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Take care of TODOs

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This commit is contained in:
Daniel Chappuis 2019-10-10 17:51:31 +02:00
parent 59cdc6b8f8
commit 92b39ca6c0
1 changed files with 3 additions and 15 deletions
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18
src/engine/DynamicsWorld.cpp
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@ -505,8 +505,6 @@ void DynamicsWorld::addJointToBodies(Entity body1, Entity body2, Entity joint) {
/// it). Then, we create an island with this group of connected bodies. /// it). Then, we create an island with this group of connected bodies.
void DynamicsWorld::createIslands() { void DynamicsWorld::createIslands() {
// TODO : Check if we handle kinematic bodies correctly in islands creation
// list of contact pairs involving a non-rigid body // list of contact pairs involving a non-rigid body
List<uint> nonRigidBodiesContactPairs(mMemoryManager.getSingleFrameAllocator()); List<uint> nonRigidBodiesContactPairs(mMemoryManager.getSingleFrameAllocator());
@ -527,15 +525,12 @@ void DynamicsWorld::createIslands() {
uint nbTotalManifolds = 0; uint nbTotalManifolds = 0;
// For each dynamic component // For each dynamic component
// TODO : Here we iterate on dynamic component where we can have static, kinematic and dynamic bodies. Maybe we should
// not use a dynamic component for a static body.
for (uint b=0; b < mRigidBodyComponents.getNbEnabledComponents(); b++) { for (uint b=0; b < mRigidBodyComponents.getNbEnabledComponents(); b++) {
// If the body has already been added to an island, we go to the next body // If the body has already been added to an island, we go to the next body
if (mRigidBodyComponents.mIsAlreadyInIsland[b]) continue; if (mRigidBodyComponents.mIsAlreadyInIsland[b]) continue;
// If the body is static, we go to the next body // If the body is static, we go to the next body
// TODO : Check if we still need this test if we loop over dynamicsComponents and static bodies are not part of them
if (mRigidBodyComponents.mBodyTypes[b] == BodyType::STATIC) continue; if (mRigidBodyComponents.mBodyTypes[b] == BodyType::STATIC) continue;
// Reset the stack of bodies to visit // Reset the stack of bodies to visit
@ -563,8 +558,7 @@ void DynamicsWorld::createIslands() {
// Awake the body if it is sleeping // Awake the body if it is sleeping
rigidBodyToVisit->setIsSleeping(false); rigidBodyToVisit->setIsSleeping(false);
// If the current body is static, we do not want to perform the DFS // If the current body is static, we do not want to perform the DFS search across that body
// search across that body
if (rigidBodyToVisit->getType() == BodyType::STATIC) continue; if (rigidBodyToVisit->getType() == BodyType::STATIC) continue;
// If the body is involved in contacts with other bodies // If the body is involved in contacts with other bodies
@ -581,13 +575,8 @@ void DynamicsWorld::createIslands() {
// Check if the current contact pair has already been added into an island // Check if the current contact pair has already been added into an island
if (pair.isAlreadyInIsland) continue; if (pair.isAlreadyInIsland) continue;
// Get the other body of the contact manifold
// TODO : Maybe avoid those casts here
RigidBody* body1 = dynamic_cast<RigidBody*>(mCollisionBodyComponents.getBody(pair.body1Entity));
RigidBody* body2 = dynamic_cast<RigidBody*>(mCollisionBodyComponents.getBody(pair.body2Entity));
// If the colliding body is a RigidBody (and not a CollisionBody instead) // If the colliding body is a RigidBody (and not a CollisionBody instead)
if (body1 != nullptr && body2 != nullptr) { if (mRigidBodyComponents.hasComponent(pair.body1Entity) && mRigidBodyComponents.hasComponent(pair.body2Entity)) {
nbTotalManifolds += pair.potentialContactManifoldsIndices.size(); nbTotalManifolds += pair.potentialContactManifoldsIndices.size();
@ -709,9 +698,8 @@ void DynamicsWorld::updateSleepingBodies(decimal timeStep) {
// Put all the bodies of the island to sleep // Put all the bodies of the island to sleep
for (uint b=0; b < mIslands.bodyEntities[i].size(); b++) { for (uint b=0; b < mIslands.bodyEntities[i].size(); b++) {
// TODO : We should use a RigidBody* type here (remove the cast)
const Entity bodyEntity = mIslands.bodyEntities[i][b]; const Entity bodyEntity = mIslands.bodyEntities[i][b];
RigidBody* body = static_cast<RigidBody*>(mCollisionBodyComponents.getBody(bodyEntity)); RigidBody* body = mRigidBodyComponents.getRigidBody(bodyEntity);
body->setIsSleeping(true); body->setIsSleeping(true);
} }
} }