Create SphereVsSphereNarrowPhaseInfoBatch class

CMakeLists.txt

@@ -94,8 +94,9 @@ SET (REACTPHYSICS3D_HEADERS
     "src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.h"
     "src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.h"
     "src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.h"
-    "src/collision/narrowphase/SphereVsSphereNarrowPhaseInputBatch.h"
     "src/collision/narrowphase/NarrowPhaseInput.h"
+    "src/collision/narrowphase/NarrowPhaseInfoBatch.h"
+    "src/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.h"
     "src/collision/shapes/AABB.h"
     "src/collision/shapes/ConvexShape.h"
     "src/collision/shapes/ConvexPolyhedronShape.h"
@@ -116,7 +117,6 @@ SET (REACTPHYSICS3D_HEADERS
     "src/collision/PolyhedronMesh.h"
     "src/collision/HalfEdgeStructure.h"
     "src/collision/CollisionDetection.h"
-    "src/collision/NarrowPhaseInfoBatch.h"
     "src/collision/ContactManifold.h"
     "src/collision/ContactManifoldSet.h"
     "src/collision/MiddlePhaseTriangleCallback.h"
@@ -179,8 +179,9 @@ SET (REACTPHYSICS3D_SOURCES
     "src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.cpp"
     "src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.cpp"
     "src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.cpp"
-    "src/collision/narrowphase/SphereVsSphereNarrowPhaseInputBatch.cpp"
     "src/collision/narrowphase/NarrowPhaseInput.cpp"
+    "src/collision/narrowphase/NarrowPhaseInfoBatch.cpp"
+    "src/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.cpp"
     "src/collision/shapes/AABB.cpp"
     "src/collision/shapes/ConvexShape.cpp"
     "src/collision/shapes/ConvexPolyhedronShape.cpp"
@@ -201,7 +202,6 @@ SET (REACTPHYSICS3D_SOURCES
     "src/collision/PolyhedronMesh.cpp"
     "src/collision/HalfEdgeStructure.cpp"
     "src/collision/CollisionDetection.cpp"
-    "src/collision/NarrowPhaseInfoBatch.cpp"
     "src/collision/ContactManifold.cpp"
     "src/collision/ContactManifoldSet.cpp"
     "src/collision/MiddlePhaseTriangleCallback.cpp"

src/collision/CollisionDetection.cpp

@@ -35,7 +35,7 @@
 #include "collision/CollisionCallback.h"
 #include "collision/MiddlePhaseTriangleCallback.h"
 #include "collision/OverlapCallback.h"
-#include "collision/NarrowPhaseInfoBatch.h"
+#include "collision/narrowphase/NarrowPhaseInfoBatch.h"
 #include "collision/ContactManifold.h"
 #include "utils/Profiler.h"
 #include "engine/EventListener.h"
@@ -252,7 +252,7 @@ bool CollisionDetection::testNarrowPhaseCollision(NarrowPhaseInput& narrowPhaseI
     ConvexPolyhedronVsConvexPolyhedronAlgorithm* convexPolyVsConvexPolyAlgo = mCollisionDispatch.getConvexPolyhedronVsConvexPolyhedronAlgorithm();
 
     // get the narrow-phase batches to test for collision
-    NarrowPhaseInfoBatch& sphereVsSphereBatch = narrowPhaseInput.getSphereVsSphereBatch();
+    SphereVsSphereNarrowPhaseInfoBatch& sphereVsSphereBatch = narrowPhaseInput.getSphereVsSphereBatch();
     NarrowPhaseInfoBatch& sphereVsCapsuleBatch = narrowPhaseInput.getSphereVsCapsuleBatch();
     NarrowPhaseInfoBatch& capsuleVsCapsuleBatch = narrowPhaseInput.getCapsuleVsCapsuleBatch();
     NarrowPhaseInfoBatch& sphereVsConvexPolyhedronBatch = narrowPhaseInput.getSphereVsConvexPolyhedronBatch();

src/collision/ContactManifoldSet.cpp

@@ -25,7 +25,7 @@
 
 // Libraries
 #include "ContactManifoldSet.h"
-#include "NarrowPhaseInfoBatch.h"
+#include "narrowphase/NarrowPhaseInfoBatch.h"
 #include "constraint/ContactPoint.h"
 #include "ProxyShape.h"
 #include "collision/ContactManifold.h"

src/collision/narrowphase/CapsuleVsCapsuleAlgorithm.cpp

@@ -26,7 +26,7 @@
 // Libraries
 #include "CapsuleVsCapsuleAlgorithm.h"
 #include "collision/shapes/CapsuleShape.h"
-#include "collision/NarrowPhaseInfoBatch.h"
+#include "collision/narrowphase/NarrowPhaseInfoBatch.h"
 
