX(), maxCoordinates.getY(), minCoordinates.getZ());
+        glVertex3f(mMinCoordinates.getX(), mMaxCoordinates.getY(), mMinCoordinates.getZ());
-        glVertex3f(minCoordinates.getX(), maxCoordinates.getY(), maxCoordinates.getZ());
+        glVertex3f(mMinCoordinates.getX(), mMaxCoordinates.getY(), mMaxCoordinates.getZ());
 
-        glVertex3f(minCoordinates.getX(), minCoordinates.getY(), minCoordinates.getZ());
+        glVertex3f(mMinCoordinates.getX(), mMinCoordinates.getY(), mMinCoordinates.getZ());
-        glVertex3f(maxCoordinates.getX(), minCoordinates.getY(), minCoordinates.getZ());
+        glVertex3f(mMaxCoordinates.getX(), mMinCoordinates.getY(), mMinCoordinates.getZ());
 
-        glVertex3f(minCoordinates.getX(), maxCoordinates.getY(), minCoordinates.getZ());
+        glVertex3f(mMinCoordinates.getX(), mMaxCoordinates.getY(), mMinCoordinates.getZ());
-        glVertex3f(maxCoordinates.getX(), maxCoordinates.getY(), minCoordinates.getZ());
+        glVertex3f(mMaxCoordinates.getX(), mMaxCoordinates.getY(), mMinCoordinates.getZ());
 
-        glVertex3f(minCoordinates.getX(), maxCoordinates.getY(), maxCoordinates.getZ());
+        glVertex3f(mMinCoordinates.getX(), mMaxCoordinates.getY(), mMaxCoordinates.getZ());
-        glVertex3f(maxCoordinates.getX(), maxCoordinates.getY(), maxCoordinates.getZ());
+        glVertex3f(mMaxCoordinates.getX(), mMaxCoordinates.getY(), mMaxCoordinates.getZ());
 
-        glVertex3f(minCoordinates.getX(), minCoordinates.getY(), maxCoordinates.getZ());
+        glVertex3f(mMinCoordinates.getX(), mMinCoordinates.getY(), mMaxCoordinates.getZ());
-        glVertex3f(maxCoordinates.getX(), minCoordinates.getY(), maxCoordinates.getZ());
+        glVertex3f(mMaxCoordinates.getX(), mMinCoordinates.getY(), mMaxCoordinates.getZ());
 
     glEnd();
 }

src/collision/shapes/AABB.h

@@ -44,60 +44,107 @@ class Body;
     -------------------------------------------------------------------
 */
 class AABB {
+
     private :
-        Vector3 minCoordinates;        // Minimum world coordinates of the AABB on the x,y and z axis
+
-        Vector3 maxCoordinates;        // Maximum world coordinates of the AABB on the x,y and z axis
+        // -------------------- Attributes -------------------- //
-        Body* bodyPointer;             // Pointer to the owner body (not the abstract class Body but its derivative which is instanciable)
+
+        // Minimum world coordinates of the AABB on the x,y and z axis
+        Vector3 mMinCoordinates;
+
+        // Maximum world coordinates of the AABB on the x,y and z axis
+        Vector3 mMaxCoordinates;
+
+        // Pointer to the owner body (not the abstract class Body
+        // but its derivative which is instanciable)
+        Body* mBodyPointer;
+
+        // -------------------- Methods -------------------- //
+
+        // Private copy-constructor
+        AABB(const AABB& aabb);
+
+        // Private assignment operator
+        AABB& operator=(const AABB& aabb);
 
     public :
-        AABB();                                                                                     // Constructor
-        AABB(const Vector3& minCoordinates, const Vector3& maxCoordinates, Body* bodyPointer);      // Constructor
-        AABB(const Transform& transform, const Vector3& extents);                                   // Constructor
-        virtual ~AABB();                                                                            // Destructor
 
-        Vector3 getCenter() const;                                                     // Return the center point
+        // -------------------- Methods -------------------- //
-        const Vector3& getMin() const;                                                  // Return the minimum coordinates of the AABB
+
-        const Vector3& getMax() const;                                      // Return the maximum coordinates of the AABB
+        // Constructor
-        Body* getBodyPointer() const;                                                  // Return a pointer to the owner body
+        AABB();
-        void setBodyPointer(Body* bodyPointer);                                        // Set the body pointer
+
-        bool testCollision(const AABB& aabb) const;                                    // Return true if the current AABB is overlapping is the AABB in argument
+        // Constructor
-        virtual void update(const Transform& newTransform, const Vector3& extents);    // Update the oriented bounding box orientation according to a new orientation of the rigid body
+        AABB(const Vector3& minCoordinates, const Vector3& maxCoordinates, Body* modyPointer);
+
+        // Constructor
+        AABB(const Transform& transform, const Vector3& extents);
+
+        // Destructor
+        virtual ~AABB();
+
+        // Return the center point
+        Vector3 getCenter() const;
+
+        // Return the minimum coordinates of the AABB
+        const Vector3& getMin() const;
+
+        // Return the maximum coordinates of the AABB
+        const Vector3& getMax() const;
+
+        // Return a pointer to the owner body
+        Body* getBodyPointer() const;
+
+        // Set the body pointer
+        void setBodyPointer(Body* bodyPointer);
+
+        // Return true if the current AABB is overlapping is the AABB in argument
+        bool testCollision(const AABB& aabb) const;
+
+        // Update the oriented bounding box orientation
+        // according to a new orientation of the rigid body
+        virtual void update(const Transform& newTransform, const Vector3& extents);
+
 #ifdef VISUAL_DEBUG
-       virtual void draw() const;                                                      // Draw the AABB (only for testing purpose)
+       // Draw the AABB (only for testing purpose)
+       virtual void draw() const;
 #endif
 };
 
 // Return the center point of the AABB in world coordinates
 inline Vector3 AABB::getCenter() const {
-    return (minCoordinates + maxCoordinates) * 0.5;
+    return (mMinCoordinates + mMaxCoordinates) * 0.5;
 }
 
 // Return the minimum coordinates of the AABB
 inline const Vector3& AABB::getMin() const {
-    return minCoordinates;
+    return mMinCoordinates;
 }
 
 // Return the maximum coordinates of the AABB
 inline const Vector3& AABB::getMax() const {
-    return maxCoordinates;
+    return mMaxCoordinates;
 }
 
 // Return a pointer to the owner body
 inline Body* AABB::getBodyPointer() const {
-    return bodyPointer;
+    return mBodyPointer;
 }
 
 // Set the body pointer
 inline void AABB::setBodyPointer(Body* bodyPointer) {
-    this->bodyPointer = bodyPointer;
+    mBodyPointer = bodyPointer;
 }
 
 // Return true if the current AABB is overlapping with the AABB in argument
 // Two AABB overlap if they overlap in the three x, y and z axis at the same time
 inline bool AABB::testCollision(const AABB& aabb) const {
-    if (maxCoordinates.getX() < aabb.minCoordinates.getX() || aabb.maxCoordinates.getX() < minCoordinates.getX()) return false;
+    if (mMaxCoordinates.getX() < aabb.mMinCoordinates.getX() ||
-    if (maxCoordinates.getY() < aabb.minCoordinates.getY() || aabb.maxCoordinates.getY() < minCoordinates.getY()) return false;
+        aabb.mMaxCoordinates.getX() < mMinCoordinates.getX()) return false;
-    if (maxCoordinates.getZ() < aabb.minCoordinates.getZ() || aabb.maxCoordinates.getZ() < minCoordinates.getZ()) return false;
+    if (mMaxCoordinates.getY() < aabb.mMinCoordinates.getY() ||
+        aabb.mMaxCoordinates.getY() < mMinCoordinates.getY()) return false;
+    if (mMaxCoordinates.getZ() < aabb.mMinCoordinates.getZ() ||
+        aabb.mMaxCoordinates.getZ() < mMinCoordinates.getZ()) return false;
     return true;
 }
 
@@ -107,8 +154,8 @@ inline void AABB::update(const Transform& newTransform, const Vector3& extents)
     Vector3 worldExtents = Vector3(worldAxis.getColumn(0).dot(extents),
                                      worldAxis.getColumn(1).dot(extents),
                                      worldAxis.getColumn(2).dot(extents));
-    minCoordinates = newTransform.getPosition() - worldExtents;
+    mMinCoordinates = newTransform.getPosition() - worldExtents;
-    maxCoordinates = newTransform.getPosition() + worldExtents;
+    mMaxCoordinates = newTransform.getPosition() + worldExtents;
 }
 
 }; // End of the ReactPhysics3D namespace

src/collision/shapes/BoxShape.cpp

@@ -46,7 +46,7 @@ using namespace reactphysics3d;
 using namespace std;
 
 // Constructor
-BoxShape::BoxShape(const Vector3& extent) : CollisionShape(BOX), extent(extent) {
+BoxShape::BoxShape(const Vector3& extent) : CollisionShape(BOX), mExtent(extent) {
 
 }
 
@@ -58,9 +58,9 @@ BoxShape::~BoxShape() {
 // Return the local inertia tensor of the collision shape
 void BoxShape::computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass) const {
     decimal factor = (1.0 / 3.0) * mass;
-    decimal xSquare = extent.getX() * extent.getX();
+    decimal xSquare = mExtent.getX() * mExtent.getX();
-    decimal ySquare = extent.getY() * extent.getY();
+    decimal ySquare = mExtent.getY() * mExtent.getY();
-    decimal zSquare = extent.getZ() * extent.getZ();
+    decimal zSquare = mExtent.getZ() * mExtent.getZ();
     tensor.setAllValues(factor * (ySquare + zSquare), 0.0, 0.0,
                         0.0, factor * (xSquare + zSquare), 0.0,
                         0.0, 0.0, factor * (xSquare + ySquare));
@@ -69,9 +69,9 @@ void BoxShape::computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass) const
 #ifdef VISUAL_DEBUG
 // Draw the Box (only for testing purpose)
 void BoxShape::draw() const {
-    decimal e1 = extent.getX();
+    decimal e1 = mExtent.getX();
-    decimal e2 = extent.getY();
+    decimal e2 = mExtent.getY();
-    decimal e3 = extent.getZ();
+    decimal e3 = mExtent.getZ();
 
     // Draw in red
     glColor3f(1.0, 0.0, 0.0);

src/collision/shapes/BoxShape.h

@@ -44,47 +44,76 @@ namespace reactphysics3d {
     -------------------------------------------------------------------
 */
 class BoxShape : public CollisionShape {
+
     private :
-        Vector3 extent;           // Extent sizes of the box in the x, y and z direction
+
+        // -------------------- Attributes -------------------- //
+
+        // Extent sizes of the box in the x, y and z direction
+        Vector3 mExtent;
+
+        // -------------------- Methods -------------------- //
+
+        // Private copy-constructor
+        BoxShape(const BoxShape& shape);
+
+        // Private assignment operator
+        BoxShape& operator=(const BoxShape& shape);
 
     public :
-        BoxShape(const Vector3& extent);        // Constructor
-        virtual ~BoxShape();                     // Destructor
 
-        const Vector3& getExtent() const;                                                           // Return the extents of the box
+        // -------------------- Methods -------------------- //
-        void setExtent(const Vector3& extent);                                                      // Set the extents of the box
+
-        virtual Vector3 getLocalExtents(decimal margin=0.0) const;                                  // Return the local extents in x,y and z direction
+        // Constructor
-        virtual Vector3 getLocalSupportPoint(const Vector3& direction, decimal margin=0.0) const;   // Return a local support point in a given direction
+        BoxShape(const Vector3& extent);
-        virtual void computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass) const;              // Return the local inertia tensor of the collision shape
+
+        // Destructor
+        virtual ~BoxShape();
+
+        // Return the extents of the box
+        const Vector3& getExtent() const;
+
+        // Set the extents of the box
+        void setExtent(const Vector3& extent);
+
+        // Return the local extents in x,y and z direction
+        virtual Vector3 getLocalExtents(decimal margin=0.0) const;
+
+        // Return a local support point in a given direction
+        virtual Vector3 getLocalSupportPoint(const Vector3& direction, decimal margin=0.0) const;
+
+        // Return the local inertia tensor of the collision shape
+        virtual void computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass) const;
 
 #ifdef VISUAL_DEBUG
-            virtual void draw() const;                                                                      // Draw the Box (only for testing purpose)
+        // Draw the Box (only for testing purpose)
+        virtual void draw() const;
 #endif
 };
 
 // Return the extents of the box
 inline const Vector3& BoxShape::getExtent() const {
-    return extent;
+    return mExtent;
 }
 
  // Set the extents of the box
 inline void BoxShape::setExtent(const Vector3& extent) {
-    this->extent = extent;
+    this->mExtent = extent;
 }
 
 // Return the local extents of the box (half-width) in x,y and z local direction
 // This method is used to compute the AABB of the box
 inline Vector3 BoxShape::getLocalExtents(decimal margin) const {
-    return extent + Vector3(margin, margin, margin);
+    return mExtent + Vector3(margin, margin, margin);
 }
 
 // Return a local support point in a given direction
 inline Vector3 BoxShape::getLocalSupportPoint(const Vector3& direction, decimal margin) const {
     assert(margin >= 0.0);
     
-    return Vector3(direction.getX() < 0.0 ? -extent.getX()-margin : extent.getX()+margin,
+    return Vector3(direction.getX() < 0.0 ? -mExtent.getX()-margin : mExtent.getX()+margin,
-                    direction.getY() < 0.0 ? -extent.getY()-margin : extent.getY()+margin,
+                    direction.getY() < 0.0 ? -mExtent.getY()-margin : mExtent.getY()+margin,
-                    direction.getZ() < 0.0 ? -extent.getZ()-margin : extent.getZ()+margin);
+                    direction.getZ() < 0.0 ? -mExtent.getZ()-margin : mExtent.getZ()+margin);
 }
 
 }; // End of the ReactPhysics3D namespace

src/collision/shapes/CollisionShape.cpp

@@ -30,7 +30,7 @@
 using namespace reactphysics3d;
 
 // Constructor
-CollisionShape::CollisionShape(CollisionShapeType type) : type(type) {
+CollisionShape::CollisionShape(CollisionShapeType type) : mType(type) {
     
 }
 

src/collision/shapes/CollisionShape.h

@@ -49,21 +49,46 @@ class Body;
 class CollisionShape {
         
     protected :
-        CollisionShapeType type;              // Type of the collision shape
-        
-    public :
-        CollisionShape(CollisionShapeType type);    // Constructor
-        virtual ~CollisionShape();            // Destructor
 
-        CollisionShapeType getType() const;                                                             // Return the type of the collision shapes
+        // -------------------- Attributes -------------------- //
-        virtual Vector3 getLocalSupportPoint(const Vector3& direction, decimal margin=0.0) const=0;     // Return a local support point in a given direction
+
-        virtual Vector3 getLocalExtents(decimal margin=0.0) const=0;                                    // Return the local extents in x,y and z direction
+        // Type of the collision shape
-        virtual void computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass) const=0;                // Return the local inertia tensor of the collision shapes
+        CollisionShapeType mType;
+        
+        // -------------------- Methods -------------------- //
+
+        // Private copy-constructor
+        CollisionShape(const CollisionShape& shape);
+
+        // Private assignment operator
+        CollisionShape& operator=(const CollisionShape& shape);
+
+    public :
+
+        // -------------------- Methods -------------------- //
+
+        // Constructor
+        CollisionShape(CollisionShapeType type);
+
+        // Destructor
+        virtual ~CollisionShape();
+
+        // Return the type of the collision shapes
+        CollisionShapeType getType() const;
+
+        // Return a local support point in a given direction
+        virtual Vector3 getLocalSupportPoint(const Vector3& direction, decimal margin=0.0) const=0;
+
+        // Return the local extents in x,y and z direction
+        virtual Vector3 getLocalExtents(decimal margin=0.0) const=0;
+
+        // Return the local inertia tensor of the collision shapes
+        virtual void computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass) const=0;
 };
 
 // Return the type of the collision shape
 inline CollisionShapeType CollisionShape::getType() const {
-    return type;
+    return mType;
 }                                                                  
 
 }

src/collision/shapes/ConeShape.cpp

@@ -44,12 +44,13 @@
 using namespace reactphysics3d;
 
 // Constructor
-ConeShape::ConeShape(decimal radius, decimal height) : CollisionShape(CONE), radius(radius), halfHeight(height/2.0) {
+ConeShape::ConeShape(decimal radius, decimal height)
+          : CollisionShape(CONE), mRadius(radius), mHalfHeight(height/2.0) {
     assert(radius > 0.0);
-    assert(halfHeight > 0.0);
+    assert(mHalfHeight > 0.0);
     
     // Compute the sine of the semi-angle at the apex point
-    sinTheta = radius / (sqrt(radius * radius + height * height));
+    mSinTheta = radius / (sqrt(radius * radius + height * height));
 }
 
 // Destructor
@@ -62,20 +63,20 @@ inline Vector3 ConeShape::getLocalSupportPoint(const Vector3& direction, decimal
     assert(margin >= 0.0);
 
     const Vector3& v = direction;
-    decimal sinThetaTimesLengthV = sinTheta * v.length();
+    decimal sinThetaTimesLengthV = mSinTheta * v.length();
     Vector3 supportPoint;
 
     if (v.getY() >= sinThetaTimesLengthV) {
-        supportPoint = Vector3(0.0, halfHeight, 0.0);
+        supportPoint = Vector3(0.0, mHalfHeight, 0.0);
     }
     else {
         decimal projectedLength = sqrt(v.getX() * v.getX() + v.getZ() * v.getZ());
         if (projectedLength > MACHINE_EPSILON) {
-            decimal d = radius / projectedLength;
+            decimal d = mRadius / projectedLength;
-            supportPoint = Vector3(v.getX() * d, -halfHeight, v.getZ() * d);
+            supportPoint = Vector3(v.getX() * d, -mHalfHeight, v.getZ() * d);
         }
         else {
-            supportPoint = Vector3(radius, -halfHeight, 0.0);
+            supportPoint = Vector3(mRadius, -mHalfHeight, 0.0);
         }
     }
 
@@ -99,6 +100,6 @@ void ConeShape::draw() const {
     glColor3f(1.0, 0.0, 0.0);
 
     // Draw the sphere
-    glutWireCone(radius, 2.0 * halfHeight, 50, 50);
+    glutWireCone(mRadius, 2.0 * mHalfHeight, 50, 50);
 }
 #endif

src/collision/shapes/ConeShape.h

@@ -44,64 +44,100 @@ namespace reactphysics3d {
     -------------------------------------------------------------------
 */
 class ConeShape : public CollisionShape {
+
     private :
-        decimal radius;              // Radius of the base
+
-        decimal halfHeight;          // Half height of the cone
+        // -------------------- Attributes -------------------- //
-        decimal sinTheta;            // sine of the semi angle at the apex point
+
+        // Radius of the base
+        decimal mRadius;
+
+        // Half height of the cone
+        decimal mHalfHeight;
+
+        // sine of the semi angle at the apex point
+        decimal mSinTheta;
+
+        // -------------------- Methods -------------------- //
+
+        // Private copy-constructor
+        ConeShape(const ConeShape& shape);
+
+        // Private assignment operator
+        ConeShape& operator=(const ConeShape& shape);
         
     public :
-        ConeShape(decimal radius, decimal height);      // Constructor
-        virtual ~ConeShape();                           // Destructor
 
-        decimal getRadius() const;                                                                   // Return the radius
+        // -------------------- Methods -------------------- //
-        void setRadius(decimal radius);                                                              // Set the radius
-        decimal getHeight() const;                                                                   // Return the height
-        void setHeight(decimal height);                                                              // Set the height
-        virtual Vector3 getLocalSupportPoint(const Vector3& direction, decimal margin=0.0) const;    // Return a support point in a given direction
-        virtual Vector3 getLocalExtents(decimal margin=0.0) const;                                   // Return the local extents in x,y and z direction
-        virtual void computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass) const;               // Return the local inertia tensor of the collision shape
 
+        // Constructor
+        ConeShape(decimal mRadius, decimal height);
+
+        // Destructor
+        virtual ~ConeShape();
+
+        // Return the radius
+        decimal getRadius() const;
+
+        // Set the radius
+        void setRadius(decimal radius);
+
+        // Return the height
+        decimal getHeight() const;
+
+        // Set the height
+        void setHeight(decimal height);
+
+        // Return a support point in a given direction
+        virtual Vector3 getLocalSupportPoint(const Vector3& direction, decimal margin=0.0) const;
+
+        // Return the local extents in x,y and z direction
+        virtual Vector3 getLocalExtents(decimal margin=0.0) const;
+
+        // Return the local inertia tensor of the collision shape
+        virtual void computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass) const;
 
 #ifdef VISUAL_DEBUG
-        virtual void draw() const;                              // Draw the sphere (only for testing purpose)
+        // Draw the sphere (only for testing purpose)
+        virtual void draw() const;
 #endif
 };
 
 // Return the radius
 inline decimal ConeShape::getRadius() const {
-    return radius;
+    return mRadius;
 }
 
 // Set the radius
 inline void ConeShape::setRadius(decimal radius) {
-    this->radius = radius;
+    mRadius = radius;
 
     // Update sine of the semi-angle at the apex point
-    sinTheta = radius / (sqrt(radius * radius + 4 * halfHeight * halfHeight));
+    mSinTheta = radius / (sqrt(radius * radius + 4 * mHalfHeight * mHalfHeight));
 }
 
 // Return the height
 inline decimal ConeShape::getHeight() const {
-    return 2.0 * halfHeight;
+    return 2.0 * mHalfHeight;
 }
 
 // Set the height
 inline void ConeShape::setHeight(decimal height) {
-    this->halfHeight = height / 2.0;
+    mHalfHeight = height / 2.0;
 
     // Update the sine of the semi-angle at the apex point
-    sinTheta = radius / (sqrt(radius * radius + height * height));
+    mSinTheta = mRadius / (sqrt(mRadius * mRadius + height * height));
 }
 
 // Return the local extents in x,y and z direction
 inline Vector3 ConeShape::getLocalExtents(decimal margin) const {
-    return Vector3(radius + margin, halfHeight + margin, radius + margin);
+    return Vector3(mRadius + margin, mHalfHeight + margin, mRadius + margin);
 }
 
 // Return the local inertia tensor of the collision shape
 inline void ConeShape::computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass) const {
-    decimal rSquare = radius * radius;
+    decimal rSquare = mRadius * mRadius;
-    decimal diagXZ = 0.15 * mass * (rSquare + halfHeight);
+    decimal diagXZ = 0.15 * mass * (rSquare + mHalfHeight);
     tensor.setAllValues(diagXZ, 0.0, 0.0, 0.0, 0.3 * mass * rSquare, 0.0, 0.0, 0.0, diagXZ);
 }
 

src/collision/shapes/CylinderShape.cpp

@@ -44,7 +44,7 @@ using namespace reactphysics3d;
 
 // Constructor
 CylinderShape::CylinderShape(decimal radius, decimal height)
-                 : CollisionShape(CYLINDER), radius(radius), halfHeight(height/2.0) {
+                 : CollisionShape(CYLINDER), mRadius(radius), mHalfHeight(height/2.0) {
 
 }
 
@@ -63,13 +63,13 @@ Vector3 CylinderShape::getLocalSupportPoint(const Vector3& direction, decimal ma
     decimal lengthW = sqrt(direction.getX() * direction.getX() + direction.getZ() * direction.getZ());
 
     if (lengthW != 0.0) {
-        if (uDotv < 0.0) supportPoint.setY(-halfHeight);
+        if (uDotv < 0.0) supportPoint.setY(-mHalfHeight);
-        else supportPoint.setY(halfHeight);
+        else supportPoint.setY(mHalfHeight);
-        supportPoint += (radius / lengthW) * w;
+        supportPoint += (mRadius / lengthW) * w;
     }
     else {
-         if (uDotv < 0.0) supportPoint.setY(-halfHeight);
+         if (uDotv < 0.0) supportPoint.setY(-mHalfHeight);
-         else supportPoint.setY(halfHeight);
+         else supportPoint.setY(mHalfHeight);
     }
 
     // Add the margin to the support point
@@ -92,6 +92,6 @@ void CylinderShape::draw() const {
     glColor3f(1.0, 0.0, 0.0);
 
     // Draw the sphere
-    glutWireSphere(radius, 50, 50);
+    glutWireSphere(mRadius, 50, 50);
 }
 #endif

src/collision/shapes/CylinderShape.h

@@ -43,57 +43,92 @@ namespace reactphysics3d {
     -------------------------------------------------------------------
 */
 class CylinderShape : public CollisionShape {
+
     private :
-        decimal radius;              // Radius of the base
+
-        decimal halfHeight;          // Half height of the cone
+        // -------------------- Attributes -------------------- //
+
+        // Radius of the base
+        decimal mRadius;
+
+        // Half height of the cone
+        decimal mHalfHeight;
+
+        // -------------------- Methods -------------------- //
+
+        // Private copy-constructor
+        CylinderShape(const CylinderShape& shape);
+
+        // Private assignment operator
+        CylinderShape& operator=(const CylinderShape& shape);
 
     public :
-        CylinderShape(decimal radius, decimal height);      // Constructor
-        virtual ~CylinderShape();                           // Destructor
 
-        decimal getRadius() const;                                                                   // Return the radius
+        // -------------------- Methods -------------------- //
-        void setRadius(decimal radius);                                                              // Set the radius
+
-        decimal getHeight() const;                                                                   // Return the height
+        // Constructor
-        void setHeight(decimal height);                                                              // Set the height
+        CylinderShape(decimal radius, decimal height);
-        virtual Vector3 getLocalSupportPoint(const Vector3& direction, decimal margin=0.0) const;    // Return a support point in a given direction
+
-        virtual Vector3 getLocalExtents(decimal margin=0.0) const;                                   // Return the local extents in x,y and z direction
+        // Destructor
-        virtual void computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass) const;               // Return the local inertia tensor of the collision shape
+        virtual ~CylinderShape();
+
+        // Return the radius
+        decimal getRadius() const;
+
+        // Set the radius
+        void setRadius(decimal mRadius);
+
+        // Return the height
+        decimal getHeight() const;
+
+        // Set the height
+        void setHeight(decimal height);
+
+        // Return a support point in a given direction
+        virtual Vector3 getLocalSupportPoint(const Vector3& direction, decimal margin=0.0) const;
+
+        // Return the local extents in x,y and z direction
+        virtual Vector3 getLocalExtents(decimal margin=0.0) const;
+
+        // Return the local inertia tensor of the collision shape
+        virtual void computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass) const;
 
 #ifdef VISUAL_DEBUG
-        virtual void draw() const;                              // Draw the sphere (only for testing purpose)
+        // Draw the sphere (only for testing purpose)
+        virtual void draw() const;
 #endif
 };
 
 // Return the radius
 inline decimal CylinderShape::getRadius() const {
-    return radius;
+    return mRadius;
 }
 
 // Set the radius
 inline void CylinderShape::setRadius(decimal radius) {
-    this->radius = radius;
+    this->mRadius = radius;
 }
 
 // Return the height
 inline decimal CylinderShape::getHeight() const {
-    return halfHeight * 2.0;
+    return mHalfHeight * 2.0;
 }
 
 // Set the height
 inline void CylinderShape::setHeight(decimal height) {
-    this->halfHeight = height / 2.0;
+    this->mHalfHeight = height / 2.0;
 }
 
 // Return the local extents in x,y and z direction
 inline Vector3 CylinderShape::getLocalExtents(decimal margin) const {
-    return Vector3(radius + margin, halfHeight + margin, radius + margin);
+    return Vector3(mRadius + margin, mHalfHeight + margin, mRadius + margin);
 }
 
 // Return the local inertia tensor of the cylinder
 inline void CylinderShape::computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass) const {
-    decimal height = 2.0 * halfHeight;
+    decimal height = 2.0 * mHalfHeight;
-    decimal diag = (1.0 / 12.0) * mass * (3 * radius * radius + height * height);
+    decimal diag = (1.0 / 12.0) * mass * (3 * mRadius * mRadius + height * height);
-    tensor.setAllValues(diag, 0.0, 0.0, 0.0, 0.5 * mass * radius * radius, 0.0, 0.0, 0.0, diag);
+    tensor.setAllValues(diag, 0.0, 0.0, 0.0, 0.5 * mass * mRadius * mRadius, 0.0, 0.0, 0.0, diag);
 }
 
 }; // End of the ReactPhysics3D namespace

src/collision/shapes/SphereShape.cpp

@@ -45,7 +45,7 @@ using namespace reactphysics3d;
 using namespace std;
 
 // Constructor
-SphereShape::SphereShape(decimal radius) : CollisionShape(SPHERE), radius(radius) {
+SphereShape::SphereShape(decimal radius) : CollisionShape(SPHERE), mRadius(radius) {
 
 }
 
@@ -62,6 +62,6 @@ void SphereShape::draw() const {
     glColor3f(1.0, 0.0, 0.0);
 
