Move contacts creation before islands creation

src/engine/DynamicsWorld.cpp

@@ -121,9 +121,6 @@ void DynamicsWorld::update(decimal timeStep) {
     // Create the islands
     createIslands();
 
-    // Create the actual narrow-phase contacts
-    mCollisionDetection.createContacts();
-
     // Report the contacts to the user
     mCollisionDetection.reportContacts();
 
@@ -580,9 +577,6 @@ void DynamicsWorld::createIslands() {
 
                         nbTotalManifolds += pair.potentialContactManifoldsIndices.size();
 
-                        // Add the pair into the list of pair to process to create contacts
-                        mCollisionDetection.mContactPairsIndicesOrderingForContacts.add(pair.contactPairIndex);
-
                         // Add the contact manifold into the island
                         mIslands.nbContactManifolds[islandIndex] += pair.potentialContactManifoldsIndices.size();
                         pair.isAlreadyInIsland = true;
@@ -638,11 +632,6 @@ void DynamicsWorld::createIslands() {
         }
     }
 
-    // Add the contact pairs that are not part of islands at the end of the array of pairs for contacts creations
-    mCollisionDetection.mContactPairsIndicesOrderingForContacts.addRange(nonRigidBodiesContactPairs);
-
-    assert(mCollisionDetection.mCurrentContactPairs->size() == mCollisionDetection.mContactPairsIndicesOrderingForContacts.size());
-
     mCollisionDetection.mMapBodyToContactPairs.clear(true);
 }
 

src/systems/CollisionDetectionSystem.cpp

@@ -64,7 +64,6 @@ CollisionDetectionSystem::CollisionDetectionSystem(CollisionWorld* world, ProxyS
                      mContactPairs2(mMemoryManager.getPoolAllocator()), mPreviousContactPairs(&mContactPairs1), mCurrentContactPairs(&mContactPairs2),
                      mMapPairIdToContactPairIndex1(mMemoryManager.getPoolAllocator()), mMapPairIdToContactPairIndex2(mMemoryManager.getPoolAllocator()),
                      mPreviousMapPairIdToContactPairIndex(&mMapPairIdToContactPairIndex1), mCurrentMapPairIdToContactPairIndex(&mMapPairIdToContactPairIndex2),
-                     mContactPairsIndicesOrderingForContacts(memoryManager.getSingleFrameAllocator()),
                      mContactManifolds1(mMemoryManager.getPoolAllocator()), mContactManifolds2(mMemoryManager.getPoolAllocator()),
                      mPreviousContactManifolds(&mContactManifolds1), mCurrentContactManifolds(&mContactManifolds2),
                      mContactPoints1(mMemoryManager.getPoolAllocator()),
@@ -464,7 +463,8 @@ void CollisionDetectionSystem::computeNarrowPhase() {
     assert(mCurrentContactManifolds->size() == 0);
     assert(mCurrentContactPoints->size() == 0);
 
-    mContactPairsIndicesOrderingForContacts.reserve(mCurrentContactPairs->size());
+    // Create the actual narrow-phase contacts
+    createContacts();
 
     mNarrowPhaseInput.clear();
 }
@@ -605,17 +605,15 @@ void CollisionDetectionSystem::swapPreviousAndCurrentContacts() {
 // Create the actual contact manifolds and contacts points
 void CollisionDetectionSystem::createContacts() {
 
-    RP3D_PROFILE("CollisionDetection::createContacts()", mProfiler);
+    RP3D_PROFILE("CollisionDetectionSystem::createContacts()", mProfiler);
-
-    assert(mCurrentContactPairs->size() == mContactPairsIndicesOrderingForContacts.size());
 
     mCurrentContactManifolds->reserve(mCurrentContactPairs->size());
     mCurrentContactPoints->reserve(mCurrentContactManifolds->size());
 
     // For each contact pair
-    for (uint p=0; p < mContactPairsIndicesOrderingForContacts.size(); p++) {
+    for (uint p=0; p < (*mCurrentContactPairs).size(); p++) {
 
-        ContactPair& contactPair = (*mCurrentContactPairs)[mContactPairsIndicesOrderingForContacts[p]];
+        ContactPair& contactPair = (*mCurrentContactPairs)[p];
         assert(contactPair.potentialContactManifoldsIndices.size() > 0);
 
         contactPair.contactManifoldsIndex = mCurrentContactManifolds->size();
@@ -666,7 +664,6 @@ void CollisionDetectionSystem::createContacts() {
     // Reset the potential contacts
     mPotentialContactPoints.clear(true);
     mPotentialContactManifolds.clear(true);
-    mContactPairsIndicesOrderingForContacts.clear(true);
 }
 
 // Create the actual contact manifolds and contacts points for testCollision() methods

src/systems/CollisionDetectionSystem.h

@@ -135,12 +135,6 @@ class CollisionDetectionSystem {
         /// (either mMapPairIdToContactPairIndex1 or mMapPairIdToContactPairIndex2)
         Map<OverlappingPair::OverlappingPairId, uint>* mCurrentMapPairIdToContactPairIndex;
 
-        /// List of the indices of the contact pairs (in mCurrentContacPairs array) with contact pairs of
-        /// same islands packed together linearly and contact pairs that are not part of islands at the end.
-        /// This is used when we create contact manifolds and contact points so that there are also packed
-        /// together linearly if they are part of the same island.
-        List<uint> mContactPairsIndicesOrderingForContacts;
-
         /// First list with the contact manifolds
         List<ContactManifold> mContactManifolds1;
 

src/systems/ContactSolverSystem.cpp

@@ -492,6 +492,8 @@ void ContactSolverSystem::solve() {
     decimal lambdaTemp;
     uint contactPointIndex = 0;
 
+    const decimal beta = mIsSplitImpulseActive ? BETA_SPLIT_IMPULSE : BETA;
+
     // For each contact manifold
     for (uint c=0; c<mNbContactManifolds; c++) {
 
@@ -520,7 +522,6 @@ void ContactSolverSystem::solve() {
             decimal Jv = deltaVDotN;
 
             // Compute the bias "b" of the constraint
-            decimal beta = mIsSplitImpulseActive ? BETA_SPLIT_IMPULSE : BETA;
             decimal biasPenetrationDepth = 0.0;
             if (mContactPoints[contactPointIndex].penetrationDepth > SLOP) biasPenetrationDepth = -(beta/mTimeStep) *
                     max(0.0f, float(mContactPoints[contactPointIndex].penetrationDepth - SLOP));