Remove unnecessary collision margin for some shapes

src/collision/ContactManifold.cpp

@@ -65,9 +65,6 @@ ContactManifold::~ContactManifold() {
 
         ContactPoint* nextContactPoint = contactPoint->getNext();
 
-        // TODO : Delete this
-        bool test = mMemoryAllocator.isReleaseNeeded();
-
         // Delete the contact point
         contactPoint->~ContactPoint();
         mMemoryAllocator.release(contactPoint, sizeof(ContactPoint));

src/collision/MiddlePhaseTriangleCallback.cpp

@@ -34,10 +34,9 @@ void MiddlePhaseTriangleCallback::testTriangle(uint meshSubPart, uint triangleIn
 
     // Create a triangle collision shape (the allocated memory for the TriangleShape will be released in the
 	// destructor of the corresponding NarrowPhaseInfo.
-    decimal margin = mConcaveShape->getTriangleMargin();
     TriangleShape* triangleShape = new (mAllocator.allocate(sizeof(TriangleShape)))
                                    TriangleShape(trianglePoints[0], trianglePoints[1], trianglePoints[2],
-                                                 verticesNormals, meshSubPart, triangleIndex, margin);
+                                                 verticesNormals, meshSubPart, triangleIndex);
 
     // Create a narrow phase info for the narrow-phase collision detection
     NarrowPhaseInfo* firstNarrowPhaseInfo = narrowPhaseInfoList;

src/collision/shapes/BoxShape.cpp

@@ -37,11 +37,11 @@ using namespace reactphysics3d;
  * @param extent The vector with the three extents of the box (in meters)
  * @param margin The collision margin (in meters) around the collision shape
  */
-BoxShape::BoxShape(const Vector3& extent, decimal margin)
+BoxShape::BoxShape(const Vector3& extent)
-         : ConvexPolyhedronShape(CollisionShapeName::BOX, margin), mExtent(extent - Vector3(margin, margin, margin)) {
+         : ConvexPolyhedronShape(CollisionShapeName::BOX), mExtent(extent) {
-    assert(extent.x > decimal(0.0) && extent.x > margin);
+    assert(extent.x > decimal(0.0));
-    assert(extent.y > decimal(0.0) && extent.y > margin);
+    assert(extent.y > decimal(0.0));
-    assert(extent.z > decimal(0.0) && extent.z > margin);
+    assert(extent.z > decimal(0.0));
 
     // Vertices
     mHalfEdgeStructure.addVertex(0);

src/collision/shapes/BoxShape.h

@@ -81,7 +81,7 @@ class BoxShape : public ConvexPolyhedronShape {
         // -------------------- Methods -------------------- //
 
         /// Constructor
-        BoxShape(const Vector3& extent, decimal margin = OBJECT_MARGIN);
+        BoxShape(const Vector3& extent);
 
         /// Destructor
         virtual ~BoxShape() override = default;

src/collision/shapes/ConcaveMeshShape.cpp

@@ -59,7 +59,6 @@ void ConcaveMeshShape::initBVHTree() {
 
             // Create the AABB for the triangle
             AABB aabb = AABB::createAABBForTriangle(trianglePoints);
-            aabb.inflate(mTriangleMargin, mTriangleMargin, mTriangleMargin);
 
             // Add the AABB with the index of the triangle into the dynamic AABB tree
             mDynamicAABBTree.addObject(aabb, subPart, triangleIndex);
@@ -152,9 +151,8 @@ void ConcaveMeshRaycastCallback::raycastTriangles() {
         Vector3 verticesNormals[3];
         mConcaveMeshShape.getTriangleVerticesNormals(data[0], data[1], verticesNormals);
         // Create a triangle collision shape
-        decimal margin = mConcaveMeshShape.getTriangleMargin();
         TriangleShape triangleShape(trianglePoints[0], trianglePoints[1], trianglePoints[2],
-                                    verticesNormals, data[0], data[1], margin);
+                                    verticesNormals, data[0], data[1]);
         triangleShape.setRaycastTestType(mConcaveMeshShape.getRaycastTestType());
 
         // Ray casting test against the collision shape

src/collision/shapes/ConcaveShape.cpp

@@ -32,6 +32,6 @@ using namespace reactphysics3d;
 