     // Draw the sphere
-    glutWireSphere(radius, 50, 50);
+    glutWireSphere(mRadius, 50, 50);
 }
 #endif

src/collision/shapes/SphereShape.h

@@ -40,32 +40,61 @@ namespace reactphysics3d {
     -------------------------------------------------------------------
 */
 class SphereShape : public CollisionShape {
+
     private :
-        decimal radius;              // Radius of the sphere
+
+        // -------------------- Attributes -------------------- //
+
+        // Radius of the sphere
+        decimal mRadius;
+
+        // -------------------- Methods -------------------- //
+
+        // Private copy-constructor
+        SphereShape(const SphereShape& shape);
+
+        // Private assignment operator
+        SphereShape& operator=(const SphereShape& shape);
 
     public :
-        SphereShape(decimal radius);                 // Constructor
-        virtual ~SphereShape();                     // Destructor
 
-        decimal getRadius() const;                                                                  // Return the radius of the sphere
+        // -------------------- Methods -------------------- //
-        void setRadius(decimal radius);                                                             // Set the radius of the sphere
+
-        virtual Vector3 getLocalSupportPoint(const Vector3& direction, decimal margin=0.0) const;   // Return a local support point in a given direction
+        // Constructor
-        virtual Vector3 getLocalExtents(decimal margin=0.0) const;                                  // Return the local extents in x,y and z direction
+        SphereShape(decimal radius);
-        virtual void computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass) const;              // Return the local inertia tensor of the collision shape
+
+        // Destructor
+        virtual ~SphereShape();
+
+        // Return the radius of the sphere
+        decimal getRadius() const;
+
+        // Set the radius of the sphere
+        void setRadius(decimal radius);
+
+        // Return a local support point in a given direction
+        virtual Vector3 getLocalSupportPoint(const Vector3& direction, decimal margin=0.0) const;
+
+        // Return the local extents in x,y and z direction
+        virtual Vector3 getLocalExtents(decimal margin=0.0) const;
+
+        // Return the local inertia tensor of the collision shape
+        virtual void computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass) const;
 
 #ifdef VISUAL_DEBUG
-            virtual void draw() const;                              // Draw the sphere (only for testing purpose)
+        // Draw the sphere (only for testing purpose)
+        virtual void draw() const;
 #endif
 };
 
 // Get the radius of the sphere
 inline decimal SphereShape::getRadius() const {
-    return radius;
+    return mRadius;
 }
 
 // Set the radius of the sphere
 inline void SphereShape::setRadius(decimal radius) {
-    this->radius = radius;
+    mRadius = radius;
 }
 
 // Return a local support point in a given direction
@@ -76,23 +105,23 @@ inline Vector3 SphereShape::getLocalSupportPoint(const Vector3& direction, decim
     // If the direction vector is not the zero vector
     if (length > 0.0) {
         // Return the support point of the sphere in the given direction
-        return (radius + margin) * direction.getUnit();
+        return (mRadius + margin) * direction.getUnit();
     }
 
     // If the direction vector is the zero vector we return a point on the
     // boundary of the sphere
-    return Vector3(0, radius + margin, 0);
+    return Vector3(0, mRadius + margin, 0);
 }
 
 // Return the local extents of the collision shape (half-width) in x,y and z local direction
 // This method is used to compute the AABB of the box
 inline Vector3 SphereShape::getLocalExtents(decimal margin) const {
-    return Vector3(radius + margin, radius + margin, radius + margin);
+    return Vector3(mRadius + margin, mRadius + margin, mRadius + margin);
 }
 
 // Return the local inertia tensor of the sphere
 inline void SphereShape::computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass) const {
-    decimal diag = 0.4 * mass * radius * radius;
+    decimal diag = 0.4 * mass * mRadius * mRadius;
     tensor.setAllValues(diag, 0.0, 0.0, 0.0, diag, 0.0, 0.0, 0.0, diag);
 }
 

src/configuration.h

@@ -33,7 +33,7 @@
 #include "decimal.h"
 
 // Windows platform
-#if defined(WIN32) || defined(_WIN32) || defined(_WIN64) || defined(__WIN32__) || defined(__WINDOWS__)
+#if defined(WIN32) ||defined(_WIN32) || defined(_WIN64) ||defined(__WIN32__) || defined(__WINDOWS__)
     #define WINDOWS_OS
 #elif defined(__APPLE__)     // Apple platform
     #define APPLE_OS
@@ -44,40 +44,61 @@
 // Namespace reactphysics3d
 namespace reactphysics3d {
 
-// Type definitions
+// ------------------- Type definitions ------------------- //
+
 typedef unsigned int uint;
 typedef long unsigned int luint;
-typedef short unsigned int bodyindex;  // TODO : Replace whenever possible using the bodyindex type
+typedef short unsigned int bodyindex;
 typedef std::pair<bodyindex, bodyindex> bodyindexpair;
 
-// Mathematical constants
+// ------------------- Constants ------------------- //
-const reactphysics3d::decimal DECIMAL_SMALLEST = - std::numeric_limits<reactphysics3d::decimal>::max();                // Minimun decimal value
-const reactphysics3d::decimal DECIMAL_LARGEST = std::numeric_limits<reactphysics3d::decimal>::max();               // Maximum decimal value
-const reactphysics3d::decimal MACHINE_EPSILON = std::numeric_limits<reactphysics3d::decimal>::epsilon();        // Machine epsilon
-const reactphysics3d::decimal DECIMAL_INFINITY = std::numeric_limits<reactphysics3d::decimal>::infinity();      // Infinity
-const reactphysics3d::decimal PI = 3.14159265;                                                                  // Pi constant
 
-// Physics Engine constants
+const reactphysics3d::decimal DECIMAL_SMALLEST = - std::numeric_limits<decimal>::max();
-const reactphysics3d::decimal DEFAULT_TIMESTEP = 1.0 / 60.0;  // Default internal constant timestep in seconds
-const bool DEACTIVATION_ENABLED = true;                       // True if the deactivation (sleeping) of inactive bodies is enabled
 
-// GJK Algorithm parameters
+// Maximum decimal value
-const reactphysics3d::decimal OBJECT_MARGIN = 0.04;                      // Object margin for collision detection in cm
+const reactphysics3d::decimal DECIMAL_LARGEST = std::numeric_limits<decimal>::max();
 
-// Contact constants
+// Machine epsilon
-const reactphysics3d::decimal FRICTION_COEFFICIENT = 0.4;                // Friction coefficient
+const reactphysics3d::decimal MACHINE_EPSILON = std::numeric_limits<decimal>::epsilon();
-const reactphysics3d::decimal PERSISTENT_CONTACT_DIST_THRESHOLD = 0.02;  // Distance threshold for two contact points for a valid persistent contact
 
-// Constraint solver constants
+// Infinity
-const int NB_MAX_BODIES = 100000;             // Maximum number of bodies
+const reactphysics3d::decimal DECIMAL_INFINITY = std::numeric_limits<decimal>::infinity();
-const int NB_MAX_CONTACTS = 100000;           // Maximum number of contacts (for memory pool allocation)
-const int NB_MAX_CONSTRAINTS = 100000;        // Maximum number of constraints
 
-// Constraint solver constants
+// Pi constant
-const uint DEFAULT_LCP_ITERATIONS = 15;                                            // Number of iterations when solving a LCP problem
+const reactphysics3d::decimal PI = 3.14159265;
-const uint DEFAULT_LCP_ITERATIONS_ERROR_CORRECTION = 5;                            // Number of iterations when solving a LCP problem for error correction
+
-const bool ERROR_CORRECTION_PROJECTION_ENABLED = true;                             // True if the error correction projection (first order world) is active in the constraint solver
+// Default internal constant timestep in seconds
-const reactphysics3d::decimal PENETRATION_DEPTH_THRESHOLD_ERROR_CORRECTION = 0.20; // Contacts with penetration depth (in meters) larger that this use error correction with projection
+const reactphysics3d::decimal DEFAULT_TIMESTEP = 1.0 / 60.0;
+
+// True if the deactivation (sleeping) of inactive bodies is enabled
+const bool DEACTIVATION_ENABLED = true;
+
+// // Object margin for collision detection in cm (For GJK-EPA Algorithm)
+const reactphysics3d::decimal OBJECT_MARGIN = 0.04;
+
+// Friction coefficient
+const reactphysics3d::decimal FRICTION_COEFFICIENT = 0.4;
+
+// Distance threshold for two contact points for a valid persistent contact
+const reactphysics3d::decimal PERSISTENT_CONTACT_DIST_THRESHOLD = 0.02;
+
+// Maximum number of bodies
+const int NB_MAX_BODIES = 100000;
+
+// Maximum number of constraints
+const int NB_MAX_CONSTRAINTS = 100000;
+
+// Number of iterations when solving a LCP problem
+const uint DEFAULT_LCP_ITERATIONS = 15;
+
+// Number of iterations when solving a LCP problem for error correction
+const uint DEFAULT_LCP_ITERATIONS_ERROR_CORRECTION = 5;
+
+// True if the error correction projection (first order world) is active in the constraint solver
+const bool ERROR_CORRECTION_PROJECTION_ENABLED = true;
+
+// Contacts with penetration depth (in meters) larger that this use error correction with projection
+const reactphysics3d::decimal PENETRATION_DEPTH_THRESHOLD_ERROR_CORRECTION = 0.20;
 
 }
 

src/constraint/Constraint.cpp

@@ -30,12 +30,14 @@
 using namespace reactphysics3d;
 
 // Constructor
-Constraint::Constraint(RigidBody* const body1, RigidBody* const body2, uint nbConstraints, bool active, ConstraintType type)
+Constraint::Constraint(RigidBody* const body1, RigidBody* const body2,
-           :body1(body1), body2(body2), active(active), nbConstraints(nbConstraints), type(type) {
+                       uint nbConstraints, bool active, ConstraintType type)
+           :mBody1(body1), mBody2(body2), mActive(active),
+            mNbConstraints(nbConstraints), mType(type) {
     
     // Initialize the cached lambda values
     for (int i=0; i<nbConstraints; i++) {
-        cachedLambdas.push_back(0.0);
+        mCachedLambdas.push_back(0.0);
     }
 }
 

src/constraint/Constraint.h

@@ -45,67 +45,122 @@ enum ConstraintType {CONTACT};
     -------------------------------------------------------------------
 */
 class Constraint {
+
     protected :
-        RigidBody* const body1;                 // Pointer to the first body of the constraint
+
-        RigidBody* const body2;                 // Pointer to the second body of the constraint
+        // -------------------- Attributes -------------------- //
-        bool active;                            // True if the constraint is active
+
-        uint nbConstraints;                     // Number mathematical constraints associated with this Constraint
+        // Pointer to the first body of the constraint
-        const ConstraintType type;              // Type of the constraint
+        RigidBody* const mBody1;
-        std::vector<decimal> cachedLambdas;     // Cached lambda values of each mathematical constraint for more precise initializaton of LCP solver
+
+        // Pointer to the second body of the constraint
+        RigidBody* const mBody2;
+
+        // True if the constraint is active
+        bool mActive;
+
+        // Number mathematical constraints associated with this Constraint
+        uint mNbConstraints;
+
+        // Type of the constraint
+        const ConstraintType mType;
+
+        // Cached lambda values of each mathematical constraint for
+        // more precise initializaton of LCP solver
+        std::vector<decimal> mCachedLambdas;
+
+        // -------------------- Methods -------------------- //
+
+        // Private copy-constructor
+        Constraint(const Constraint& constraint);
+
+        // Private assignment operator
+        Constraint& operator=(const Constraint& constraint);
 
     public :
+
+        // -------------------- Methods -------------------- //
+
+        // Constructor
         Constraint(RigidBody* const body1, RigidBody* const body2, uint nbConstraints,
-                   bool active, ConstraintType type);                           // Constructor                                                                                                   // Constructor
+                   bool active, ConstraintType type);
-        virtual ~Constraint();                                                  // Destructor
+
-        RigidBody* const getBody1() const;                                  // Return the reference to the body 1
+        // Destructor
-        RigidBody* const getBody2() const;                                  // Return the reference to the body 2                                                                        // Evaluate the constraint
+        virtual ~Constraint();
-        bool isActive() const;                                                  // Return true if the constraint is active                                                             // Return the jacobian matrix of body 2
+
-        ConstraintType getType() const;                                         // Return the type of the constraint                 
+        // Return the reference to the body 1
-        virtual void computeJacobian(int noConstraint, decimal J_sp[NB_MAX_CONSTRAINTS][2*6]) const=0;               // Compute the jacobian matrix for all mathematical constraints
+        RigidBody* const getBody1() const;
-        virtual void computeLowerBound(int noConstraint, decimal lowerBounds[NB_MAX_CONSTRAINTS]) const=0;           // Compute the lowerbounds values for all the mathematical constraints
+
-        virtual void computeUpperBound(int noConstraint, decimal upperBounds[NB_MAX_CONSTRAINTS]) const=0;           // Compute the upperbounds values for all the mathematical constraints
+        // Return the reference to the body 2
-        virtual void computeErrorValue(int noConstraint, decimal errorValues[]) const=0;   // Compute the error values for all the mathematical constraints
+        RigidBody* const getBody2() const;
-        unsigned int getNbConstraints() const;                                                                      // Return the number of mathematical constraints                                                                                                         // Return the number of auxiliary constraints
+
-        decimal getCachedLambda(int index) const;                                                                    // Get one cached lambda value
+        // Return true if the constraint is active
-        void setCachedLambda(int index, decimal lambda);                                                             // Set on cached lambda value  
+        bool isActive() const;
+
+        // Return the type of the constraint
+        ConstraintType getType() const;
+
+        // Compute the jacobian matrix for all mathematical constraints
+        virtual void computeJacobian(int noConstraint,
+                                     decimal J_sp[NB_MAX_CONSTRAINTS][2*6]) const=0;
+
+        // Compute the lowerbounds values for all the mathematical constraints
+        virtual void computeLowerBound(int noConstraint,
+                                       decimal lowerBounds[NB_MAX_CONSTRAINTS]) const=0;
+
+        // Compute the upperbounds values for all the mathematical constraints
+        virtual void computeUpperBound(int noConstraint,
+                                       decimal upperBounds[NB_MAX_CONSTRAINTS]) const=0;
+
+        // Compute the error values for all the mathematical constraints
+        virtual void computeErrorValue(int noConstraint, decimal errorValues[]) const=0;
+
+        // Return the number of mathematical constraints
+        unsigned int getNbConstraints() const;
+
+        // Get one cached lambda value
+        decimal getCachedLambda(int index) const;
+
+        // Set on cached lambda value
+        void setCachedLambda(int index, decimal lambda);
 };
 
 // Return the reference to the body 1
 inline RigidBody* const Constraint::getBody1() const {
-    return body1;
+    return mBody1;
 }
 
 // Return the reference to the body 2
 inline RigidBody* const Constraint::getBody2() const {
-    return body2;
+    return mBody2;
 }
 
 // Return true if the constraint is active
 inline bool Constraint::isActive() const {
-    return active;
+    return mActive;
 }
 
 // Return the type of the constraint
 inline ConstraintType Constraint::getType() const {
-    return type;
+    return mType;
 }                                                          
 
 
 // Return the number auxiliary constraints
 inline uint Constraint::getNbConstraints() const {
-    return nbConstraints;
+    return mNbConstraints;
 }
 
 // Get one previous lambda value
 inline decimal Constraint::getCachedLambda(int index) const {
-    assert(index >= 0 && index < nbConstraints);
+    assert(index >= 0 && index < mNbConstraints);
-    return cachedLambdas[index];
+    return mCachedLambdas[index];
 } 
 
 // Set on cached lambda value  
 inline void Constraint::setCachedLambda(int index, decimal lambda) {
-    assert(index >= 0 && index < nbConstraints);
+    assert(index >= 0 && index < mNbConstraints);
-    cachedLambdas[index] = lambda;
+    mCachedLambdas[index] = lambda;
 }                                                   
 
 

src/constraint/Contact.cpp

@@ -31,15 +31,18 @@ using namespace std;
 
 // Constructor
 Contact::Contact(RigidBody* const body1, RigidBody* const body2, const ContactInfo* contactInfo)
-        : Constraint(body1, body2, 3, true, CONTACT), normal(contactInfo->normal), penetrationDepth(contactInfo->penetrationDepth),
+        : Constraint(body1, body2, 3, true, CONTACT), mNormal(contactInfo->normal),
-          localPointOnBody1(contactInfo->localPoint1), localPointOnBody2(contactInfo->localPoint2),
+          mPenetrationDepth(contactInfo->penetrationDepth),
-          worldPointOnBody1(body1->getTransform() * contactInfo->localPoint1), worldPointOnBody2(body2->getTransform() * contactInfo->localPoint2) {
+          mLocalPointOnBody1(contactInfo->localPoint1),
-    assert(penetrationDepth > 0.0);
+          mLocalPointOnBody2(contactInfo->localPoint2),
+          mWorldPointOnBody1(body1->getTransform() * contactInfo->localPoint1),
+          mWorldPointOnBody2(body2->getTransform() * contactInfo->localPoint2) {
+    assert(mPenetrationDepth > 0.0);
     
     // Compute the auxiliary lower and upper bounds
     // TODO : Now mC is only the mass of the first body but it is probably wrong
     // TODO : Now g is 9.81 but we should use the true gravity value of the physics world.
-    mu_mc_g = FRICTION_COEFFICIENT * body1->getMass() * 9.81;
+    mMu_mc_g = FRICTION_COEFFICIENT * body1->getMass() * 9.81;
 
     // Compute the friction vectors that span the tangential friction plane
     computeFrictionVectors();
@@ -56,30 +59,30 @@ Contact::~Contact() {
 // of the contact. The argument "noConstraint", is the row were the method have
 // to start to fill in the J_sp matrix.
 void Contact::computeJacobian(int noConstraint, decimal J_sp[NB_MAX_CONSTRAINTS][2*6]) const {
-    assert(body1);
+    assert(mBody1);
-    assert(body2);
+    assert(mBody2);
 
-    Vector3 body1Position = body1->getTransform().getPosition();
+    Vector3 body1Position = mBody1->getTransform().getPosition();
-    Vector3 body2Position = body2->getTransform().getPosition();
+    Vector3 body2Position = mBody2->getTransform().getPosition();
     int currentIndex = noConstraint;                        // Current constraint index
 
-    Vector3 r1 = worldPointOnBody1 - body1Position;
+    Vector3 r1 = mWorldPointOnBody1 - body1Position;
-    Vector3 r2 = worldPointOnBody2 - body2Position;
+    Vector3 r2 = mWorldPointOnBody2 - body2Position;
-    Vector3 r1CrossN = r1.cross(normal);
+    Vector3 r1CrossN = r1.cross(mNormal);
-    Vector3 r2CrossN = r2.cross(normal);
+    Vector3 r2CrossN = r2.cross(mNormal);
 
     // Compute the jacobian matrix for the body 1 for the contact constraint
-    J_sp[currentIndex][0] = -normal.getX();
+    J_sp[currentIndex][0] = -mNormal.getX();
-    J_sp[currentIndex][1] = -normal.getY();
+    J_sp[currentIndex][1] = -mNormal.getY();
-    J_sp[currentIndex][2] = -normal.getZ();
+    J_sp[currentIndex][2] = -mNormal.getZ();
     J_sp[currentIndex][3] = -r1CrossN.getX();
     J_sp[currentIndex][4] = -r1CrossN.getY();
     J_sp[currentIndex][5] = -r1CrossN.getZ();
 
     // Compute the jacobian matrix for the body 2 for the contact constraint
-    J_sp[currentIndex][6] = normal.getX();
+    J_sp[currentIndex][6] = mNormal.getX();
-    J_sp[currentIndex][7] = normal.getY();
+    J_sp[currentIndex][7] = mNormal.getY();
-    J_sp[currentIndex][8] = normal.getZ();
+    J_sp[currentIndex][8] = mNormal.getZ();
     J_sp[currentIndex][9] = r2CrossN.getX();
     J_sp[currentIndex][10] = r2CrossN.getY();
     J_sp[currentIndex][11] = r2CrossN.getZ();
@@ -87,21 +90,21 @@ void Contact::computeJacobian(int noConstraint, decimal J_sp[NB_MAX_CONSTRAINTS]
     currentIndex++;
 
     // Compute the jacobian matrix for the body 1 for the first friction constraint
-    Vector3 r1CrossU1 = r1.cross(frictionVectors[0]);
+    Vector3 r1CrossU1 = r1.cross(mFrictionVectors[0]);
-    Vector3 r2CrossU1 = r2.cross(frictionVectors[0]);
+    Vector3 r2CrossU1 = r2.cross(mFrictionVectors[0]);
-    Vector3 r1CrossU2 = r1.cross(frictionVectors[1]);
+    Vector3 r1CrossU2 = r1.cross(mFrictionVectors[1]);
-    Vector3 r2CrossU2 = r2.cross(frictionVectors[1]);
+    Vector3 r2CrossU2 = r2.cross(mFrictionVectors[1]);
-    J_sp[currentIndex][0] = -frictionVectors[0].getX();
+    J_sp[currentIndex][0] = -mFrictionVectors[0].getX();
-    J_sp[currentIndex][1] = -frictionVectors[0].getY();
+    J_sp[currentIndex][1] = -mFrictionVectors[0].getY();
-    J_sp[currentIndex][2] = -frictionVectors[0].getZ();
+    J_sp[currentIndex][2] = -mFrictionVectors[0].getZ();
     J_sp[currentIndex][3] = -r1CrossU1.getX();
     J_sp[currentIndex][4] = -r1CrossU1.getY();
     J_sp[currentIndex][5] = -r1CrossU1.getZ();
 
     // Compute the jacobian matrix for the body 2 for the first friction constraint
-    J_sp[currentIndex][6] = frictionVectors[0].getX();
+    J_sp[currentIndex][6] = mFrictionVectors[0].getX();
-    J_sp[currentIndex][7] = frictionVectors[0].getY();
+    J_sp[currentIndex][7] = mFrictionVectors[0].getY();
-    J_sp[currentIndex][8] = frictionVectors[0].getZ();
+    J_sp[currentIndex][8] = mFrictionVectors[0].getZ();
     J_sp[currentIndex][9] = r2CrossU1.getX();
     J_sp[currentIndex][10] = r2CrossU1.getY();
     J_sp[currentIndex][11] = r2CrossU1.getZ();
@@ -109,17 +112,17 @@ void Contact::computeJacobian(int noConstraint, decimal J_sp[NB_MAX_CONSTRAINTS]
     currentIndex++;
 
     // Compute the jacobian matrix for the body 1 for the second friction constraint
-    J_sp[currentIndex][0] = -frictionVectors[1].getX();
+    J_sp[currentIndex][0] = -mFrictionVectors[1].getX();
-    J_sp[currentIndex][1] = -frictionVectors[1].getY();
+    J_sp[currentIndex][1] = -mFrictionVectors[1].getY();
-    J_sp[currentIndex][2] = -frictionVectors[1].getZ();
+    J_sp[currentIndex][2] = -mFrictionVectors[1].getZ();
     J_sp[currentIndex][3] = -r1CrossU2.getX();
     J_sp[currentIndex][4] = -r1CrossU2.getY();
     J_sp[currentIndex][5] = -r1CrossU2.getZ();
 
     // Compute the jacobian matrix for the body 2 for the second friction constraint
-    J_sp[currentIndex][6] = frictionVectors[1].getX();
+    J_sp[currentIndex][6] = mFrictionVectors[1].getX();
-    J_sp[currentIndex][7] = frictionVectors[1].getY();
+    J_sp[currentIndex][7] = mFrictionVectors[1].getY();
-    J_sp[currentIndex][8] = frictionVectors[1].getZ();
+    J_sp[currentIndex][8] = mFrictionVectors[1].getZ();
     J_sp[currentIndex][9] = r2CrossU2.getX();
     J_sp[currentIndex][10] = r2CrossU2.getY();
     J_sp[currentIndex][11] = r2CrossU2.getZ();
@@ -129,42 +132,42 @@ void Contact::computeJacobian(int noConstraint, decimal J_sp[NB_MAX_CONSTRAINTS]
 // argument "lowerBounds" is the lowerbounds values vector of the constraint solver and
 // this methods has to fill in this vector starting from the row "noConstraint"
 void Contact::computeLowerBound(int noConstraint, decimal lowerBounds[NB_MAX_CONSTRAINTS]) const {
-    assert(noConstraint >= 0 && noConstraint + nbConstraints <= NB_MAX_CONSTRAINTS);
+    assert(noConstraint >= 0 && noConstraint + mNbConstraints <= NB_MAX_CONSTRAINTS);
 
-    lowerBounds[noConstraint] = 0.0;                // Lower bound for the contact constraint
+    lowerBounds[noConstraint] = 0.0;            // Lower bound for the contact constraint
-    lowerBounds[noConstraint + 1] = -mu_mc_g;       // Lower bound for the first friction constraint
+    lowerBounds[noConstraint + 1] = -mMu_mc_g;  // Lower bound for the first friction constraint
-    lowerBounds[noConstraint + 2] = -mu_mc_g;       // Lower bound for the second friction constraint
+    lowerBounds[noConstraint + 2] = -mMu_mc_g;  // Lower bound for the second friction constraint
 }
 
 // Compute the upperbounds values for all the mathematical constraints. The
 // argument "upperBounds" is the upperbounds values vector of the constraint solver and
 // this methods has to fill in this vector starting from the row "noConstraint"
 void Contact::computeUpperBound(int noConstraint, decimal upperBounds[NB_MAX_CONSTRAINTS]) const {
-    assert(noConstraint >= 0 && noConstraint + nbConstraints <= NB_MAX_CONSTRAINTS);
+    assert(noConstraint >= 0 && noConstraint + mNbConstraints <= NB_MAX_CONSTRAINTS);
 
-    upperBounds[noConstraint] = DECIMAL_INFINITY;    // Upper bound for the contact constraint
+    upperBounds[noConstraint] = DECIMAL_INFINITY; // Upper bound for the contact constraint
-    upperBounds[noConstraint + 1] = mu_mc_g;       // Upper bound for the first friction constraint
+    upperBounds[noConstraint + 1] = mMu_mc_g;     // Upper bound for the first friction constraint
-    upperBounds[noConstraint + 2] = mu_mc_g;       // Upper bound for the second friction constraint
+    upperBounds[noConstraint + 2] = mMu_mc_g;     // Upper bound for the second friction constraint
 }
 
 // Compute the error values for all the mathematical constraints. The argument
 // "errorValues" is the error values vector of the constraint solver and this
 // method has to fill in this vector starting from the row "noConstraint"
 void Contact::computeErrorValue(int noConstraint, decimal errorValues[]) const {
-    assert(body1);
+    assert(mBody1);
-    assert(body2);
+    assert(mBody2);
 
 	// TODO : Do we need this casting anymore ?
-    RigidBody* rigidBody1 = dynamic_cast<RigidBody*>(body1);
+    RigidBody* rigidBody1 = dynamic_cast<RigidBody*>(mBody1);
-    RigidBody* rigidBody2 = dynamic_cast<RigidBody*>(body2);
+    RigidBody* rigidBody2 = dynamic_cast<RigidBody*>(mBody2);
 
-    assert(noConstraint >= 0 && noConstraint + nbConstraints <= NB_MAX_CONSTRAINTS);
+    assert(noConstraint >= 0 && noConstraint + mNbConstraints <= NB_MAX_CONSTRAINTS);
 
     // Compute the error value for the contact constraint
     Vector3 velocity1 = rigidBody1->getLinearVelocity();
     Vector3 velocity2 = rigidBody2->getLinearVelocity();
     decimal restitutionCoeff = rigidBody1->getRestitution() * rigidBody2->getRestitution();
-    decimal errorValue = restitutionCoeff * (normal.dot(velocity1) - normal.dot(velocity2));
+    decimal errorValue = restitutionCoeff * (mNormal.dot(velocity1) - mNormal.dot(velocity2));
     
     // Assign the error value to the vector of error values
     errorValues[noConstraint] = errorValue;    // Error value for contact constraint

src/constraint/Contact.h

@@ -64,36 +64,98 @@ namespace reactphysics3d {
 class Contact : public Constraint {
 
     protected :
-        const Vector3 normal;                   // Normal vector of the contact (From body1 toward body2) in world space
+
-        decimal penetrationDepth;               // Penetration depth
+        // -------------------- Attributes -------------------- //
-        const Vector3 localPointOnBody1;        // Contact point on body 1 in local space of body 1
+
-        const Vector3 localPointOnBody2;        // Contact point on body 2 in local space of body 2
+        // Normal vector of the contact (From body1 toward body2) in world space
-        Vector3 worldPointOnBody1;              // Contact point on body 1 in world space
+        const Vector3 mNormal;
-        Vector3 worldPointOnBody2;              // Contact point on body 2 in world space
+
-        std::vector<Vector3> frictionVectors;   // Two orthogonal vectors that span the tangential friction plane
+        // Penetration depth
-        decimal mu_mc_g;
+        decimal mPenetrationDepth;
+
+        // Contact point on body 1 in local space of body 1
+        const Vector3 mLocalPointOnBody1;
+
+        // Contact point on body 2 in local space of body 2
+        const Vector3 mLocalPointOnBody2;
+
+        // Contact point on body 1 in world space
+        Vector3 mWorldPointOnBody1;
+
+        // Contact point on body 2 in world space
+        Vector3 mWorldPointOnBody2;
+
+        // Two orthogonal vectors that span the tangential friction plane
+        std::vector<Vector3> mFrictionVectors;
+
+        decimal mMu_mc_g;
         
