-Remove unnecessary contact manifold

-Delete the BroadPhasePair class

CMakeLists.txt

@@ -79,8 +79,6 @@ SET (REACTPHYSICS3D_SOURCES
     "src/collision/shapes/CylinderShape.cpp"
     "src/collision/shapes/SphereShape.h"
     "src/collision/shapes/SphereShape.cpp"
-    "src/collision/BroadPhasePair.h"
-    "src/collision/BroadPhasePair.cpp"
     "src/collision/RaycastInfo.h"
     "src/collision/RaycastInfo.cpp"
     "src/collision/ProxyShape.h"

examples/collisionshapes/Scene.cpp

@@ -102,7 +102,7 @@ Scene::Scene(Viewer* viewer, const std::string& shaderFolderPath, const std::str
     }
 
     // Create all the spheres of the scene
-    for (int i=0; i<NB_SPHERES; i++) {
+    for (int i=0; i<NB_CUBES; i++) {
 
         // Position
         float angle = i * 35.0f;
@@ -301,15 +301,6 @@ Scene::~Scene() {
         delete (*it);
     }
 
-    // Destroy all the visual contact points
-    for (std::vector<VisualContactPoint*>::iterator it = mContactPoints.begin();
-         it != mContactPoints.end(); ++it) {
-        delete (*it);
-    }
-
-    // Destroy the static data for the visual contact points
-    VisualContactPoint::destroyStaticData();
-
     // Destroy the rigid body of the floor
     mDynamicsWorld->destroyRigidBody(mFloor->getRigidBody());
 
@@ -380,27 +371,6 @@ void Scene::simulate() {
             (*it)->updateTransform();
         }
 
-        // Destroy all the visual contact points
-        for (std::vector<VisualContactPoint*>::iterator it = mContactPoints.begin();
-             it != mContactPoints.end(); ++it) {
-            delete (*it);
-        }
-        mContactPoints.clear();
-
-        // Generate the new visual contact points
-        const std::vector<rp3d::ContactManifold*>& manifolds = mDynamicsWorld->getContactManifolds();
-        for (std::vector<rp3d::ContactManifold*>::const_iterator it = manifolds.begin();
-             it != manifolds.end(); ++it) {
-            for (unsigned int i=0; i<(*it)->getNbContactPoints(); i++) {
-                rp3d::ContactPoint* point = (*it)->getContactPoint(i);
-
-                const rp3d::Vector3 pos = point->getWorldPointOnBody1();
-                openglframework::Vector3 position(pos.x, pos.y, pos.z);
-                VisualContactPoint* visualPoint = new VisualContactPoint(position);
-                mContactPoints.push_back(visualPoint);
-            }
-        }
-
         mFloor->updateTransform();
     }
 }
@@ -466,12 +436,6 @@ void Scene::render() {
         (*it)->render(mPhongShader, worldToCameraMatrix);
     }
 
-    // Render all the visual contact points
-    for (std::vector<VisualContactPoint*>::iterator it = mContactPoints.begin();
-         it != mContactPoints.end(); ++it) {
-        (*it)->render(mPhongShader, worldToCameraMatrix);
-    }
-
     // Render the floor
     mFloor->render(mPhongShader, worldToCameraMatrix);
 

examples/collisionshapes/Scene.h

@@ -41,7 +41,7 @@
 
 // Constants
 const int NB_BOXES = 2;
-const int NB_SPHERES = 1;
+const int NB_CUBES = 1;
 const int NB_CONES = 3;
 const int NB_CYLINDERS = 2;
 const int NB_CAPSULES = 1;
@@ -97,9 +97,6 @@ class Scene {
         /// All the dumbbell of the scene
         std::vector<Dumbbell*> mDumbbells;
 
-        /// All the visual contact points
-        std::vector<VisualContactPoint*> mContactPoints;
-
         /// Box for the floor
         Box* mFloor;
 

examples/cubes/Scene.cpp

@@ -60,7 +60,7 @@ Scene::Scene(Viewer* viewer, const std::string& shaderFolderPath)
     float radius = 2.0f;
 
     // Create all the cubes of the scene
-    for (int i=0; i<NB_SPHERES; i++) {
+    for (int i=0; i<NB_CUBES; i++) {
 
         // Position of the cubes
         float angle = i * 30.0f;
@@ -132,7 +132,9 @@ void Scene::simulate() {
     if (mIsRunning) {
 
         counter++;
-        if (counter == 1000) mIsRunning = false;
+        if (counter == 400) {
+            //mIsRunning = false;
+        }
 
