Add ConcaveShape et ConvexShape classes

CMakeLists.txt

@@ -76,6 +76,10 @@ SET (REACTPHYSICS3D_SOURCES
     "src/collision/narrowphase/ConcaveVsConvexAlgorithm.cpp"
     "src/collision/shapes/AABB.h"
     "src/collision/shapes/AABB.cpp"
+    "src/collision/shapes/ConvexShape.h"
+    "src/collision/shapes/ConvexShape.cpp"
+    "src/collision/shapes/ConcaveShape.h"
+    "src/collision/shapes/ConcaveShape.cpp"
     "src/collision/shapes/BoxShape.h"
     "src/collision/shapes/BoxShape.cpp"
     "src/collision/shapes/CapsuleShape.h"

src/collision/narrowphase/DefaultCollisionDispatch.cpp

@@ -51,8 +51,8 @@ void DefaultCollisionDispatch::init(MemoryAllocator* memoryAllocator) {
 NarrowPhaseAlgorithm* DefaultCollisionDispatch::selectAlgorithm(int shape1Type,
                                                                 int shape2Type) {
 
-    // Sphere vs Sphere algorithm
-    if (shape1Type == SPHERE && shape2Type == SPHERE) {
+
+    if (shape1Type == SPHERE && shape2Type == SPHERE) { // Sphere vs Sphere algorithm
         return &mSphereVsSphereAlgorithm;
     }
     else {   // GJK algorithm

src/collision/shapes/BoxShape.h

@@ -28,7 +28,7 @@
 
 // Libraries
 #include <cfloat>
-#include "CollisionShape.h"
+#include "ConvexShape.h"
 #include "body/CollisionBody.h"
 #include "mathematics/mathematics.h"
 
@@ -50,7 +50,7 @@ namespace reactphysics3d {
  * constructor of the box shape. Otherwise, it is recommended to use the
  * default margin distance by not using the "margin" parameter in the constructor.
  */
-class BoxShape : public CollisionShape {
+class BoxShape : public ConvexShape {
 
     protected :
 
@@ -165,6 +165,9 @@ inline Vector3 BoxShape::getLocalSupportPointWithoutMargin(const Vector3& direct
 
 // Test equality between two box shapes
 inline bool BoxShape::isEqualTo(const CollisionShape& otherCollisionShape) const {
+
+    if (!ConvexShape::isEqualTo(otherCollisionShape)) return false;
+
     const BoxShape& otherShape = dynamic_cast<const BoxShape&>(otherCollisionShape);
     return (mExtent == otherShape.mExtent);
 }

src/collision/shapes/CapsuleShape.h

@@ -27,7 +27,7 @@
 #define REACTPHYSICS3D_CAPSULE_SHAPE_H
 
 // Libraries
-#include "CollisionShape.h"
+#include "ConvexShape.h"
 #include "body/CollisionBody.h"
 #include "mathematics/mathematics.h"
 
@@ -44,7 +44,7 @@ namespace reactphysics3d {
  * and height of the shape. Therefore, no need to specify an object margin for a
  * capsule shape.
  */
-class CapsuleShape : public CollisionShape {
+class CapsuleShape : public ConvexShape {
 
     protected :
 
@@ -115,7 +115,7 @@ class CapsuleShape : public CollisionShape {
         virtual bool isEqualTo(const CollisionShape& otherCollisionShape) const;
 };
 
-/// Allocate and return a copy of the object
+// Allocate and return a copy of the object
 inline CapsuleShape* CapsuleShape::clone(void* allocatedMemory) const {
     return new (allocatedMemory) CapsuleShape(*this);
 }
@@ -162,6 +162,9 @@ inline void CapsuleShape::getLocalBounds(Vector3& min, Vector3& max) const {
 