 // We want to use the ReactPhysics3D namespace
 using namespace reactphysics3d;  

src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.cpp

@@ -29,7 +29,7 @@
 #include "GJK/GJKAlgorithm.h"
 #include "collision/shapes/CapsuleShape.h"
 #include "collision/shapes/ConvexPolyhedronShape.h"
-#include "collision/NarrowPhaseInfoBatch.h"
+#include "collision/narrowphase/NarrowPhaseInfoBatch.h"
 #include "collision/ContactPointInfo.h"
 #include <cassert>
 

src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.cpp

@@ -27,7 +27,7 @@
 #include "ConvexPolyhedronVsConvexPolyhedronAlgorithm.h"
 #include "GJK/GJKAlgorithm.h"
 #include "SAT/SATAlgorithm.h"
-#include "collision/NarrowPhaseInfoBatch.h"
+#include "collision/narrowphase/NarrowPhaseInfoBatch.h"
 
 // We want to use the ReactPhysics3D namespace
 using namespace reactphysics3d;

src/collision/narrowphase/GJK/GJKAlgorithm.cpp

@@ -31,7 +31,7 @@
 #include "configuration.h"
 #include "utils/Profiler.h"
 #include "containers/List.h"
-#include "collision/NarrowPhaseInfoBatch.h"
+#include "collision/narrowphase/NarrowPhaseInfoBatch.h"
 #include "collision/narrowphase/GJK/VoronoiSimplex.h"
 #include <cassert>
 

src/collision/narrowphase/NarrowPhaseInfoBatch.cpp

@@ -25,7 +25,7 @@
 
 // Libraries
 #include "NarrowPhaseInfoBatch.h"
-#include "ContactPointInfo.h"
+#include "collision/ContactPointInfo.h"
 #include "collision/shapes/TriangleShape.h"
 #include "engine/OverlappingPair.h"
 
@@ -125,11 +125,12 @@ void NarrowPhaseInfoBatch::clear() {
 
         // Release the memory of the TriangleShape (this memory was allocated in the
         // MiddlePhaseTriangleCallback::testTriangle() method)
-        if (collisionShapes1[i]->getName() == CollisionShapeName::TRIANGLE) {
+        // TODO DOD : Try to move this code
+        if (collisionShapes1.size() > 0 && collisionShapes1[i]->getName() == CollisionShapeName::TRIANGLE) {
             collisionShapes1[i]->~CollisionShape();
             collisionShapeAllocators[i]->release(collisionShapes1[i], sizeof(TriangleShape));
         }
-        if (collisionShapes2[i]->getName() == CollisionShapeName::TRIANGLE) {
+        if (collisionShapes2.size() > 0 && collisionShapes2[i]->getName() == CollisionShapeName::TRIANGLE) {
             collisionShapes2[i]->~CollisionShape();
             collisionShapeAllocators[i]->release(collisionShapes2[i], sizeof(TriangleShape));
         }

src/collision/narrowphase/NarrowPhaseInfoBatch.h

@@ -47,7 +47,7 @@ struct ContactPointInfo;
  */
 struct NarrowPhaseInfoBatch {
 
-    private:
+    protected:
 
         /// Memory allocator
         MemoryAllocator& mMemoryAllocator;
@@ -57,6 +57,8 @@ struct NarrowPhaseInfoBatch {
 
     public:
 
+        // TODO DOD : Try to remove most of the following lists
+
         /// List of Broadphase overlapping pairs
         List<OverlappingPair*> overlappingPairs;
 
@@ -88,12 +90,13 @@ struct NarrowPhaseInfoBatch {
         NarrowPhaseInfoBatch(MemoryAllocator& allocator);
 
         /// Destructor
-        ~NarrowPhaseInfoBatch();
+        virtual ~NarrowPhaseInfoBatch();
 