 // Constructor
 ConcaveShape::ConcaveShape(CollisionShapeName name)
-             : CollisionShape(name, CollisionShapeType::CONCAVE_SHAPE), mTriangleMargin(0), mRaycastTestType(TriangleRaycastSide::FRONT) {
+             : CollisionShape(name, CollisionShapeType::CONCAVE_SHAPE), mRaycastTestType(TriangleRaycastSide::FRONT) {
 
 }

src/collision/shapes/ConcaveShape.h

@@ -63,9 +63,6 @@ class ConcaveShape : public CollisionShape {
 
         // -------------------- Attributes -------------------- //
 
-        // Margin use for collision detection for each triangle
-        decimal mTriangleMargin;
-
         /// Raycast test type for the triangle (front, back, front-back)
         TriangleRaycastSide mRaycastTestType;
 
@@ -90,9 +87,6 @@ class ConcaveShape : public CollisionShape {
         /// Deleted assignment operator
         ConcaveShape& operator=(const ConcaveShape& shape) = delete;
 
-        /// Return the triangle margin
-        decimal getTriangleMargin() const;
-
         /// Return the raycast test type (front, back, front-back)
         TriangleRaycastSide getRaycastTestType() const;
 
@@ -109,11 +103,6 @@ class ConcaveShape : public CollisionShape {
         virtual void testAllTriangles(TriangleCallback& callback, const AABB& localAABB) const=0;
 };
 
-// Return the triangle margin
-inline decimal ConcaveShape::getTriangleMargin() const {
-    return mTriangleMargin;
-}
-
 // Return true if the collision shape is convex, false if it is concave
 inline bool ConcaveShape::isConvex() const {
     return false;

src/collision/shapes/ConvexMeshShape.cpp

@@ -41,8 +41,8 @@ using namespace reactphysics3d;
  * @param stride Stride between the beginning of two elements in the vertices array
  * @param margin Collision margin (in meters) around the collision shape
  */
-ConvexMeshShape::ConvexMeshShape(PolyhedronMesh* polyhedronMesh, decimal margin)
+ConvexMeshShape::ConvexMeshShape(PolyhedronMesh* polyhedronMesh)
-                : ConvexPolyhedronShape(CollisionShapeName::CONVEX_MESH, margin), mPolyhedronMesh(polyhedronMesh), mMinBounds(0, 0, 0), mMaxBounds(0, 0, 0) {
+                : ConvexPolyhedronShape(CollisionShapeName::CONVEX_MESH), mPolyhedronMesh(polyhedronMesh), mMinBounds(0, 0, 0), mMaxBounds(0, 0, 0) {
 
     // Recalculate the bounds of the mesh
     recalculateBounds();

src/collision/shapes/ConvexMeshShape.h

@@ -99,9 +99,7 @@ class ConvexMeshShape : public ConvexPolyhedronShape {
         // -------------------- Methods -------------------- //
 
         /// Constructor
-        // TODO : Do we really need to use the margin anymore ? Maybe for raycasting ? If not, remove all the
+        ConvexMeshShape(PolyhedronMesh* polyhedronMesh);
-        // comments documentation about margin
-        ConvexMeshShape(PolyhedronMesh* polyhedronMesh, decimal margin = OBJECT_MARGIN);
 
         /// Destructor
         virtual ~ConvexMeshShape() override = default;

src/collision/shapes/ConvexPolyhedronShape.cpp

@@ -31,7 +31,7 @@
 using namespace reactphysics3d;
 
 // Constructor
-ConvexPolyhedronShape::ConvexPolyhedronShape(CollisionShapeName name, decimal margin)
+ConvexPolyhedronShape::ConvexPolyhedronShape(CollisionShapeName name)
-            : ConvexShape(name, CollisionShapeType::CONVEX_POLYHEDRON, margin) {
+            : ConvexShape(name, CollisionShapeType::CONVEX_POLYHEDRON) {
 
 }

src/collision/shapes/ConvexPolyhedronShape.h

@@ -47,7 +47,7 @@ class ConvexPolyhedronShape : public ConvexShape {
         // -------------------- Methods -------------------- //
 
         /// Constructor
-        ConvexPolyhedronShape(CollisionShapeName name, decimal margin);
+        ConvexPolyhedronShape(CollisionShapeName name);
 