 // Test equality between two capsule shapes
 inline bool CapsuleShape::isEqualTo(const CollisionShape& otherCollisionShape) const {
+
+    if (!ConvexShape::isEqualTo(otherCollisionShape)) return false;
+
     const CapsuleShape& otherShape = dynamic_cast<const CapsuleShape&>(otherCollisionShape);
     return (mRadius == otherShape.mRadius && mHalfHeight == otherShape.mHalfHeight);
 }

src/collision/shapes/CollisionShape.cpp

@@ -32,15 +32,14 @@
 using namespace reactphysics3d;
 
 // Constructor
-CollisionShape::CollisionShape(CollisionShapeType type, decimal margin)
-               : mType(type), mNbSimilarCreatedShapes(0), mMargin(margin) {
+CollisionShape::CollisionShape(CollisionShapeType type)
+               : mType(type), mNbSimilarCreatedShapes(0) {
     
 }
 
 // Private copy-constructor
 CollisionShape::CollisionShape(const CollisionShape& shape)
-               : mType(shape.mType), mNbSimilarCreatedShapes(shape.mNbSimilarCreatedShapes),
-                 mMargin(shape.mMargin) {
+               : mType(shape.mType), mNbSimilarCreatedShapes(shape.mNbSimilarCreatedShapes) {
 
 }
 

src/collision/shapes/CollisionShape.h

@@ -64,9 +64,6 @@ class CollisionShape {
         /// Current number of similar created shapes
         uint mNbSimilarCreatedShapes;
         
-        /// Margin used for the GJK collision detection algorithm
-        decimal mMargin;
-        
         // -------------------- Methods -------------------- //
 
         /// Private copy-constructor
@@ -75,14 +72,6 @@ class CollisionShape {
         /// Private assignment operator
         CollisionShape& operator=(const CollisionShape& shape);
 
-        // Return a local support point in a given direction with the object margin
-        virtual Vector3 getLocalSupportPointWithMargin(const Vector3& direction,
-                                                       void** cachedCollisionData) const=0;
-
-        /// Return a local support point in a given direction without the object margin
-        virtual Vector3 getLocalSupportPointWithoutMargin(const Vector3& direction,
-                                                          void** cachedCollisionData) const=0;
-
         /// Return true if a point is inside the collision shape
         virtual bool testPointInside(const Vector3& worldPoint, ProxyShape* proxyShape) const=0;
 
@@ -109,7 +98,7 @@ class CollisionShape {
         // -------------------- Methods -------------------- //
 
         /// Constructor
-        CollisionShape(CollisionShapeType type, decimal margin);
+        CollisionShape(CollisionShapeType type);
 
         /// Destructor
         virtual ~CollisionShape();
@@ -117,8 +106,8 @@ class CollisionShape {
         /// Return the type of the collision shapes
         CollisionShapeType getType() const;
 
-        /// Return the current object margin
-        decimal getMargin() const;
+        /// Return true if the collision shape is convex, false if it is concave
+        virtual bool isConvex() const=0;
 
         /// Return the local bounds of the shape in x, y and z directions
         virtual void getLocalBounds(Vector3& min, Vector3& max) const=0;
@@ -141,9 +130,6 @@ class CollisionShape {
         friend class CollisionWorld;
 };
 
-
-
-
 // Return the type of the collision shape
 /**
  * @return The type of the collision shape (box, sphere, cylinder, ...)
@@ -157,14 +143,6 @@ inline uint CollisionShape::getNbSimilarCreatedShapes() const {
     return mNbSimilarCreatedShapes;
 }
 
-// Return the current collision shape margin
-/**
- * @return The margin (in meters) around the collision shape
- */
-inline decimal CollisionShape::getMargin() const {
-    return mMargin;
-}
-
 // Increment the number of similar allocated collision shapes
 inline void CollisionShape::incrementNbSimilarCreatedShapes() {
     mNbSimilarCreatedShapes++;
@@ -186,8 +164,6 @@ inline bool CollisionShape::operator==(const CollisionShape& otherCollisionShape
 
     assert(typeid(*this) == typeid(otherCollisionShape));
 