         /// Return the number of objects in the batch
         uint getNbObjects() const;
 
         /// Add shapes to be tested during narrow-phase collision detection into the batch
+        // TODO DOD : Remove this method (only use the one in specialized classed)
         void addNarrowPhaseInfo(OverlappingPair* pair, CollisionShape* shape1,
                         CollisionShape* shape2, const Transform& shape1Transform,
                         const Transform& shape2Transform, MemoryAllocator& shapeAllocator);
@@ -109,7 +112,7 @@ struct NarrowPhaseInfoBatch {
         void reserveMemory();
 
         /// Clear all the objects in the batch
-        void clear();
+        virtual void clear();
 };
 
 /// Return the number of objects in the batch

src/collision/narrowphase/NarrowPhaseInput.cpp

@@ -44,7 +44,7 @@ void NarrowPhaseInput::addNarrowPhaseTest(OverlappingPair* pair, CollisionShape*
 
     switch (narrowPhaseAlgorithmType) {
         case NarrowPhaseAlgorithmType::SphereVsSphere:
-            mSphereVsSphereBatch.addNarrowPhaseInfo(pair, shape1, shape2, shape1Transform, shape2Transform, shapeAllocator);
+            mSphereVsSphereBatch.addNarrowPhaseInfo(pair, shape1, shape2, shape1Transform, shape2Transform);
             break;
         case NarrowPhaseAlgorithmType::SphereVsCapsule:
             mSphereVsCapsuleBatch.addNarrowPhaseInfo(pair, shape1, shape2, shape1Transform, shape2Transform, shapeAllocator);

src/collision/narrowphase/NarrowPhaseInput.h

@@ -28,7 +28,8 @@
 
 // Libraries
 #include "containers/List.h"
-#include "collision/NarrowPhaseInfoBatch.h"
+#include "collision/narrowphase/NarrowPhaseInfoBatch.h"
+#include "collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.h"
 
 /// Namespace ReactPhysics3D
 namespace reactphysics3d {
@@ -52,7 +53,7 @@ class NarrowPhaseInput {
 
     private:
 
-        NarrowPhaseInfoBatch mSphereVsSphereBatch;
+        SphereVsSphereNarrowPhaseInfoBatch mSphereVsSphereBatch;
         NarrowPhaseInfoBatch mSphereVsCapsuleBatch;
         NarrowPhaseInfoBatch mCapsuleVsCapsuleBatch;
         NarrowPhaseInfoBatch mSphereVsConvexPolyhedronBatch;
@@ -70,7 +71,7 @@ class NarrowPhaseInput {
                         MemoryAllocator& shapeAllocator);
 
         /// Get a reference to the sphere vs sphere batch
-        NarrowPhaseInfoBatch& getSphereVsSphereBatch();
+        SphereVsSphereNarrowPhaseInfoBatch& getSphereVsSphereBatch();
 
         /// Get a reference to the sphere vs capsule batch
         NarrowPhaseInfoBatch& getSphereVsCapsuleBatch();
@@ -96,7 +97,7 @@ class NarrowPhaseInput {
 
 
 // Get a reference to the sphere vs sphere batch
-inline NarrowPhaseInfoBatch& NarrowPhaseInput::getSphereVsSphereBatch() {
+inline SphereVsSphereNarrowPhaseInfoBatch& NarrowPhaseInput::getSphereVsSphereBatch() {
     return mSphereVsSphereBatch;
 }
 

src/collision/narrowphase/SAT/SATAlgorithm.cpp

@@ -30,7 +30,7 @@
 #include "collision/shapes/CapsuleShape.h"
 #include "collision/shapes/SphereShape.h"
 #include "engine/OverlappingPair.h"
-#include "collision/NarrowPhaseInfoBatch.h"
+#include "collision/narrowphase/NarrowPhaseInfoBatch.h"
 #include "collision/shapes/TriangleShape.h"
 #include "configuration.h"
 #include "utils/Profiler.h"

src/collision/narrowphase/SphereVsCapsuleAlgorithm.cpp

@@ -27,7 +27,7 @@
 #include "SphereVsCapsuleAlgorithm.h"
 #include "collision/shapes/SphereShape.h"
 #include "collision/shapes/CapsuleShape.h"
-#include "collision/NarrowPhaseInfoBatch.h"
+#include "collision/narrowphase/NarrowPhaseInfoBatch.h"
 