         // Take a simulation step
         mDynamicsWorld->update();

examples/cubes/Scene.h

@@ -33,7 +33,7 @@
 #include "Viewer.h"
 
 // Constants
-const int NB_SPHERES = 200;                                 // Number of boxes in the scene
+const int NB_CUBES = 200;                                  // Number of boxes in the scene
 const openglframework::Vector3 BOX_SIZE(2, 2, 2);          // Box dimensions in meters
 const openglframework::Vector3 FLOOR_SIZE(50, 0.5f, 50);   // Floor dimensions in meters
 const float BOX_MASS = 1.0f;                               // Box mass in kilograms

src/body/CollisionBody.cpp

@@ -246,10 +246,30 @@ void CollisionBody::askForBroadPhaseCollisionCheck() const {
     // For all the proxy collision shapes of the body
     for (ProxyShape* shape = mProxyCollisionShapes; shape != NULL; shape = shape->mNext) {
 
-        mWorld.mCollisionDetection.askForBroadPhaseCollisionCheck(shape);
+        mWorld.mCollisionDetection.askForBroadPhaseCollisionCheck(shape);  
     }
 }
 
+// Reset the mIsAlreadyInIsland variable of the body and contact manifolds.
+/// This method also returns the number of contact manifolds of the body.
+int CollisionBody::resetIsAlreadyInIslandAndCountManifolds() {
+
+    mIsAlreadyInIsland = false;
+
+    int nbManifolds = 0;
+
+    // Reset the mIsAlreadyInIsland variable of the contact manifolds for
+    // this body
+    ContactManifoldListElement* currentElement = mContactManifoldsList;
+    while (currentElement != NULL) {
+        currentElement->contactManifold->mIsAlreadyInIsland = false;
+        currentElement = currentElement->next;
+        nbManifolds++;
+    }
+
+    return nbManifolds;
+}
+
 // Return true if a point is inside the collision body
 bool CollisionBody::testPointInside(const Vector3& worldPoint) const {
 

src/body/CollisionBody.h

@@ -118,6 +118,9 @@ class CollisionBody : public Body {
         /// (as if the body has moved).
         void askForBroadPhaseCollisionCheck() const;
 
+        /// Reset the mIsAlreadyInIsland variable of the body and contact manifolds
+        int resetIsAlreadyInIslandAndCountManifolds();
+
     public :
 
         // -------------------- Methods -------------------- //

src/collision/BroadPhasePair.cpp

@@ -1,40 +0,0 @@
-/********************************************************************************
-* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/      *
-* Copyright (c) 2010-2013 Daniel Chappuis                                       *
-*********************************************************************************
-*                                                                               *
-* This software is provided 'as-is', without any express or implied warranty.   *
-* In no event will the authors be held liable for any damages arising from the  *
-* use of this software.                                                         *
-*                                                                               *
-* Permission is granted to anyone to use this software for any purpose,         *
-* including commercial applications, and to alter it and redistribute it        *
-* freely, subject to the following restrictions:                                *
-*                                                                               *
-* 1. The origin of this software must not be misrepresented; you must not claim *
-*    that you wrote the original software. If you use this software in a        *
-*    product, an acknowledgment in the product documentation would be           *
-*    appreciated but is not required.                                           *
-*                                                                               *
-* 2. Altered source versions must be plainly marked as such, and must not be    *
-*    misrepresented as being the original software.                             *
-*                                                                               *
-* 3. This notice may not be removed or altered from any source distribution.    *
-*                                                                               *
-********************************************************************************/
-
-// Libraries
-#include "BroadPhasePair.h"
-
-using namespace reactphysics3d;
-
- // Constructor
-BroadPhasePair::BroadPhasePair(CollisionBody* body1, CollisionBody* body2)
-    : body1(body1), body2(body2), previousSeparatingAxis(Vector3(1,1,1)) {
-
-}
-
-// Destructor
-BroadPhasePair::~BroadPhasePair() {
-
-}

