Fix issue in DynamicsComponents

CMakeLists.txt

@@ -82,7 +82,6 @@ SET (REACTPHYSICS3D_HEADERS
     "src/body/RigidBody.h"
     "src/collision/ContactPointInfo.h"
     "src/collision/broadphase/DynamicAABBTree.h"
-    "src/collision/broadphase/BroadPhasePair.h"
     "src/collision/narrowphase/CollisionDispatch.h"
     "src/collision/narrowphase/GJK/VoronoiSimplex.h"
     "src/collision/narrowphase/GJK/GJKAlgorithm.h"

src/collision/broadphase/BroadPhasePair.cpp

@@ -1,31 +0,0 @@
-/********************************************************************************
-* 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 "BroadPhasePair.h"
-
-// We want to use the ReactPhysics3D namespace
-using namespace reactphysics3d;
-

src/collision/broadphase/BroadPhasePair.h

@@ -1,104 +0,0 @@
-/********************************************************************************
-* 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_BROAD_PHASE_PAIR_H
-#define REACTPHYSICS3D_BROAD_PHASE_PAIR_H
-
-// Libraries
-#include <functional>
-#include <cassert>
-#include"containers/Pair.h"
-
-
-/// Namespace ReactPhysics3D
-namespace reactphysics3d {
-
-// Structure BroadPhasePair
-/**
- * This structure represent a potential overlapping pair during the
- * broad-phase collision detection.
- */
-struct BroadPhasePair {
-
-    public:
-
-        // -------------------- Attributes -------------------- //
-
-        // Broad-phase id of the first collision shape
-        int shape1BroadPhaseId;
-
-        // Broad-phase id of the second collision shape
-        int shape2BroadPhaseId;
-
-        // -------------------- Methods -------------------- //
-
-        /// Constructor
-        BroadPhasePair(int shapeId1, int shapeId2)
-            : shape1BroadPhaseId(std::min(shapeId1, shapeId2)),
-              shape2BroadPhaseId(std::max(shapeId1, shapeId2)) {
-
-            assert(shape1BroadPhaseId != -1);
-            assert(shape2BroadPhaseId != -1);
-        }
-
-        /// Equality operator
-        bool operator==(const BroadPhasePair& pair) const;
-
-        /// Inequality operator
-        bool operator!=(const BroadPhasePair& pair) const;
-};
-
-// Equality operator
-inline bool BroadPhasePair::operator==(const BroadPhasePair& pair) const {
-
-    return shape1BroadPhaseId == pair.shape1BroadPhaseId && shape2BroadPhaseId == pair.shape2BroadPhaseId;
-}
-
-// Inequality operator
-inline bool BroadPhasePair::operator!=(const BroadPhasePair& pair) const {
-    return shape1BroadPhaseId != pair.shape1BroadPhaseId || shape2BroadPhaseId != pair.shape2BroadPhaseId;
-}
-
-}
-
-// Hash function for a reactphysics3d BroadPhasePair
-namespace std {
-
-  template <> struct hash<reactphysics3d::BroadPhasePair> {
-
-    size_t operator()(const reactphysics3d::BroadPhasePair& pair) const {
-
-        assert(pair.shape1BroadPhaseId <= pair.shape2BroadPhaseId);
-
-        std::size_t seed = 0;
-        reactphysics3d::hash_combine<int>(seed, pair.shape1BroadPhaseId);
-        reactphysics3d::hash_combine<int>(seed, pair.shape2BroadPhaseId);
-
-        return seed;
-    }
-  };
-}
-
-#endif

src/components/DynamicsComponents.cpp

@@ -54,23 +54,24 @@ void DynamicsComponents::allocate(uint32 nbComponentsToAllocate) {
     assert(newBuffer != nullptr);
 
     // New pointers to components data
-    Entity* newEntities = static_cast<Entity*>(newBuffer);
+    Entity* newBodies = static_cast<Entity*>(newBuffer);
-    Vector3* newLinearVelocities = reinterpret_cast<Vector3*>(newEntities + nbComponentsToAllocate);
+    Vector3* newLinearVelocities = reinterpret_cast<Vector3*>(newBodies + nbComponentsToAllocate);
     Vector3* newAngularVelocities = reinterpret_cast<Vector3*>(newLinearVelocities + nbComponentsToAllocate);
 
     // If there was already components before
     if (mNbComponents > 0) {
 
         // Copy component data from the previous buffer to the new one
-        memcpy(newLinearVelocities, mLinearVelocities, mNbComponents * sizeof(Transform));
+        memcpy(newBodies, mBodies, mNbComponents * sizeof(Entity));
-        memcpy(newAngularVelocities, mAngularVelocities, mNbComponents * sizeof(Entity));
+        memcpy(newLinearVelocities, mLinearVelocities, mNbComponents * sizeof(Vector3));
+        memcpy(newAngularVelocities, mAngularVelocities, mNbComponents * sizeof(Vector3));
 
         // Deallocate previous memory
         mMemoryAllocator.release(mBuffer, mNbAllocatedComponents * mComponentDataSize);
     }
 
     mBuffer = newBuffer;
-    mBodies = newEntities;
+    mBodies = newBodies;
     mLinearVelocities = newLinearVelocities;
     mAngularVelocities = newAngularVelocities;
     mNbAllocatedComponents = nbComponentsToAllocate;
@@ -121,6 +122,9 @@ void DynamicsComponents::moveComponentToIndex(uint32 srcIndex, uint32 destIndex)
 // Swap two components in the array
 void DynamicsComponents::swapComponents(uint32 index1, uint32 index2) {
 
+    assert(mMapEntityToComponentIndex[mBodies[index1]] == index1);
+    assert(mMapEntityToComponentIndex[mBodies[index2]] == index2);
+
     // Copy component 1 data
     Entity entity1(mBodies[index1]);
     Vector3 linearVelocity1(mLinearVelocities[index1]);