         /// Destructor
         virtual ~ConvexPolyhedronShape() override = default;

src/collision/shapes/ConvexShape.h

@@ -59,7 +59,7 @@ class ConvexShape : public CollisionShape {
         // -------------------- Methods -------------------- //
 
         /// Constructor
-        ConvexShape(CollisionShapeName name, CollisionShapeType type, decimal margin);
+        ConvexShape(CollisionShapeName name, CollisionShapeType type, decimal margin = decimal(0.0));
 
         /// Destructor
         virtual ~ConvexShape() override = default;

src/collision/shapes/HeightFieldShape.cpp

@@ -260,9 +260,8 @@ void TriangleOverlapCallback::testTriangle(uint meshSubPart, uint triangleIndex,
                                            const Vector3* verticesNormals) {
 
     // Create a triangle collision shape
-    decimal margin = mHeightFieldShape.getTriangleMargin();
     TriangleShape triangleShape(trianglePoints[0], trianglePoints[1], trianglePoints[2],
-                                verticesNormals, meshSubPart, triangleIndex, margin);
+                                verticesNormals, meshSubPart, triangleIndex);
     triangleShape.setRaycastTestType(mHeightFieldShape.getRaycastTestType());
 
     // Ray casting test against the collision shape

src/collision/shapes/TriangleShape.cpp

@@ -44,8 +44,8 @@ using namespace reactphysics3d;
  * @param margin The collision margin (in meters) around the collision shape
  */
 TriangleShape::TriangleShape(const Vector3& point1, const Vector3& point2, const Vector3& point3,
-                             const Vector3* verticesNormals, uint meshSubPart, uint triangleIndex, decimal margin)
+                             const Vector3* verticesNormals, uint meshSubPart, uint triangleIndex)
-              : ConvexPolyhedronShape(CollisionShapeName::TRIANGLE, margin), mMeshSubPart(meshSubPart), mTriangleIndex(triangleIndex) {
+              : ConvexPolyhedronShape(CollisionShapeName::TRIANGLE), mMeshSubPart(meshSubPart), mTriangleIndex(triangleIndex) {
 
     mPoints[0] = point1;
     mPoints[1] = point2;

src/collision/shapes/TriangleShape.h

@@ -108,7 +108,7 @@ class TriangleShape : public ConvexPolyhedronShape {
 
         /// Constructor
         TriangleShape(const Vector3& point1, const Vector3& point2, const Vector3& point3,
-                      const Vector3* verticesNormals, uint meshSubPart, uint triangleIndex, decimal margin = OBJECT_MARGIN);
+                      const Vector3* verticesNormals, uint meshSubPart, uint triangleIndex);
 
         /// Destructor
         virtual ~TriangleShape() override = default;

src/configuration.h

@@ -100,9 +100,6 @@ constexpr decimal DEFAULT_ROLLING_RESISTANCE = decimal(0.0);
 /// True if the spleeping technique is enabled
 constexpr bool SPLEEPING_ENABLED = true;
 
-/// Object margin for collision detection in meters (for the GJK-EPA Algorithm)
-constexpr decimal OBJECT_MARGIN = decimal(0.04);
-
 /// Distance threshold for two contact points for a valid persistent contact (in meters)
 constexpr decimal PERSISTENT_CONTACT_DIST_THRESHOLD = decimal(0.03);
 

test/tests/collision/TestPointInside.h

@@ -115,7 +115,7 @@ class TestPointInside : public Test {
             mLocalShapeToWorld = mBodyTransform * mShapeTransform;
 
             // Create collision shapes
-            mBoxShape = new BoxShape(Vector3(2, 3, 4), 0);
+            mBoxShape = new BoxShape(Vector3(2, 3, 4));
             mBoxProxyShape = mBoxBody->addCollisionShape(mBoxShape, mShapeTransform);
 
             mSphereShape = new SphereShape(3);

test/tests/collision/TestRaycast.h

@@ -192,7 +192,7 @@ class TestRaycast : public Test {
             mLocalShapeToWorld = mBodyTransform * mShapeTransform;
 
             // Create collision shapes
-            mBoxShape = new BoxShape(Vector3(2, 3, 4), 0);
+            mBoxShape = new BoxShape(Vector3(2, 3, 4));
             mBoxProxyShape = mBoxBody->addCollisionShape(mBoxShape, mShapeTransform);
 
             mSphereShape = new SphereShape(3);