-    if (mMargin != otherCollisionShape.mMargin) return false;
-
     // Check if the two shapes are equal
     return otherCollisionShape.isEqualTo(*this);
 }

src/collision/shapes/ConcaveMeshShape.h

@@ -26,6 +26,9 @@
 #ifndef REACTPHYSICS3D_CONCAVE_MESH_SHAPE_H
 #define REACTPHYSICS3D_CONCAVE_MESH_SHAPE_H
 
+// Libraries
+#include "ConcaveShape.h"
+
 namespace reactphysics3d {
 
 // TODO : Implement raycasting with this collision shape
@@ -36,7 +39,7 @@ namespace reactphysics3d {
  * with a concave mesh shape can be very expensive. You should use only use
  * this shape for a static mesh.
  */
-class ConcaveMeshShape : public CollisionShape {
+class ConcaveMeshShape : public ConcaveShape {
 
     protected:
 
@@ -76,6 +79,9 @@ class ConcaveMeshShape : public CollisionShape {
         /// Destructor
         ~ConcaveMeshShape();
 
+        /// Return true if the collision shape is convex, false if it is concave
+        virtual bool isConvex() const;
+
         /// Return the local bounds of the shape in x, y and z directions.
         virtual void getLocalBounds(Vector3& min, Vector3& max) const;
 
@@ -89,7 +95,12 @@ class ConcaveMeshShape : public CollisionShape {
         virtual bool isEqualTo(const CollisionShape& otherCollisionShape) const;
 };
 
-/// Allocate and return a copy of the object
+// Return true if the collision shape is convex, false if it is concave
+virtual bool isConvex() const {
+    return false;
+}
+
+// Allocate and return a copy of the object
 inline ConcaveMeshShape* ConcaveMeshShape::clone(void* allocatedMemory) const {
     return new (allocatedMemory) ConcaveMeshShape(*this);
 }

src/collision/shapes/ConcaveShape.cpp

@@ -0,0 +1,46 @@
+/********************************************************************************
+* ReactPhysics3D physics library, http://www.reactphysics3d.com                 *
+* Copyright (c) 2010-2015 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 "ConcaveShape.h"
+
+
+// We want to use the ReactPhysics3D namespace
+using namespace reactphysics3d;
+
+// Constructor
+ConcaveShape::ConcaveShape(CollisionShapeType type) : CollisionShape(type) {
+
+}
+
+// Private copy-constructor
+ConcaveShape::ConcaveShape(const CollisionShape& shape) : CollisionShape(shape) {
+
+}
+
+// Destructor
+ConcaveShape::~ConcaveShape() {
+
+}