 // We want to use the ReactPhysics3D namespace
 using namespace reactphysics3d;  

src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.cpp

@@ -27,7 +27,7 @@
 #include "SphereVsConvexPolyhedronAlgorithm.h"
 #include "GJK/GJKAlgorithm.h"
 #include "SAT/SATAlgorithm.h"
-#include "collision/NarrowPhaseInfoBatch.h"
+#include "collision/narrowphase/NarrowPhaseInfoBatch.h"
 
 // We want to use the ReactPhysics3D namespace
 using namespace reactphysics3d;

src/collision/narrowphase/SphereVsSphereAlgorithm.cpp

@@ -26,12 +26,12 @@
 // Libraries
 #include "SphereVsSphereAlgorithm.h"
 #include "collision/shapes/SphereShape.h"
-#include "collision/NarrowPhaseInfoBatch.h"
+#include "collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.h"
 
 // We want to use the ReactPhysics3D namespace
 using namespace reactphysics3d;  
 
-bool SphereVsSphereAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems,
+bool SphereVsSphereAlgorithm::testCollision(SphereVsSphereNarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems,
                                             bool reportContacts, bool stopFirstContactFound, MemoryAllocator& memoryAllocator) {
 
     bool isCollisionFound = false;
@@ -42,32 +42,29 @@ bool SphereVsSphereAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseInf
         assert(narrowPhaseInfoBatch.contactPoints[batchIndex].size() == 0);
         assert(!narrowPhaseInfoBatch.isColliding[batchIndex]);
 
-        assert(narrowPhaseInfoBatch.collisionShapes1[batchIndex]->getType() == CollisionShapeType::SPHERE);
-        assert(narrowPhaseInfoBatch.collisionShapes2[batchIndex]->getType() == CollisionShapeType::SPHERE);
-
-        // Get the sphere collision shapes
-        const SphereShape* sphereShape1 = static_cast<const SphereShape*>(narrowPhaseInfoBatch.collisionShapes1[batchIndex]);
-        const SphereShape* sphereShape2 = static_cast<const SphereShape*>(narrowPhaseInfoBatch.collisionShapes2[batchIndex]);
-
         // Get the local-space to world-space transforms
-        const Transform& transform1 = narrowPhaseInfoBatch.shape1ToWorldTransforms[batchIndex];
+        const Transform& transform1 = narrowPhaseInfoBatch.sphere1WorldTransforms[batchIndex];
-        const Transform& transform2 = narrowPhaseInfoBatch.shape2ToWorldTransforms[batchIndex];
+        const Transform& transform2 = narrowPhaseInfoBatch.sphere2WorldTransforms[batchIndex];
 
         // Compute the distance between the centers
         Vector3 vectorBetweenCenters = transform2.getPosition() - transform1.getPosition();
         decimal squaredDistanceBetweenCenters = vectorBetweenCenters.lengthSquare();
 
         // Compute the sum of the radius
-        decimal sumRadius = sphereShape1->getRadius() + sphereShape2->getRadius();
+        decimal sumRadiuses = narrowPhaseInfoBatch.sphere1Radiuses[batchIndex] + narrowPhaseInfoBatch.sphere2Radiuses[batchIndex];
+
+        // Compute the product of the sum of the radius
+        decimal sumRadiusesProducts = sumRadiuses * sumRadiuses;
 
         // If the sphere collision shapes intersect
-        if (squaredDistanceBetweenCenters < sumRadius * sumRadius) {
+        if (squaredDistanceBetweenCenters < sumRadiusesProducts) {
 
             if (reportContacts) {
 
-                Vector3 centerSphere2InBody1LocalSpace = transform1.getInverse() * transform2.getPosition();
+                Transform transform1Inverse = narrowPhaseInfoBatch.sphere1WorldTransforms[batchIndex].getInverse();
-                Vector3 centerSphere1InBody2LocalSpace = transform2.getInverse() * transform1.getPosition();
+                Transform transform2Inverse = narrowPhaseInfoBatch.sphere2WorldTransforms[batchIndex].getInverse();
-                decimal penetrationDepth = sumRadius - std::sqrt(squaredDistanceBetweenCenters);
+
+                decimal penetrationDepth = sumRadiuses - std::sqrt(squaredDistanceBetweenCenters);
                 Vector3 intersectionOnBody1;
                 Vector3 intersectionOnBody2;
                 Vector3 normal;
@@ -75,8 +72,11 @@ bool SphereVsSphereAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseInf
                 // If the two sphere centers are not at the same position
                 if (squaredDistanceBetweenCenters > MACHINE_EPSILON) {
 