-        void computeFrictionVectors();                  // Compute the two friction vectors that span the tangential friction plane
+        // -------------------- Methods -------------------- //
+
+        // Private copy-constructor
+        Contact(const Contact& contact);
+
+        // Private assignment operator
+        Contact& operator=(const Contact& contact);
+
+        // Compute the two friction vectors that span the tangential friction plane
+        void computeFrictionVectors();
 
     public :
-        Contact(RigidBody* const body1, RigidBody* const body2, const ContactInfo* contactInfo); // Constructor
-        virtual ~Contact();                             // Destructor
 
-        Vector3 getNormal() const;                                                     // Return the normal vector of the contact
+        // -------------------- Methods -------------------- //
-        void setPenetrationDepth(decimal penetrationDepth);                            // Set the penetration depth of the contact
+
-        Vector3 getLocalPointOnBody1() const;                                          // Return the contact local point on body 1
+        // Constructor
-        Vector3 getLocalPointOnBody2() const;                                          // Return the contact local point on body 2
+        Contact(RigidBody* const body1, RigidBody* const body2, const ContactInfo* contactInfo);
-        Vector3 getWorldPointOnBody1() const;                                          // Return the contact world point on body 1
+
-        Vector3 getWorldPointOnBody2() const;                                          // Return the contact world point on body 2
+        // Destructor
-        void setWorldPointOnBody1(const Vector3& worldPoint);                          // Set the contact world point on body 1
+        virtual ~Contact();
-        void setWorldPointOnBody2(const Vector3& worldPoint);                                                   // Set the contact world point on body 2
+
-        virtual void computeJacobian(int noConstraint, decimal J_SP[NB_MAX_CONSTRAINTS][2*6]) const;             // Compute the jacobian matrix for all mathematical constraints
+        // Return the normal vector of the contact
-        virtual void computeLowerBound(int noConstraint, decimal lowerBounds[NB_MAX_CONSTRAINTS]) const;         // Compute the lowerbounds values for all the mathematical constraints
+        Vector3 getNormal() const;
-        virtual void computeUpperBound(int noConstraint, decimal upperBounds[NB_MAX_CONSTRAINTS]) const;         // Compute the upperbounds values for all the mathematical constraints
+
-        virtual void computeErrorValue(int noConstraint, decimal errorValues[]) const; // Compute the error values for all the mathematical constraints
+        // Set the penetration depth of the contact
-        decimal getPenetrationDepth() const;                                                                     // Return the penetration depth
+        void setPenetrationDepth(decimal penetrationDepth);
+
+        // Return the contact local point on body 1
+        Vector3 getLocalPointOnBody1() const;
+
+        // Return the contact local point on body 2
+        Vector3 getLocalPointOnBody2() const;
+
+        // Return the contact world point on body 1
+        Vector3 getWorldPointOnBody1() const;
+
+        // Return the contact world point on body 2
+        Vector3 getWorldPointOnBody2() const;
+
+        // Set the contact world point on body 1
+        void setWorldPointOnBody1(const Vector3& worldPoint);
+
+        // Set the contact world point on body 2
+        void setWorldPointOnBody2(const Vector3& worldPoint);
+
+        // Compute the jacobian matrix for all mathematical constraints
+        virtual void computeJacobian(int noConstraint,
+                                     decimal J_SP[NB_MAX_CONSTRAINTS][2*6]) const;
+
+        // Compute the lowerbounds values for all the mathematical constraints
+        virtual void computeLowerBound(int noConstraint,
+                                       decimal lowerBounds[NB_MAX_CONSTRAINTS]) const;
+
+        // Compute the upperbounds values for all the mathematical constraints
+        virtual void computeUpperBound(int noConstraint,
+                                       decimal upperBounds[NB_MAX_CONSTRAINTS]) const;
+
+        // Compute the error values for all the mathematical constraints
+        virtual void computeErrorValue(int noConstraint, decimal errorValues[]) const;
+
+        // Return the penetration depth
+        decimal getPenetrationDepth() const;
+
         #ifdef VISUAL_DEBUG
-           void draw() const;                                                                                   // Draw the contact (for debugging)
+            // Draw the contact (for debugging)
+           void draw() const;
         #endif
 };
 
@@ -101,59 +163,59 @@ class Contact : public Constraint {
 // The two vectors have to be such that : v1 x v2 = contactNormal
 inline void Contact::computeFrictionVectors() {
     // Delete the current friction vectors
-    frictionVectors.clear();
+    mFrictionVectors.clear();
 
     // Compute the first orthogonal vector
-    Vector3 vector1 = normal.getOneOrthogonalVector();
+    Vector3 vector1 = mNormal.getOneOrthogonalVector();
-    frictionVectors.push_back(vector1);
+    mFrictionVectors.push_back(vector1);
 
     // Compute the second orthogonal vector using the cross product
-    frictionVectors.push_back(normal.cross(vector1));
+    mFrictionVectors.push_back(mNormal.cross(vector1));
 }
 
 // Return the normal vector of the contact
 inline Vector3 Contact::getNormal() const {
-    return normal;
+    return mNormal;
 }
 
 // Set the penetration depth of the contact
 inline void Contact::setPenetrationDepth(decimal penetrationDepth) {
-    this->penetrationDepth = penetrationDepth;
+    this->mPenetrationDepth = penetrationDepth;
 }
 
 // Return the contact point on body 1
 inline Vector3 Contact::getLocalPointOnBody1() const {
-    return localPointOnBody1;
+    return mLocalPointOnBody1;
 }
 
 // Return the contact point on body 2
 inline Vector3 Contact::getLocalPointOnBody2() const {
-    return localPointOnBody2;
+    return mLocalPointOnBody2;
 }
 
 // Return the contact world point on body 1
 inline Vector3 Contact::getWorldPointOnBody1() const {
-    return worldPointOnBody1;
+    return mWorldPointOnBody1;
 }
 
 // Return the contact world point on body 2
 inline Vector3 Contact::getWorldPointOnBody2() const {
-    return worldPointOnBody2;
+    return mWorldPointOnBody2;
 }
 
 // Set the contact world point on body 1
 inline void Contact::setWorldPointOnBody1(const Vector3& worldPoint) {
-    worldPointOnBody1 = worldPoint;
+    mWorldPointOnBody1 = worldPoint;
 }
 
 // Set the contact world point on body 2
 inline void Contact::setWorldPointOnBody2(const Vector3& worldPoint) {
-    worldPointOnBody2 = worldPoint;
+    mWorldPointOnBody2 = worldPoint;
 }
 
 // Return the penetration depth of the contact
 inline decimal Contact::getPenetrationDepth() const {
-    return penetrationDepth;
+    return mPenetrationDepth;
 }
 
 

src/engine/CollisionWorld.cpp

@@ -32,7 +32,7 @@ using namespace reactphysics3d;
 using namespace std;
 
 // Constructor
-CollisionWorld::CollisionWorld() : collisionDetection(this), currentBodyID(0) {
+CollisionWorld::CollisionWorld() : mCollisionDetection(this), mCurrentBodyID(0) {
 }
 
 // Destructor
@@ -53,7 +53,8 @@ void CollisionWorld::notifyRemovedOverlappingPair(const BroadPhasePair* removedP
 }
 
 // Notify the world about a new narrow-phase contact
-void CollisionWorld::notifyNewContact(const BroadPhasePair* broadPhasePair, const ContactInfo* contactInfo) {
+void CollisionWorld::notifyNewContact(const BroadPhasePair* broadPhasePair,
+                                      const ContactInfo* contactInfo) {
 
     // TODO : Implement this method
 }
@@ -64,7 +65,8 @@ inline void CollisionWorld::updateOverlappingPair(const BroadPhasePair* pair) {
 }
 
 // Create a collision body and add it to the world
-CollisionBody* CollisionWorld::createCollisionBody(const Transform& transform, CollisionShape* collisionShape) {
+CollisionBody* CollisionWorld::createCollisionBody(const Transform& transform,
+                                                   CollisionShape* collisionShape) {
 
     // Get the next available body ID
     bodyindex bodyID = computeNextAvailableBodyID();
@@ -73,13 +75,14 @@ CollisionBody* CollisionWorld::createCollisionBody(const Transform& transform, C
     assert(bodyID < std::numeric_limits<reactphysics3d::bodyindex>::max());
 
     // Create the collision body
-    CollisionBody* collisionBody = new (memoryPoolCollisionBodies.allocateObject()) CollisionBody(transform, collisionShape, bodyID);
+    CollisionBody* collisionBody = new (mMemoryPoolCollisionBodies.allocateObject())
+                                        CollisionBody(transform, collisionShape, bodyID);
 
     // Add the collision body to the world
-    bodies.insert(collisionBody);
+    mBodies.insert(collisionBody);
 
     // Add the collision body to the collision detection
-    collisionDetection.addBody(collisionBody);
+    mCollisionDetection.addBody(collisionBody);
 
     // Return the pointer to the rigid body
     return collisionBody;
@@ -89,19 +92,19 @@ CollisionBody* CollisionWorld::createCollisionBody(const Transform& transform, C
 void CollisionWorld::destroyCollisionBody(CollisionBody* collisionBody) {
 
     // Remove the body from the collision detection
-    collisionDetection.removeBody(collisionBody);
+    mCollisionDetection.removeBody(collisionBody);
 
     // Add the body ID to the list of free IDs
-    freeBodiesIDs.push_back(collisionBody->getID());
+    mFreeBodiesIDs.push_back(collisionBody->getID());
 
     // Call the constructor of the collision body
     collisionBody->CollisionBody::~CollisionBody();
 
     // Remove the collision body from the list of bodies
-    bodies.erase(collisionBody);                                // TOOD : Maybe use a set to make this faster
+    mBodies.erase(collisionBody);           // TOOD : Maybe use a set to make this faster
 
     // Free the object from the memory pool
-    memoryPoolCollisionBodies.freeObject(collisionBody);
+    mMemoryPoolCollisionBodies.freeObject(collisionBody);
 }
 
 // Return the next available body ID
@@ -109,13 +112,13 @@ bodyindex CollisionWorld::computeNextAvailableBodyID() {
 
     // Compute the body ID
     bodyindex bodyID;
-    if (!freeBodiesIDs.empty()) {
+    if (!mFreeBodiesIDs.empty()) {
-        bodyID = freeBodiesIDs.back();
+        bodyID = mFreeBodiesIDs.back();
-        freeBodiesIDs.pop_back();
+        mFreeBodiesIDs.pop_back();
     }
     else {
-        bodyID = currentBodyID;
+        bodyID = mCurrentBodyID;
-        currentBodyID++;
+        mCurrentBodyID++;
     }
 
     return bodyID;

src/engine/CollisionWorld.h

@@ -51,41 +51,86 @@ namespace reactphysics3d {
 class CollisionWorld {
 
     protected :
-        CollisionDetection collisionDetection;                                          // Reference to the collision detection
-        std::set<CollisionBody*> bodies;                                                // All the bodies (rigid and soft) of the physics world
-        std::map<std::pair<bodyindex, bodyindex>, OverlappingPair*>  overlappingPairs;  // Broad-phase overlapping pairs of bodies
-        bodyindex currentBodyID;                                                        // Current body ID
-        MemoryPool<CollisionBody> memoryPoolCollisionBodies;                            // Memory pool for rigid bodies memory allocation
-        std::vector<luint> freeBodiesIDs;                                               // List of free ID for rigid bodies
 
-        virtual void notifyAddedOverlappingPair(const BroadPhasePair* addedPair);                   // Notify the world about a new broad-phase overlapping pair
+        // -------------------- Attributes -------------------- //
-        virtual void notifyRemovedOverlappingPair(const BroadPhasePair* removedPair);               // Notify the world about a removed broad-phase overlapping pair
-        virtual void notifyNewContact(const BroadPhasePair* pair, const ContactInfo* contactInfo);  // Notify the world about a new narrow-phase contact
-        virtual void updateOverlappingPair(const BroadPhasePair* pair);                             // Update the overlapping pair
-        bodyindex computeNextAvailableBodyID();                                                     // Return the next available body ID
 
+        // Reference to the collision detection
+        CollisionDetection mCollisionDetection;
+
+        // All the bodies (rigid and soft) of the world
+        std::set<CollisionBody*> mBodies;
+
+        // Broad-phase overlapping pairs of bodies
+        std::map<bodyindexpair, OverlappingPair*>  mOverlappingPairs;
+
+        // Current body ID
+        bodyindex mCurrentBodyID;
+
+        // Memory pool
+        MemoryPool<CollisionBody> mMemoryPoolCollisionBodies;
+
+        // List of free ID for rigid bodies
+        std::vector<luint> mFreeBodiesIDs;
+
+        // -------------------- Methods -------------------- //
+
+        // Private copy-constructor
+        CollisionWorld(const CollisionWorld& world);
+
+        // Private assignment operator
+        CollisionWorld& operator=(const CollisionWorld& world);
+
+        // Notify the world about a new broad-phase overlapping pair
+        virtual void notifyAddedOverlappingPair(const BroadPhasePair* addedPair);
+
+        // Notify the world about a removed broad-phase overlapping pair
+        virtual void notifyRemovedOverlappingPair(const BroadPhasePair* removedPair);
+
+        // Notify the world about a new narrow-phase contact
+        virtual void notifyNewContact(const BroadPhasePair* pair, const ContactInfo* contactInfo);
+
+        // Update the overlapping pair
+        virtual void updateOverlappingPair(const BroadPhasePair* pair);
+
+        // Return the next available body ID
+        bodyindex computeNextAvailableBodyID();
 
     public :
-        CollisionWorld();                                               // Constructor
-        virtual ~CollisionWorld();                                      // Destructor
-        std::set<CollisionBody*>::iterator getBodiesBeginIterator();    // Return an iterator to the beginning of the bodies of the physics world
-        std::set<CollisionBody*>::iterator getBodiesEndIterator();      // Return an iterator to the end of the bodies of the physics world
-        CollisionBody* createCollisionBody(const Transform& transform,
-                                           CollisionShape* collisionShape);     // Create a collision body
-        void destroyCollisionBody(CollisionBody* collisionBody);                // Destroy a collision body
 
-        // Friends
+        // ----- Methods ----- //
+
+        // Constructor
+        CollisionWorld();
+
+        // Destructor
+        virtual ~CollisionWorld();
+
+        // Return an iterator to the beginning of the bodies of the physics world
+        std::set<CollisionBody*>::iterator getBodiesBeginIterator();
+
+        // Return an iterator to the end of the bodies of the physics world
+        std::set<CollisionBody*>::iterator getBodiesEndIterator();
+
+        // Create a collision body
+        CollisionBody* createCollisionBody(const Transform& transform,
+                                           CollisionShape* collisionShape);
+
+        // Destroy a collision body
+        void destroyCollisionBody(CollisionBody* collisionBody);
+
+        // ----- Friends ----- //
+
         friend class CollisionDetection;
 };
 
 // Return an iterator to the beginning of the bodies of the physics world
 inline std::set<CollisionBody*>::iterator CollisionWorld::getBodiesBeginIterator() {
-    return bodies.begin();
+    return mBodies.begin();
 }
 
 // Return an iterator to the end of the bodies of the physics world
 inline std::set<CollisionBody*>::iterator CollisionWorld::getBodiesEndIterator() {
-    return bodies.end();
+    return mBodies.end();
 }
 
 }   // End of the ReactPhysics3D namespace

src/engine/DynamicsWorld.cpp

@@ -32,8 +32,8 @@ using namespace std;
 
 // Constructor
 DynamicsWorld::DynamicsWorld(const Vector3 &gravity, decimal timeStep = DEFAULT_TIMESTEP)
-              : CollisionWorld(), timer(timeStep), gravity(gravity), isGravityOn(true), constraintSolver(this),
+              : CollisionWorld(), mTimer(timeStep), mGravity(gravity), mIsGravityOn(true), mConstraintSolver(this),
-                isDeactivationActive(DEACTIVATION_ENABLED) {
+                mIsDeactivationActive(DEACTIVATION_ENABLED) {
 
 }
 
@@ -41,10 +41,10 @@ DynamicsWorld::DynamicsWorld(const Vector3 &gravity, decimal timeStep = DEFAULT_
 DynamicsWorld::~DynamicsWorld() {
 
     // Delete the remaining overlapping pairs
-    for (map<std::pair<bodyindex, bodyindex>, OverlappingPair*>::iterator it=overlappingPairs.begin(); it != overlappingPairs.end(); it++) {
+    for (map<std::pair<bodyindex, bodyindex>, OverlappingPair*>::iterator it=mOverlappingPairs.begin(); it != mOverlappingPairs.end(); it++) {
         // Delete the overlapping pair
         (*it).second->OverlappingPair::~OverlappingPair();
-        memoryPoolOverlappingPairs.freeObject((*it).second);
+        mMemoryPoolOverlappingPairs.freeObject((*it).second);
     }
 }
 
@@ -52,31 +52,31 @@ DynamicsWorld::~DynamicsWorld() {
 void DynamicsWorld::update() {
     bool existCollision = false;
 
-    assert(timer.getIsRunning());
+    assert(mTimer.getIsRunning());
     
     // Compute the time since the last update() call and update the timer
-    timer.update();
+    mTimer.update();
 
     // Apply the gravity force to all bodies
     applyGravity();
 
     // While the time accumulator is not empty
-    while(timer.isPossibleToTakeStep()) {
+    while(mTimer.isPossibleToTakeStep()) {
 
         existCollision = false;
 
         removeAllContactConstraints();
 		
         // Compute the collision detection
-        if (collisionDetection.computeCollisionDetection()) {
+        if (mCollisionDetection.computeCollisionDetection()) {
             existCollision = true;
 
             // Solve constraints
-            constraintSolver.solve(timer.getTimeStep());
+            mConstraintSolver.solve(mTimer.getTimeStep());
         }
 
         // Update the timer
-        timer.nextStep();
+        mTimer.nextStep();
 
         // Reset the movement boolean variable of each body to false
         resetBodiesMovementVariable();
@@ -86,7 +86,7 @@ void DynamicsWorld::update() {
 
         // Cleanup of the constraint solver
         if (existCollision) {
-           constraintSolver.cleanup();
+           mConstraintSolver.cleanup();
         }
     }
 
@@ -104,7 +104,7 @@ void DynamicsWorld::update() {
 // This method uses the semi-implicit Euler method to update the position and
 // orientation of the body
 void DynamicsWorld::updateAllBodiesMotion() {
-    decimal dt = timer.getTimeStep();
+    decimal dt = mTimer.getTimeStep();
     Vector3 newLinearVelocity;
     Vector3 newAngularVelocity;
     Vector3 linearVelocityErrorCorrection;
@@ -124,13 +124,13 @@ void DynamicsWorld::updateAllBodiesMotion() {
             angularVelocityErrorCorrection.setAllValues(0.0, 0.0, 0.0);
 
             // If it's a constrained body
-            if (constraintSolver.isConstrainedBody(*it)) {
+            if (mConstraintSolver.isConstrainedBody(*it)) {
                 // Get the constrained linear and angular velocities from the constraint solver
-                newLinearVelocity = constraintSolver.getConstrainedLinearVelocityOfBody(*it);
+                newLinearVelocity = mConstraintSolver.getConstrainedLinearVelocityOfBody(*it);
-                newAngularVelocity = constraintSolver.getConstrainedAngularVelocityOfBody(*it);
+                newAngularVelocity = mConstraintSolver.getConstrainedAngularVelocityOfBody(*it);
                 
-                linearVelocityErrorCorrection = constraintSolver.getErrorConstrainedLinearVelocityOfBody(rigidBody);
+                linearVelocityErrorCorrection = mConstraintSolver.getErrorConstrainedLinearVelocityOfBody(rigidBody);
-                angularVelocityErrorCorrection = constraintSolver.getErrorConstrainedAngularVelocityOfBody(rigidBody);
+                angularVelocityErrorCorrection = mConstraintSolver.getErrorConstrainedAngularVelocityOfBody(rigidBody);
             }
 
             // Compute V_forces = dt * (M^-1 * F_ext) which is the velocity of the body due to the
@@ -157,7 +157,7 @@ void DynamicsWorld::updateAllBodiesMotion() {
 // orientation of the body
 void DynamicsWorld::updatePositionAndOrientationOfBody(RigidBody* rigidBody, const Vector3& newLinVelocity, const Vector3& newAngVelocity,
                                                        const Vector3& linearVelocityErrorCorrection, const Vector3& angularVelocityErrorCorrection) {
-    decimal dt = timer.getTimeStep();
+    decimal dt = mTimer.getTimeStep();
 
     assert(rigidBody);
 
@@ -187,7 +187,7 @@ void DynamicsWorld::updatePositionAndOrientationOfBody(RigidBody* rigidBody, con
 void DynamicsWorld::setInterpolationFactorToAllBodies() {
     
     // Compute the interpolation factor
-    decimal factor = timer.computeInterpolationFactor();
+    decimal factor = mTimer.computeInterpolationFactor();
     assert(factor >= 0.0 && factor <= 1.0);
 
     // Set the factor to all bodies
@@ -210,9 +210,9 @@ void DynamicsWorld::applyGravity() {
         assert(rigidBody);
    
         // If the gravity force is on
-        if(isGravityOn) {
+        if(mIsGravityOn) {
             // Apply the current gravity force to the body
-            rigidBody->setExternalForce(rigidBody->getMass() * gravity);
+            rigidBody->setExternalForce(rigidBody->getMass() * mGravity);
         }
     }
 }
@@ -229,14 +229,14 @@ RigidBody* DynamicsWorld::createRigidBody(const Transform& transform, decimal ma
     assert(bodyID < std::numeric_limits<reactphysics3d::bodyindex>::max());
 
     // Create the rigid body
-    RigidBody* rigidBody = new (memoryPoolRigidBodies.allocateObject()) RigidBody(transform, mass, inertiaTensorLocal, collisionShape, bodyID);
+    RigidBody* rigidBody = new (mMemoryPoolRigidBodies.allocateObject()) RigidBody(transform, mass, inertiaTensorLocal, collisionShape, bodyID);
 
     // Add the rigid body to the physics world
-    bodies.insert(rigidBody);
+    mBodies.insert(rigidBody);
-    rigidBodies.insert(rigidBody);
+    mRigidBodies.insert(rigidBody);
 
     // Add the rigid body to the collision detection
-    collisionDetection.addBody(rigidBody);
+    mCollisionDetection.addBody(rigidBody);
 
     // Return the pointer to the rigid body
     return rigidBody;
@@ -246,27 +246,27 @@ RigidBody* DynamicsWorld::createRigidBody(const Transform& transform, decimal ma
 void DynamicsWorld::destroyRigidBody(RigidBody* rigidBody) {
 
     // Remove the body from the collision detection
-    collisionDetection.removeBody(rigidBody);
+    mCollisionDetection.removeBody(rigidBody);
 
     // Add the body ID to the list of free IDs
-    freeBodiesIDs.push_back(rigidBody->getID());
+    mFreeBodiesIDs.push_back(rigidBody->getID());
 
     // Call the constructor of the rigid body
     rigidBody->RigidBody::~RigidBody();
 
     // Remove the rigid body from the list of rigid bodies
-    bodies.erase(rigidBody);                                    // TOOD : Maybe use a set to make this faster
+    mBodies.erase(rigidBody);                                    // TOOD : Maybe use a set to make this faster
-    rigidBodies.erase(rigidBody);                               // TOOD : Maybe use a set to make this faster
+    mRigidBodies.erase(rigidBody);                               // TOOD : Maybe use a set to make this faster
 
     // Free the object from the memory pool
-    memoryPoolRigidBodies.freeObject(rigidBody);
+    mMemoryPoolRigidBodies.freeObject(rigidBody);
 }
 
 // Remove all collision contacts constraints
 // TODO : This method should be in the collision detection class
 void DynamicsWorld::removeAllContactConstraints() {
     // For all constraints
-    for (vector<Constraint*>::iterator it = constraints.begin(); it != constraints.end(); ) {
+    for (vector<Constraint*>::iterator it = mConstraints.begin(); it != mConstraints.end(); ) {
 
         // Try a downcasting
         Contact* contact = dynamic_cast<Contact*>(*it);
@@ -274,7 +274,7 @@ void DynamicsWorld::removeAllContactConstraints() {
         // If the constraint is a contact
         if (contact) {
             // Remove it from the constraints of the physics world
-            it = constraints.erase(it);
+            it = mConstraints.erase(it);
         }
         else {
             ++it;
@@ -284,7 +284,7 @@ void DynamicsWorld::removeAllContactConstraints() {
 
 // Remove all constraints in the physics world
 void DynamicsWorld::removeAllConstraints() {
-    constraints.clear();
+    mConstraints.clear();
 }
 
 // Notify the world about a new broad-phase overlapping pair
@@ -294,8 +294,8 @@ void DynamicsWorld::notifyAddedOverlappingPair(const BroadPhasePair* addedPair)
     std::pair<bodyindex, bodyindex> indexPair = addedPair->getBodiesIndexPair();
 
     // Add the pair into the set of overlapping pairs (if not there yet)
-    OverlappingPair* newPair = new (memoryPoolOverlappingPairs.allocateObject()) OverlappingPair(addedPair->body1, addedPair->body2, memoryPoolContacts);
+    OverlappingPair* newPair = new (mMemoryPoolOverlappingPairs.allocateObject()) OverlappingPair(addedPair->body1, addedPair->body2, mMemoryPoolContacts);
-    std::pair<map<std::pair<bodyindex, bodyindex>, OverlappingPair*>::iterator, bool> check = overlappingPairs.insert(make_pair(indexPair, newPair));
+    std::pair<map<std::pair<bodyindex, bodyindex>, OverlappingPair*>::iterator, bool> check = mOverlappingPairs.insert(make_pair(indexPair, newPair));
     assert(check.second);
 }
 
@@ -306,9 +306,9 @@ void DynamicsWorld::notifyRemovedOverlappingPair(const BroadPhasePair* removedPa
     std::pair<bodyindex, bodyindex> indexPair = removedPair->getBodiesIndexPair();
 
     // Remove the overlapping pair from the memory pool
-    overlappingPairs[indexPair]->OverlappingPair::~OverlappingPair();
+    mOverlappingPairs[indexPair]->OverlappingPair::~OverlappingPair();
-    memoryPoolOverlappingPairs.freeObject(overlappingPairs[indexPair]);
+    mMemoryPoolOverlappingPairs.freeObject(mOverlappingPairs[indexPair]);
-    overlappingPairs.erase(indexPair);
+    mOverlappingPairs.erase(indexPair);
 }
 
 // Notify the world about a new narrow-phase contact
@@ -321,12 +321,12 @@ void DynamicsWorld::notifyNewContact(const BroadPhasePair* broadPhasePair, const
     assert(rigidBody2);
 
     // Create a new contact
-    Contact* contact = new (memoryPoolContacts.allocateObject()) Contact(rigidBody1, rigidBody2, contactInfo);
+    Contact* contact = new (mMemoryPoolContacts.allocateObject()) Contact(rigidBody1, rigidBody2, contactInfo);
     assert(contact);
 
     // Get the corresponding overlapping pair
     pair<bodyindex, bodyindex> indexPair = broadPhasePair->getBodiesIndexPair();
-    OverlappingPair* overlappingPair = overlappingPairs[indexPair];
+    OverlappingPair* overlappingPair = mOverlappingPairs[indexPair];
     assert(overlappingPair);
 
     // Add the contact to the contact cache of the corresponding overlapping pair

src/engine/DynamicsWorld.h

@@ -47,82 +47,172 @@ namespace reactphysics3d {
 class DynamicsWorld : public CollisionWorld {
 
     protected :
-        Timer timer;                                            // Timer of the physics engine
-        ConstraintSolver constraintSolver;                      // Constraint solver
-        bool isDeactivationActive;                              // True if the deactivation (sleeping) of inactive bodies is enabled
-        std::set<RigidBody*> rigidBodies;                       // All the rigid bodies of the physics world
-        std::vector<Constraint*> constraints;                   // List that contains all the current constraints
-        Vector3 gravity;                                        // Gravity vector of the world
-        bool isGravityOn;                                       // True if the gravity force is on
-        MemoryPool<OverlappingPair> memoryPoolOverlappingPairs; // Memory pool for the overlapping pairs
-        MemoryPool<RigidBody> memoryPoolRigidBodies;            // Memory pool for rigid bodies memory allocation
-        MemoryPool<Contact> memoryPoolContacts;                 // Memory pool for the contacts
 