src/collision/BroadPhasePair.h

@@ -1,111 +0,0 @@
-/********************************************************************************
-* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/      *
-* Copyright (c) 2010-2013 Daniel Chappuis                                       *
-*********************************************************************************
-*                                                                               *
-* This software is provided 'as-is', without any express or implied warranty.   *
-* In no event will the authors be held liable for any damages arising from the  *
-* use of this software.                                                         *
-*                                                                               *
-* Permission is granted to anyone to use this software for any purpose,         *
-* including commercial applications, and to alter it and redistribute it        *
-* freely, subject to the following restrictions:                                *
-*                                                                               *
-* 1. The origin of this software must not be misrepresented; you must not claim *
-*    that you wrote the original software. If you use this software in a        *
-*    product, an acknowledgment in the product documentation would be           *
-*    appreciated but is not required.                                           *
-*                                                                               *
-* 2. Altered source versions must be plainly marked as such, and must not be    *
-*    misrepresented as being the original software.                             *
-*                                                                               *
-* 3. This notice may not be removed or altered from any source distribution.    *
-*                                                                               *
-********************************************************************************/
-
-#ifndef REACTPHYSICS3D_BROAD_PHASE_PAIR_H
-#define REACTPHYSICS3D_BROAD_PHASE_PAIR_H
-
-// Libraries
-#include "body/CollisionBody.h"
-
-/// ReactPhysics3D namespace
-namespace reactphysics3d {
-
-// TODO : DELETE THIS CLASS
-// Structure BroadPhasePair
-/**
- * This structure represents a pair of bodies
- * during the broad-phase collision detection.
- */
-struct BroadPhasePair {
-
-    public:
-
-        // -------------------- Attributes -------------------- //
-
-        /// Pointer to the first body
-        CollisionBody* body1;
-
-        /// Pointer to the second body
-        CollisionBody* body2;
-
-        /// Previous cached separating axis
-        Vector3 previousSeparatingAxis;
-
-        // -------------------- Methods -------------------- //
-
-        /// Constructor
-        BroadPhasePair(CollisionBody* body1, CollisionBody* body2);
-
-        /// Destructor
-        ~BroadPhasePair();
-
-        /// Return the pair of bodies index
-        static bodyindexpair computeBodiesIndexPair(CollisionBody* body1, CollisionBody* body2);
-
-        /// 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 {
-
-    return computeBodiesIndexPair(body1, body2);
-}
-
-// Smaller than operator
-inline bool BroadPhasePair::operator<(const BroadPhasePair& broadPhasePair2) const {
-    return (body1 < broadPhasePair2.body1 ? true : (body2 < broadPhasePair2.body2));
-}
-
-// Larger than operator
-inline bool BroadPhasePair::operator>(const BroadPhasePair& broadPhasePair2) const {
-    return (body1 > broadPhasePair2.body1 ? true : (body2 > broadPhasePair2.body2));
-}
-
-// Equal operator
-inline bool BroadPhasePair::operator==(const BroadPhasePair& broadPhasePair2) const {
-    return (body1 == broadPhasePair2.body1 && body2 == broadPhasePair2.body2);
-}
-
-// Not equal operator
-inline bool BroadPhasePair::operator!=(const BroadPhasePair& broadPhasePair2) const {
-    return (body1 != broadPhasePair2.body1 || body2 != broadPhasePair2.body2);
-}
-
-}
-
-#endif

src/collision/CollisionDetection.cpp

@@ -220,9 +220,6 @@ void CollisionDetection::createContact(OverlappingPair* overlappingPair,
     // Add the contact to the contact cache of the corresponding overlapping pair
     overlappingPair->addContact(contact);
 
-    // Add the contact manifold to the list of contact manifolds
-    mContactManifolds.push_back(overlappingPair->getContactManifold());
-
     // Add the contact manifold into the list of contact manifolds
     // of the two bodies involved in the contact
     addContactManifoldToBody(overlappingPair->getContactManifold(),

src/collision/CollisionDetection.h

@@ -80,10 +80,6 @@ class CollisionDetection {
         /// True if some collision shapes have been added previously
         bool mIsCollisionShapesAdded;
 
-        /// All the contact constraints
-        // TODO : Remove this variable (we will use the ones in the island now)
-        std::vector<ContactManifold*> mContactManifolds;
-
         // -------------------- Methods -------------------- //
 
         /// Private copy-constructor

src/engine/CollisionWorld.h

@@ -66,9 +66,6 @@ class CollisionWorld {
         /// All the collision shapes of the world
         std::list<CollisionShape*> mCollisionShapes;
 
-        /// Broad-phase overlapping pairs of bodies
-        std::map<bodyindexpair, OverlappingPair*>  mOverlappingPairs;
-
         /// Current body ID
         bodyindex mCurrentBodyID;
 

src/engine/ContactManifold.h

@@ -210,6 +210,7 @@ class ContactManifold {
 
         friend class DynamicsWorld;
         friend class Island;
+        friend class CollisionBody;
 };
 
