Small modifications

include/reactphysics3d/collision/CollisionCallback.h

@@ -90,10 +90,10 @@ class CollisionCallback {
                 const Vector3& getWorldNormal() const;
 
                 /// Return the contact point on the first collider in the local-space of the first collider
-                const Vector3& getLocalPointOnShape1() const;
+                const Vector3& getLocalPointOnCollider1() const;
 
                 /// Return the contact point on the second collider in the local-space of the second collider
-                const Vector3& getLocalPointOnShape2() const;
+                const Vector3& getLocalPointOnCollider2() const;
 
                 // -------------------- Friendship -------------------- //
 
@@ -288,7 +288,7 @@ inline const Vector3& CollisionCallback::ContactPoint::getWorldNormal() const {
 /**
  * @return The contact point in the local-space of the first collider (from body1) in contact
  */
-inline const Vector3& CollisionCallback::ContactPoint::getLocalPointOnShape1() const {
+inline const Vector3& CollisionCallback::ContactPoint::getLocalPointOnCollider1() const {
    return mContactPoint.getLocalPointOnShape1();
 }
 
@@ -296,7 +296,7 @@ inline const Vector3& CollisionCallback::ContactPoint::getLocalPointOnShape1() c
 /**
  * @return The contact point in the local-space of the second collider (from body2) in contact
  */
-inline const Vector3& CollisionCallback::ContactPoint::getLocalPointOnShape2() const {
+inline const Vector3& CollisionCallback::ContactPoint::getLocalPointOnCollider2() const {
    return mContactPoint.getLocalPointOnShape2();
 }
 

include/reactphysics3d/engine/EventListener.h

@@ -44,13 +44,6 @@ class EventListener : public CollisionCallback {
 
     public :
 
-        enum class ErrorType {
-            Warning,
-            InvalidParameter,
-            InvalidOperation,
-            InternalError
-        };
-
         // ---------- Methods ---------- //
 
         /// Constructor

src/utils/DebugRenderer.cpp

@@ -458,7 +458,7 @@ void DebugRenderer::onContact(const CollisionCallback::CallbackData& callbackDat
 
                     CollisionCallback::ContactPoint contactPoint = contactPair.getContactPoint(c);
 
-                    Vector3 point = contactPair.getCollider1()->getLocalToWorldTransform() * contactPoint.getLocalPointOnShape1();
+                    Vector3 point = contactPair.getCollider1()->getLocalToWorldTransform() * contactPoint.getLocalPointOnCollider1();
 
                     if (getIsDebugItemDisplayed(DebugItem::CONTACT_POINT)) {
 

test/tests/collision/TestCollisionWorld.h

@@ -202,7 +202,7 @@ class WorldCollisionCallback : public CollisionCallback
 
                     ContactPoint contactPoint = contactPair.getContactPoint(c);
 
-                    CollisionPointData collisionPoint(contactPoint.getLocalPointOnShape1(), contactPoint.getLocalPointOnShape2(), contactPoint.getPenetrationDepth());
+                    CollisionPointData collisionPoint(contactPoint.getLocalPointOnCollider1(), contactPoint.getLocalPointOnCollider2(), contactPoint.getPenetrationDepth());
                     contactPairData.contactPoints.push_back(collisionPoint);
                 }
 

testbed/common/Capsule.cpp

@@ -96,8 +96,7 @@ Capsule::~Capsule() {
 }
 
 // Render the sphere at the correct position and with the correct orientation
-void Capsule::render(openglframework::Shader& shader,
+void Capsule::render(openglframework::Shader& shader, const openglframework::Matrix4& worldToCameraMatrix) {
-                     const openglframework::Matrix4& worldToCameraMatrix) {
 
