git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@328 92aac97c-a6ce-11dd-a772-7fcde58d38e6

sources/reactphysics3d/body/BodyState.h

@@ -154,7 +154,7 @@ inline void BodyState::setMassInverse(Kilogram massInverse) {
 }
 
 // Get the inverse of the inertia tensor
-Matrix3x3 BodyState::getInertiaTensorInverse() const {
+inline Matrix3x3 BodyState::getInertiaTensorInverse() const {
     return inertiaTensorInverse;
 }
 

sources/reactphysics3d/body/RigidBody.h

@@ -63,10 +63,10 @@ class RigidBody : public Body {
         void setInterpolationFactor(double factor);                     // Set the interpolation factor of the body
         BodyState getInterpolatedState() const;                         // Compute and return the interpolated state
         bool getIsMotionEnabled() const;                                // Return if the rigid body can move
-        void setIsMotionEnabled(bool isMotionEnabled);                 // Set the value to true if the body can move
+        void setIsMotionEnabled(bool isMotionEnabled);                  // Set the value to true if the body can move
         void setLinearVelocity(const Vector3D& linearVelocity);         // Set the linear velocity of the rigid body
         void updatePreviousBodyState();                                 // Update the previous body state of the body
-        OBB getOBB() const;                                             // Return the oriented bounding box of the rigid body
+        const OBB* const getOBB() const;                                // Return the oriented bounding box of the rigid body
         void update();                                                  // Update the rigid body in order to reflect a change in the body state
 };
 
@@ -128,8 +128,8 @@ inline void RigidBody::updatePreviousBodyState() {
 }
 
 // Return the oriented bounding box of the rigid body
-inline OBB RigidBody::getOBB() const {
+inline const OBB* const RigidBody::getOBB() const {
-    return obb;
+    return &obb;
 }
 
 // Update the rigid body in order to reflect a change in the body state

sources/reactphysics3d/collision/CollisionDetection.cpp

@@ -76,13 +76,13 @@ void CollisionDetection::computeBroadPhase() {
             RigidBody* rigidBody2 = dynamic_cast<RigidBody*>(*it2);
             if(rigidBody1 && rigidBody2 && rigidBody1 != rigidBody2) {
                 // Get the oriented bounding boxes of the two bodies
-                OBB obb1 = rigidBody1->getOBB();
+                const OBB* obb1 = rigidBody1->getOBB();
-                OBB obb2 = rigidBody2->getOBB();
+                const OBB* obb2 = rigidBody2->getOBB();
 
                 // Use the broad-phase algorithm to decide if the two bodies can collide
-                if(broadPhaseAlgorithm->testCollisionPair(&obb1, &obb2)) {
+                if(broadPhaseAlgorithm->testCollisionPair(obb1, obb2)) {
                     // If the broad-phase thinks that the two bodies collide, we add the in the possible collision pair list
-                    possibleCollisionPairs.push_back(std::pair<const OBB*, const OBB*>(&obb1, &obb2));
+                    possibleCollisionPairs.push_back(std::pair<const OBB*, const OBB*>(obb1, obb2));
                 }
             }
         }

sources/reactphysics3d/collision/ContactInfo.cpp

@@ -20,6 +20,8 @@
 // Libraries
 #include "ContactInfo.h"
 
+using namespace reactphysics3d;
+
 // Constructor
 ContactInfo::ContactInfo(const OBB* const obb1, const OBB* const obb2, const Vector3D& normal, double penetrationDepth)
             : obb1(obb1), obb2(obb2), normal(normal), penetrationDepth(penetrationDepth) {

sources/reactphysics3d/collision/SATAlgorithm.cpp

@@ -25,6 +25,7 @@
 #include <algorithm>
 #include <cfloat>
 #include <cassert>
+#include <iostream>     // TODO : Delete this
 
 // We want to use the ReactPhysics3D namespace
 using namespace reactphysics3d;
@@ -45,10 +46,12 @@ SATAlgorithm::~SATAlgorithm() {
 // Return true and compute a contact info if the two bounding volume collide.
 // The method returns false if there is no collision between the two bounding volumes.
 bool SATAlgorithm::testCollision(const BoundingVolume* const boundingVolume1, const BoundingVolume* const boundingVolume2, ContactInfo*& contactInfo) {
-
+    
     assert(boundingVolume1 != boundingVolume2);
 
     // If the two bounding volumes are OBB
+    //const OBB* const obb1 = dynamic_cast<const OBB* const>(boundingVolume1);
+    //const OBB* const obb2 = dynamic_cast<const OBB* const>(boundingVolume2);
     const OBB* const obb1 = dynamic_cast<const OBB* const>(boundingVolume1);
     const OBB* const obb2 = dynamic_cast<const OBB* const>(boundingVolume2);
 
@@ -72,6 +75,7 @@ bool SATAlgorithm::testCollision(const BoundingVolume* const boundingVolume1, co
 // normal of OBB 1 and Bj for the jth face normal of OBB 2.
 bool SATAlgorithm::computeCollisionTest(const OBB* const obb1, const OBB* const obb2, ContactInfo*& contactInfo) const {
 
+
     double center;                              // Center of a projection interval
     double radius1;                             // Radius of projection interval [min1, max1]
     double radius2;                             // Radius of projection interval [min2, max2]