-        void updateAllBodiesMotion();                                                                                                            // Compute the motion of all bodies and update their positions and orientations
+        // -------------------- Attributes -------------------- //
-        void updatePositionAndOrientationOfBody(RigidBody* body, const Vector3& newLinVelocity, const Vector3& newAngVelocity,
+
-                                                const Vector3& linearVelocityErrorCorrection, const Vector3& angularVelocityErrorCorrection);    // Update the position and orientation of a body
+        // Timer of the physics engine
-        void setInterpolationFactorToAllBodies();                                                                                                // Compute and set the interpolation factor to all bodies
+        Timer mTimer;
-        void applyGravity();                                                                                                                     // Apply the gravity force to all bodies
+
-        void resetBodiesMovementVariable();                                             // Reset the boolean movement variable of each body
+        // Constraint solver
-        virtual void updateOverlappingPair(const BroadPhasePair* pair);                         // Update the overlapping pair
+        ConstraintSolver mConstraintSolver;
-        virtual void notifyAddedOverlappingPair(const BroadPhasePair* addedPair);       // Notify the world about a new broad-phase overlapping pair
+
-        virtual void notifyRemovedOverlappingPair(const BroadPhasePair* removedPair);   // Notify the world about a removed broad-phase overlapping pair
+        // True if the deactivation (sleeping) of inactive bodies is enabled
-        virtual void notifyNewContact(const BroadPhasePair* pair,
+        bool mIsDeactivationActive;
-                                      const ContactInfo* contactInfo);                  // Notify the world about a new narrow-phase contact
+
+        // All the rigid bodies of the physics world
+        std::set<RigidBody*> mRigidBodies;
+
+        // List that contains all the current constraints
+        std::vector<Constraint*> mConstraints;
+
+        // Gravity vector of the world
+        Vector3 mGravity;
+
+        // True if the gravity force is on
+        bool mIsGravityOn;
+
+        // Memory pool for the overlapping pairs
+        MemoryPool<OverlappingPair> mMemoryPoolOverlappingPairs;
+
+        // Memory pool for rigid bodies memory allocation
+        MemoryPool<RigidBody> mMemoryPoolRigidBodies;
+
+        // Memory pool for the contacts
+        MemoryPool<Contact> mMemoryPoolContacts;
+
+        // -------------------- Methods -------------------- //
+
+        // Private copy-constructor
+        DynamicsWorld(const DynamicsWorld& world);
+
+        // Private assignment operator
+        DynamicsWorld& operator=(const DynamicsWorld& world);
+
+        // Compute the motion of all bodies and update their positions and orientations
+        void updateAllBodiesMotion();
+
+        // Update the position and orientation of a body
+        void updatePositionAndOrientationOfBody(RigidBody* body, const Vector3& newLinVelocity,
+                                                const Vector3& newAngVelocity,
+                                                const Vector3& linearVelocityErrorCorrection,
+                                                const Vector3& angularVelocityErrorCorrection);
+
+        // Compute and set the interpolation factor to all bodies
+        void setInterpolationFactorToAllBodies();
+
+        // Apply the gravity force to all bodies
+        void applyGravity();
+
+        // Reset the boolean movement variable of each body
+        void resetBodiesMovementVariable();
+
+        // Update the overlapping pair
+        virtual void updateOverlappingPair(const BroadPhasePair* pair);
+
+        // Notify the world about a new broad-phase overlapping pair
+        virtual void notifyAddedOverlappingPair(const BroadPhasePair* addedPair);
+
+        // Notify the world about a removed broad-phase overlapping pair
+        virtual void notifyRemovedOverlappingPair(const BroadPhasePair* removedPair);
+
+        // Notify the world about a new narrow-phase contact
+        virtual void notifyNewContact(const BroadPhasePair* pair, const ContactInfo* contactInfo);
 
 public :
-        DynamicsWorld(const Vector3& gravity, decimal timeStep);    // Constructor
-        virtual ~DynamicsWorld();                                   // Destructor
 
-        Timer& getTimer() {return timer;}
+        // -------------------- Methods -------------------- //
-        void start();                                                   // Start the physics simulation
+
-        void stop();                                                    // Stop the physics simulation
+        // Constructor
-        void update();                                                  // Update the physics simulation
+        DynamicsWorld(const Vector3& mGravity, decimal timeStep);
-        void setNbLCPIterations(uint nbIterations);                     // Set the number of iterations of the LCP solver
+
-        void setIsErrorCorrectionActive(bool isErrorCorrectionActive);  // Set the isErrorCorrectionActive value
+        // Destructor
+        virtual ~DynamicsWorld();
+
+        // Start the physics simulation
+        void start();
+
+        // Stop the physics simulation
+        void stop();
+
+        // Update the physics simulation
+        void update();
+
+        // Set the number of iterations of the LCP solver
+        void setNbLCPIterations(uint nbIterations);
+
+        // Set the isErrorCorrectionActive value
+        void setIsErrorCorrectionActive(bool isErrorCorrectionActive);
+
+        // Create a rigid body into the physics world
         RigidBody* createRigidBody(const Transform& transform, decimal mass,
-                                   const Matrix3x3& inertiaTensorLocal, CollisionShape* collisionShape);  // Create a rigid body into the physics world
+                                   const Matrix3x3& inertiaTensorLocal,
-        void destroyRigidBody(RigidBody* rigidBody);                                    // Destroy a rigid body
+                                   CollisionShape* collisionShape);
-        Vector3 getGravity() const;                                                     // Return the gravity vector of the world
+
-        bool getIsGravityOn() const;                                                    // Return if the gravity is on
+        // Destroy a rigid body
-        void setIsGratityOn(bool isGravityOn);                                          // Set the isGravityOn attribute
+        void destroyRigidBody(RigidBody* rigidBody);
-        void addConstraint(Constraint* constraint);                                     // Add a constraint
+
-        void removeConstraint(Constraint* constraint);                                  // Remove a constraint
+        // Return the gravity vector of the world
-        void removeAllContactConstraints();                                             // Remove all collision contacts constraints
+        Vector3 getGravity() const;
-        void removeAllConstraints();                                                    // Remove all constraints and delete them (free their memory)
+
-        std::vector<Constraint*>::iterator getConstraintsBeginIterator();               // Return a start iterator on the constraint list
+        // Return if the gravity is on
-        std::vector<Constraint*>::iterator getConstraintsEndIterator();                 // Return a end iterator on the constraint list
+        bool getIsGravityOn() const;
-        std::set<RigidBody*>::iterator getRigidBodiesBeginIterator();                   // Return an iterator to the beginning of the rigid bodies of the physics world
+
-        std::set<RigidBody*>::iterator getRigidBodiesEndIterator();                     // Return an iterator to the end of the rigid bodies of the physics world
+        // Set the isGravityOn attribute
+        void setIsGratityOn(bool isGravityOn);
+
+        // Add a constraint
+        void addConstraint(Constraint* constraint);
+
+        // Remove a constraint
+        void removeConstraint(Constraint* constraint);
+
+        // Remove all collision contacts constraints
+        void removeAllContactConstraints();
+
+        // Remove all constraints and delete them (free their memory)
+        void removeAllConstraints();
+
+        // Return a start iterator on the constraint list
+        std::vector<Constraint*>::iterator getConstraintsBeginIterator();
+
+        // Return a end iterator on the constraint list
+        std::vector<Constraint*>::iterator getConstraintsEndIterator();
+
+        // Return an iterator to the beginning of the rigid bodies of the physics world
+        std::set<RigidBody*>::iterator getRigidBodiesBeginIterator();
+
+        // Return an iterator to the end of the rigid bodies of the physics world
+        std::set<RigidBody*>::iterator getRigidBodiesEndIterator();
 };
 
 // --- Inline functions --- //
 
 // Start the physics simulation
 inline void DynamicsWorld::start() {
-    timer.start();
+    mTimer.start();
 }
 
 inline void DynamicsWorld::stop() {
     std::cout << "Stop Simulation" << std::endl;
-    timer.stop();
+    mTimer.stop();
 }                
 
 // Set the number of iterations of the LCP solver
 inline void DynamicsWorld::setNbLCPIterations(uint nbIterations) {
-    constraintSolver.setNbLCPIterations(nbIterations);
+    mConstraintSolver.setNbLCPIterations(nbIterations);
 }   
 
 // Set the isErrorCorrectionActive value
 inline void DynamicsWorld::setIsErrorCorrectionActive(bool isErrorCorrectionActive) {
-    constraintSolver.setIsErrorCorrectionActive(isErrorCorrectionActive);
+    mConstraintSolver.setIsErrorCorrectionActive(isErrorCorrectionActive);
 }
 
 // Reset the boolean movement variable of each body
 inline void DynamicsWorld::resetBodiesMovementVariable() {
 
     // For each rigid body
-    for (std::set<RigidBody*>::iterator it = getRigidBodiesBeginIterator(); it != getRigidBodiesEndIterator(); it++) {
+    for (std::set<RigidBody*>::iterator it = getRigidBodiesBeginIterator();
+         it != getRigidBodiesEndIterator(); it++) {
 
         // Set the hasMoved variable to false
         (*it)->setHasMoved(false);
@@ -136,7 +226,7 @@ inline void DynamicsWorld::updateOverlappingPair(const BroadPhasePair* pair) {
     std::pair<bodyindex, bodyindex> indexPair = pair->getBodiesIndexPair();
 
     // Get the corresponding overlapping pair
-    OverlappingPair* overlappingPair = overlappingPairs[indexPair];
+    OverlappingPair* overlappingPair = mOverlappingPairs[indexPair];
 
     // Update the contact cache of the overlapping pair
     overlappingPair->update();
@@ -146,7 +236,7 @@ inline void DynamicsWorld::updateOverlappingPair(const BroadPhasePair* pair) {
 // Add a constraint into the physics world
 inline void DynamicsWorld::addConstraint(Constraint* constraint) {
     assert(constraint != 0);
-    constraints.push_back(constraint);
+    mConstraints.push_back(constraint);
 }
 
 // Remove a constraint and free its memory
@@ -154,45 +244,45 @@ inline void DynamicsWorld::removeConstraint(Constraint* constraint) {
     std::vector<Constraint*>::iterator it;
 
     assert(constraint);
-    it = std::find(constraints.begin(), constraints.end(), constraint);
+    it = std::find(mConstraints.begin(), mConstraints.end(), constraint);
     assert(*it == constraint);
     delete *it;
-    constraints.erase(it);
+    mConstraints.erase(it);
 }
 
 // Return the gravity vector of the world
 inline Vector3 DynamicsWorld::getGravity() const {
-    return gravity;
+    return mGravity;
 }
 
 // Return if the gravity is on
 inline bool DynamicsWorld::getIsGravityOn() const {
-    return isGravityOn;
+    return mIsGravityOn;
 }
 
 // Set the isGravityOn attribute
 inline void DynamicsWorld::setIsGratityOn(bool isGravityOn) {
-    this->isGravityOn = isGravityOn;
+    mIsGravityOn = isGravityOn;
 }
 
 // Return an iterator to the beginning of the bodies of the physics world
 inline std::set<RigidBody*>::iterator DynamicsWorld::getRigidBodiesBeginIterator() {
-    return rigidBodies.begin();
+    return mRigidBodies.begin();
 }
 
 // Return an iterator to the end of the bodies of the physics world
 inline std::set<RigidBody*>::iterator DynamicsWorld::getRigidBodiesEndIterator() {
-    return rigidBodies.end();
+    return mRigidBodies.end();
 }
 
 // Return a start iterator on the constraint list
 inline std::vector<Constraint*>::iterator DynamicsWorld::getConstraintsBeginIterator() {
-    return constraints.begin();
+    return mConstraints.begin();
 }
 
 // Return a end iterator on the constraint list
 inline std::vector<Constraint*>::iterator DynamicsWorld::getConstraintsEndIterator() {
-    return constraints.end();
+    return mConstraints.end();
 }
 
 }

src/engine/OverlappingPair.cpp

@@ -30,8 +30,10 @@ using namespace reactphysics3d;
 
 
 // Constructor
-OverlappingPair::OverlappingPair(CollisionBody* body1, CollisionBody* body2, MemoryPool<Contact>& memoryPoolContacts)
+OverlappingPair::OverlappingPair(CollisionBody* body1, CollisionBody* body2,
-                : body1(body1), body2(body2), contactsCache(body1, body2, memoryPoolContacts), cachedSeparatingAxis(1.0, 1.0, 1.0) {
+                                 MemoryPool<Contact>& memoryPoolContacts)
+                : mBody1(body1), mBody2(body2), mContactsCache(body1, body2, memoryPoolContacts),
+                  mCachedSeparatingAxis(1.0, 1.0, 1.0) {
     
 }   
 

src/engine/OverlappingPair.h

@@ -42,65 +42,106 @@ namespace reactphysics3d {
     -------------------------------------------------------------------
 */
 class OverlappingPair {
+
     private:
-        CollisionBody* const body1;             // Pointer to the first body of the contact
+
-        CollisionBody* const body2;             // Pointer to the second body of the contact
+        // -------------------- Attributes -------------------- //
-        PersistentContactCache contactsCache;   // Persistent contact cache
+
-        Vector3 cachedSeparatingAxis;           // Cached previous separating axis
+        // Pointer to the first body of the contact
+        CollisionBody* const mBody1;
+
+        // Pointer to the second body of the contact
+        CollisionBody* const mBody2;
+
+        // Persistent contact cache
+        PersistentContactCache mContactsCache;
+
+        // Cached previous separating axis
+        Vector3 mCachedSeparatingAxis;
         
+        // -------------------- Methods -------------------- //
+
+        // Private copy-constructor
+        OverlappingPair(const OverlappingPair& pair);
+
+        // Private assignment operator
+        OverlappingPair& operator=(const OverlappingPair& pair);
+
     public:
-        OverlappingPair(CollisionBody* body1, CollisionBody* body2, MemoryPool<Contact>& memoryPoolContacts);     // Constructor
+
-        ~OverlappingPair();                                                                     // Destructor
+        // -------------------- Methods -------------------- //
+
+        // Constructor
+        OverlappingPair(CollisionBody* body1, CollisionBody* body2,
+                        MemoryPool<Contact>& memoryPoolContacts);
+
+        // Destructor
+        ~OverlappingPair();
         
-        CollisionBody* const getBody1() const;                           // Return the pointer to first body
+        // Return the pointer to first body
-        CollisionBody* const getBody2() const;                           // Return the pointer to second body
+        CollisionBody* const getBody1() const;
-        void addContact(Contact* contact);                      // Add a contact to the contact cache
+
-        void update();                                          // Update the contact cache
+        // Return the pointer to second body
-        Vector3 getCachedSeparatingAxis() const;                // Return the cached separating axis
+        CollisionBody* const getBody2() const;
-        void setCachedSeparatingAxis(const Vector3& axis);      // Set the cached separating axis
+
-        uint getNbContacts() const;                             // Return the number of contacts in the cache
+        // Add a contact to the contact cache
-        Contact* getContact(uint index) const;                  // Return a contact of the cache                           
+        void addContact(Contact* contact);
+
+        // Update the contact cache
+        void update();
+
+        // Return the cached separating axis
+        Vector3 getCachedSeparatingAxis() const;
+
+        // Set the cached separating axis
+        void setCachedSeparatingAxis(const Vector3& axis);
+
+        // Return the number of contacts in the cache
+        uint getNbContacts() const;
+
+        // Return a contact of the cache
+        Contact* getContact(uint index) const;
 };
 
 // Return the pointer to first body
 inline CollisionBody* const OverlappingPair::getBody1() const {
-    return body1;
+    return mBody1;
 }          
 
 // Return the pointer to second body
 inline CollisionBody* const OverlappingPair::getBody2() const {
-    return body2;
+    return mBody2;
 }                
 
 // Add a contact to the contact cache
 inline void OverlappingPair::addContact(Contact* contact) {
-    contactsCache.addContact(contact);
+    mContactsCache.addContact(contact);
 }  
 
 // Update the contact cache
 inline void OverlappingPair::update() {
-    contactsCache.update(body1->getTransform(), body2->getTransform());
+    mContactsCache.update(mBody1->getTransform(), mBody2->getTransform());
 }                                
 
 // Return the cached separating axis
 inline Vector3 OverlappingPair::getCachedSeparatingAxis() const {
-    return cachedSeparatingAxis;
+    return mCachedSeparatingAxis;
 } 
 
 // Set the cached separating axis
 inline void OverlappingPair::setCachedSeparatingAxis(const Vector3& axis) {
-    cachedSeparatingAxis = axis;
+    mCachedSeparatingAxis = axis;
 }              
 
 
 // Return the number of contacts in the cache
 inline uint OverlappingPair::getNbContacts() const {
-    return contactsCache.getNbContacts();
+    return mContactsCache.getNbContacts();
 }
 
 // Return a contact of the cache    
 inline Contact* OverlappingPair::getContact(uint index) const {
-    return contactsCache.getContact(index);
+    return mContactsCache.getContact(index);
 }         
 
 } // End of the ReactPhysics3D namespace

src/engine/PersistentContactCache.cpp

@@ -30,7 +30,7 @@ using namespace reactphysics3d;
 
 // Constructor
 PersistentContactCache::PersistentContactCache(Body* const body1, Body* const body2, MemoryPool<Contact>& memoryPoolContacts)
-                       : body1(body1), body2(body2), nbContacts(0), memoryPoolContacts(memoryPoolContacts) {
+                       : mBody1(body1), mBody2(body2), mNbContacts(0), mMemoryPoolContacts(memoryPoolContacts) {
     
 }
 
@@ -42,23 +42,23 @@ PersistentContactCache::~PersistentContactCache() {
 // Add a contact in the cache
 void PersistentContactCache::addContact(Contact* contact) {
 
-    int indexNewContact = nbContacts;
+    int indexNewContact = mNbContacts;
 	
 	// For contact already in the cache
-	for (uint i=0; i<nbContacts; i++) {
+	for (uint i=0; i<mNbContacts; i++) {
 		// Check if the new point point does not correspond to a same contact point
 		// already in the cache. If it's the case, we do not add the new contact
-		if (isApproxEqual(contact->getLocalPointOnBody1(), contacts[i]->getLocalPointOnBody1())) {
+		if (isApproxEqual(contact->getLocalPointOnBody1(), mContacts[i]->getLocalPointOnBody1())) {
 			// Delete the new contact
 			contact->Contact::~Contact();
-			memoryPoolContacts.freeObject(contact);
+			mMemoryPoolContacts.freeObject(contact);
 			
 			return;
 		}
 	}
     
     // If the contact cache is full
-    if (nbContacts == MAX_CONTACTS_IN_CACHE) {
+    if (mNbContacts == MAX_CONTACTS_IN_CACHE) {
         int indexMaxPenetration = getIndexOfDeepestPenetration(contact);
         int indexToRemove = getIndexToRemove(indexMaxPenetration, contact->getLocalPointOnBody1());
         removeContact(indexToRemove);
@@ -66,26 +66,26 @@ void PersistentContactCache::addContact(Contact* contact) {
     }
 
     // Add the new contact in the cache
-    contacts[indexNewContact] = contact;
+    mContacts[indexNewContact] = contact;
-    nbContacts++;
+    mNbContacts++;
 }
 
 // Remove a contact from the cache
 void PersistentContactCache::removeContact(int index) {
-    assert(index >= 0 && index < nbContacts);
+    assert(index >= 0 && index < mNbContacts);
-    assert(nbContacts > 0);
+    assert(mNbContacts > 0);
 	
 	// Call the destructor explicitly and tell the memory pool that
 	// the corresponding memory block is now free
-	contacts[index]->Contact::~Contact();
+	mContacts[index]->Contact::~Contact();
-	memoryPoolContacts.freeObject(contacts[index]);
+	mMemoryPoolContacts.freeObject(mContacts[index]);
 	
     // If we don't remove the last index
-    if (index < nbContacts - 1) {
+    if (index < mNbContacts - 1) {
-        contacts[index] = contacts[nbContacts - 1];
+        mContacts[index] = mContacts[mNbContacts - 1];
     }
 
-    nbContacts--;
+    mNbContacts--;
 }
 
 // Update the contact cache
@@ -95,27 +95,27 @@ void PersistentContactCache::removeContact(int index) {
 // the contacts with a too large distance between the contact points in the plane orthogonal to the
 // contact normal
 void PersistentContactCache::update(const Transform& transform1, const Transform& transform2) {
-    if (nbContacts == 0) return;
+    if (mNbContacts == 0) return;
 
     // Update the world coordinates and penetration depth of the contacts in the cache
-    for (int i=0; i<nbContacts; i++) {
+    for (int i=0; i<mNbContacts; i++) {
-        contacts[i]->setWorldPointOnBody1(transform1 * contacts[i]->getLocalPointOnBody1());
+        mContacts[i]->setWorldPointOnBody1(transform1 * mContacts[i]->getLocalPointOnBody1());
-        contacts[i]->setWorldPointOnBody2(transform2 * contacts[i]->getLocalPointOnBody2());
+        mContacts[i]->setWorldPointOnBody2(transform2 * mContacts[i]->getLocalPointOnBody2());
-        contacts[i]->setPenetrationDepth((contacts[i]->getWorldPointOnBody1() - contacts[i]->getWorldPointOnBody2()).dot(contacts[i]->getNormal()));
+        mContacts[i]->setPenetrationDepth((mContacts[i]->getWorldPointOnBody1() - mContacts[i]->getWorldPointOnBody2()).dot(mContacts[i]->getNormal()));
     }
 
     // Remove the contacts that don't represent very well the persistent contact
-    for (int i=nbContacts-1; i>=0; i--) {
+    for (int i=mNbContacts-1; i>=0; i--) {
-        assert(i>= 0 && i < nbContacts);
+        assert(i>= 0 && i < mNbContacts);
         
         // Remove the contacts with a negative penetration depth (meaning that the bodies are not penetrating anymore)
-        if (contacts[i]->getPenetrationDepth() <= 0.0) {
+        if (mContacts[i]->getPenetrationDepth() <= 0.0) {
             removeContact(i);
         }
         else {
             // Compute the distance of the two contact points in the place orthogonal to the contact normal
-            Vector3 projOfPoint1 = contacts[i]->getWorldPointOnBody1() - contacts[i]->getNormal() * contacts[i]->getPenetrationDepth();
+            Vector3 projOfPoint1 = mContacts[i]->getWorldPointOnBody1() - mContacts[i]->getNormal() * mContacts[i]->getPenetrationDepth();
-            Vector3 projDifference = contacts[i]->getWorldPointOnBody2() - projOfPoint1;
+            Vector3 projDifference = mContacts[i]->getWorldPointOnBody2() - projOfPoint1;
 
             // If the orthogonal distance is larger than the valid distance threshold, we remove the contact
             if (projDifference.lengthSquare() > PERSISTENT_CONTACT_DIST_THRESHOLD * PERSISTENT_CONTACT_DIST_THRESHOLD) {
@@ -129,15 +129,15 @@ void PersistentContactCache::update(const Transform& transform1, const Transform
 // corresponding contact will be kept in the cache. The method returns -1 is
 // the new contact is the deepest.
 int PersistentContactCache::getIndexOfDeepestPenetration(Contact* newContact) const {
-    assert(nbContacts == MAX_CONTACTS_IN_CACHE);
+    assert(mNbContacts == MAX_CONTACTS_IN_CACHE);
     int indexMaxPenetrationDepth = -1;
     decimal maxPenetrationDepth = newContact->getPenetrationDepth();
 
     // For each contact in the cache
-    for (uint i=0; i<nbContacts; i++) {
+    for (uint i=0; i<mNbContacts; i++) {
         // If the current contact has a larger penetration depth
-        if (contacts[i]->getPenetrationDepth() > maxPenetrationDepth) {
+        if (mContacts[i]->getPenetrationDepth() > maxPenetrationDepth) {
-            maxPenetrationDepth = contacts[i]->getPenetrationDepth();
+            maxPenetrationDepth = mContacts[i]->getPenetrationDepth();
             indexMaxPenetrationDepth = i;
         }
     }
@@ -151,7 +151,7 @@ int PersistentContactCache::getIndexOfDeepestPenetration(Contact* newContact) co
 // the different area and we want to keep the contacts with the largest area. The new point is also
 // kept.
 int PersistentContactCache::getIndexToRemove(int indexMaxPenetration, const Vector3& newPoint) const {
-    assert(nbContacts == MAX_CONTACTS_IN_CACHE);
+    assert(mNbContacts == MAX_CONTACTS_IN_CACHE);
     decimal area0 = 0.0;       // Area with contact 1,2,3 and newPoint
     decimal area1 = 0.0;       // Area with contact 0,2,3 and newPoint
     decimal area2 = 0.0;       // Area with contact 0,1,3 and newPoint
@@ -159,29 +159,29 @@ int PersistentContactCache::getIndexToRemove(int indexMaxPenetration, const Vect
 
     if (indexMaxPenetration != 0) {
         // Compute the area
-        Vector3 vector1 = newPoint - contacts[1]->getLocalPointOnBody1();
+        Vector3 vector1 = newPoint - mContacts[1]->getLocalPointOnBody1();
-        Vector3 vector2 = contacts[3]->getLocalPointOnBody1() - contacts[2]->getLocalPointOnBody1();
+        Vector3 vector2 = mContacts[3]->getLocalPointOnBody1() - mContacts[2]->getLocalPointOnBody1();
         Vector3 crossProduct = vector1.cross(vector2);
         area0 = crossProduct.lengthSquare();
     }
     if (indexMaxPenetration != 1) {
         // Compute the area
-        Vector3 vector1 = newPoint - contacts[0]->getLocalPointOnBody1();
+        Vector3 vector1 = newPoint - mContacts[0]->getLocalPointOnBody1();
-        Vector3 vector2 = contacts[3]->getLocalPointOnBody1() - contacts[2]->getLocalPointOnBody1();
+        Vector3 vector2 = mContacts[3]->getLocalPointOnBody1() - mContacts[2]->getLocalPointOnBody1();
         Vector3 crossProduct = vector1.cross(vector2);
         area1 = crossProduct.lengthSquare();
     }
     if (indexMaxPenetration != 2) {
         // Compute the area
-        Vector3 vector1 = newPoint - contacts[0]->getLocalPointOnBody1();
+        Vector3 vector1 = newPoint - mContacts[0]->getLocalPointOnBody1();
-        Vector3 vector2 = contacts[3]->getLocalPointOnBody1() - contacts[1]->getLocalPointOnBody1();
+        Vector3 vector2 = mContacts[3]->getLocalPointOnBody1() - mContacts[1]->getLocalPointOnBody1();
         Vector3 crossProduct = vector1.cross(vector2);
         area2 = crossProduct.lengthSquare();
     }
     if (indexMaxPenetration != 3) {
         // Compute the area
-        Vector3 vector1 = newPoint - contacts[0]->getLocalPointOnBody1();
+        Vector3 vector1 = newPoint - mContacts[0]->getLocalPointOnBody1();
-        Vector3 vector2 = contacts[2]->getLocalPointOnBody1() - contacts[1]->getLocalPointOnBody1();
+        Vector3 vector2 = mContacts[2]->getLocalPointOnBody1() - mContacts[1]->getLocalPointOnBody1();
         Vector3 crossProduct = vector1.cross(vector2);
         area3 = crossProduct.lengthSquare();
     }
@@ -216,12 +216,12 @@ int PersistentContactCache::getMaxArea(decimal area0, decimal area1, decimal are
 
 // Clear the cache
 void PersistentContactCache::clear() {
-    for (uint i=0; i<nbContacts; i++) {
+    for (uint i=0; i<mNbContacts; i++) {
 		
 		// Call the destructor explicitly and tell the memory pool that
 		// the corresponding memory block is now free
-		contacts[i]->Contact::~Contact();
+		mContacts[i]->Contact::~Contact();
-		memoryPoolContacts.freeObject(contacts[i]);
+		mMemoryPoolContacts.freeObject(mContacts[i]);
     }
-    nbContacts = 0;
+    mNbContacts = 0;
 }

src/engine/PersistentContactCache.h

@@ -35,7 +35,7 @@
 namespace reactphysics3d {
 
 // Constants
-const uint MAX_CONTACTS_IN_CACHE = 4;           // Maximum number of contacts in the persistent cache
+const uint MAX_CONTACTS_IN_CACHE = 4;   // Maximum number of contacts in the persistent cache
 
 
 /*  -------------------------------------------------------------------
@@ -52,42 +52,90 @@ const uint MAX_CONTACTS_IN_CACHE = 4;           // Maximum number of contacts in
     -------------------------------------------------------------------
 */
 class PersistentContactCache {
-    private:
-        Body* const body1;                          // Pointer to the first body
-        Body* const body2;                          // Pointer to the second body
-        Contact* contacts[MAX_CONTACTS_IN_CACHE];   // Contacts in the cache
-        uint nbContacts;                            // Number of contacts in the cache
-        MemoryPool<Contact>& memoryPoolContacts;    // Reference to the memory pool with the contacts
 