     // Bind the shader
     shader.bind();

testbed/scenes/collisiondetection/CollisionDetectionScene.cpp

@@ -341,13 +341,13 @@ void ContactManager::onContact(const CallbackData& callbackData) {
             rp3d::Vector3 normal = contactPoint.getWorldNormal();
             openglframework::Vector3 contactNormal(normal.x, normal.y, normal.z);
 
-            rp3d::Vector3 point1 = contactPoint.getLocalPointOnShape1();
+            rp3d::Vector3 point1 = contactPoint.getLocalPointOnCollider1();
             point1 = contactPair.getCollider1()->getLocalToWorldTransform() * point1;
 
             openglframework::Vector3 position1(point1.x, point1.y, point1.z);
             mContactPoints.push_back(SceneContactPoint(position1, contactNormal, openglframework::Color::red()));
 
-            rp3d::Vector3 point2 = contactPoint.getLocalPointOnShape2();
+            rp3d::Vector3 point2 = contactPoint.getLocalPointOnCollider2();
             point2 = contactPair.getCollider2()->getLocalToWorldTransform() * point2;
             openglframework::Vector3 position2(point2.x, point2.y, point2.z);
             mContactPoints.push_back(SceneContactPoint(position2, contactNormal, openglframework::Color::blue()));

testbed/scenes/collisionshapes/CollisionShapesScene.h

@@ -42,11 +42,11 @@ namespace collisionshapesscene {
 
 // Constants
 const float SCENE_RADIUS = 30.0f;
-const int NB_BOXES = 2;
+const int NB_BOXES = 10;
-const int NB_SPHERES = 2;
+const int NB_SPHERES = 5;
-const int NB_CAPSULES = 2;
+const int NB_CAPSULES = 5;
-const int NB_MESHES = 2;
+const int NB_MESHES = 5;
-const int NB_COMPOUND_SHAPES = 1;
+const int NB_COMPOUND_SHAPES = 5;
 const openglframework::Vector3 BOX_SIZE(2, 2, 2);
 const float SPHERE_RADIUS = 1.5f;
 const float CONE_RADIUS = 2.0f;

testbed/scenes/cubes/CubesScene.h

@@ -36,7 +36,7 @@ namespace cubesscene {
 
 // Constants
 const float SCENE_RADIUS = 30.0f;                           // Radius of the scene in meters
-const int NB_CUBES = 1;                                    // Number of boxes in the scene
+const int NB_CUBES = 40;                                    // Number of boxes in the scene
 const openglframework::Vector3 BOX_SIZE(2, 2, 2);          // Box dimensions in meters
 const openglframework::Vector3 FLOOR_SIZE(50, 1, 50);   // Floor dimensions in meters
 

testbed/src/SceneDemo.cpp

@@ -33,7 +33,8 @@
 using namespace openglframework;
 
 int SceneDemo::shadowMapTextureLevel = 0;
-openglframework::Color SceneDemo::mObjectColorDemo = Color(0.76f, 0.67f, 0.47f, 1.0f);
+//openglframework::Color SceneDemo::mObjectColorDemo = Color(0.76f, 0.67f, 0.47f, 1.0f);
+openglframework::Color SceneDemo::mObjectColorDemo = Color(0.35f, 0.65f, 0.78f, 1.0f);
 openglframework::Color SceneDemo::mFloorColorDemo = Color(0.47f, 0.48f, 0.49f, 1.0f);
 openglframework::Color SceneDemo::mSleepingColorDemo = Color(1.0f, 0.25f, 0.25f, 1.0f);
 openglframework::Color SceneDemo::mSelectedObjectColorDemo = Color(0.09f, 0.59f, 0.88f, 1.0f);
@@ -102,7 +103,6 @@ SceneDemo::SceneDemo(const std::string& name, EngineSettings& settings, bool isP
 // Destructor
 SceneDemo::~SceneDemo() {
 
-
     for (int i = 0; i < NB_SHADOW_MAPS; i++) {
         mShadowMapTexture[i].destroy();
         mFBOShadowMap[i].destroy();