-                    intersectionOnBody1 = sphereShape1->getRadius() * centerSphere2InBody1LocalSpace.getUnit();
+                    Vector3 centerSphere2InBody1LocalSpace = transform1Inverse * narrowPhaseInfoBatch.sphere1WorldTransforms[batchIndex].getPosition();
-                    intersectionOnBody2 = sphereShape2->getRadius() * centerSphere1InBody2LocalSpace.getUnit();
+                    Vector3 centerSphere1InBody2LocalSpace = transform2Inverse * narrowPhaseInfoBatch.sphere2WorldTransforms[batchIndex].getPosition();
+
+                    intersectionOnBody1 = narrowPhaseInfoBatch.sphere1Radiuses[batchIndex] * centerSphere2InBody1LocalSpace.getUnit();
+                    intersectionOnBody2 = narrowPhaseInfoBatch.sphere2Radiuses[batchIndex] * centerSphere1InBody2LocalSpace.getUnit();
                     normal = vectorBetweenCenters.getUnit();
                 }
                 else {    // If the sphere centers are at the same position (degenerate case)
@@ -84,8 +84,8 @@ bool SphereVsSphereAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseInf
                     // Take any contact normal direction
                     normal.setAllValues(0, 1, 0);
 
-                    intersectionOnBody1 = sphereShape1->getRadius() * (transform1.getInverse().getOrientation() * normal);
+                    intersectionOnBody1 = narrowPhaseInfoBatch.sphere1Radiuses[batchIndex] * (transform1Inverse.getOrientation() * normal);
-                    intersectionOnBody2 = sphereShape2->getRadius() * (transform2.getInverse().getOrientation() * normal);
+                    intersectionOnBody2 = narrowPhaseInfoBatch.sphere2Radiuses[batchIndex] * (transform2Inverse.getOrientation() * normal);
                 }
 
                 // Create the contact info object

src/collision/narrowphase/SphereVsSphereAlgorithm.h

@@ -34,6 +34,7 @@ namespace reactphysics3d {
 
 // Declarations
 class ContactPoint;
+struct SphereVsSphereNarrowPhaseInfoBatch;
 class Body;
 
 // Class SphereVsSphereAlgorithm
@@ -65,7 +66,7 @@ class SphereVsSphereAlgorithm : public NarrowPhaseAlgorithm {
         SphereVsSphereAlgorithm& operator=(const SphereVsSphereAlgorithm& algorithm) = delete;
 
         /// Compute a contact info if the two bounding volume collide
-        bool testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex,
+        bool testCollision(SphereVsSphereNarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex,
                                    uint batchNbItems, bool reportContacts, bool stopFirstContactFound,
                                    MemoryAllocator& memoryAllocator);
 };

