diff --git a/include/reactphysics3d/collision/CollisionCallback.h b/include/reactphysics3d/collision/CollisionCallback.h
index cd435884..ee9114a2 100644
--- a/include/reactphysics3d/collision/CollisionCallback.h
+++ b/include/reactphysics3d/collision/CollisionCallback.h
@@ -239,10 +239,10 @@ class CollisionCallback {
Array<reactphysics3d::ContactPair>& mLostContactPairs;
/// Array of indices in the mContactPairs array that are contact events (not overlap/triggers)
- Array<uint> mContactPairsIndices;
+ Array<uint64> mContactPairsIndices;
/// Array of indices in the mLostContactPairs array that are contact events (not overlap/triggers)
- Array<uint> mLostContactPairsIndices;
+ Array<uint64> mLostContactPairsIndices;
/// Reference to the physics world
PhysicsWorld& mWorld;
@@ -278,7 +278,7 @@ class CollisionCallback {
* @param index Index of the contact pair to retrieve
* @return A contact pair object
*/
- ContactPair getContactPair(uint32 index) const;
+ ContactPair getContactPair(uint64 index) const;
// -------------------- Friendship -------------------- //
diff --git a/include/reactphysics3d/collision/OverlapCallback.h b/include/reactphysics3d/collision/OverlapCallback.h
index 57c0dd4a..7e048922 100644
--- a/include/reactphysics3d/collision/OverlapCallback.h
+++ b/include/reactphysics3d/collision/OverlapCallback.h
@@ -138,10 +138,10 @@ class OverlapCallback {
Array<ContactPair>& mLostContactPairs;
/// Array of indices of the mContactPairs array that are overlap/triggers events (not contact events)
- Array<uint> mContactPairsIndices;
+ Array<uint64> mContactPairsIndices;
/// Array of indices of the mLostContactPairs array that are overlap/triggers events (not contact events)
- Array<uint> mLostContactPairsIndices;
+ Array<uint64> mLostContactPairsIndices;
/// Reference to the physics world
PhysicsWorld& mWorld;
diff --git a/include/reactphysics3d/containers/Deque.h b/include/reactphysics3d/containers/Deque.h
index adb5430b..68c1bbf4 100644
--- a/include/reactphysics3d/containers/Deque.h
+++ b/include/reactphysics3d/containers/Deque.h
@@ -491,18 +491,14 @@ class Deque {
/// Return a reference to the first item of the deque
const T& getFront() const {
- if (mSize > 0) {
- return mChunks[mFirstChunkIndex][mFirstItemIndex];
- }
- assert(false);
+ assert(mSize > 0);
+ return mChunks[mFirstChunkIndex][mFirstItemIndex];
}
/// Return a reference to the last item of the deque
const T& getBack() const {
- if (mSize > 0) {
- return mChunks[mLastChunkIndex][mLastItemIndex];
- }
- assert(false);
+ assert(mSize > 0);
+ return mChunks[mLastChunkIndex][mLastItemIndex];
}
/// Clear the elements of the deque
diff --git a/include/reactphysics3d/containers/Map.h b/include/reactphysics3d/containers/Map.h
index 9c1f04aa..570eefd4 100755
--- a/include/reactphysics3d/containers/Map.h
+++ b/include/reactphysics3d/containers/Map.h
@@ -276,7 +276,7 @@ class Map {
uint64* newBuckets = static_cast<uint64*>(mAllocator.allocate(capacity * sizeof(uint64)));
// Allocate memory for the entries
- const uint64 nbAllocatedEntries = static_cast<uint64>(static_cast<float>(capacity) * DEFAULT_LOAD_FACTOR);
+ const uint64 nbAllocatedEntries = static_cast<uint64>(capacity * double(DEFAULT_LOAD_FACTOR));
assert(nbAllocatedEntries > 0);
Pair<K, V>* newEntries = static_cast<Pair<K, V>*>(mAllocator.allocate(nbAllocatedEntries * sizeof(Pair<K, V>)));
uint64* newNextEntries = static_cast<uint64*>(mAllocator.allocate(nbAllocatedEntries * sizeof(uint64)));
diff --git a/include/reactphysics3d/containers/Set.h b/include/reactphysics3d/containers/Set.h
index ec2d5717..6a97fcab 100755
--- a/include/reactphysics3d/containers/Set.h
+++ b/include/reactphysics3d/containers/Set.h
@@ -275,7 +275,7 @@ class Set {
uint64* newBuckets = static_cast<uint64*>(mAllocator.allocate(capacity * sizeof(uint64)));
// Allocate memory for the entries
- const uint64 nbAllocatedEntries = static_cast<uint64>(static_cast<float>(capacity) * DEFAULT_LOAD_FACTOR);
+ const uint64 nbAllocatedEntries = static_cast<uint64>(capacity * double(DEFAULT_LOAD_FACTOR));
assert(nbAllocatedEntries > 0);
V* newEntries = static_cast<V*>(mAllocator.allocate(nbAllocatedEntries * sizeof(V)));
uint64* newNextEntries = static_cast<uint64*>(mAllocator.allocate(nbAllocatedEntries * sizeof(uint64)));
@@ -351,7 +351,7 @@ class Set {
/// Returns true if the item has been inserted and false otherwise.