src/collision/shapes/ConcaveShape.h

@@ -0,0 +1,134 @@
+/********************************************************************************
+* ReactPhysics3D physics library, http://www.reactphysics3d.com                 *
+* Copyright (c) 2010-2015 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_CONCAVE_SHAPE_H
+#define REACTPHYSICS3D_CONCAVE_SHAPE_H
+
+// Libraries
+#include "CollisionShape.h"
+
+/// ReactPhysics3D namespace
+namespace reactphysics3d {
+
+// Class ConcaveShape
+/**
+ * This abstract class represents a concave collision shape associated with a
+ * body that is used during the narrow-phase collision detection.
+ */
+class ConcaveShape : public CollisionShape {
+
+    protected :
+
+        // -------------------- Attributes -------------------- //
+
+
+
+        // -------------------- Methods -------------------- //
+
+        /// Private copy-constructor
+        ConcaveShape(const ConcaveShape& shape);
+
+        /// Private assignment operator
+        ConcaveShape& operator=(const ConcaveShape& shape);
+
+    public :
+
+        // -------------------- Methods -------------------- //
+
+        /// Constructor
+        ConcaveShape(CollisionShapeType type);
+
+        /// Destructor
+        virtual ~ConcaveShape();
+
+        /// Return true if the collision shape is convex, false if it is concave
+        virtual bool isConvex() const;
+
+        /// Test equality between two shapes
+        virtual bool isEqualTo(const CollisionShape& otherCollisionShape) const;
+};
+
+/// Return true if the collision shape is convex, false if it is concave
+inline bool ConcaveShape::isConvex() const {
+    return false;
+}
+
+// Return the type of the collision shape
+/**
+ * @return The type of the collision shape (box, sphere, cylinder, ...)
+ */
+inline CollisionShapeType CollisionShape::getType() const {
+    return mType;
+}
+
+// Return the number of similar created shapes
+inline uint CollisionShape::getNbSimilarCreatedShapes() const {
+    return mNbSimilarCreatedShapes;
+}
+
+// Return the current collision shape margin
+/**
+ * @return The margin (in meters) around the collision shape
+ */
+inline decimal CollisionShape::getMargin() const {
+    return mMargin;
+}
+
+// Increment the number of similar allocated collision shapes
+inline void CollisionShape::incrementNbSimilarCreatedShapes() {
+    mNbSimilarCreatedShapes++;
+}
+
+// Decrement the number of similar allocated collision shapes
+inline void CollisionShape::decrementNbSimilarCreatedShapes() {
+    mNbSimilarCreatedShapes--;
+}
+
+// Equality operator between two collision shapes.
+/// This methods returns true only if the two collision shapes are of the same type and
+/// of the same dimensions.
+inline bool CollisionShape::operator==(const CollisionShape& otherCollisionShape) const {
+
+    // If the two collisions shapes are not of the same type (same derived classes)
+    // we return false
+    if (mType != otherCollisionShape.mType) return false;
+
+    assert(typeid(*this) == typeid(otherCollisionShape));
+
+    if (mMargin != otherCollisionShape.mMargin) return false;
+
+    // Check if the two shapes are equal
+    return otherCollisionShape.isEqualTo(*this);
+}
+
+// Test equality between two shapes
+inline bool ConcaveShape::isEqualTo(const CollisionShape& otherCollisionShape) const {
+    return true;
+}
+
+}
+
+#endif
+

src/collision/shapes/ConeShape.h

@@ -27,7 +27,7 @@
 #define REACTPHYSICS3D_CONE_SHAPE_H
 
 // Libraries
-#include "CollisionShape.h"
+#include "ConvexShape.h"
 #include "body/CollisionBody.h"
 #include "mathematics/mathematics.h"
 
@@ -49,7 +49,7 @@ namespace reactphysics3d {
  * constructor of the cone shape. Otherwise, it is recommended to use the
  * default margin distance by not using the "margin" parameter in the constructor.
  */
-class ConeShape : public CollisionShape {
+class ConeShape : public ConvexShape {
 
     protected :
 
@@ -178,6 +178,9 @@ inline void ConeShape::computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass
 
 // Test equality between two cone shapes
 inline bool ConeShape::isEqualTo(const CollisionShape& otherCollisionShape) const {
+
+    if (!ConvexShape::isEqualTo(otherCollisionShape)) return false;
+
     const ConeShape& otherShape = dynamic_cast<const ConeShape&>(otherCollisionShape);
     return (mRadius == otherShape.mRadius && mHalfHeight == otherShape.mHalfHeight);
 }

src/collision/shapes/ConvexMeshShape.cpp

@@ -211,6 +211,9 @@ void ConvexMeshShape::recalculateBounds() {
 
 // Test equality between two cone shapes
 bool ConvexMeshShape::isEqualTo(const CollisionShape& otherCollisionShape) const {
+
+    if (!ConvexShape::isEqualTo(otherCollisionShape)) return false;
+
     const ConvexMeshShape& otherShape = dynamic_cast<const ConvexMeshShape&>(otherCollisionShape);
 
     assert(mNbVertices == mVertices.size());