src/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.cpp

@@ -0,0 +1,88 @@
+/********************************************************************************
+* ReactPhysics3D physics library, http://www.reactphysics3d.com                 *
+* Copyright (c) 2010-2018 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 "SphereVsSphereNarrowPhaseInfoBatch.h"
+#include "collision/shapes/SphereShape.h"
+
+using namespace reactphysics3d;
+
+// Constructor
+SphereVsSphereNarrowPhaseInfoBatch::SphereVsSphereNarrowPhaseInfoBatch(MemoryAllocator& allocator)
+      : NarrowPhaseInfoBatch(allocator), sphere1Radiuses(allocator), sphere2Radiuses(allocator),
+        sphere1WorldTransforms(allocator), sphere2WorldTransforms(allocator) {
+
+}
+
+// Add shapes to be tested during narrow-phase collision detection into the batch
+void SphereVsSphereNarrowPhaseInfoBatch::addNarrowPhaseInfo(OverlappingPair* pair, CollisionShape* shape1, CollisionShape* shape2,
+                                                            const Transform& shape1Transform, const Transform& shape2Transform) {
+
+    assert(shape1->getType() == CollisionShapeType::SPHERE);
+    assert(shape2->getType() == CollisionShapeType::SPHERE);
+
+    const SphereShape* sphere1 = static_cast<const SphereShape*>(shape1);
+    const SphereShape* sphere2 = static_cast<const SphereShape*>(shape2);
+
+    sphere1Radiuses.add(sphere1->getRadius());
+    sphere2Radiuses.add(sphere2->getRadius());
+    sphere1WorldTransforms.add(shape1Transform);
+    sphere2WorldTransforms.add(shape2Transform);
+    overlappingPairs.add(pair);
+    contactPoints.add(List<ContactPointInfo*>(mMemoryAllocator));
+    isColliding.add(false);
+
+    // Add a collision info for the two collision shapes into the overlapping pair (if not present yet)
+    LastFrameCollisionInfo* lastFrameInfo = pair->addLastFrameInfoIfNecessary(shape1->getId(), shape2->getId());
+    lastFrameCollisionInfos.add(lastFrameInfo);
+}
+
+// Initialize the containers using cached capacity
+void SphereVsSphereNarrowPhaseInfoBatch::reserveMemory() {
+
+    NarrowPhaseInfoBatch::reserveMemory();
+
+    sphere1Radiuses.reserve(mCachedCapacity);
+    sphere2Radiuses.reserve(mCachedCapacity);
+    sphere1WorldTransforms.reserve(mCachedCapacity);
+    sphere2WorldTransforms.reserve(mCachedCapacity);
+}
+
+// Clear all the objects in the batch
+void SphereVsSphereNarrowPhaseInfoBatch::clear() {
+
+    NarrowPhaseInfoBatch::clear();
+
+    // Note that we clear the following containers and we release their allocated memory. Therefore,
+    // if the memory allocator is a single frame allocator, the memory is deallocated and will be
+    // allocated in the next frame at a possibly different location in memory (remember that the
+    // location of the allocated memory of a single frame allocator might change between two frames)
+
+    sphere1Radiuses.clear(true);
+    sphere2Radiuses.clear(true);
+    sphere1WorldTransforms.clear(true);
+    sphere2WorldTransforms.clear(true);
+}
+

src/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.h

@@ -0,0 +1,78 @@
+/********************************************************************************
+* ReactPhysics3D physics library, http://www.reactphysics3d.com                 *
+* Copyright (c) 2010-2018 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_SPHERE_VS_SPHERE_NARROW_PHASE_INFO_BATCH_H
+#define REACTPHYSICS3D_SPHERE_VS_SPHERE_NARROW_PHASE_INFO_BATCH_H
+
+// Libraries
+#include "collision/narrowphase/NarrowPhaseInfoBatch.h"
+
+/// Namespace ReactPhysics3D
+namespace reactphysics3d {
+
+// Struct SphereVsSphereNarrowPhaseInfoBatch
+/**
+ * This structure collects all the potential collisions from the middle-phase algorithm
+ * that have to be tested during narrow-phase collision detection. This class collects all the
+ * sphere vs sphere collision detection tests.
+ */
+struct SphereVsSphereNarrowPhaseInfoBatch : public NarrowPhaseInfoBatch {
+
+    public:
+
+        /// List of radiuses for the first spheres
+        List<decimal> sphere1Radiuses;
+
+        /// List of radiuses for the second spheres
+        List<decimal> sphere2Radiuses;
+
+        /// List of the world-space positions for the center of the first spheres
+        List<Transform> sphere1WorldTransforms;
+
+        /// List of the world-space positions for the center of the second spheres
+        List<Transform> sphere2WorldTransforms;
+
+        /// Constructor
+        SphereVsSphereNarrowPhaseInfoBatch(MemoryAllocator& allocator);
+
+        /// Destructor
+        virtual ~SphereVsSphereNarrowPhaseInfoBatch() = default;
+
+        /// Add shapes to be tested during narrow-phase collision detection into the batch
+        virtual void addNarrowPhaseInfo(OverlappingPair* pair, CollisionShape* shape1,
+                                        CollisionShape* shape2, const Transform& shape1Transform,
+                                        const Transform& shape2Transform);
+
+        // Initialize the containers using cached capacity
+        void reserveMemory();
+
+        /// Clear all the objects in the batch
+        virtual void clear();
+};
+
+}
+
+#endif
+