bool add(const V& value) {
- uint64 bucket;
+ uint64 bucket = INVALID_INDEX;
// Compute the hash code of the value
const size_t hashCode = Hash()(value);
@@ -397,6 +397,8 @@ class Set {
mNbEntries++;
+ assert(bucket != INVALID_INDEX);
+
mNextEntries[entryIndex] = mBuckets[bucket];
new (mEntries + entryIndex) V(value);
mBuckets[bucket] = entryIndex;
diff --git a/include/reactphysics3d/engine/OverlappingPairs.h b/include/reactphysics3d/engine/OverlappingPairs.h
index 65c9fb86..c138c563 100644
--- a/include/reactphysics3d/engine/OverlappingPairs.h
+++ b/include/reactphysics3d/engine/OverlappingPairs.h
@@ -84,15 +84,11 @@ struct LastFrameCollisionInfo {
uint8 satMinEdge2Index;
/// Constructor
- LastFrameCollisionInfo() {
+ LastFrameCollisionInfo()
+ :isValid(false), isObsolete(false), wasColliding(false), wasUsingGJK(false), gjkSeparatingAxis(Vector3(0, 1, 0)),
+ satIsAxisFacePolyhedron1(false), satIsAxisFacePolyhedron2(false), satMinAxisFaceIndex(0),
+ satMinEdge1Index(0), satMinEdge2Index(0) {
- isValid = false;
- isObsolete = false;
- wasColliding = false;
- wasUsingSAT = false;
- wasUsingGJK = false;
-
- gjkSeparatingAxis = Vector3(0, 1, 0);
}
};
diff --git a/include/reactphysics3d/mathematics/mathematics_functions.h b/include/reactphysics3d/mathematics/mathematics_functions.h
index 82f974b2..e6f5982b 100755
--- a/include/reactphysics3d/mathematics/mathematics_functions.h
+++ b/include/reactphysics3d/mathematics/mathematics_functions.h
@@ -427,7 +427,9 @@ RP3D_FORCE_INLINE uint64 nextPowerOfTwo64Bits(uint64 number) {
/// http://szudzik.com/ElegantPairing.pdf
RP3D_FORCE_INLINE uint64 pairNumbers(uint32 number1, uint32 number2) {
assert(number1 == std::max(number1, number2));
- return number1 * number1 + number1 + number2;
+ uint64 nb1 = number1;
+ uint64 nb2 = number2;
+ return nb1 * nb1 + nb1 + nb2;
}
diff --git a/include/reactphysics3d/systems/ConstraintSolverSystem.h b/include/reactphysics3d/systems/ConstraintSolverSystem.h
index 626dbe47..09052459 100644
--- a/include/reactphysics3d/systems/ConstraintSolverSystem.h
+++ b/include/reactphysics3d/systems/ConstraintSolverSystem.h
@@ -68,7 +68,7 @@ struct ConstraintSolverData {
/// Constructor
ConstraintSolverData(RigidBodyComponents& rigidBodyComponents, JointComponents& jointComponents)
- :rigidBodyComponents(rigidBodyComponents), jointComponents(jointComponents) {
+ :timeStep(0), isWarmStartingActive(true), rigidBodyComponents(rigidBodyComponents), jointComponents(jointComponents) {
}
diff --git a/src/collision/CollisionCallback.cpp b/src/collision/CollisionCallback.cpp
index 92add3f0..0c6d9de3 100644
--- a/src/collision/CollisionCallback.cpp
+++ b/src/collision/CollisionCallback.cpp
@@ -117,7 +117,7 @@ CollisionCallback::ContactPoint CollisionCallback::ContactPair::getContactPoint(
/// Note that the returned ContactPair object is only valid during the call of the CollisionCallback::onContact()
/// method. Therefore, you need to get contact data from it and make a copy. Do not make a copy of the ContactPair
/// object itself because it won't be valid after the CollisionCallback::onContact() call.
-CollisionCallback::ContactPair CollisionCallback::CallbackData::getContactPair(uint32 index) const {
+CollisionCallback::ContactPair CollisionCallback::CallbackData::getContactPair(uint64 index) const {
assert(index < getNbContactPairs());
diff --git a/src/collision/OverlapCallback.cpp b/src/collision/OverlapCallback.cpp
index 08754033..e62add0e 100644
--- a/src/collision/OverlapCallback.cpp
+++ b/src/collision/OverlapCallback.cpp
@@ -82,7 +82,7 @@ OverlapCallback::CallbackData::CallbackData(Array<ContactPair>& contactPairs, Ar
}
// Filter the lost contact pairs to only keep the overlap/trigger events (not the contact events)
const uint64 nbLostContactPairs = mLostContactPairs.size();
- for (uint i=0; i < nbLostContactPairs; i++) {
+ for (uint64 i=0; i < nbLostContactPairs; i++) {
// If the contact pair contains contacts (and is therefore not an overlap/trigger event)
if (!onlyReportTriggers || mLostContactPairs[i].isTrigger) {
diff --git a/src/utils/DebugRenderer.cpp b/src/utils/DebugRenderer.cpp
index 6c3b77e9..217cc9cf 100644
--- a/src/utils/DebugRenderer.cpp
+++ b/src/utils/DebugRenderer.cpp
@@ -281,7 +281,7 @@ void DebugRenderer::drawConvexMesh(const Transform& transform, const ConvexMeshS
assert(face.faceVertices.size() >= 3);
// Perform a fan triangulation of the convex polygon face
- const uint32 nbFaceVertices = face.faceVertices.size();
+ const uint32 nbFaceVertices = static_cast<uint32>(face.faceVertices.size());
for (uint32 v = 2; v < nbFaceVertices; v++) {
uint32 v1Index = face.faceVertices[v - 2];