-        int getMaxArea(decimal area0, decimal area1, decimal area2, decimal area3) const;   // Return the index of maximum area
+    private:
-        int getIndexOfDeepestPenetration(Contact* newContact) const;                        // Return the index of the contact with the larger penetration depth
+
-        int getIndexToRemove(int indexMaxPenetration, const Vector3& newPoint) const;       // Return the index that will be removed
+        // -------------------- Attributes -------------------- //
-        void removeContact(int index);                                                      // Remove a contact from the cache
+
-        bool isApproxEqual(const Vector3& vector1, const Vector3& vector2) const;           // Return true if two vectors are approximatively equal    
+        // Pointer to the first body
+        Body* const mBody1;
+
+        // Pointer to the second body
+        Body* const mBody2;
+
+        // Contacts in the cache
+        Contact* mContacts[MAX_CONTACTS_IN_CACHE];
+
+        // Number of contacts in the cache
+        uint mNbContacts;
+
+        // Reference to the memory pool with the contacts
+        MemoryPool<Contact>& mMemoryPoolContacts;
+
+        // -------------------- Methods -------------------- //
+
+        // Private copy-constructor
+        PersistentContactCache(const PersistentContactCache& persistentContactCache);
+
+        // Private assignment operator
+        PersistentContactCache& operator=(const PersistentContactCache& persistentContactCache);
+
+        // Return the index of maximum area
+        int getMaxArea(decimal area0, decimal area1, decimal area2, decimal area3) const;
+
+        // Return the index of the contact with the larger penetration depth
+        int getIndexOfDeepestPenetration(Contact* newContact) const;
+
+        // Return the index that will be removed
+        int getIndexToRemove(int indexMaxPenetration, const Vector3& newPoint) const;
+
+        // Remove a contact from the cache
+        void removeContact(int index);
+
+        // Return true if two vectors are approximatively equal
+        bool isApproxEqual(const Vector3& vector1, const Vector3& vector2) const;
         
     public:
-        PersistentContactCache(Body* const body1, Body* const body2, MemoryPool<Contact>& memoryPoolContacts);  // Constructor
+
-        ~PersistentContactCache();                                                                              // Destructor
+        // -------------------- Methods -------------------- //
-        void addContact(Contact* contact);                                                                      // Add a contact
+
-        void update(const Transform& transform1, const Transform& transform2);                                  // Update the contact cache
+        // Constructor
-        void clear();                                                                                           // Clear the cache
+        PersistentContactCache(Body* const mBody1, Body* const mBody2,
-        uint getNbContacts() const;                                                                             // Return the number of contacts in the cache
+                               MemoryPool<Contact>& mMemoryPoolContacts);
-        Contact* getContact(uint index) const;                                                                  // Return a contact of the cache                           
+
+        // Destructor
+        ~PersistentContactCache();
+
+        // Add a contact
+        void addContact(Contact* contact);
+
+        // Update the contact cache
+        void update(const Transform& transform1, const Transform& transform2);
+
+        // Clear the cache
+        void clear();
+
+        // Return the number of contacts in the cache
+        uint getNbContacts() const;
+
+        // Return a contact of the cache
+        Contact* getContact(uint index) const;
 };
 
 // Return the number of contacts in the cache
 inline uint PersistentContactCache::getNbContacts() const {
-    return nbContacts;
+    return mNbContacts;
 } 
 
 // Return a contact of the cache
 inline Contact* PersistentContactCache::getContact(uint index) const {
-    assert(index >= 0 && index < nbContacts);
+    assert(index >= 0 && index < mNbContacts);
-    return contacts[index];
+    return mContacts[index];
 }  
 
 // Return true if two vectors are approximatively equal
-inline bool PersistentContactCache::isApproxEqual(const Vector3& vector1, const Vector3& vector2) const {
+inline bool PersistentContactCache::isApproxEqual(const Vector3& vector1,
+                                                  const Vector3& vector2) const {
     const decimal epsilon = 0.1;
     return (approxEqual(vector1.getX(), vector2.getX(), epsilon) &&
             approxEqual(vector1.getY(), vector2.getY(), epsilon) &&

src/engine/Timer.cpp

@@ -30,7 +30,7 @@
 using namespace reactphysics3d;
 
 // Constructor
-Timer::Timer(double timeStep) : timeStep(timeStep), isRunning(false) {
+Timer::Timer(double timeStep) : mTimeStep(timeStep), mIsRunning(false) {
     assert(timeStep > 0.0);
 }
 

src/engine/Timer.h

@@ -51,60 +51,102 @@ namespace reactphysics3d {
     -------------------------------------------------------------------
 */
 class Timer {
+
     private :
-        double timeStep;                  // Timestep dt of the physics engine (timestep > 0.0)
+
-        long double time;                 // Current time of the physics engine
+        // -------------------- Attributes -------------------- //
-        long double lastUpdateTime;       // Last time the timer has been updated
+
-        long double deltaTime;            // Time difference between the two last timer update() calls
+        // Timestep dt of the physics engine (timestep > 0.0)
-        double accumulator;               // Used to fix the time step and avoid strange time effects
+        double mTimeStep;
-        bool isRunning;                   // True if the timer is running
+
+        // Current time of the physics engine
+        long double mTime;
+
+        // Last time the timer has been updated
+        long double mLastUpdateTime;
+
+        // Time difference between the two last timer update() calls
+        long double mDeltaTime;
+
+        // Used to fix the time step and avoid strange time effects
+        double mAccumulator;
+
+        // True if the timer is running
+        bool mIsRunning;
+
+        // -------------------- Methods -------------------- //
+
+        // Private copy-constructor
+        Timer(const Timer& timer);
+
+        // Private assignment operator
+        Timer& operator=(const Timer& timer);
 
     public :
-        Timer(double timeStep);                                                 // Constructor
-        virtual ~Timer();                                                       // Destructor
 
-        double getTimeStep() const;                                             // Return the timestep of the physics engine
+        // -------------------- Methods -------------------- //
-        void setTimeStep(double timeStep) throw(std::invalid_argument);         // Set the timestep of the physics engine
+
-        long double getTime() const;                                            // Return the current time
+        // Constructor
-        void start();                                                           // Start the timer
+        Timer(double timeStep);
-        void stop();                                                            // Stop the timer
+
-        bool getIsRunning() const;                                              // Return true if the timer is running
+        // Destructor
-        bool isPossibleToTakeStep() const;                                      // True if it's possible to take a new step
+        virtual ~Timer();
-        void update();                                                          // Compute the time since the last update() call and add it to the accumulator
+
-        void nextStep();                                                        // Take a new step => update the timer by adding the timeStep value to the current time
+        // Return the timestep of the physics engine
-        double computeInterpolationFactor();                                    // Compute the interpolation factor
+        double getTimeStep() const;
+
+        // Set the timestep of the physics engine
+        void setTimeStep(double timeStep);
+
+        // Return the current time
+        long double getTime() const;
+
+        // Start the timer
+        void start();
+
+        // Stop the timer
+        void stop();
+
+        // Return true if the timer is running
+        bool getIsRunning() const;
+
+        // True if it's possible to take a new step
+        bool isPossibleToTakeStep() const;
+
+        // Compute the time since the last update() call and add it to the accumulator
+        void update();
+
+        // Take a new step => update the timer by adding the timeStep value to the current time
+        void nextStep();
+
+        // Compute the interpolation factor
+        double computeInterpolationFactor();
 };
 
 // Return the timestep of the physics engine
 inline double Timer::getTimeStep() const {
-    return timeStep;
+    return mTimeStep;
 }
 
 // Set the timestep of the physics engine
-inline void Timer::setTimeStep(double timeStep) throw(std::invalid_argument) {
+inline void Timer::setTimeStep(double timeStep) {
-    // Check if the timestep is different from zero
+    assert(timeStep > 0.0f);
-    if (timeStep != 0.0) {
+    mTimeStep = timeStep;
-        this->timeStep = timeStep;
-    }
-    else {
-        // We throw an exception
-        throw std::invalid_argument("Exception in Timer : the timestep has to be different from zero");
-    }
 }
 
 // Return the current time
 inline long double Timer::getTime() const {
-    return time;
+    return mTime;
 }
 
 // Return if the timer is running
 inline bool Timer::getIsRunning() const {
-    return isRunning;
+    return mIsRunning;
 }
 
 // Start the timer
 inline void Timer::start() {
-    if (!isRunning) {
+    if (!mIsRunning) {
         
 #if defined(WINDOWS_OS)
         LARGE_INTEGER ticksPerSecond;
@@ -116,39 +158,39 @@ inline void Timer::start() {
         // Initialize the lastUpdateTime with the current time in seconds
         timeval timeValue;
         gettimeofday(&timeValue, NULL);
-        lastUpdateTime = timeValue.tv_sec + (timeValue.tv_usec / 1000000.0);
+        mLastUpdateTime = timeValue.tv_sec + (timeValue.tv_usec / 1000000.0);
 #endif
         
-        accumulator = 0.0;
+        mAccumulator = 0.0;
-        isRunning = true;
+        mIsRunning = true;
     }
 }
 
 // Stop the timer
 inline void Timer::stop() {
     std::cout << "Timer stop" << std::endl;
-    isRunning = false;
+    mIsRunning = false;
 }
 
 // True if it's possible to take a new step
 inline bool Timer::isPossibleToTakeStep() const {
-    return (accumulator >= timeStep);
+    return (mAccumulator >= mTimeStep);
 }
 
 // Take a new step => update the timer by adding the timeStep value to the current time
 inline void Timer::nextStep() {
-    assert(isRunning);
+    assert(mIsRunning);
 
     // Update the current time of the physics engine
-    time += timeStep;
+    mTime += mTimeStep;
 
     // Update the accumulator value
-    accumulator -= timeStep;
+    mAccumulator -= mTimeStep;
 }
 
 // Compute the interpolation factor
 inline double Timer::computeInterpolationFactor() {
-    return (accumulator / timeStep);
+    return (mAccumulator / mTimeStep);
 }
 
 // Compute the time since the last update() call and add it to the accumulator
@@ -169,13 +211,13 @@ inline void Timer::update() {
 #endif
     
     // Compute the delta display time between two display frames
-    deltaTime = currentTime - lastUpdateTime;
+    mDeltaTime = currentTime - mLastUpdateTime;
 
     // Update the current display time
-    lastUpdateTime = currentTime;
+    mLastUpdateTime = currentTime;
 
     // Update the accumulator value
-    accumulator += deltaTime;
+    mAccumulator += mDeltaTime;
 }
 
 } // End of the ReactPhysics3D namespace

src/mathematics/Matrix3x3.cpp

@@ -52,6 +52,25 @@ Matrix3x3::~Matrix3x3() {
 
 }
 
+// Copy-constructor
+Matrix3x3::Matrix3x3(const Matrix3x3& matrix) {
+    setAllValues(matrix.mArray[0][0], matrix.mArray[0][1], matrix.mArray[0][2],
+                 matrix.mArray[1][0], matrix.mArray[1][1], matrix.mArray[1][2],
+                 matrix.mArray[2][0], matrix.mArray[2][1], matrix.mArray[2][2]);
+}
+
+// Assignment operator
+Matrix3x3& Matrix3x3::operator=(const Matrix3x3& matrix) {
+
+    // Check for self-assignment
+    if (&matrix != this) {
+        setAllValues(matrix.mArray[0][0], matrix.mArray[0][1], matrix.mArray[0][2],
+                     matrix.mArray[1][0], matrix.mArray[1][1], matrix.mArray[1][2],
+                     matrix.mArray[2][0], matrix.mArray[2][1], matrix.mArray[2][2]);
+    }
+    return *this;
+}
+
 // Return the inverse matrix
 Matrix3x3 Matrix3x3::getInverse() const {
     // Compute the determinant of the matrix
@@ -63,9 +82,9 @@ Matrix3x3 Matrix3x3::getInverse() const {
     Matrix3x3 tempMatrix;
 
     // Compute the inverse of the matrix
-    tempMatrix.setAllValues((array[1][1]*array[2][2]-array[2][1]*array[1][2]), -(array[1][0]*array[2][2]-array[2][0]*array[1][2]), (array[1][0]*array[2][1]-array[2][0]*array[1][1]),
+    tempMatrix.setAllValues((mArray[1][1]*mArray[2][2]-mArray[2][1]*mArray[1][2]), -(mArray[1][0]*mArray[2][2]-mArray[2][0]*mArray[1][2]), (mArray[1][0]*mArray[2][1]-mArray[2][0]*mArray[1][1]),
-                            -(array[0][1]*array[2][2]-array[2][1]*array[0][2]), (array[0][0]*array[2][2]-array[2][0]*array[0][2]), -(array[0][0]*array[2][1]-array[2][0]*array[0][1]),
+                            -(mArray[0][1]*mArray[2][2]-mArray[2][1]*mArray[0][2]), (mArray[0][0]*mArray[2][2]-mArray[2][0]*mArray[0][2]), -(mArray[0][0]*mArray[2][1]-mArray[2][0]*mArray[0][1]),
-                            (array[0][1]*array[1][2]-array[0][2]*array[1][1]), -(array[0][0]*array[1][2]-array[1][0]*array[0][2]), (array[0][0]*array[1][1]-array[0][1]*array[1][0]));
+                            (mArray[0][1]*mArray[1][2]-mArray[0][2]*mArray[1][1]), -(mArray[0][0]*mArray[1][2]-mArray[1][0]*mArray[0][2]), (mArray[0][0]*mArray[1][1]-mArray[0][1]*mArray[1][0]));
 
     // Return the inverse matrix
     return (invDeterminant * tempMatrix.getTranspose());

src/mathematics/Matrix3x3.h

@@ -41,98 +41,163 @@ namespace reactphysics3d {
     -------------------------------------------------------------------
 */
 class Matrix3x3 {
+
     private :
-        decimal array[3][3];                                                                    // Array with the values of the matrix
+
+        // -------------------- Attributes -------------------- //
+
+        // Array with the values of the matrix
+        decimal mArray[3][3];
 
     public :
-        Matrix3x3();                                                                            // Constructor
+
-        Matrix3x3(decimal value);                                                               // Constructor
+        // -------------------- Methods -------------------- //
+
+        // Constructor
+        Matrix3x3();
+
+        // Constructor
+        Matrix3x3(decimal value);
+
+        // Constructor
         Matrix3x3(decimal a1, decimal a2, decimal a3, decimal b1, decimal b2, decimal b3,
-                  decimal c1, decimal c2, decimal c3);                                          // Constructor
+                  decimal c1, decimal c2, decimal c3);
-        virtual ~Matrix3x3();                                                                   // Destructor
 
-        decimal getValue(int i, int j) const;                                                   // Get a value in the matrix
+        // Destructor
-        void setValue(int i, int j, decimal value);                                             // Set a value in the matrix
+        virtual ~Matrix3x3();
+
+        // Copy-constructor
+        Matrix3x3(const Matrix3x3& matrix);
+
+        // Assignment operator
+        Matrix3x3& operator=(const Matrix3x3& matrix);
+
+        // Get a value in the matrix
+        decimal getValue(int i, int j) const;
+
+        // Set a value in the matrix
+        void setValue(int i, int j, decimal value);
+
+        // Set all the values in the matrix
         void setAllValues(decimal a1, decimal a2, decimal a3, decimal b1, decimal b2, decimal b3,
-                  decimal c1, decimal c2, decimal c3);                                          // Set all the values in the matrix
+                  decimal c1, decimal c2, decimal c3);
-        Vector3 getColumn(int i) const;                                                         // Return a column
-        Matrix3x3 getTranspose() const;                                                         // Return the transpose matrix
-        decimal getDeterminant() const;                                                         // Return the determinant of the matrix
-        decimal getTrace() const;                                                               // Return the trace of the matrix
-        Matrix3x3 getInverse() const;                                                           // Return the inverse matrix
-        Matrix3x3 getAbsoluteMatrix() const;                                                    // Return the matrix with absolute values
-        void setToIdentity();                                                                   // Set the matrix to the identity matrix
-        static Matrix3x3 identity();                                                            // Return the 3x3 identity matrix
 
-        // --- Overloaded operators --- //
+        // Return a column
-        friend Matrix3x3 operator+(const Matrix3x3& matrix1, const Matrix3x3& matrix2);         // Overloaded operator for addition
+        Vector3 getColumn(int i) const;
-        friend Matrix3x3 operator-(const Matrix3x3& matrix1, const Matrix3x3& matrix2);         // Overloaded operator for substraction
-        friend Matrix3x3 operator-(const Matrix3x3& matrix);                                    // Overloaded operator for the negative of the matrix
-        friend Matrix3x3 operator*(decimal nb, const Matrix3x3& matrix);                        // Overloaded operator for multiplication with a number
-        friend Matrix3x3 operator*(const Matrix3x3& matrix, decimal nb);                        // Overloaded operator for multiplication with a matrix
-        friend Matrix3x3 operator*(const Matrix3x3& matrix1, const Matrix3x3& matrix2);         // Overloaded operator for matrix multiplication
-        friend Vector3 operator*(const Matrix3x3& matrix, const Vector3& vector);               // Overloaded operator for multiplication with a vector
 
-        bool operator==(const Matrix3x3& matrix) const;                                         // Overloaded operator for equality condition
+        // Return the transpose matrix
-        bool operator!= (const Matrix3x3& matrix) const;                                        // Overloaded operator for the is different condition
+        Matrix3x3 getTranspose() const;
-        Matrix3x3& operator+=(const Matrix3x3& matrix);                                         // Overloaded operator for addition with assignment
+
-        Matrix3x3& operator-=(const Matrix3x3& matrix);                                         // Overloaded operator for substraction with assignment
+        // Return the determinant of the matrix
-        Matrix3x3& operator*=(decimal nb);                                                      // Overloaded operator for multiplication with a number with assignment
+        decimal getDeterminant() const;
+
+        // Return the trace of the matrix
+        decimal getTrace() const;
+
+        // Return the inverse matrix
+        Matrix3x3 getInverse() const;
+
+        // Return the matrix with absolute values
+        Matrix3x3 getAbsoluteMatrix() const;
+
+        // Set the matrix to the identity matrix
+        void setToIdentity();
+
+        // Return the 3x3 identity matrix
+        static Matrix3x3 identity();
+
+        // Overloaded operator for addition
+        friend Matrix3x3 operator+(const Matrix3x3& matrix1, const Matrix3x3& matrix2);
+
+        // Overloaded operator for substraction
+        friend Matrix3x3 operator-(const Matrix3x3& matrix1, const Matrix3x3& matrix2);
+
+        // Overloaded operator for the negative of the matrix
+        friend Matrix3x3 operator-(const Matrix3x3& matrix);
+
+        // Overloaded operator for multiplication with a number
+        friend Matrix3x3 operator*(decimal nb, const Matrix3x3& matrix);
+
+        // Overloaded operator for multiplication with a matrix
+        friend Matrix3x3 operator*(const Matrix3x3& matrix, decimal nb);
+
+        // Overloaded operator for matrix multiplication
+        friend Matrix3x3 operator*(const Matrix3x3& matrix1, const Matrix3x3& matrix2);
+
+        // Overloaded operator for multiplication with a vector
+        friend Vector3 operator*(const Matrix3x3& matrix, const Vector3& vector);
+
+        // Overloaded operator for equality condition
+        bool operator==(const Matrix3x3& matrix) const;
+
+        // Overloaded operator for the is different condition
+        bool operator!= (const Matrix3x3& matrix) const;
+
+        // Overloaded operator for addition with assignment
+        Matrix3x3& operator+=(const Matrix3x3& matrix);
+
+        // Overloaded operator for substraction with assignment
+        Matrix3x3& operator-=(const Matrix3x3& matrix);
+
+        // Overloaded operator for multiplication with a number with assignment
+        Matrix3x3& operator*=(decimal nb);
 };
 
 
 // Method to get a value in the matrix (inline)
 inline decimal Matrix3x3::getValue(int i, int j) const {
     assert(i>=0 && i<3 && j>=0 && j<3);
-    return array[i][j];
+    return mArray[i][j];
 }
 
 // Method to set a value in the matrix (inline)
 inline void Matrix3x3::setValue(int i, int j, decimal value) {
     assert(i>=0 && i<3 && j>=0 && j<3);
-    array[i][j] = value;
+    mArray[i][j] = value;
 }
 
 // Method to set all the values in the matrix
-inline void Matrix3x3::setAllValues(decimal a1, decimal a2, decimal a3, decimal b1, decimal b2, decimal b3,
+inline void Matrix3x3::setAllValues(decimal a1, decimal a2, decimal a3,
+                                    decimal b1, decimal b2, decimal b3,
                                     decimal c1, decimal c2, decimal c3) {
-    array[0][0] = a1; array[0][1] = a2; array[0][2] = a3;
+    mArray[0][0] = a1; mArray[0][1] = a2; mArray[0][2] = a3;
-    array[1][0] = b1; array[1][1] = b2; array[1][2] = b3;
+    mArray[1][0] = b1; mArray[1][1] = b2; mArray[1][2] = b3;
-    array[2][0] = c1; array[2][1] = c2; array[2][2] = c3;
+    mArray[2][0] = c1; mArray[2][1] = c2; mArray[2][2] = c3;
 }
 
 // Return a column
 inline Vector3 Matrix3x3::getColumn(int i) const {
     assert(i>= 0 && i<3);
-    return Vector3(array[0][i], array[1][i], array[2][i]);
+    return Vector3(mArray[0][i], mArray[1][i], mArray[2][i]);
 }
 
 // Return the transpose matrix
 inline Matrix3x3 Matrix3x3::getTranspose() const {
     // Return the transpose matrix
-    return Matrix3x3(array[0][0], array[1][0], array[2][0],
+    return Matrix3x3(mArray[0][0], mArray[1][0], mArray[2][0],
-                     array[0][1], array[1][1], array[2][1],
+                     mArray[0][1], mArray[1][1], mArray[2][1],
-                     array[0][2], array[1][2], array[2][2]);
+                     mArray[0][2], mArray[1][2], mArray[2][2]);
 }
 
 // Return the determinant of the matrix
 inline decimal Matrix3x3::getDeterminant() const {
     // Compute and return the determinant of the matrix
-    return (array[0][0]*(array[1][1]*array[2][2]-array[2][1]*array[1][2]) - array[0][1]*(array[1][0]*array[2][2]-array[2][0]*array[1][2]) +
+    return (mArray[0][0]*(mArray[1][1]*mArray[2][2]-mArray[2][1]*mArray[1][2]) -
-            array[0][2]*(array[1][0]*array[2][1]-array[2][0]*array[1][1]));
+            mArray[0][1]*(mArray[1][0]*mArray[2][2]-mArray[2][0]*mArray[1][2]) +
+            mArray[0][2]*(mArray[1][0]*mArray[2][1]-mArray[2][0]*mArray[1][1]));
 }
 
 // Return the trace of the matrix
 inline decimal Matrix3x3::getTrace() const {
     // Compute and return the trace
-    return (array[0][0] + array[1][1] + array[2][2]);
+    return (mArray[0][0] + mArray[1][1] + mArray[2][2]);
 }
 
 // Set the matrix to the identity matrix
 inline void Matrix3x3::setToIdentity() {
-    array[0][0] = 1.0; array[0][1] = 0.0; array[0][2] = 0.0;
+    mArray[0][0] = 1.0; mArray[0][1] = 0.0; mArray[0][2] = 0.0;
-    array[1][0] = 0.0; array[1][1] = 1.0; array[1][2] = 0.0;
+    mArray[1][0] = 0.0; mArray[1][1] = 1.0; mArray[1][2] = 0.0;
-    array[2][0] = 0.0; array[2][1] = 0.0; array[2][2] = 1.0;
+    mArray[2][0] = 0.0; mArray[2][1] = 0.0; mArray[2][2] = 1.0;
 }
 
 // Return the 3x3 identity matrix
@@ -143,37 +208,43 @@ inline Matrix3x3 Matrix3x3::identity() {
 
 // Return the matrix with absolute values
 inline Matrix3x3 Matrix3x3::getAbsoluteMatrix() const {
-    return Matrix3x3(fabs(array[0][0]), fabs(array[0][1]), fabs(array[0][2]),
+    return Matrix3x3(fabs(mArray[0][0]), fabs(mArray[0][1]), fabs(mArray[0][2]),
-                     fabs(array[1][0]), fabs(array[1][1]), fabs(array[1][2]),
+                     fabs(mArray[1][0]), fabs(mArray[1][1]), fabs(mArray[1][2]),
-                     fabs(array[2][0]), fabs(array[2][1]), fabs(array[2][2]));
+                     fabs(mArray[2][0]), fabs(mArray[2][1]), fabs(mArray[2][2]));
 }
 
 // Overloaded operator for addition
 inline Matrix3x3 operator+(const Matrix3x3& matrix1, const Matrix3x3& matrix2) {
-    return Matrix3x3(matrix1.array[0][0] + matrix2.array[0][0], matrix1.array[0][1] + matrix2.array[0][1], matrix1.array[0][2] + matrix2.array[0][2],
+    return Matrix3x3(matrix1.mArray[0][0] + matrix2.mArray[0][0], matrix1.mArray[0][1] +
-                     matrix1.array[1][0] + matrix2.array[1][0], matrix1.array[1][1] + matrix2.array[1][1], matrix1.array[1][2] + matrix2.array[1][2],
+                     matrix2.mArray[0][1], matrix1.mArray[0][2] + matrix2.mArray[0][2],
-                     matrix1.array[2][0] + matrix2.array[2][0], matrix1.array[2][1] + matrix2.array[2][1], matrix1.array[2][2] + matrix2.array[2][2]);
+                     matrix1.mArray[1][0] + matrix2.mArray[1][0], matrix1.mArray[1][1] +
+                     matrix2.mArray[1][1], matrix1.mArray[1][2] + matrix2.mArray[1][2],
+                     matrix1.mArray[2][0] + matrix2.mArray[2][0], matrix1.mArray[2][1] +
+                     matrix2.mArray[2][1], matrix1.mArray[2][2] + matrix2.mArray[2][2]);
 }
 
 // Overloaded operator for substraction
 inline Matrix3x3 operator-(const Matrix3x3& matrix1, const Matrix3x3& matrix2) {
-    return Matrix3x3(matrix1.array[0][0] - matrix2.array[0][0], matrix1.array[0][1] - matrix2.array[0][1], matrix1.array[0][2] - matrix2.array[0][2],
+    return Matrix3x3(matrix1.mArray[0][0] - matrix2.mArray[0][0], matrix1.mArray[0][1] -
-                     matrix1.array[1][0] - matrix2.array[1][0], matrix1.array[1][1] - matrix2.array[1][1], matrix1.array[1][2] - matrix2.array[1][2],
+                     matrix2.mArray[0][1], matrix1.mArray[0][2] - matrix2.mArray[0][2],
-                     matrix1.array[2][0] - matrix2.array[2][0], matrix1.array[2][1] - matrix2.array[2][1], matrix1.array[2][2] - matrix2.array[2][2]);
+                     matrix1.mArray[1][0] - matrix2.mArray[1][0], matrix1.mArray[1][1] -
+                     matrix2.mArray[1][1], matrix1.mArray[1][2] - matrix2.mArray[1][2],
+                     matrix1.mArray[2][0] - matrix2.mArray[2][0], matrix1.mArray[2][1] -
+                     matrix2.mArray[2][1], matrix1.mArray[2][2] - matrix2.mArray[2][2]);
 }
 
 // Overloaded operator for the negative of the matrix
 inline Matrix3x3 operator-(const Matrix3x3& matrix) {
-    return Matrix3x3(-matrix.array[0][0], -matrix.array[0][1], -matrix.array[0][2],
+    return Matrix3x3(-matrix.mArray[0][0], -matrix.mArray[0][1], -matrix.mArray[0][2],
-                     -matrix.array[1][0], -matrix.array[1][1], -matrix.array[1][2],
+                     -matrix.mArray[1][0], -matrix.mArray[1][1], -matrix.mArray[1][2],
-                     -matrix.array[2][0], -matrix.array[2][1], -matrix.array[2][2]);
+                     -matrix.mArray[2][0], -matrix.mArray[2][1], -matrix.mArray[2][2]);
 }
 
 // Overloaded operator for multiplication with a number
 inline Matrix3x3 operator*(decimal nb, const Matrix3x3& matrix) {
-    return Matrix3x3(matrix.array[0][0] * nb, matrix.array[0][1] * nb, matrix.array[0][2] * nb,
+    return Matrix3x3(matrix.mArray[0][0] * nb, matrix.mArray[0][1] * nb, matrix.mArray[0][2] * nb,
-                     matrix.array[1][0] * nb, matrix.array[1][1] * nb, matrix.array[1][2] * nb,
+                     matrix.mArray[1][0] * nb, matrix.mArray[1][1] * nb, matrix.mArray[1][2] * nb,
-                     matrix.array[2][0] * nb, matrix.array[2][1] * nb, matrix.array[2][2] * nb);
+                     matrix.mArray[2][0] * nb, matrix.mArray[2][1] * nb, matrix.mArray[2][2] * nb);
 }
 
 // Overloaded operator for multiplication with a matrix
@@ -183,29 +254,44 @@ inline Matrix3x3 operator*(const Matrix3x3& matrix, decimal nb) {
 