src/collision/shapes/ConvexMeshShape.h

@@ -27,7 +27,7 @@
 #define REACTPHYSICS3D_CONVEX_MESH_SHAPE_H
 
 // Libraries
-#include "CollisionShape.h"
+#include "ConvexShape.h"
 #include "engine/CollisionWorld.h"
 #include "mathematics/mathematics.h"
 #include "collision/narrowphase/GJK/GJKAlgorithm.h"
@@ -60,7 +60,7 @@ class CollisionWorld;
  * with the addEdge() method. Then, you must use the setIsEdgesInformationUsed(true) method
  * in order to use the edges information for collision detection.
  */
-class ConvexMeshShape : public CollisionShape {
+class ConvexMeshShape : public ConvexShape {
 
     protected :
 

src/collision/shapes/ConvexShape.cpp

@@ -0,0 +1,48 @@
+/********************************************************************************
+* ReactPhysics3D physics library, http://www.reactphysics3d.com                 *
+* Copyright (c) 2010-2015 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 "ConvexShape.h"
+
+
+// We want to use the ReactPhysics3D namespace
+using namespace reactphysics3d;
+
+// Constructor
+ConvexShape::ConvexShape(CollisionShapeType type, decimal margin)
+               : CollisionShape(type), mMargin(margin) {
+
+}
+
+// Private copy-constructor
+ConvexShape::ConvexShape(const CollisionShape& shape)
+               : CollisionShape(shape), mMargin(shape.mMargin) {
+
+}
+
+// Destructor
+ConvexShape::~ConvexShape() {
+
+}

src/collision/shapes/ConvexShape.h

@@ -0,0 +1,142 @@
+/********************************************************************************
+* ReactPhysics3D physics library, http://www.reactphysics3d.com                 *
+* Copyright (c) 2010-2015 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_CONVEX_SHAPE_H
+#define REACTPHYSICS3D_CONVEX_SHAPE_H
+
+// Libraries
+#include "CollisionShape.h"
+
+/// ReactPhysics3D namespace
+namespace reactphysics3d {
+
+// Class ConvexShape
+/**
+ * This abstract class represents a convex collision shape associated with a
+ * body that is used during the narrow-phase collision detection.
+ */
+class ConvexShape : public CollisionShape {
+
+    protected :
+
+        // -------------------- Attributes -------------------- //
+
+        /// Margin used for the GJK collision detection algorithm
+        decimal mMargin;
+
+        // -------------------- Methods -------------------- //
+
+        /// Private copy-constructor
+        ConvexShape(const ConvexShape& shape);
+
+        /// Private assignment operator
+        ConvexShape& operator=(const ConvexShape& shape);
+
+        // Return a local support point in a given direction with the object margin
+        virtual Vector3 getLocalSupportPointWithMargin(const Vector3& direction,
+                                                       void** cachedCollisionData) const=0;
+
+        /// Return a local support point in a given direction without the object margin
+        virtual Vector3 getLocalSupportPointWithoutMargin(const Vector3& direction,
+                                                          void** cachedCollisionData) const=0;
+
+        /// Return true if a point is inside the collision shape
+        virtual bool testPointInside(const Vector3& worldPoint, ProxyShape* proxyShape) const=0;
+
+    public :
+
+        // -------------------- Methods -------------------- //
+
+        /// Constructor
+        ConvexShape(CollisionShapeType type, decimal margin);
+
+        /// Destructor
+        virtual ~ConvexShape();
+
+        /// Return the current object margin
+        decimal getMargin() const;
+
+        /// Return true if the collision shape is convex, false if it is concave
+        virtual bool isConvex() const;
+
+        /// Test equality between two shapes
+        virtual bool isEqualTo(const CollisionShape& otherCollisionShape) const;
+};
+
+/// Return true if the collision shape is convex, false if it is concave
+inline bool ConvexShape::isConvex() const {
+    return true;
+}
+
+// Return the current collision shape margin
+/**
+ * @return The margin (in meters) around the collision shape
+ */
+inline decimal CollisionShape::getMargin() const {
+    return mMargin;
+}
+
+// Return the type of the collision shape
+/**
+ * @return The type of the collision shape (box, sphere, cylinder, ...)
+ */
+inline CollisionShapeType CollisionShape::getType() const {
+    return mType;
+}
+
+// Return the number of similar created shapes
+inline uint CollisionShape::getNbSimilarCreatedShapes() const {
+    return mNbSimilarCreatedShapes;
+}
+
+// Return the current collision shape margin
+/**
+ * @return The margin (in meters) around the collision shape
+ */
+inline decimal CollisionShape::getMargin() const {
+    return mMargin;
+}
+
+// Increment the number of similar allocated collision shapes
+inline void CollisionShape::incrementNbSimilarCreatedShapes() {
+    mNbSimilarCreatedShapes++;
+}
+
+// Decrement the number of similar allocated collision shapes
+inline void CollisionShape::decrementNbSimilarCreatedShapes() {
+    mNbSimilarCreatedShapes--;
+}
+
+// Test equality between two shapes
+inline bool ConvexShape::isEqualTo(const CollisionShape& otherCollisionShape) const {
+
+    const ConvexShape& otherShape = static_cast<const ConvexShape&>(otherCollisionShape);
+    return (mMargin == otherShape.mMargin);
+}
+
+}
+
+#endif
+