 // Return a pointer to the first body of the contact manifold

src/engine/DynamicsWorld.cpp

@@ -57,14 +57,6 @@ DynamicsWorld::DynamicsWorld(const Vector3 &gravity, decimal timeStep = DEFAULT_
 // Destructor
 DynamicsWorld::~DynamicsWorld() {
 
-    // Delete the remaining overlapping pairs
-    map<std::pair<bodyindex, bodyindex>, OverlappingPair*>::iterator it;
-    for (it = mOverlappingPairs.begin(); it != mOverlappingPairs.end(); it++) {
-        // Delete the overlapping pair
-        (*it).second->OverlappingPair::~OverlappingPair();
-        mMemoryAllocator.release((*it).second, sizeof(OverlappingPair));
-    }
-
     // Release the memory allocated for the islands
     for (uint i=0; i<mNbIslands; i++) {
 
@@ -117,9 +109,6 @@ void DynamicsWorld::update() {
     // While the time accumulator is not empty
     while(mTimer.isPossibleToTakeStep()) {
 
-        // Remove all contact manifolds
-        mCollisionDetection.mContactManifolds.clear();
-
         // Reset all the contact manifolds lists of each body
         resetContactManifoldListsOfBodies();
 		
@@ -676,13 +665,12 @@ void DynamicsWorld::computeIslands() {
     }
     mNbIslands = 0;
 
+    int nbContactManifolds = 0;
+
     // Reset all the isAlreadyInIsland variables of bodies, joints and contact manifolds
     for (std::set<RigidBody*>::iterator it = mRigidBodies.begin(); it != mRigidBodies.end(); ++it) {
-        (*it)->mIsAlreadyInIsland = false;
+        int nbBodyManifolds = (*it)->resetIsAlreadyInIslandAndCountManifolds();
-    }
+        nbContactManifolds += nbBodyManifolds;
-    for (std::vector<ContactManifold*>::iterator it = mCollisionDetection.mContactManifolds.begin();
-         it != mCollisionDetection.mContactManifolds.end(); ++it) {
-        (*it)->mIsAlreadyInIsland = false;
     }
     for (std::set<Joint*>::iterator it = mJoints.begin(); it != mJoints.end(); ++it) {
         (*it)->mIsAlreadyInIsland = false;
@@ -715,7 +703,7 @@ void DynamicsWorld::computeIslands() {
         // Create the new island
         void* allocatedMemoryIsland = mMemoryAllocator.allocate(sizeof(Island));
         mIslands[mNbIslands] = new (allocatedMemoryIsland) Island(nbBodies,
-                                                                  mCollisionDetection.mContactManifolds.size(),
+                                                                  nbContactManifolds,
                                                                   mJoints.size(), mMemoryAllocator);
 
         // While there are still some bodies to visit in the stack

src/engine/DynamicsWorld.h

@@ -242,9 +242,6 @@ class DynamicsWorld : public CollisionWorld {
         /// Return the number of joints in the world
         uint getNbJoints() const;
 
-        /// Return the number of contact manifolds in the world
-        uint getNbContactManifolds() const;
-
         /// Return the current physics time (in seconds)
         long double getPhysicsTime() const;
 
@@ -254,9 +251,6 @@ class DynamicsWorld : public CollisionWorld {
         /// Return an iterator to the end of the rigid bodies of the physics world
         std::set<RigidBody*>::iterator getRigidBodiesEndIterator();
 
-        /// Return a reference to the contact manifolds of the world
-        const std::vector<ContactManifold*>& getContactManifolds() const;
-
         /// Return true if the sleeping technique is enabled
         bool isSleepingEnabled() const;
 
@@ -382,18 +376,6 @@ inline std::set<RigidBody*>::iterator DynamicsWorld::getRigidBodiesEndIterator()
     return mRigidBodies.end();
 }
 
-// Return a reference to the contact manifolds of the world
-// TODO : DELETE THIS METHOD AND USE EVENT LISTENER IN EXAMPLES INSTEAD
-inline const std::vector<ContactManifold*>& DynamicsWorld::getContactManifolds() const {
-    return mCollisionDetection.mContactManifolds;
-}
-
-// Return the number of contact manifolds in the world
-// TODO : DELETE THIS METHOD AND USE EVENT LISTENER IN EXAMPLES INSTEAD
-inline uint DynamicsWorld::getNbContactManifolds() const {
-    return mCollisionDetection.mContactManifolds.size();
-}
-
 // Return the current physics time (in seconds)
 inline long double DynamicsWorld::getPhysicsTime() const {
     return mTimer.getPhysicsTime();