 // Overloaded operator for matrix multiplication
 inline Matrix3x3 operator*(const Matrix3x3& matrix1, const Matrix3x3& matrix2) {
-    return Matrix3x3(matrix1.array[0][0]*matrix2.array[0][0] + matrix1.array[0][1]*matrix2.array[1][0] + matrix1.array[0][2]*matrix2.array[2][0],
+    return Matrix3x3(matrix1.mArray[0][0]*matrix2.mArray[0][0] + matrix1.mArray[0][1] *
-                     matrix1.array[0][0]*matrix2.array[0][1] + matrix1.array[0][1]*matrix2.array[1][1] + matrix1.array[0][2]*matrix2.array[2][1],
+                     matrix2.mArray[1][0] + matrix1.mArray[0][2]*matrix2.mArray[2][0],
-                     matrix1.array[0][0]*matrix2.array[0][2] + matrix1.array[0][1]*matrix2.array[1][2] + matrix1.array[0][2]*matrix2.array[2][2],
+                     matrix1.mArray[0][0]*matrix2.mArray[0][1] + matrix1.mArray[0][1] *
-                     matrix1.array[1][0]*matrix2.array[0][0] + matrix1.array[1][1]*matrix2.array[1][0] + matrix1.array[1][2]*matrix2.array[2][0],
+                     matrix2.mArray[1][1] + matrix1.mArray[0][2]*matrix2.mArray[2][1],
-                     matrix1.array[1][0]*matrix2.array[0][1] + matrix1.array[1][1]*matrix2.array[1][1] + matrix1.array[1][2]*matrix2.array[2][1],
+                     matrix1.mArray[0][0]*matrix2.mArray[0][2] + matrix1.mArray[0][1] *
-                     matrix1.array[1][0]*matrix2.array[0][2] + matrix1.array[1][1]*matrix2.array[1][2] + matrix1.array[1][2]*matrix2.array[2][2],
+                     matrix2.mArray[1][2] + matrix1.mArray[0][2]*matrix2.mArray[2][2],
-                     matrix1.array[2][0]*matrix2.array[0][0] + matrix1.array[2][1]*matrix2.array[1][0] + matrix1.array[2][2]*matrix2.array[2][0],
+                     matrix1.mArray[1][0]*matrix2.mArray[0][0] + matrix1.mArray[1][1] *
-                     matrix1.array[2][0]*matrix2.array[0][1] + matrix1.array[2][1]*matrix2.array[1][1] + matrix1.array[2][2]*matrix2.array[2][1],
+                     matrix2.mArray[1][0] + matrix1.mArray[1][2]*matrix2.mArray[2][0],
-                     matrix1.array[2][0]*matrix2.array[0][2] + matrix1.array[2][1]*matrix2.array[1][2] + matrix1.array[2][2]*matrix2.array[2][2]);
+                     matrix1.mArray[1][0]*matrix2.mArray[0][1] + matrix1.mArray[1][1] *
+                     matrix2.mArray[1][1] + matrix1.mArray[1][2]*matrix2.mArray[2][1],
+                     matrix1.mArray[1][0]*matrix2.mArray[0][2] + matrix1.mArray[1][1] *
+                     matrix2.mArray[1][2] + matrix1.mArray[1][2]*matrix2.mArray[2][2],
+                     matrix1.mArray[2][0]*matrix2.mArray[0][0] + matrix1.mArray[2][1] *
+                     matrix2.mArray[1][0] + matrix1.mArray[2][2]*matrix2.mArray[2][0],
+                     matrix1.mArray[2][0]*matrix2.mArray[0][1] + matrix1.mArray[2][1] *
+                     matrix2.mArray[1][1] + matrix1.mArray[2][2]*matrix2.mArray[2][1],
+                     matrix1.mArray[2][0]*matrix2.mArray[0][2] + matrix1.mArray[2][1] *
+                     matrix2.mArray[1][2] + matrix1.mArray[2][2]*matrix2.mArray[2][2]);
 }
 
 // Overloaded operator for multiplication with a vector
 inline Vector3 operator*(const Matrix3x3& matrix, const Vector3& vector) {
-    return Vector3(matrix.array[0][0]*vector.getX() + matrix.array[0][1]*vector.getY() + matrix.array[0][2]*vector.getZ(),
+    return Vector3(matrix.mArray[0][0]*vector.getX() + matrix.mArray[0][1]*vector.getY() +
-                   matrix.array[1][0]*vector.getX() + matrix.array[1][1]*vector.getY() + matrix.array[1][2]*vector.getZ(),
+                   matrix.mArray[0][2]*vector.getZ(),
-                   matrix.array[2][0]*vector.getX() + matrix.array[2][1]*vector.getY() + matrix.array[2][2]*vector.getZ());
+                   matrix.mArray[1][0]*vector.getX() + matrix.mArray[1][1]*vector.getY() +
+                   matrix.mArray[1][2]*vector.getZ(),
+                   matrix.mArray[2][0]*vector.getX() + matrix.mArray[2][1]*vector.getY() +
+                   matrix.mArray[2][2]*vector.getZ());
 }
 
 // Overloaded operator for equality condition
 inline bool Matrix3x3::operator==(const Matrix3x3& matrix) const {
-    return (array[0][0] == matrix.array[0][0] && array[0][1] == matrix.array[0][1] && array[0][2] == matrix.array[0][2] &&
+    return (mArray[0][0] == matrix.mArray[0][0] && mArray[0][1] == matrix.mArray[0][1] &&
-            array[1][0] == matrix.array[1][0] && array[1][1] == matrix.array[1][1] && array[1][2] == matrix.array[1][2] &&
+            mArray[0][2] == matrix.mArray[0][2] &&
-            array[2][0] == matrix.array[2][0] && array[2][1] == matrix.array[2][1] && array[2][2] == matrix.array[2][2]);
+            mArray[1][0] == matrix.mArray[1][0] && mArray[1][1] == matrix.mArray[1][1] &&
+            mArray[1][2] == matrix.mArray[1][2] &&
+            mArray[2][0] == matrix.mArray[2][0] && mArray[2][1] == matrix.mArray[2][1] &&
+            mArray[2][2] == matrix.mArray[2][2]);
 }
 
 // Overloaded operator for the is different condition
@@ -215,25 +301,29 @@ inline bool Matrix3x3::operator!= (const Matrix3x3& matrix) const {
 
 // Overloaded operator for addition with assignment
 inline Matrix3x3& Matrix3x3::operator+=(const Matrix3x3& matrix) {
-   array[0][0] += matrix.array[0][0]; array[0][1] += matrix.array[0][1]; array[0][2] += matrix.array[0][2];
+   mArray[0][0] += matrix.mArray[0][0]; mArray[0][1] += matrix.mArray[0][1];
-   array[1][0] += matrix.array[1][0]; array[1][1] += matrix.array[1][1]; array[1][2] += matrix.array[1][2];
+   mArray[0][2] += matrix.mArray[0][2]; mArray[1][0] += matrix.mArray[1][0];
-   array[2][0] += matrix.array[2][0]; array[2][1] += matrix.array[2][1]; array[2][2] += matrix.array[2][2];
+   mArray[1][1] += matrix.mArray[1][1]; mArray[1][2] += matrix.mArray[1][2];
+   mArray[2][0] += matrix.mArray[2][0]; mArray[2][1] += matrix.mArray[2][1];
+   mArray[2][2] += matrix.mArray[2][2];
    return *this;
 }
 
 // Overloaded operator for substraction with assignment
 inline Matrix3x3& Matrix3x3::operator-=(const Matrix3x3& matrix) {
-   array[0][0] -= matrix.array[0][0]; array[0][1] -= matrix.array[0][1]; array[0][2] -= matrix.array[0][2];
+   mArray[0][0] -= matrix.mArray[0][0]; mArray[0][1] -= matrix.mArray[0][1];
-   array[1][0] -= matrix.array[1][0]; array[1][1] -= matrix.array[1][1]; array[1][2] -= matrix.array[1][2];
+   mArray[0][2] -= matrix.mArray[0][2]; mArray[1][0] -= matrix.mArray[1][0];
-   array[2][0] -= matrix.array[2][0]; array[2][1] -= matrix.array[2][1]; array[2][2] -= matrix.array[2][2];
+   mArray[1][1] -= matrix.mArray[1][1]; mArray[1][2] -= matrix.mArray[1][2];
+   mArray[2][0] -= matrix.mArray[2][0]; mArray[2][1] -= matrix.mArray[2][1];
+   mArray[2][2] -= matrix.mArray[2][2];
    return *this;
 }
 
 // Overloaded operator for multiplication with a number with assignment
 inline Matrix3x3& Matrix3x3::operator*=(decimal nb) {
-   array[0][0] *= nb; array[0][1] *= nb; array[0][2] *= nb;
+   mArray[0][0] *= nb; mArray[0][1] *= nb; mArray[0][2] *= nb;
-   array[1][0] *= nb; array[1][1] *= nb; array[1][2] *= nb;
+   mArray[1][0] *= nb; mArray[1][1] *= nb; mArray[1][2] *= nb;
-   array[2][0] *= nb; array[2][1] *= nb; array[2][2] *= nb;
+   mArray[2][0] *= nb; mArray[2][1] *= nb; mArray[2][2] *= nb;
    return *this;
 }
 

src/mathematics/Quaternion.cpp

@@ -33,25 +33,25 @@ using namespace reactphysics3d;
 
 // Constructor of the class
 Quaternion::Quaternion()
-           :x(0.0), y(0.0), z(0.0), w(0.0) {
+           :mX(0.0), mY(0.0), mZ(0.0), mW(0.0) {
 
 }
 
 // Constructor with arguments
 Quaternion::Quaternion(decimal x, decimal y, decimal z, decimal w)
-           :x(x), y(y), z(z), w(w) {
+           :mX(x), mY(y), mZ(z), mW(w) {
 
 }
 
 // Constructor with the component w and the vector v=(x y z)
 Quaternion::Quaternion(decimal w, const Vector3& v)
-           :x(v.getX()), y(v.getY()), z(v.getZ()), w(w) {
+           :mX(v.getX()), mY(v.getY()), mZ(v.getZ()), mW(w) {
 
 }
 
 // Copy-constructor
 Quaternion::Quaternion(const Quaternion& quaternion)
-           :x(quaternion.x), y(quaternion.y), z(quaternion.z), w(quaternion.w) {
+           :mX(quaternion.mX), mY(quaternion.mY), mZ(quaternion.mZ), mW(quaternion.mW) {
 
 }
 
@@ -78,20 +78,20 @@ Quaternion::Quaternion(const Matrix3x3& matrix) {
                 s = 0.5 / r;
                 
                 // Compute the quaternion
-                x = (array[2][0] + array[0][2])*s;
+                mX = (array[2][0] + array[0][2])*s;
-                y = (array[1][2] + array[2][1])*s;
+                mY = (array[1][2] + array[2][1])*s;
-                z = 0.5*r;
+                mZ = 0.5*r;
-                w = (array[1][0] - array[0][1])*s;
+                mW = (array[1][0] - array[0][1])*s;
             }
             else {
                 r = sqrt(array[1][1] - array[2][2] - array[0][0] + 1.0);
                 s = 0.5 / r;
 
                 // Compute the quaternion
-                x = (array[0][1] + array[1][0])*s;
+                mX = (array[0][1] + array[1][0])*s;
-                y = 0.5 * r;
+                mY = 0.5 * r;
-                z = (array[1][2] + array[2][1])*s;
+                mZ = (array[1][2] + array[2][1])*s;
-                w = (array[0][2] - array[2][0])*s;
+                mW = (array[0][2] - array[2][0])*s;
             }
         }
         else if (array[2][2] > array[0][0]) {
@@ -99,20 +99,20 @@ Quaternion::Quaternion(const Matrix3x3& matrix) {
             s = 0.5 / r;
 
             // Compute the quaternion
-            x = (array[2][0] + array[0][2])*s;
+            mX = (array[2][0] + array[0][2])*s;
-            y = (array[1][2] + array[2][1])*s;
+            mY = (array[1][2] + array[2][1])*s;
-            z = 0.5 * r;
+            mZ = 0.5 * r;
-            w = (array[1][0] - array[0][1])*s;
+            mW = (array[1][0] - array[0][1])*s;
         }
         else {
             r = sqrt(array[0][0] - array[1][1] - array[2][2] + 1.0);
             s = 0.5 / r;
 
             // Compute the quaternion
-            x = 0.5 * r;
+            mX = 0.5 * r;
-            y = (array[0][1] + array[1][0])*s;
+            mY = (array[0][1] + array[1][0])*s;
-            z = (array[2][0] - array[0][2])*s;
+            mZ = (array[2][0] - array[0][2])*s;
-            w = (array[2][1] - array[1][2])*s;
+            mW = (array[2][1] - array[1][2])*s;
         }
     }
     else {
@@ -120,10 +120,10 @@ Quaternion::Quaternion(const Matrix3x3& matrix) {
         s = 0.5/r;
 
         // Compute the quaternion
-        x = (array[2][1]-array[1][2])*s;
+        mX = (array[2][1]-array[1][2])*s;
-        y = (array[0][2]-array[2][0])*s;
+        mY = (array[0][2]-array[2][0])*s;
-        z = (array[1][0]-array[0][1])*s;
+        mZ = (array[1][0]-array[0][1])*s;
-        w = 0.5 * r;
+        mW = 0.5 * r;
     }
 }
 
@@ -148,10 +148,10 @@ void Quaternion::getRotationAngleAxis(decimal& angle, Vector3& axis) const {
     }
 
     // Compute the roation angle
-    angle = acos(quaternion.w) * 2.0;
+    angle = acos(quaternion.mW) * 2.0;
 
     // Compute the 3D rotation axis
-    Vector3 rotationAxis(quaternion.x, quaternion.y, quaternion.z);
+    Vector3 rotationAxis(quaternion.mX, quaternion.mY, quaternion.mZ);
 
     // Normalize the rotation axis
     rotationAxis = rotationAxis.getUnit();
@@ -163,7 +163,7 @@ void Quaternion::getRotationAngleAxis(decimal& angle, Vector3& axis) const {
 // Return the orientation matrix corresponding to this quaternion
 Matrix3x3 Quaternion::getMatrix() const {
 
-    decimal nQ = x*x + y*y + z*z + w*w;
+    decimal nQ = mX*mX + mY*mY + mZ*mZ + mW*mW;
     decimal s = 0.0;
 
     if (nQ > 0.0) {
@@ -171,18 +171,18 @@ Matrix3x3 Quaternion::getMatrix() const {
     }
 
     // Computations used for optimization (less multiplications)
-    decimal xs = x*s;
+    decimal xs = mX*s;
-    decimal ys = y*s;
+    decimal ys = mY*s;
-    decimal zs = z*s;
+    decimal zs = mZ*s;
-    decimal wxs = w*xs;
+    decimal wxs = mW*xs;
-    decimal wys = w*ys;
+    decimal wys = mW*ys;
-    decimal wzs = w*zs;
+    decimal wzs = mW*zs;
-    decimal xxs = x*xs;
+    decimal xxs = mX*xs;
-    decimal xys = x*ys;
+    decimal xys = mX*ys;
-    decimal xzs = x*zs;
+    decimal xzs = mX*zs;
-    decimal yys = y*ys;
+    decimal yys = mY*ys;
-    decimal yzs = y*zs;
+    decimal yzs = mY*zs;
-    decimal zzs = z*zs;
+    decimal zzs = mZ*zs;
 
     // Create the matrix corresponding to the quaternion
     return Matrix3x3(1.0-yys-zzs, xys-wzs, xzs + wys,
@@ -192,7 +192,8 @@ Matrix3x3 Quaternion::getMatrix() const {
 
 // Compute the spherical linear interpolation between two quaternions.
 // The t argument has to be such that 0 <= t <= 1. This method is static.
-Quaternion Quaternion::slerp(const Quaternion& quaternion1, const Quaternion& quaternion2, decimal t) {
+Quaternion Quaternion::slerp(const Quaternion& quaternion1,
+                             const Quaternion& quaternion2, decimal t) {
     assert(t >= 0.0 && t <= 1.0);
 
     decimal invert = 1.0;
@@ -206,7 +207,8 @@ Quaternion Quaternion::slerp(const Quaternion& quaternion1, const Quaternion& qu
 			invert = -1.0;
     }
 
-    // Because of precision, if cos(theta) is nearly 1, therefore theta is nearly 0 and we can write
+    // Because of precision, if cos(theta) is nearly 1,
+    // therefore theta is nearly 0 and we can write
     // sin((1-t)*theta) as (1-t) and sin(t*theta) as t
     const decimal epsilon = 0.00001;
     if(1-cosineTheta < epsilon) {

src/mathematics/Quaternion.h

@@ -42,99 +42,159 @@ namespace reactphysics3d {
     -------------------------------------------------------------------
 */
 class Quaternion {
+
     private :
-        decimal x;      // Component x of the quaternion
+
-        decimal y;      // Component y of the quaternion
+        // -------------------- Attributes -------------------- //
-        decimal z;      // Component z of the quaternion
+
-        decimal w;      // Component w of the quaternion
+        // Components of the quaternion
+        decimal mX, mY, mZ, mW;
 
     public :
-        Quaternion();                                                   // Constructor
-        Quaternion(decimal x, decimal y, decimal z, decimal w);         // Constructor with arguments
-        Quaternion(decimal w, const Vector3& v);                        // Constructor with the component w and the vector v=(x y z)
-        Quaternion(const Quaternion& quaternion);                       // Copy-constructor
-        Quaternion(const Matrix3x3& matrix);                            // Create a unit quaternion from a rotation matrix
-        ~Quaternion();                                                  // Destructor
-        decimal getX() const;                                           // Return the component x of the quaternion
-        decimal getY() const;                                           // Return the component y of the quaternion
-        decimal getZ() const;                                           // Return the component z of the quaternion
-        decimal getW() const;                                           // Return the component w of the quaternion
-        void setX(decimal x);                                           // Set the value x
-        void setY(decimal y);                                           // Set the value y
-        void setZ(decimal z);                                           // Set the value z
-        void setW(decimal w);                                           // Set the value w
-        Vector3 vectorV() const;                                        // Return the vector v=(x y z) of the quaternion
-        decimal length() const;                                         // Return the length of the quaternion
-        Quaternion getUnit() const;                                     // Return the unit quaternion
-        Quaternion getConjugate() const;                                // Return the conjugate quaternion
-        Quaternion getInverse() const;                                  // Return the inverse of the quaternion
-        Matrix3x3 getMatrix() const;                                    // Return the orientation matrix corresponding to this quaternion
-        static Quaternion identity();                                   // Return the identity quaternion
-        decimal dot(const Quaternion& quaternion) const;                // Dot product between two quaternions
-        void getRotationAngleAxis(decimal& angle, Vector3& axis) const; // Compute the rotation angle (in radians) and the axis
-        static Quaternion slerp(const Quaternion& quaternion1,
-                                const Quaternion& quaternion2, decimal t);   // Compute the spherical linear interpolation between two quaternions
 
-        // --- Overloaded operators --- //
+        // -------------------- Methods -------------------- //
-        Quaternion operator+(const Quaternion& quaternion) const;       // Overloaded operator for the addition
+
-        Quaternion operator-(const Quaternion& quaternion) const;       // Overloaded operator for the substraction
+        // Constructor
-        Quaternion operator*(decimal nb) const;                         // Overloaded operator for the multiplication with a constant
+        Quaternion();
-        Quaternion operator*(const Quaternion& quaternion) const;       // Overloaded operator for the multiplication
+
-        Quaternion& operator=(const Quaternion& quaternion);            // Overloaded operator for assignment
+        // Constructor with arguments
-        bool operator==(const Quaternion& quaternion) const;            // Overloaded operator for equality condition
+        Quaternion(decimal x, decimal y, decimal z, decimal w);
+
+        // Constructor with the component w and the vector v=(x y z)
+        Quaternion(decimal w, const Vector3& v);
+
+        // Copy-constructor
+        Quaternion(const Quaternion& quaternion);
+
+        // Create a unit quaternion from a rotation matrix
+        Quaternion(const Matrix3x3& matrix);
+
+        // Destructor
+        ~Quaternion();
+
+        // Return the component x of the quaternion
+        decimal getX() const;
+
+        // Return the component y of the quaternion
+        decimal getY() const;
+
+        // Return the component z of the quaternion
+        decimal getZ() const;
+
+        // Return the component w of the quaternion
+        decimal getW() const;
+
+        // Set the value x
+        void setX(decimal x);
+
+        // Set the value y
+        void setY(decimal y);
+
+        // Set the value z
+        void setZ(decimal z);
+
+        // Set the value w
+        void setW(decimal w);
+
+        // Return the vector v=(x y z) of the quaternion
+        Vector3 vectorV() const;
+
+        // Return the length of the quaternion
+        decimal length() const;
+
+        // Return the unit quaternion
+        Quaternion getUnit() const;
+
+        // Return the conjugate quaternion
+        Quaternion getConjugate() const;
+
+        // Return the inverse of the quaternion
+        Quaternion getInverse() const;
+
+        // Return the orientation matrix corresponding to this quaternion
+        Matrix3x3 getMatrix() const;
+
+        // Return the identity quaternion
+        static Quaternion identity();
+
+        // Dot product between two quaternions
+        decimal dot(const Quaternion& quaternion) const;
+
+        // Compute the rotation angle (in radians) and the axis
+        void getRotationAngleAxis(decimal& angle, Vector3& axis) const;
+
+        // Compute the spherical linear interpolation between two quaternions
+        static Quaternion slerp(const Quaternion& quaternion1, const Quaternion& quaternion2,
+                                decimal t);
+
+        // Overloaded operator for the addition
+        Quaternion operator+(const Quaternion& quaternion) const;
+
+        // Overloaded operator for the substraction
+        Quaternion operator-(const Quaternion& quaternion) const;
+
+        // Overloaded operator for the multiplication with a constant
+        Quaternion operator*(decimal nb) const;
+
+        // Overloaded operator for the multiplication
+        Quaternion operator*(const Quaternion& quaternion) const;
+
+        // Overloaded operator for assignment
+        Quaternion& operator=(const Quaternion& quaternion);
+
+        // Overloaded operator for equality condition
+        bool operator==(const Quaternion& quaternion) const;
 };
 
-// --- Inline functions --- //
-
 // Get the value x (inline)
 inline decimal Quaternion::getX() const {
-    return x;
+    return mX;
 }
 
 // Get the value y (inline)
 inline decimal Quaternion::getY() const {
-    return y;
+    return mY;
 }
 
 // Get the value z (inline)
 inline decimal Quaternion::getZ() const {
-    return z;
+    return mZ;
 }
 
 // Get the value w (inline)
 inline decimal Quaternion::getW() const {
-    return w;
+    return mW;
 }
 
 // Set the value x (inline)
 inline void Quaternion::setX(decimal x) {
-    this->x = x;
+    mX = x;
 }
 
 // Set the value y (inline)
 inline void Quaternion::setY(decimal y) {
-    this->y = y;
+    mY = y;
 }
 
 // Set the value z (inline)
 inline void Quaternion::setZ(decimal z) {
-    this->z = z;
+    mZ = z;
 }
 
 // Set the value w (inline)
 inline void Quaternion::setW(decimal w) {
-    this->w = w;
+    mW = w;
 }
 
 // Return the vector v=(x y z) of the quaternion
 inline Vector3 Quaternion::vectorV() const {
     // Return the vector v
-    return Vector3(x, y, z);
+    return Vector3(mX, mY, mZ);
 }
 
 // Return the length of the quaternion (inline)
 inline decimal Quaternion::length() const {
-    return sqrt(x*x + y*y + z*z + w*w);
+    return sqrt(mX*mX + mY*mY + mZ*mZ + mW*mW);
 }
 
 // Return the unit quaternion
@@ -145,7 +205,8 @@ inline Quaternion Quaternion::getUnit() const {
     assert (lengthQuaternion != 0.0);
 
     // Compute and return the unit quaternion
-    return Quaternion(x/lengthQuaternion, y/lengthQuaternion, z/lengthQuaternion, w/lengthQuaternion);
+    return Quaternion(mX/lengthQuaternion, mY/lengthQuaternion,
+                      mZ/lengthQuaternion, mW/lengthQuaternion);
 }
 
 // Return the identity quaternion
@@ -155,7 +216,7 @@ inline Quaternion Quaternion::identity() {
 
 // Return the conjugate of the quaternion (inline)
 inline Quaternion Quaternion::getConjugate() const {
-    return Quaternion(-x, -y, -z, w);
+    return Quaternion(-mX, -mY, -mZ, mW);
 }
 
 // Return the inverse of the quaternion (inline)
@@ -166,46 +227,51 @@ inline Quaternion Quaternion::getInverse() const {
     assert (lengthQuaternion != 0.0);
 
     // Compute and return the inverse quaternion
-    return Quaternion(-x/lengthQuaternion, -y/lengthQuaternion, -z/lengthQuaternion, w/lengthQuaternion);
+    return Quaternion(-mX/lengthQuaternion, -mY/lengthQuaternion,
+                      -mZ/lengthQuaternion, mW/lengthQuaternion);
 }
 
 // Scalar product between two quaternions
 inline decimal Quaternion::dot(const Quaternion& quaternion) const {
-    return (x*quaternion.x + y*quaternion.y + z*quaternion.z + w*quaternion.w);
+    return (mX*quaternion.mX + mY*quaternion.mY + mZ*quaternion.mZ + mW*quaternion.mW);
 }
 
 // Overloaded operator for the addition of two quaternions
 inline Quaternion Quaternion::operator+(const Quaternion& quaternion) const {
     // Return the result quaternion
-    return Quaternion(x + quaternion.x, y + quaternion.y, z + quaternion.z, w + quaternion.w);
+    return Quaternion(mX + quaternion.mX, mY + quaternion.mY,
+                      mZ + quaternion.mZ, mW + quaternion.mW);
 }
 
 // Overloaded operator for the substraction of two quaternions
 inline Quaternion Quaternion::operator-(const Quaternion& quaternion) const {
     // Return the result of the substraction
-    return Quaternion(x-quaternion.x, y - quaternion.y, z - quaternion.z, w - quaternion.w);
+    return Quaternion(mX-quaternion.mX, mY - quaternion.mY,
+                      mZ - quaternion.mZ, mW - quaternion.mW);
 }
 
 // Overloaded operator for the multiplication with a constant
 inline Quaternion Quaternion::operator*(decimal nb) const {
     // Return the result
-    return Quaternion(nb*x, nb*y, nb*z, nb*w);
+    return Quaternion(nb*mX, nb*mY, nb*mZ, nb*mW);
 }
 
 // Overloaded operator for the multiplication of two quaternions
 inline Quaternion Quaternion::operator*(const Quaternion& quaternion) const {
     // Return the result of the multiplication
-    return Quaternion(w*quaternion.w - vectorV().dot(quaternion.vectorV()), w*quaternion.vectorV()+quaternion.w*vectorV() + vectorV().cross(quaternion.vectorV()));
+    return Quaternion(mW*quaternion.mW - vectorV().dot(quaternion.vectorV()),
+                      mW*quaternion.vectorV()+quaternion.mW*vectorV() +
+                      vectorV().cross(quaternion.vectorV()));
 }
 
 // Overloaded operator for the assignment
 inline Quaternion& Quaternion::operator=(const Quaternion& quaternion) {
     // Check for self-assignment
     if (this != &quaternion) {
-        x = quaternion.x;
+        mX = quaternion.mX;
-        y = quaternion.y;
+        mY = quaternion.mY;
-        z = quaternion.z;
+        mZ = quaternion.mZ;
-        w = quaternion.w;
+        mW = quaternion.mW;
     }
 
     // Return this quaternion
@@ -214,7 +280,8 @@ inline Quaternion& Quaternion::operator=(const Quaternion& quaternion) {
 
 // Overloaded operator for equality condition
 inline bool Quaternion::operator==(const Quaternion& quaternion) const {
-    return (x == quaternion.x && y == quaternion.y && z == quaternion.z && w == quaternion.w);
+    return (mX == quaternion.mX && mY == quaternion.mY &&
+            mZ == quaternion.mZ && mW == quaternion.mW);
 }
 
 } // End of the ReactPhysics3D namespace

src/mathematics/Transform.cpp

@@ -31,23 +31,29 @@ using namespace reactphysics3d;
 
 // Constructor
 Transform::Transform() {
-    position = Vector3(0.0, 0.0, 0.0);
+    mPosition = Vector3(0.0, 0.0, 0.0);
-    orientation = Quaternion::identity();
+    mOrientation = Quaternion::identity();
 }
 
 // Constructor
 Transform::Transform(const Vector3& position, const Matrix3x3& orientation) {
-    this->position = position;
+    mPosition = position;
-    this->orientation = Quaternion(orientation);
+    mOrientation = Quaternion(orientation);
 }
 
 // Constructor
 Transform::Transform(const Vector3& position, const Quaternion& orientation) {
-    this->position = position;
+    mPosition = position;
-    this->orientation = orientation;
+    mOrientation = orientation;
+}
+
+// Copy-constructor
+Transform::Transform(const Transform& transform) {
+    mPosition = transform.mPosition;
+    mOrientation = transform.mOrientation;
 }
 
 // Destructor
 Transform::~Transform() {
     
-}
+}

src/mathematics/Transform.h

@@ -41,58 +41,105 @@ namespace reactphysics3d {
     -------------------------------------------------------------------
 */
 class Transform {
+
     private :
-        Vector3 position;               // Position
+
-        Quaternion orientation;         // Orientation
+        // -------------------- Attributes -------------------- //
+
+        // Position
+        Vector3 mPosition;
+
+        // Orientation
+        Quaternion mOrientation;
 
     public :
-        Transform();                                                           // Constructor
-        Transform(const Vector3& position, const Matrix3x3& orientation);      // Constructor
-        Transform(const Vector3& position, const Quaternion& orientation);     // Constructor
-        ~Transform();                                                          // Destructor
 