src/collision/shapes/CylinderShape.h

@@ -27,7 +27,7 @@
 #define REACTPHYSICS3D_CYLINDER_SHAPE_H
 
 // Libraries
-#include "CollisionShape.h"
+#include "ConvexShape.h"
 #include "body/CollisionBody.h"
 #include "mathematics/mathematics.h"
 
@@ -49,7 +49,7 @@ namespace reactphysics3d {
  * constructor of the cylinder shape. Otherwise, it is recommended to use the
  * default margin distance by not using the "margin" parameter in the constructor.
  */
-class CylinderShape : public CollisionShape {
+class CylinderShape : public ConvexShape {
 
     protected :
 
@@ -115,7 +115,7 @@ class CylinderShape : public CollisionShape {
         virtual bool isEqualTo(const CollisionShape& otherCollisionShape) const;
 };
 
-/// Allocate and return a copy of the object
+// Allocate and return a copy of the object
 inline CylinderShape* CylinderShape::clone(void* allocatedMemory) const {
     return new (allocatedMemory) CylinderShape(*this);
 }
@@ -175,6 +175,9 @@ inline void CylinderShape::computeLocalInertiaTensor(Matrix3x3& tensor, decimal
 
 // Test equality between two cylinder shapes
 inline bool CylinderShape::isEqualTo(const CollisionShape& otherCollisionShape) const {
+
+    if (!ConvexShape::isEqualTo(otherCollisionShape)) return false;
+
     const CylinderShape& otherShape = dynamic_cast<const CylinderShape&>(otherCollisionShape);
     return (mRadius == otherShape.mRadius && mHalfHeight == otherShape.mHalfHeight);
 }

src/collision/shapes/SphereShape.h

@@ -27,7 +27,7 @@
 #define REACTPHYSICS3D_SPHERE_SHAPE_H
 
 // Libraries
-#include "CollisionShape.h"
+#include "ConvexShape.h"
 #include "body/CollisionBody.h"
 #include "mathematics/mathematics.h"
 
@@ -42,7 +42,7 @@ namespace reactphysics3d {
  * radius of the sphere. Therefore, no need to specify an object margin
  * for a sphere shape.
  */
-class SphereShape : public CollisionShape {
+class SphereShape : public ConvexShape {
 
     protected :
 
@@ -105,7 +105,7 @@ class SphereShape : public CollisionShape {
         virtual bool isEqualTo(const CollisionShape& otherCollisionShape) const;
 };
 
-/// Allocate and return a copy of the object
+// Allocate and return a copy of the object
 inline SphereShape* SphereShape::clone(void* allocatedMemory) const {
     return new (allocatedMemory) SphereShape(*this);
 }
@@ -197,6 +197,9 @@ inline void SphereShape::computeAABB(AABB& aabb, const Transform& transform) {
 
 // Test equality between two sphere shapes
 inline bool SphereShape::isEqualTo(const CollisionShape& otherCollisionShape) const {
+
+    if (!ConvexShape::isEqualTo(otherCollisionShape)) return false;
+
     const SphereShape& otherShape = dynamic_cast<const SphereShape&>(otherCollisionShape);
     return (mRadius == otherShape.mRadius);
 }

src/collision/shapes/TriangleShape.h

@@ -28,7 +28,7 @@
 
 // Libraries
 #include "mathematics/mathematics.h"
-#include "CollisionShape.h"
+#include "ConvexShape.h"
 
 /// ReactPhysics3D namespace
 namespace reactphysics3d {
@@ -38,7 +38,7 @@ namespace reactphysics3d {
  * This class represents a triangle collision shape that is centered
  * at the origin and defined three points.
  */
-class TriangleShape : public CollisionShape {
+class TriangleShape : public ConvexShape {
 
     protected:
 
@@ -99,7 +99,7 @@ class TriangleShape : public CollisionShape {
         virtual bool isEqualTo(const CollisionShape& otherCollisionShape) const;
 };
 
-/// Allocate and return a copy of the object
+// Allocate and return a copy of the object
 inline TriangleShape* TriangleShape::clone(void* allocatedMemory) const {
     return new (allocatedMemory) TriangleShape(*this);
 }
@@ -121,7 +121,7 @@ inline Vector3 TriangleShape::getLocalSupportPointWithMargin(const Vector3& dire
 // Return a local support point in a given direction without the object margin
 inline Vector3 TriangleShape::getLocalSupportPointWithoutMargin(const Vector3& direction,
                                                               void** cachedCollisionData) const {
-    Vector3 dotProducts(direction.dot(mPoints[0]), direction.dot(mPoints[1], direction.dot(mPoints[2])));
+    Vector3 dotProducts(direction.dot(mPoints[0]), direction.dot(mPoints[1]), direction.dot(mPoints[2]));
     return mPoints[dotProducts.getMaxAxis()];
 }
 
@@ -133,12 +133,11 @@ inline Vector3 TriangleShape::getLocalSupportPointWithoutMargin(const Vector3& d
  */
 inline void TriangleShape::getLocalBounds(Vector3& min, Vector3& max) const {
 
-    // TODO :This code is wrong
     const Vector3 xAxis(worldPoint1.X, worldPoint2.X, worldPoint3.X);
     const Vector3 yAxis(worldPoint1.Y, worldPoint2.Y, worldPoint3.Y);
     const Vector3 zAxis(worldPoint1.Z, worldPoint2.Z, worldPoint3.Z);
-    min.setAllValues(xAxis.getMinAxis(), yAxis.getMinAxis(), zAxis.getMinAxis());
-    max.setAllValues(xAxis.getMaxAxis(), yAxis.getMaxAxis(), zAxis.getMaxAxis());
+    min.setAllValues(xAxis.getMinValue(), yAxis.getMinValue(), zAxis.getMinValue());
+    max.setAllValues(xAxis.getMaxValue(), yAxis.getMaxValue(), zAxis.getMaxValue());
 }
 
 // Return the local inertia tensor of the triangle shape
@@ -159,8 +158,6 @@ inline void TriangleShape::computeLocalInertiaTensor(Matrix3x3& tensor, decimal
  */
 inline void TriangleShape::computeAABB(AABB& aabb, const Transform& transform) {
 