-        const Vector3& getPosition() const;                                     // Return the origin of the transform
+        // -------------------- Methods -------------------- //
-        void setPosition(const Vector3& position);                              // Set the origin of the transform
+
-        const Quaternion& getOrientation() const;                               // Return the orientation quaternion
+        // Constructor
-        void setOrientation(const Quaternion& orientation);                     // Set the rotation quaternion
+        Transform();
-        void setToIdentity();                                                   // Set the transform to the identity transform
+
-        void setFromOpenGL(decimal* openglMatrix);                              // Set the transform from an OpenGL transform matrix
+        // Constructor
-        void getOpenGLMatrix(decimal* openglMatrix) const;                      // Get the OpenGL matrix of the transform
+        Transform(const Vector3& position, const Matrix3x3& orientation);
-        Transform inverse() const;                                              // Return the inverse of the transform
+
+        // Constructor
+        Transform(const Vector3& position, const Quaternion& orientation);
+
+        // Destructor
+        ~Transform();
+
+        // Copy-constructor
+        Transform(const Transform& transform);
+
+        // Return the origin of the transform
+        const Vector3& getPosition() const;
+
+        // Set the origin of the transform
+        void setPosition(const Vector3& position);
+
+        // Return the orientation quaternion
+        const Quaternion& getOrientation() const;
+
+        // Set the rotation quaternion
+        void setOrientation(const Quaternion& orientation);
+
+        // Set the transform to the identity transform
+        void setToIdentity();
+
+        // Set the transform from an OpenGL transform matrix
+        void setFromOpenGL(decimal* openglMatrix);
+
+        // Get the OpenGL matrix of the transform
+        void getOpenGLMatrix(decimal* openglMatrix) const;
+
+        // Return the inverse of the transform
+        Transform inverse() const;
+
+        // Return an interpolated transform
         static Transform interpolateTransforms(const Transform& oldTransform,
                                                const Transform& newTransform,
-                                               decimal interpolationFactor);    // Return an interpolated transform
+                                               decimal interpolationFactor);
 
-        Vector3 operator*(const Vector3& vector) const;                         // Return the transformed vector
+        // Return the transformed vector
-        Transform operator*(const Transform& transform2) const;                 // Operator of multiplication of a transform with another one
+        Vector3 operator*(const Vector3& vector) const;
-        bool operator==(const Transform& transform2) const;                     // Return true if the two transforms are equal
+
-        bool operator!=(const Transform& transform2) const;                     // Return true if the two transforms are different
+        // Operator of multiplication of a transform with another one
+        Transform operator*(const Transform& transform2) const;
+
+        // Return true if the two transforms are equal
+        bool operator==(const Transform& transform2) const;
+
+        // Return true if the two transforms are different
+        bool operator!=(const Transform& transform2) const;
+
+        // Assignment operator
+        Transform& operator=(const Transform& transform);
 };
 
 // Return the position of the transform
 inline const Vector3& Transform::getPosition() const {
-    return position;
+    return mPosition;
 }
 
 // Set the origin of the transform
 inline void Transform::setPosition(const Vector3& position) {
-    this->position = position;
+    mPosition = position;
 }
 
 // Return the rotation matrix
 inline const Quaternion& Transform::getOrientation() const {
-    return orientation;
+    return mOrientation;
 }
 
 // Set the rotation matrix of the transform
 inline void Transform::setOrientation(const Quaternion& orientation) {
-    this->orientation = orientation;
+    mOrientation = orientation;
 }
 
 // Set the transform to the identity transform
 inline void Transform::setToIdentity() {
-    position = Vector3(0.0, 0.0, 0.0);
+    mPosition = Vector3(0.0, 0.0, 0.0);
-    orientation = Quaternion::identity();
+    mOrientation = Quaternion::identity();
 }                                           
 
 // Set the transform from an OpenGL transform matrix
@@ -100,52 +147,74 @@ inline void Transform::setFromOpenGL(decimal* openglMatrix) {
     Matrix3x3 matrix(openglMatrix[0], openglMatrix[4], openglMatrix[8],
                      openglMatrix[1], openglMatrix[5], openglMatrix[9],
                      openglMatrix[2], openglMatrix[6], openglMatrix[10]);
-    orientation = Quaternion(matrix);
+    mOrientation = Quaternion(matrix);
-    position.setAllValues(openglMatrix[12], openglMatrix[13], openglMatrix[14]);
+    mPosition.setAllValues(openglMatrix[12], openglMatrix[13], openglMatrix[14]);
 }
 
 // Get the OpenGL matrix of the transform
 inline void Transform::getOpenGLMatrix(decimal* openglMatrix) const {
-    const Matrix3x3& matrix = orientation.getMatrix();
+    const Matrix3x3& matrix = mOrientation.getMatrix();
-    openglMatrix[0] = matrix.getValue(0, 0); openglMatrix[1] = matrix.getValue(1, 0); openglMatrix[2] = matrix.getValue(2, 0); openglMatrix[3] = 0.0;
+    openglMatrix[0] = matrix.getValue(0, 0); openglMatrix[1] = matrix.getValue(1, 0);
-    openglMatrix[4] = matrix.getValue(0, 1); openglMatrix[5] = matrix.getValue(1, 1); openglMatrix[6] = matrix.getValue(2, 1); openglMatrix[7] = 0.0;
+    openglMatrix[2] = matrix.getValue(2, 0); openglMatrix[3] = 0.0;
-    openglMatrix[8] = matrix.getValue(0, 2); openglMatrix[9] = matrix.getValue(1, 2); openglMatrix[10] = matrix.getValue(2, 2); openglMatrix[11] = 0.0;
+    openglMatrix[4] = matrix.getValue(0, 1); openglMatrix[5] = matrix.getValue(1, 1);
-    openglMatrix[12] = position.getX(); openglMatrix[13] = position.getY(); openglMatrix[14] = position.getZ(); openglMatrix[15] = 1.0;
+    openglMatrix[6] = matrix.getValue(2, 1); openglMatrix[7] = 0.0;
+    openglMatrix[8] = matrix.getValue(0, 2); openglMatrix[9] = matrix.getValue(1, 2);
+    openglMatrix[10] = matrix.getValue(2, 2); openglMatrix[11] = 0.0;
+    openglMatrix[12] = mPosition.getX(); openglMatrix[13] = mPosition.getY();
+    openglMatrix[14] = mPosition.getZ(); openglMatrix[15] = 1.0;
 }
 
 // Return the inverse of the transform
 inline Transform Transform::inverse() const {
-    const Quaternion& invQuaternion = orientation.getInverse();
+    const Quaternion& invQuaternion = mOrientation.getInverse();
     Matrix3x3 invMatrix = invQuaternion.getMatrix();
-    return Transform(invMatrix * (-position), invQuaternion);
+    return Transform(invMatrix * (-mPosition), invQuaternion);
 }
 
 // Return an interpolated transform
-inline Transform Transform::interpolateTransforms(const Transform& oldTransform, const Transform& newTransform, decimal interpolationFactor) {
+inline Transform Transform::interpolateTransforms(const Transform& oldTransform,
-    Vector3 interPosition = oldTransform.position * (1.0 - interpolationFactor) + newTransform.position * interpolationFactor;
+                                                  const Transform& newTransform,
-    Quaternion interOrientation = Quaternion::slerp(oldTransform.orientation, newTransform.orientation, interpolationFactor);
+                                                  decimal interpolationFactor) {
+
+    Vector3 interPosition = oldTransform.mPosition * (1.0 - interpolationFactor) +
+                            newTransform.mPosition * interpolationFactor;
+
+    Quaternion interOrientation = Quaternion::slerp(oldTransform.mOrientation,
+                                                    newTransform.mOrientation,
+                                                    interpolationFactor);
+
     return Transform(interPosition, interOrientation);
 }
 
 // Return the transformed vector
 inline Vector3 Transform::operator*(const Vector3& vector) const {
-    return (orientation.getMatrix() * vector) + position;
+    return (mOrientation.getMatrix() * vector) + mPosition;
 }
 
 // Operator of multiplication of a transform with another one
 inline Transform Transform::operator*(const Transform& transform2) const {
-    return Transform(position + orientation.getMatrix() * transform2.position, orientation * transform2.orientation);
+    return Transform(mPosition + mOrientation.getMatrix() * transform2.mPosition,
+                     mOrientation * transform2.mOrientation);
 }
 
 // Return true if the two transforms are equal
 inline bool Transform::operator==(const Transform& transform2) const {
-    return (position == transform2.position) && (orientation == transform2.orientation);
+    return (mPosition == transform2.mPosition) && (mOrientation == transform2.mOrientation);
 }    
 
 // Return true if the two transforms are different
 inline bool Transform::operator!=(const Transform& transform2) const {
     return !(*this == transform2);
-}                    
+}
+
+// Assignment operator
+inline Transform& Transform::operator=(const Transform& transform) {
+    if (&transform != this) {
+        mPosition = transform.mPosition;
+        mOrientation = transform.mOrientation;
+    }
+    return *this;
+}
 
 } // End of the ReactPhysics3D namespace
 

src/mathematics/Vector3.cpp

@@ -34,23 +34,23 @@ using namespace reactphysics3d;
 
 // Constructor of the class Vector3D
 Vector3::Vector3() {
-    values[0] = 0.0;
+    mValues[0] = 0.0;
-    values[1] = 0.0;
+    mValues[1] = 0.0;
-    values[2] = 0.0;
+    mValues[2] = 0.0;
 }
 
 // Constructor with arguments
 Vector3::Vector3(decimal x, decimal y, decimal z) {
-    values[0] = x;
+    mValues[0] = x;
-    values[1] = y;
+    mValues[1] = y;
-    values[2] = z;
+    mValues[2] = z;
 }
 
 // Copy-constructor
 Vector3::Vector3(const Vector3& vector) {
-    values[0] = vector.values[0];
+    mValues[0] = vector.mValues[0];
-    values[1] = vector.values[1];
+    mValues[1] = vector.mValues[1];
-    values[2] = vector.values[2];
+    mValues[2] = vector.mValues[2];
 }
 
 // Destructor
@@ -66,7 +66,7 @@ Vector3 Vector3::getUnit() const {
 
     // Compute and return the unit vector
     decimal lengthInv = 1.0 / lengthVector;
-    return Vector3(values[0] * lengthInv, values[1] * lengthInv, values[2] * lengthInv);
+    return Vector3(mValues[0] * lengthInv, mValues[1] * lengthInv, mValues[2] * lengthInv);
 }
 
 // Return two unit orthogonal vectors of the current vector
@@ -75,20 +75,23 @@ Vector3 Vector3::getOneOrthogonalVector() const {
 
     // Compute a first orthogonal vector
     Vector3 vector1;
-    if (!approxEqual(values[0], 0.0)) {   // If x != 0
+    if (!approxEqual(mValues[0], 0.0)) {   // If x != 0
-        vector1.setY(values[0]);
+        vector1.setY(mValues[0]);
-        vector1.setZ((-2*values[0]*values[1]*values[2] + 2*values[0]*values[2])/(2*(values[2]*values[2] + values[0]*values[0])));
+        vector1.setZ((-2*mValues[0]*mValues[1]*mValues[2] +
-        vector1.setX((-values[0]*values[1]-values[2]*vector1.getZ())/values[0]);
+                      2*mValues[0]*mValues[2])/(2*(mValues[2]*mValues[2] + mValues[0]*mValues[0])));
+        vector1.setX((-mValues[0]*mValues[1]-mValues[2]*vector1.getZ())/mValues[0]);
     }
-    else if (!approxEqual(values[1], 0.0)) { // If y != 0
+    else if (!approxEqual(mValues[1], 0.0)) { // If y != 0
-        vector1.setZ(values[1]);
+        vector1.setZ(mValues[1]);
-        vector1.setX((-2*values[0]*values[1]*values[2] + 2*values[0]*values[1])/(2*(values[1]*values[1] + values[0]*values[0])));
+        vector1.setX((-2*mValues[0]*mValues[1]*mValues[2] +
-        vector1.setY((-values[2]*values[1]-values[0]*vector1.getX())/values[1]);
+                      2*mValues[0]*mValues[1])/(2*(mValues[1]*mValues[1] + mValues[0]*mValues[0])));
+        vector1.setY((-mValues[2]*mValues[1]-mValues[0]*vector1.getX())/mValues[1]);
     }
-    else if (!approxEqual(values[2], 0.0)) { // If z != 0
+    else if (!approxEqual(mValues[2], 0.0)) { // If z != 0
-        vector1.setX(values[2]);
+        vector1.setX(mValues[2]);
-        vector1.setY((-2*values[0]*values[1]*values[2] + 2*values[1]*values[2])/(2*(values[2]*values[2] + values[1]*values[1])));
+        vector1.setY((-2*mValues[0]*mValues[1]*mValues[2] +
-        vector1.setZ((-values[0]*values[2]-values[1]*vector1.getY())/values[2]);
+                      2*mValues[1]*mValues[2])/(2*(mValues[2]*mValues[2] + mValues[1]*mValues[1])));
+        vector1.setZ((-mValues[0]*mValues[2]-mValues[1]*vector1.getY())/mValues[2]);
     }
 
     //assert(vector1.isUnit());

src/mathematics/Vector3.h

@@ -41,44 +41,113 @@ namespace reactphysics3d {
     -------------------------------------------------------------------
 */
 class Vector3 {
+
     private :
-        decimal values[3];                                      // Values of the 3D vector
+
+        // -------------------- Attributes -------------------- //
+
+        // Values of the 3D vector
+        decimal mValues[3];
 
     public :
-        Vector3();                                              // Constructor of the class Vector3D
+
-        Vector3(decimal x, decimal y, decimal z);               // Constructor with arguments
+        // -------------------- Methods -------------------- //
-        Vector3(const Vector3& vector);                         // Copy-constructor
+
-        virtual ~Vector3();                                     // Destructor
+        // Constructor of the class Vector3D
-        decimal getX() const;                                   // Get the x component of the vector
+        Vector3();
-        decimal getY() const;                                   // Get the y component of the vector
+
-        decimal getZ() const;                                   // Get the z component of the vector
+        // Constructor with arguments
-        void setX(decimal x);                                   // Set the x component of the vector
+        Vector3(decimal x, decimal y, decimal z);
-        void setY(decimal y);                                   // Set the y component of the vector
+
-        void setZ(decimal z);                                   // Set the z component of the vector
+        // Copy-constructor
-        void setAllValues(decimal x, decimal y, decimal z);     // Set all the values of the vector
+        Vector3(const Vector3& vector);
-        decimal length() const;                                 // Return the lenght of the vector
+
-        decimal lengthSquare() const;                           // Return the square of the length of the vector
+        // Destructor
-        Vector3 getUnit() const;                                // Return the corresponding unit vector
+        ~Vector3();
-        bool isUnit() const;                                    // Return true if the vector is unit and false otherwise
+
-        bool isZero() const;                                    // Return true if the current vector is the zero vector
+        // Get the x component of the vector
-        Vector3 getOneOrthogonalVector() const;                 // Return one unit orthogonal vectors of the current vector
+        decimal getX() const;
-        decimal dot(const Vector3& vector) const;               // Dot product of two vectors
+
-        Vector3 cross(const Vector3& vector) const;             // Cross product of two vectors
+        // Get the y component of the vector
-        Vector3 getAbsoluteVector() const;                      // Return the corresponding absolute value vector
+        decimal getY() const;
-        int getMinAxis() const;                                 // Return the axis with the minimal value
+
-        int getMaxAxis() const;                                 // Return the axis with the maximal value
+        // Get the z component of the vector
-        bool isParallelWith(const Vector3& vector) const;       // Return true if two vectors are parallel
+        decimal getZ() const;
-        
+
-        // --- Overloaded operators --- //
+        // Set the x component of the vector
-        bool operator== (const Vector3& vector) const;          // Overloaded operator for the equality condition
+        void setX(decimal x);
-        bool operator!= (const Vector3& vector) const;          // Overloaded operator for the is different condition
+
-        Vector3& operator+=(const Vector3& vector);             // Overloaded operator for addition with assignment
+        // Set the y component of the vector
-        Vector3& operator-=(const Vector3& vector);             // Overloaded operator for substraction with assignment
+        void setY(decimal y);
-        Vector3& operator*=(decimal number);                    // Overloaded operator for multiplication with a number with assignment
+
-        decimal& operator[] (int index);                        // Overloaded operator for value access
+        // Set the z component of the vector
-        const decimal& operator[] (int index) const;            // Overloaded operator for value access
+        void setZ(decimal z);
-        
+
-        // Friend functions
+        // Set all the values of the vector
+        void setAllValues(decimal x, decimal y, decimal z);
+
+        // Return the lenght of the vector
+        decimal length() const;
+
+        // Return the square of the length of the vector
+        decimal lengthSquare() const;
+
+        // Return the corresponding unit vector
+        Vector3 getUnit() const;
+
+        // Return true if the vector is unit and false otherwise
+        bool isUnit() const;
+
+        // Return true if the current vector is the zero vector
+        bool isZero() const;
+
+        // Return one unit orthogonal vectors of the current vector
+        Vector3 getOneOrthogonalVector() const;
+
+        // Dot product of two vectors
+        decimal dot(const Vector3& vector) const;
+
+        // Cross product of two vectors
+        Vector3 cross(const Vector3& vector) const;
+
+        // Return the corresponding absolute value vector
+        Vector3 getAbsoluteVector() const;
+
+        // Return the axis with the minimal value
+        int getMinAxis() const;
+
+        // Return the axis with the maximal value
+        int getMaxAxis() const;
+
+        // Return true if two vectors are parallel
+        bool isParallelWith(const Vector3& vector) const;
+
+        // Overloaded operator for the equality condition
+        bool operator== (const Vector3& vector) const;
+
+        // Overloaded operator for the is different condition
+        bool operator!= (const Vector3& vector) const;
+
+        // Overloaded operator for addition with assignment
+        Vector3& operator+=(const Vector3& vector);
+
+        // Overloaded operator for substraction with assignment
+        Vector3& operator-=(const Vector3& vector);
+
+        // Overloaded operator for multiplication with a number with assignment
+        Vector3& operator*=(decimal number);
+
+        // Overloaded operator for value access
+        decimal& operator[] (int index);
+
+        // Overloaded operator for value access
+        const decimal& operator[] (int index) const;
+
+        // Overloaded operator
+        Vector3& operator=(const Vector3& vector);
+
+        // -------------------- Friends -------------------- //
+
         friend Vector3 operator+(const Vector3& vector1, const Vector3& vector2);
         friend Vector3 operator-(const Vector3& vector1, const Vector3& vector2);
         friend Vector3 operator-(const Vector3& vector);
@@ -88,69 +157,69 @@ class Vector3 {
 
 // Get the x component of the vector
 inline decimal Vector3::getX() const {
-    return values[0];
+    return mValues[0];
 }
 
 // Get the y component of the vector
 inline decimal Vector3::getY() const {
-    return values[1];
+    return mValues[1];
 }
 
 // Get the z component of the vector
 inline decimal Vector3::getZ() const {
-    return values[2];
+    return mValues[2];
 }
 
 // Set the x component of the vector
 inline void Vector3::setX(decimal x) {
-    this->values[0] = x;
+    this->mValues[0] = x;
 }
 
 // Set the y component of the vector
 inline void Vector3::setY(decimal y) {
-    this->values[1] = y;
+    this->mValues[1] = y;
 }
 
 // Set the z component of the vector
 inline void Vector3::setZ(decimal z) {
-    this->values[2] = z;
+    this->mValues[2] = z;
 }
 
 // Set all the values of the vector (inline)
 inline void Vector3::setAllValues(decimal x, decimal y, decimal z) {
-    values[0]= x;
+    mValues[0]= x;
-    values[1] = y;
+    mValues[1] = y;
-    values[2] = z;
+    mValues[2] = z;
 }
 
 // Return the length of the vector (inline)
 inline decimal Vector3::length() const {
     // Compute and return the length of the vector
-    return sqrt(values[0]*values[0] + values[1]*values[1] + values[2]*values[2]);
+    return sqrt(mValues[0]*mValues[0] + mValues[1]*mValues[1] + mValues[2]*mValues[2]);
 }
 
 // Return the square of the length of the vector
 inline decimal Vector3::lengthSquare() const {
-    return values[0]*values[0] + values[1]*values[1] + values[2]*values[2];
+    return mValues[0]*mValues[0] + mValues[1]*mValues[1] + mValues[2]*mValues[2];
 }
 
 // Scalar product of two vectors (inline)
 inline decimal Vector3::dot(const Vector3& vector) const {
     // Compute and return the result of the scalar product
-    return (values[0] * vector.values[0] + values[1] * vector.values[1] + values[2] * vector.values[2]);
+    return (mValues[0] * vector.mValues[0] + mValues[1] * vector.mValues[1] + mValues[2] * vector.mValues[2]);
 }
 
 // Cross product of two vectors (inline)
 inline Vector3 Vector3::cross(const Vector3& vector) const {
     // Compute and return the cross product
-    return Vector3(values[1] * vector.values[2] - values[2] * vector.values[1],
+    return Vector3(mValues[1] * vector.mValues[2] - mValues[2] * vector.mValues[1],
-                   values[2] * vector.values[0] - values[0] * vector.values[2],
+                   mValues[2] * vector.mValues[0] - mValues[0] * vector.mValues[2],
-                   values[0] * vector.values[1] - values[1] * vector.values[0]);
+                   mValues[0] * vector.mValues[1] - mValues[1] * vector.mValues[0]);
 }
 
 // Return the corresponding absolute value vector
 inline Vector3 Vector3::getAbsoluteVector() const {
-    return Vector3(std::abs(values[0]), std::abs(values[1]), std::abs(values[2]));
+    return Vector3(std::abs(mValues[0]), std::abs(mValues[1]), std::abs(mValues[2]));
 }       
 
 // Return true if two vectors are parallel
@@ -162,27 +231,27 @@ inline bool Vector3::isParallelWith(const Vector3& vector) const {
 
 // Return the axis with the minimal value
 inline int Vector3::getMinAxis() const {
-    return (values[0] < values[1] ? (values[0] < values[2] ? 0 : 2) : (values[1] < values[2] ? 1 : 2));
+    return (mValues[0] < mValues[1] ? (mValues[0] < mValues[2] ? 0 : 2) : (mValues[1] < mValues[2] ? 1 : 2));
 }
 
 // Return the axis with the maximal value
 inline int Vector3::getMaxAxis() const {
-    return (values[0] < values[1] ? (values[1] < values[2] ? 2 : 1) : (values[0] < values[2] ? 2 : 0));
+    return (mValues[0] < mValues[1] ? (mValues[1] < mValues[2] ? 2 : 1) : (mValues[0] < mValues[2] ? 2 : 0));
 }
 
 // Return true if the vector is unit and false otherwise
 inline bool Vector3::isUnit() const {
-    return approxEqual(values[0] * values[0] + values[1] * values[1] + values[2] * values[2], 1.0);
+    return approxEqual(mValues[0] * mValues[0] + mValues[1] * mValues[1] + mValues[2] * mValues[2], 1.0);
 }
 
 // Return true if the vector is the zero vector
 inline bool Vector3::isZero() const {
-    return approxEqual(values[0] * values[0] + values[1] * values[1] + values[2] * values[2], 0.0);
+    return approxEqual(mValues[0] * mValues[0] + mValues[1] * mValues[1] + mValues[2] * mValues[2], 0.0);
 }
 
 // Overloaded operator for the equality condition
 inline bool Vector3::operator== (const Vector3& vector) const {
-    return (values[0] == vector.values[0] && values[1] == vector.values[1] && values[2] == vector.values[2]);
+    return (mValues[0] == vector.mValues[0] && mValues[1] == vector.mValues[1] && mValues[2] == vector.mValues[2]);
 }
 
 // Overloaded operator for the is different condition
@@ -192,56 +261,56 @@ inline bool Vector3::operator!= (const Vector3& vector) const {
 
 // Overloaded operator for addition with assignment
 inline Vector3& Vector3::operator+=(const Vector3& vector) {
-    values[0] += vector.values[0];
+    mValues[0] += vector.mValues[0];
-    values[1] += vector.values[1];
+    mValues[1] += vector.mValues[1];
-    values[2] += vector.values[2];
+    mValues[2] += vector.mValues[2];
     return *this;
 }
 
 // Overloaded operator for substraction with assignment
 inline Vector3& Vector3::operator-=(const Vector3& vector) {
-    values[0] -= vector.values[0];
+    mValues[0] -= vector.mValues[0];
-    values[1] -= vector.values[1];
+    mValues[1] -= vector.mValues[1];
-    values[2] -= vector.values[2];
+    mValues[2] -= vector.mValues[2];
     return *this;
 }
 
 // Overloaded operator for multiplication with a number with assignment
 inline Vector3& Vector3::operator*=(decimal number) {
-    values[0] *= number;
+    mValues[0] *= number;
-    values[1] *= number;
+    mValues[1] *= number;
-    values[2] *= number;
+    mValues[2] *= number;
     return *this;
 }
 
 // Overloaded operator for value access
 inline decimal& Vector3::operator[] (int index) {
-    return values[index];
+    return mValues[index];
 }
 
 // Overloaded operator for value access
 inline const decimal& Vector3::operator[] (int index) const {
-    return values[index];
+    return mValues[index];
 }
 
 // Overloaded operator for addition
 inline Vector3 operator+(const Vector3& vector1, const Vector3& vector2) {
-    return Vector3(vector1.values[0] + vector2.values[0], vector1.values[1] + vector2.values[1], vector1.values[2] + vector2.values[2]);
+    return Vector3(vector1.mValues[0] + vector2.mValues[0], vector1.mValues[1] + vector2.mValues[1], vector1.mValues[2] + vector2.mValues[2]);
 }
 
 // Overloaded operator for substraction
 inline Vector3 operator-(const Vector3& vector1, const Vector3& vector2) {
-    return Vector3(vector1.values[0] - vector2.values[0], vector1.values[1] - vector2.values[1], vector1.values[2] - vector2.values[2]);
+    return Vector3(vector1.mValues[0] - vector2.mValues[0], vector1.mValues[1] - vector2.mValues[1], vector1.mValues[2] - vector2.mValues[2]);
 }
 
 // Overloaded operator for the negative of a vector
 inline Vector3 operator-(const Vector3& vector) {
-    return Vector3(-vector.values[0], -vector.values[1], -vector.values[2]);
+    return Vector3(-vector.mValues[0], -vector.mValues[1], -vector.mValues[2]);
 }
 
 // Overloaded operator for multiplication with a number
 inline Vector3 operator*(const Vector3& vector, decimal number) {
-    return Vector3(number * vector.values[0], number * vector.values[1], number * vector.values[2]);
+    return Vector3(number * vector.mValues[0], number * vector.mValues[1], number * vector.mValues[2]);
 }
 
 // Overloaded operator for multiplication with a number
@@ -249,6 +318,16 @@ inline Vector3 operator*(decimal number, const Vector3& vector) {
     return vector * number;
 }
 
+// Assignment operator
+inline Vector3& Vector3::operator=(const Vector3& vector) {
+    if (&vector != this) {
+        mValues[0] = vector.mValues[0];
+        mValues[1] = vector.mValues[1];
+        mValues[2] = vector.mValues[2];
+    }
+    return *this;
+}
+
 } // End of the ReactPhysics3D namespace
 