-    // TODO :This code is wrong
-
     const Vector3 worldPoint1 = transform * mPoints[0];
     const Vector3 worldPoint2 = transform * mPoints[1];
     const Vector3 worldPoint3 = transform * mPoints[2];
@@ -168,12 +165,15 @@ inline void TriangleShape::computeAABB(AABB& aabb, const Transform& transform) {
     const Vector3 xAxis(worldPoint1.X, worldPoint2.X, worldPoint3.X);
     const Vector3 yAxis(worldPoint1.Y, worldPoint2.Y, worldPoint3.Y);
     const Vector3 zAxis(worldPoint1.Z, worldPoint2.Z, worldPoint3.Z);
-    aabb.setMin(Vector3(xAxis.getMinAxis(), yAxis.getMinAxis(), zAxis.getMinAxis()));
-    aabb.setMax(Vector3(xAxis.getMaxAxis(), yAxis.getMaxAxis(), zAxis.getMaxAxis()));
+    aabb.setMin(Vector3(xAxis.getMinValue(), yAxis.getMinValue(), zAxis.getMinValue()));
+    aabb.setMax(Vector3(xAxis.getMaxValue(), yAxis.getMaxValue(), zAxis.getMaxValue()));
 }
 
 // Test equality between two triangle shapes
 inline bool TriangleShape::isEqualTo(const CollisionShape& otherCollisionShape) const {
+
+    if (!ConvexShape::isEqualTo(otherCollisionShape)) return false;
+
     const TriangleShape& otherShape = dynamic_cast<const TriangleShape&>(otherCollisionShape);
     return (mPoints[0] == otherShape.mPoints[0] &&
             mPoints[1] == otherShape.mPoints[1] &&

src/mathematics/Vector3.h

@@ -111,6 +111,12 @@ struct Vector3 {
         /// Return the axis with the maximal value
         int getMaxAxis() const;
 
+        /// Return the minimum value among the three components of a vector
+        decimal getMinValue() const;
+
+        /// Return the maximum value among the three components of a vector
+        decimal getMaxValue() const;
+
         /// Overloaded operator for the equality condition
         bool operator== (const Vector3& vector) const;
 
@@ -334,6 +340,16 @@ inline Vector3 Vector3::max(const Vector3& vector1, const Vector3& vector2) {
                    std::max(vector1.z, vector2.z));
 }
 
+// Return the minimum value among the three components of a vector
+inline decimal Vector3::getMinValue() const {
+    return std::min(std::min(x, y), z);
+}
+
+// Return the maximum value among the three components of a vector
+inline decimal Vector3::getMaxValue() const {
+    return std::max(std::max(x, y), z);
+}
+
 }
 
 #endif

src/mathematics/mathematics_functions.h

@@ -28,18 +28,20 @@
 
 // Libraries
 #include "configuration.h"
+#include "mathematics/Vector3.h"
 #include "decimal.h"
 #include <algorithm>
 
 /// ReactPhysics3D namespace
 namespace reactphysics3d {
 
+struct Vector3;
+
 // ---------- Mathematics functions ---------- //
 
 /// Function to test if two real numbers are (almost) equal
 /// We test if two numbers a and b are such that (a-b) are in [-EPSILON; EPSILON]
 inline bool approxEqual(decimal a, decimal b, decimal epsilon = MACHINE_EPSILON) {
-
     decimal difference = a - b;
     return (difference < epsilon && difference > -epsilon);
 }
@@ -51,8 +53,16 @@ inline decimal clamp(decimal value, decimal lowerLimit, decimal upperLimit) {
     return std::min(std::max(value, lowerLimit), upperLimit);
 }
 
+/// Return the minimum value among three values
+inline decimal min3(decimal a, decimal b, decimal c) {
+    return std::min(std::min(a, b), c);
 }
 
+/// Return the maximum value among three values
+inline decimal max3(decimal a, decimal b, decimal c) {
+    return std::max(std::max(a, b), c);
+}
 
+}
 
 #endif