 #endif

src/mathematics/mathematics.h

@@ -38,412 +38,4 @@
 #include <cassert>
 #include <cmath>
 
-// ReactPhysics3D namespace
-namespace reactphysics3d {
-
-// ---------- Mathematics functions ---------- //
-
-// Rotate a vector according to a rotation quaternion.
-// The function returns the vector rotated according to the quaternion in argument
-inline reactphysics3d::Vector3 rotateVectorWithQuaternion(const reactphysics3d::Vector3& vector, const reactphysics3d::Quaternion& quaternion) {
-    // Convert the vector into a quaternion
-    reactphysics3d::Quaternion vectorQuaternion(0, vector);
-
-    // Compute the quaternion rotation result
-    reactphysics3d::Quaternion quaternionResult = (quaternion * vectorQuaternion) * quaternion.getInverse();
-
-    // Convert the result quaternion into a vector
-    return quaternionResult.vectorV();
-}
-
-// Given two lines (given by the points "point1", "point2" and the vectors "d1" and "d2" that are not parallel, this method returns the values
-// "alpha" and "beta" such that the two points P1 and P2 are the two closest point between the two lines and such that
-// P1 = point1 + alpha * d1
-// P2 = point2 + beta * d2
-inline void closestPointsBetweenTwoLines(const reactphysics3d::Vector3& point1, const reactphysics3d::Vector3& d1, const reactphysics3d::Vector3& point2,
-                                         const reactphysics3d::Vector3& d2, decimal* alpha, decimal* beta) {
-
-    reactphysics3d::Vector3 r = point1 - point2;
-    decimal a = d1.dot(d1);
-    decimal b = d1.dot(d2);
-    decimal c = d1.dot(r);
-    decimal e = d2.dot(d2);
-    decimal f = d2.dot(r);
-    decimal d = a*e-b*b;
-
-    // The two lines must not be parallel
-    assert(!reactphysics3d::approxEqual(d, 0.0));
-
-    // Compute the "alpha" and "beta" values
-    *alpha = (b*f -c*e)/d;
-    *beta = (a*f-b*c)/d;
-}
-
-// This method returns true if the point "P" is on the segment between "segPointA" and "segPointB" and return false otherwise
-inline bool isPointOnSegment(const reactphysics3d::Vector3& segPointA, const reactphysics3d::Vector3& segPointB, const reactphysics3d::Vector3& P) {
-
-    // Check if the point P is on the line between "segPointA" and "segPointB"
-    reactphysics3d::Vector3 d = segPointB - segPointA;
-    reactphysics3d::Vector3 dP = P - segPointA;
-    if (!d.isParallelWith(dP)) {
-        return false;
-    }
-
-    // Compute the length of the segment
-    decimal segmentLength = d.length();
-
-    // Compute the distance from point "P" to points "segPointA" and "segPointB"
-    decimal distA = dP.length();
-    decimal distB = (P - segPointB).length();
-
-    // If one of the "distA" and "distB" is greather than the length of the segment, then P is not on the segment
-    if (distA > segmentLength || distB > segmentLength) {
-        return false;
-    }
-
-    // Otherwise, the point P is on the segment
-    return true;
-}
-
-
-// Given two lines in 3D that intersect, this method returns the intersection point between the two lines.
-// The first line is given by the point "p1" and the vector "d1", the second line is given by the point "p2" and the vector "d2".
-inline reactphysics3d::Vector3 computeLinesIntersection(const reactphysics3d::Vector3& p1, const reactphysics3d::Vector3& d1,
-                                                         const reactphysics3d::Vector3& p2, const reactphysics3d::Vector3& d2) {
-    // Computes the two closest points on the lines
-    decimal alpha, beta;
-    closestPointsBetweenTwoLines(p1, d1, p2, d2, &alpha, &beta);
-    reactphysics3d::Vector3 point1 = p1 + alpha * d1;
-    reactphysics3d::Vector3 point2 = p2 + beta * d2;
-
-    // The two points must be very close
-    //assert((point1-point2).length() <= 0.1);
-
-    // Return the intersection point (halfway between "point1" and "point2")
-    return 0.5 * (point1 + point2);
-}
-
-
-// Given two segments in 3D that are not parallel and that intersect, this method computes the intersection point between the two segments.
-// This method returns the intersection point.
-inline reactphysics3d::Vector3 computeNonParallelSegmentsIntersection(const reactphysics3d::Vector3& seg1PointA, const reactphysics3d::Vector3& seg1PointB,
-                                                                       const reactphysics3d::Vector3& seg2PointA, const reactphysics3d::Vector3& seg2PointB) {
-    // Determine the lines of both segments
-    reactphysics3d::Vector3 d1 = seg1PointB - seg1PointA;
-    reactphysics3d::Vector3 d2 = seg2PointB - seg2PointA;
-
-    // The segments must not be parallel
-    assert(!d1.isParallelWith(d2));
-
-    // Compute the closet points between the two lines
-    decimal alpha, beta;
-    closestPointsBetweenTwoLines(seg1PointA, d1, seg2PointA, d2, &alpha, &beta);
-    reactphysics3d::Vector3 point1 = seg1PointA + alpha * d1;
-    reactphysics3d::Vector3 point2 = seg2PointA + beta * d2;
-
-    // The closest points have to be on the segments, otherwise there is no intersection between the segments
-    assert(isPointOnSegment(seg1PointA, seg1PointB, point1));
-    assert(isPointOnSegment(seg2PointA, seg2PointB, point2));
-
-    // If the two closest point aren't very close, there is no intersection between the segments
-    reactphysics3d::Vector3 d = point2 - point1;
-    const decimal epsilon = 0.00001;
-    assert(d.length() <= epsilon);
-
-    // They are very close so we return the intersection point (halfway between "point1" and "point2"
-    return 0.5 * (point1 + point2);
-}
-
-
-// Move a set of points by a given vector.
-// The method returns a set of points moved by the given vector.
-inline std::vector<reactphysics3d::Vector3> movePoints(const std::vector<reactphysics3d::Vector3>& points, const reactphysics3d::Vector3& vector) {
-    std::vector<reactphysics3d::Vector3> result;
-
-    // For each point of the set
-    for (unsigned int i=0; i<points.size(); ++i) {
-        // Move the point
-        result.push_back(points[i] + vector);
-    }
-
-    // Return the result set of points
-    return result;
-}
-
-
-// Compute the projection of a set of 3D points onto a 3D plane. The set of points is given by "points" and the plane is given by
-// a point "A" and a normal vector "normal". This method returns the initial set of points projected onto the plane.
-inline std::vector<reactphysics3d::Vector3> projectPointsOntoPlane(const std::vector<reactphysics3d::Vector3>& points, const reactphysics3d::Vector3& A,
-                                                                    const reactphysics3d::Vector3& normal) {
-    assert(normal.length() != 0.0);
-
-    std::vector<Vector3> projectedPoints;
-    reactphysics3d::Vector3 n = normal.getUnit();
-
-    // For each point of the set
-    for (unsigned int i=0; i<points.size(); ++i) {
-        // Compute the projection of the point onto the plane
-        projectedPoints.push_back(points[i] - (n * (points[i] - A).dot(n)));
-
-    }
-
-    // Return the projected set of points
-    return projectedPoints;
-}
-
-
-// Compute the distance between a point "P" and a line (given by a point "A" and a vector "v")
-inline decimal computeDistanceBetweenPointAndLine(const reactphysics3d::Vector3& P, const reactphysics3d::Vector3& A, const reactphysics3d::Vector3& v) {
-    assert(v.length() != 0);
-    return ((P-A).cross(v).length() / (v.length()));
-}
-
-
-// Compute the orthogonal projection of a point "P" on a line (given by a point "A" and a vector "v")
-inline reactphysics3d::Vector3 computeOrthogonalProjectionOfPointOntoALine(const reactphysics3d::Vector3& P, const reactphysics3d::Vector3& A, const reactphysics3d::Vector3& v) {
-    return (A + ((P-A).dot(v) / (v.dot(v))) * v);
-}
-
-// Given a point P and 4 points that form a rectangle (point P and the 4 points have to be on the same plane) this method computes
-// the point Q that is the nearest point to P that is inside (on a border of) the rectangle. The point P should be outside the rectangle.
-// The result point Q will be in a segment of the rectangle
-inline reactphysics3d::Vector3 computeNearestPointOnRectangle(const reactphysics3d::Vector3& P, const std::vector<reactphysics3d::Vector3> rectangle) {
-    assert(rectangle.size() == 4);
-    decimal distPSegment1 = computeDistanceBetweenPointAndLine(P, rectangle[0], rectangle[1] - rectangle[0]);
-    decimal distPSegment2 = computeDistanceBetweenPointAndLine(P, rectangle[1], rectangle[2] - rectangle[1]);
-    decimal distPSegment3 = computeDistanceBetweenPointAndLine(P, rectangle[2], rectangle[3] - rectangle[2]);
-    decimal distPSegment4 = computeDistanceBetweenPointAndLine(P, rectangle[3], rectangle[0] - rectangle[3]);
-    decimal distSegment1Segment3 = computeDistanceBetweenPointAndLine(rectangle[0], rectangle[3], rectangle[3] - rectangle[2]);
-    decimal distSegment2Segment4 = computeDistanceBetweenPointAndLine(rectangle[1], rectangle[3], rectangle[0] - rectangle[3]);
-    Vector3 resultPoint;
-    
-    // Check if P is between the lines of the first pair of parallel segments of the rectangle
-    if (distPSegment1 <= distSegment1Segment3 && distPSegment3 <= distSegment1Segment3) {
-        // Find among segments 2 and 4 which one is the nearest
-        if (distPSegment2 <= distPSegment4) { // Segment 2 is the nearest
-            // We compute the projection of the point P onto the segment 2
-            resultPoint = computeOrthogonalProjectionOfPointOntoALine(P, rectangle[1], rectangle[2] - rectangle[1]);
-        }
-        else {  // Segment 4 is the nearest
-            // We compute the projection of the point P onto the segment 4
-            resultPoint = computeOrthogonalProjectionOfPointOntoALine(P, rectangle[3], rectangle[0] - rectangle[3]);
-        }
-    }
-    // Check if P is between the lines of the second pair of parallel segments of the rectangle
-    else if (distPSegment2 <= distSegment2Segment4 && distPSegment4 <= distSegment2Segment4) {
-        // Find among segments 1 and 3 which one is the nearest
-        if (distPSegment1 <= distPSegment3) { // Segment 1 is the nearest
-            // We compute the projection of the point P onto the segment 1
-            resultPoint = computeOrthogonalProjectionOfPointOntoALine(P, rectangle[0], rectangle[1] - rectangle[0]);
-        }
-        else {  // Segment 3 is the nearest
-            // We compute the projection of the point P onto the segment 3
-            resultPoint = computeOrthogonalProjectionOfPointOntoALine(P, rectangle[2], rectangle[3] - rectangle[2]);
-        }
-    }
-    else if (distPSegment4 <= distPSegment2) {
-        if (distPSegment1 <= distPSegment3) { // The point P is in the corner of point rectangle[0]
-            // Return the corner of the rectangle
-            return rectangle[0];
-        }
-        else { // The point P is in the corner of point rectangle[3]
-            // Return the corner of the rectangle
-            return rectangle[3];
-        }
-    }
-    else {
-        if (distPSegment1 <= distPSegment3) { // The point P is in the corner of point rectangle[1]
-            // Return the corner of the rectangle
-            return rectangle[1];
-        }
-        else { // The point P is in the corner of point rectangle[2]
-            // Return the corner of the rectangle
-            return rectangle[2];
-        }
-    }
-
-    // Return the result point
-    return resultPoint;
-}
-
-// Compute the intersection between two parallel segments (the first segment is between the points "seg1PointA" and "seg1PointB" and the second
-// segment is between the points "seg2PointA" and "seg2PointB"). The result is the segment intersection (represented by the points "resultPointA"
-// and "resultPointB". Because the two given segments don't have to be on the same exact line, the result intersection segment will a segment
-// halway between the first and the second given segments.
-inline void computeParallelSegmentsIntersection(const reactphysics3d::Vector3& seg1PointA, const reactphysics3d::Vector3& seg1PointB,
-                                                const reactphysics3d::Vector3& seg2PointA, const reactphysics3d::Vector3& seg2PointB,
-                                                reactphysics3d::Vector3& resultPointA, reactphysics3d::Vector3& resultPointB) {
-    // Compute the segment vectors
-    reactphysics3d::Vector3 d1 = seg1PointB - seg1PointA;
-    reactphysics3d::Vector3 d2 = seg2PointB - seg2PointA;
-
-    // The two segments should be parallel
-    assert(d1.isParallelWith(d2));
-
-    // Compute the projection of the two points of the second segment onto the vector of segment 1
-    decimal projSeg2PointA = d1.getUnit().dot(seg2PointA - seg1PointA);
-    decimal projSeg2PointB = d1.getUnit().dot(seg2PointB - seg1PointA);
-
-    // The projections intervals should intersect
-    assert(!(projSeg2PointA < 0.0 && projSeg2PointB < 0.0));
-    assert(!(projSeg2PointA > d1.length() && projSeg2PointB > d1.length()));
-
-    // Compute the vector "v" from a point on the line 1 to the orthogonal point of the line 2
-    reactphysics3d::Vector3 point = computeOrthogonalProjectionOfPointOntoALine(seg2PointA, seg1PointA, d1);
-    reactphysics3d::Vector3 v = seg2PointA - point;
-
-    // Return the segment intersection according to the configuration of two projection intervals
-    if (projSeg2PointA >= 0 && projSeg2PointA <= d1.length() && projSeg2PointB >= d1.length()) {
-        // Move the contact points halfway between the two segments
-        resultPointA = seg2PointA - 0.5 * v;
-        resultPointB = seg1PointB + 0.5 * v;
-    }
-    else if (projSeg2PointA <= 0 && projSeg2PointB >= 0 && projSeg2PointB <= d1.length()) {
-        // Move the contact points halfway between the two segments
-        resultPointA = seg1PointA + 0.5 * v;
-        resultPointB = seg2PointB - 0.5 * v;
-    }
-    else if (projSeg2PointA <= 0 && projSeg2PointB >= d1.length()) {
-        // Move the contact points halfway between the two segments
-        resultPointA = seg1PointA + 0.5 * v;
-        resultPointB = seg1PointB + 0.5 * v;
-    }
-    else if (projSeg2PointA <= d1.length() && projSeg2PointB <= d1.length()) {
-        // Move the contact points halfway between the two segments
-        resultPointA = seg2PointA - 0.5 * v;
-        resultPointB = seg2PointB - 0.5 * v;
-    }
-}
-
-// This method clip a 3D segment with 3D rectangle polygon. The segment and the rectangle are asssumed to be on the same plane. We
-// also assume that the segment is not completely outside the clipping rectangle.
-// The segment is given by the two vertices in "segment" and the rectangle is given by the ordered vertices in "clipRectangle".
-// This method returns the clipped segment.
-inline std::vector<reactphysics3d::Vector3> clipSegmentWithRectangleInPlane(const std::vector<reactphysics3d::Vector3>& segment, const std::vector<reactphysics3d::Vector3> clipRectangle) {
-    decimal const epsilon = 0.01;
-
-    assert(segment.size() == 2);
-    assert(clipRectangle.size() == 4);
-
-    std::vector<reactphysics3d::Vector3> inputSegment = segment;
-    std::vector<reactphysics3d::Vector3> outputSegment;
-    
-    // For each edge of the clip rectangle
-    for (unsigned int i=0; i<4; ++i) {
-        outputSegment.clear();
-
-        // Current clipped segment
-        //assert(inputSegment.size() == 2);
-        reactphysics3d::Vector3 S = inputSegment[0];
-        reactphysics3d::Vector3 P = inputSegment[1];
-
-        // Edge of the clip rectangle
-        reactphysics3d::Vector3 A = clipRectangle[i];
-        reactphysics3d::Vector3 B = clipRectangle[ (i+1) % 4];
-        reactphysics3d::Vector3 planeNormal = clipRectangle[(i+2) % 4] - clipRectangle[(i+1) % 4];
-
-        // If the point P is inside the clip plane
-        if (planeNormal.dot(P-A) >= 0.0 - epsilon) {
-            // If the point S is inside the clip plane
-            if (planeNormal.dot(S-A) >= 0.0 - epsilon) {
-                outputSegment.push_back(P);
-                outputSegment.push_back(S);
-            }
-            else {  // P is inside and S is outside the clip plane
-                // Compute the intersection point between the segment SP and the clip plane
-                reactphysics3d::Vector3 intersectPoint = computeLinesIntersection(S, P-S, A, B-A);
-
-                outputSegment.push_back(P);
-                outputSegment.push_back(intersectPoint);
-            }
-        }
-        else if (planeNormal.dot(S-A) > 0.0 - epsilon) {    // P is outside and S is inside the clip plane
-                // Compute the intersection point between the segment SP and the clip plane
-                reactphysics3d::Vector3 intersectPoint = computeLinesIntersection(S, P-S, A, B-A);
-
-                outputSegment.push_back(S);
-                outputSegment.push_back(intersectPoint);
-        }
-
-        inputSegment = outputSegment;
-    }
-
-    // Return the clipped segment
-    return outputSegment;
-}
-
-// This method uses the Sutherland-Hodgman clipping algorithm to clip a subject polygon (given by the ordered 3D vertices in "subjectPolygon") using
-// a rectangle polygon (given by the ordered 3D vertices in "clipRectangle"). The subject polygon and the clip rectangle are in 3D but we assumed that
-// they are on a same plane in 3D. The method returns the ordered 3D vertices of the subject polygon clipped using the rectangle polygon.
-inline std::vector<reactphysics3d::Vector3> clipPolygonWithRectangleInPlane(const std::vector<reactphysics3d::Vector3>& subjectPolygon, const std::vector<reactphysics3d::Vector3>& clipRectangle) {
-    decimal const epsilon = 0.1;
-    assert(clipRectangle.size() == 4);
-
-    std::vector<reactphysics3d::Vector3> outputPolygon;
-    std::vector<reactphysics3d::Vector3> inputPolygon = subjectPolygon;
-
-    // For each edge of the clip rectangle
-    for (unsigned int i=0; i<4; ++i) {
-        outputPolygon.clear();
-
-        // Each edge defines a clip plane. The clip plane is define by a point on this plane (a vertice of the current edge) and
-        // a plane normal (because we are using a clip rectangle, the plane normal is the next edge of the clip rectangle).
-        reactphysics3d::Vector3 planeNormal = clipRectangle[(i+2) % 4] - clipRectangle[(i+1) % 4];
-        reactphysics3d::Vector3 A = clipRectangle[i];          // Segment AB is the current segment of the "clipRectangle"
-        reactphysics3d::Vector3 B = clipRectangle[(i+1) % 4];
-        reactphysics3d::Vector3 S = inputPolygon[0];
-
-        // For each vertex of the subject polygon
-        for (unsigned int j=0; j<inputPolygon.size(); ++j) {
-            reactphysics3d::Vector3 P = inputPolygon[(j+1) % inputPolygon.size()];
-
-            // If the point P is inside the clip plane
-            if (planeNormal.dot(P-A) >= 0.0 - epsilon) {
-                // If the point S is also inside the clip plane
-                if (planeNormal.dot(S-A) >= 0.0 - epsilon) {
-                    outputPolygon.push_back(P);
-                }
-                else {  // If the point S is outside the clip plane
-                    // Compute the intersection point between the segment SP and the clip plane
-                    reactphysics3d::Vector3 intersectPoint = computeLinesIntersection(S, P-S, A, B-A);
-
-                    outputPolygon.push_back(intersectPoint);
-                    outputPolygon.push_back(P);
-                }
-            }
-            else if (planeNormal.dot(S-A) > 0.0) {
-                // Compute the intersection point between the segment SP and the clip plane
-                reactphysics3d::Vector3 intersectPoint = computeLinesIntersection(S, P-S, A, B-A);
-
-                outputPolygon.push_back(intersectPoint);
-            }
-            S = P;
-        }
-        inputPolygon = outputPolygon;
-    }
-
-    // Return the clipped polygon
-    return outputPolygon;
-}
-
-// Compute the intersection point between a line and a plane in 3D space. There must be an intersection, therefore the
-// the lineVector must not be orthogonal to the planeNormal.
-inline reactphysics3d::Vector3 intersectLineWithPlane(const reactphysics3d::Vector3& linePoint, const reactphysics3d::Vector3& lineVector,
-                                                       const reactphysics3d::Vector3& planePoint, const reactphysics3d::Vector3& planeNormal) {
-    assert(!approxEqual(lineVector.dot(planeNormal), 0.0));
-
-    // The plane is represented by the equation planeNormal dot X = d where X is a point of the plane
-    decimal d  = planeNormal.dot(planePoint);
-
-    // Compute the parameter t
-    decimal t = (d - planeNormal.dot(linePoint)) / planeNormal.dot(lineVector);
-
-    // Compute the intersection point
-    return linePoint + lineVector * t;
-}
-
-
-} // End of the ReactPhysics3D namespace
-
-
 #endif

src/memory/MemoryPool.h

@@ -50,6 +50,7 @@ namespace reactphysics3d {
 */
 template<class T>
 class MemoryPool {
+
     private:
 
         // MemoryUnit represents a unit of memory
@@ -63,23 +64,62 @@ class MemoryPool {
             struct MemoryBlock* pNext;              // Pointer to the next memory block
         };
 
+        // -------------------- Constants -------------------- //
+
         static const uint NB_OBJECTS_FIRST_BLOCK;   // Number of objects allocated in the first block
-        void* pBlocks;                              // Pointer to the first allocated memory block
+
-        MemoryUnit* pAllocatedUnits;                // Pointer to the first allocated memory unit
+        // -------------------- Attributes -------------------- //
-        MemoryUnit* pFreeUnits;                     // Pointer to the first free memory unit
+
-        uint currentNbObjects;                      // Current number of objects in the pool
+        // Pointer to the first allocated memory block
-        uint capacity;                              // Current maximum number of objects that can be allocated in the pool
+        void* mPBlocks;
-        uint nbObjectsNextBlock;                    // Number of objects to allocate in the next block
+
-        void allocateMemory();                      // Allocate more memory (more blocks) when needed
+        // Pointer to the first allocated memory unit
+        MemoryUnit* mPAllocatedUnits;
+
+        // Pointer to the first free memory unit
+        MemoryUnit* mPFreeUnits;
+
+        // Current number of objects in the pool
+        uint mCurrentNbObjects;
+
+        // Current maximum number of objects that can be allocated in the pool
+        uint mCapacity;
+
+        // Number of objects to allocate in the next block
+        uint mNbObjectsNextBlock;
+
+        // -------------------- Methods -------------------- //
+
+        // Private copy-constructor
+        MemoryPool(const MemoryPool& body);
+
+        // Private assignment operator
+        MemoryPool& operator=(const MemoryPool& timer);
+
+        // Allocate more memory (more blocks) when needed
+        void allocateMemory();
 
     public:
-        MemoryPool(uint capacity = 0) throw(std::bad_alloc);    // Constructor
-        ~MemoryPool();                                          // Destructor
 
-        uint getCapacity() const;               // Return the current maximum number of objects allowed in the pool
+        // -------------------- Methods -------------------- //
-        uint getCurrentNbObjects() const;       // Return the current number of objects in the pool
+
-        void* allocateObject();                 // Return a pointer to an memory allocated location to store a new object
+        // Constructor
-        void freeObject(void* pObjectToFree);   // Tell the pool that an object doesn't need to be store in the pool anymore
+        MemoryPool(uint capacity = 0) throw(std::bad_alloc);
+
+        // Destructor
+        ~MemoryPool();
+
+        // Return the current maximum number of objects allowed in the pool
+        uint getCapacity() const;
+
+        // Return the current number of objects in the pool
+        uint getCurrentNbObjects() const;
+
+        // Return a pointer to an memory allocated location to store a new object
+        void* allocateObject();
+
+        // Tell the pool that an object doesn't need to be store in the pool anymore
+        void freeObject(void* pObjectToFree);
 };
 
 // static member definition
@@ -90,11 +130,11 @@ template<class T> const uint MemoryPool<T>::NB_OBJECTS_FIRST_BLOCK = 100;
 // a given number of object of the template type T
 template<class T>
 MemoryPool<T>::MemoryPool(uint capacity) throw(std::bad_alloc)
-              : currentNbObjects(0), capacity(capacity) {
+              : mCurrentNbObjects(0), mCapacity(capacity) {
-    pBlocks = 0;
+    mPBlocks = 0;
-    pAllocatedUnits = 0;
+    mPAllocatedUnits = 0;
-    pFreeUnits = 0;
+    mPFreeUnits = 0;
-    nbObjectsNextBlock = (capacity == 0) ? NB_OBJECTS_FIRST_BLOCK : capacity;
+    mNbObjectsNextBlock = (capacity == 0) ? NB_OBJECTS_FIRST_BLOCK : capacity;
 
     // Allocate the first memory block if the capacity is
     // different from zero
@@ -107,10 +147,10 @@ template<class T>
 MemoryPool<T>::~MemoryPool() {
     
     // Check if we have a memory leak
-    assert(currentNbObjects == 0);
+    assert(mCurrentNbObjects == 0);
     
     // Release all the allocated memory blocks
-    MemoryBlock* currentBlock = (MemoryBlock*) pBlocks;
+    MemoryBlock* currentBlock = (MemoryBlock*) mPBlocks;
     while(currentBlock) {
         MemoryBlock* tempBlock = currentBlock->pNext;
         free(currentBlock);
@@ -125,28 +165,28 @@ template<class T>
 void* MemoryPool<T>::allocateObject() {
 
     // If there is not enough allocated memory in the pool
-    if (currentNbObjects == capacity) {
+    if (mCurrentNbObjects == mCapacity) {
 
         // Allocate a new memory block
         allocateMemory();
     }
 
-    assert(currentNbObjects < capacity);
+    assert(mCurrentNbObjects < mCapacity);
-    assert(pFreeUnits);
+    assert(mPFreeUnits);
     
-    MemoryUnit* currentUnit = pFreeUnits;
+    MemoryUnit* currentUnit = mPFreeUnits;
-    pFreeUnits = currentUnit->pNext;
+    mPFreeUnits = currentUnit->pNext;
-    if (pFreeUnits) {
+    if (mPFreeUnits) {
-        pFreeUnits->pPrevious = 0;
+        mPFreeUnits->pPrevious = 0;
     }
 
-    currentUnit->pNext = pAllocatedUnits;
+    currentUnit->pNext = mPAllocatedUnits;
-    if (pAllocatedUnits) {
+    if (mPAllocatedUnits) {
-        pAllocatedUnits->pPrevious = currentUnit;
+        mPAllocatedUnits->pPrevious = currentUnit;
     }
-    pAllocatedUnits = currentUnit;
+    mPAllocatedUnits = currentUnit;
     
-    currentNbObjects++;
+    mCurrentNbObjects++;
 
     // Return a pointer to the allocated memory unit
     return (void*)((char*)currentUnit + sizeof(MemoryUnit));
@@ -164,18 +204,18 @@ void MemoryPool<T>::freeObject(void* pObjectToFree) {
     //assert(pBlocks<pObjectToFree && pObjectToFree<(void*)((char*)pBlocks + memorySize));
 
     MemoryUnit* currentUnit = (MemoryUnit*)((char*)pObjectToFree - sizeof(MemoryUnit));
-    pAllocatedUnits = currentUnit->pNext;
+    mPAllocatedUnits = currentUnit->pNext;
-    if (pAllocatedUnits) {
+    if (mPAllocatedUnits) {
-        pAllocatedUnits->pPrevious = 0;
+        mPAllocatedUnits->pPrevious = 0;
     }
 
-    currentUnit->pNext = pFreeUnits;
+    currentUnit->pNext = mPFreeUnits;
-    if (pFreeUnits) {
+    if (mPFreeUnits) {
-        pFreeUnits->pPrevious = currentUnit;
+        mPFreeUnits->pPrevious = currentUnit;
     }
-    pFreeUnits = currentUnit;
+    mPFreeUnits = currentUnit;
     
-    currentNbObjects--;
+    mCurrentNbObjects--;
 }
 
 // Allocate more memory. This method is called when there are no
@@ -185,54 +225,55 @@ template<class T>
 void MemoryPool<T>::allocateMemory() {
 
     // Compute the size of the new
-    size_t sizeBlock = nbObjectsNextBlock * (sizeof(MemoryUnit) + sizeof(T));
+    size_t sizeBlock = mNbObjectsNextBlock * (sizeof(MemoryUnit) + sizeof(T));
 
-    MemoryBlock* tempBlocks = (MemoryBlock*) pBlocks;
+    MemoryBlock* tempBlocks = (MemoryBlock*) mPBlocks;
 
     // Allocate a new memory block
-    pBlocks = malloc(sizeBlock);
+    mPBlocks = malloc(sizeBlock);
 
     // Check that the allocation didn't fail
-    if (!pBlocks) throw std::bad_alloc();
+    if (!mPBlocks) throw std::bad_alloc();
 
-    MemoryBlock* block = (MemoryBlock*) pBlocks;
+    MemoryBlock* block = (MemoryBlock*) mPBlocks;
     block->pNext = tempBlocks;
 
     // For each allocated memory unit in the new block
-    for (uint i=0; i<nbObjectsNextBlock; i++) {
+    for (uint i=0; i<mNbObjectsNextBlock; i++) {
 
         // Get the adress of a memory unit
-        MemoryUnit* currentUnit = (MemoryUnit*)( (char*)pBlocks + i * (sizeof(T) + sizeof(MemoryUnit)) );
+        MemoryUnit* currentUnit = (MemoryUnit*)( (char*)mPBlocks + i *
+                                                 (sizeof(T) + sizeof(MemoryUnit)) );
 
         currentUnit->pPrevious = 0;
-        currentUnit->pNext = pFreeUnits;
+        currentUnit->pNext = mPFreeUnits;
 
-        if (pFreeUnits) {
+        if (mPFreeUnits) {
-            pFreeUnits->pPrevious = currentUnit;
+            mPFreeUnits->pPrevious = currentUnit;
         }
 
-        pFreeUnits = currentUnit;
+        mPFreeUnits = currentUnit;
     }
 
     // Update the current capacity of the memory pool
-    capacity += nbObjectsNextBlock;
+    mCapacity += mNbObjectsNextBlock;
 
     // The next block will be two times the size of the last
     // allocated memory block
-    nbObjectsNextBlock *= 2;
+    mNbObjectsNextBlock *= 2;
 }
 
 
 // Return the maximum number of objects allowed in the pool
 template<class T>
 uint MemoryPool<T>::getCapacity() const {
-    return capacity;
+    return mCapacity;
 }
 
 // Return the current number of objects in the pool
 template<class T>
 uint MemoryPool<T>::getCurrentNbObjects() const {
-    return currentNbObjects;
+    return mCurrentNbObjects;
 }      
 
 }

src/reactphysics3d.h

@@ -51,6 +51,4 @@
 // Alias to the ReactPhysics3D namespace
 namespace rp3d = reactphysics3d;
 
-// TODO : Use using namespace std in every possible cpp files to increase readability
-
 #endif