Remove contactNormaldId attribute and fix typo

src/collision/ContactManifold.cpp

@@ -31,7 +31,7 @@ using namespace reactphysics3d;
 
 // Constructor
 ContactManifold::ContactManifold(const ContactManifoldInfo* manifoldInfo, ProxyShape* shape1, ProxyShape* shape2, Allocator& memoryAllocator)
-                : mShape1(shape1), mShape2(shape2), mContactPoints(nullptr), mContactNormalId(manifoldInfo->getContactNormalId()),
+                : mShape1(shape1), mShape2(shape2), mContactPoints(nullptr),
                   mNbContactPoints(0), mFrictionImpulse1(0.0), mFrictionImpulse2(0.0),
                   mFrictionTwistImpulse(0.0), mIsAlreadyInIsland(false),
                   mMemoryAllocator(memoryAllocator), mNext(nullptr), mPrevious(nullptr), mIsObsolete(false) {

src/collision/ContactManifold.h

@@ -104,9 +104,6 @@ class ContactManifold {
         /// Contact points in the manifold
         ContactPoint* mContactPoints;
 
-        /// Normal direction Id (Unique Id representing the normal direction)
-        short int mContactNormalId;
-
         /// Number of contacts in the cache
         int8 mNbContactPoints;
 
@@ -412,11 +409,6 @@ inline void ContactManifold::setIsObsolete(bool isObsolete, bool setContactPoint
     }
 }
 
-// Return the contact normal direction Id of the manifold
-inline short ContactManifold::getContactNormalId() const {
-    return mContactNormalId;
-}
-
 }
 #endif
 

src/collision/ContactManifoldInfo.cpp

@@ -30,8 +30,9 @@ using namespace reactphysics3d;
 
 // Constructor
 ContactManifoldInfo::ContactManifoldInfo(Allocator& allocator)
-     : mContactPointsList(nullptr), mNbContactPoints(0), mNext(nullptr), mAllocator(allocator),
+     : mContactPointsList(nullptr), mNbContactPoints(0), mNext(nullptr), mAllocator(allocator) {
-       mContactNormalId(-1) {}
+
+}
 
 // Destructor
 ContactManifoldInfo::~ContactManifoldInfo() {
@@ -41,13 +42,9 @@ ContactManifoldInfo::~ContactManifoldInfo() {
 }
 
 // Add a new contact point into the manifold
-void ContactManifoldInfo::addContactPoint(ContactPointInfo* contactPointInfo, short contactNormalId) {
+void ContactManifoldInfo::addContactPoint(ContactPointInfo* contactPointInfo) {
 
     assert(contactPointInfo->penetrationDepth > decimal(0.0));
-    assert(contactNormalId >= 0);
-    assert(mContactNormalId == -1 || contactNormalId == mContactNormalId);
-
-    mContactNormalId = contactNormalId;
 
     // Add it into the linked list of contact points
     contactPointInfo->next = mContactPointsList;

src/collision/ContactManifoldInfo.h

@@ -59,9 +59,6 @@ class ContactManifoldInfo {
         /// Reference the the memory allocator where the contact point infos have been allocated
         Allocator& mAllocator;
 
-        /// Contact normal direction Id (Identify the contact normal direction of points in manifold)
-        short mContactNormalId;
-
     public:
 
         // -------------------- Methods -------------------- //
@@ -79,7 +76,7 @@ class ContactManifoldInfo {
         ContactManifoldInfo& operator=(const ContactManifoldInfo& contactManifold) = delete;
 
         /// Add a new contact point into the manifold
-        void addContactPoint(ContactPointInfo* contactPointInfo, short contactNormalId);
+        void addContactPoint(ContactPointInfo* contactPointInfo);
 
         /// Remove all the contact points
         void reset();
@@ -93,9 +90,6 @@ class ContactManifoldInfo {
         /// Return the pointer to the next manifold info in the linked-list
         ContactManifoldInfo* getNext();
 
-        /// Return the contact normal Id
-        short getContactNormalId() const;
-
         /// Reduce the number of contact points of the currently computed manifold
         void reduce(const Transform& shape1ToWorldTransform);
 
@@ -114,11 +108,6 @@ inline ContactManifoldInfo* ContactManifoldInfo::getNext() {
     return mNext;
 }
 
-// Return the contact normal Id
-inline short ContactManifoldInfo::getContactNormalId() const {
-    return mContactNormalId;
-}
-
 }
 #endif
 

src/collision/ContactManifoldSet.cpp

@@ -50,7 +50,7 @@ void ContactManifoldSet::addContactManifold(const ContactManifoldInfo* contactMa
     assert(contactManifoldInfo->getFirstContactPointInfo() != nullptr);
 
     // Try to find an existing contact manifold with similar contact normal
-    ContactManifold* similarManifold = selectManifoldWithSimilarNormal(contactManifoldInfo->getContactNormalId());
+    ContactManifold* similarManifold = selectManifoldWithSimilarNormal(contactManifoldInfo);
 
     // If a similar manifold has been found
     if (similarManifold != nullptr) {
@@ -139,15 +139,25 @@ void ContactManifoldSet::removeNonOptimalManifold() {
     removeManifold(minDepthManifold);
 }
 
-// Return the contact manifold with a similar average normal.
+// Return the contact manifold with a similar contact normal.
-// If no manifold has close enough average normal, it returns nullptr
+// If no manifold has close enough contact normal, it returns nullptr
-ContactManifold* ContactManifoldSet::selectManifoldWithSimilarNormal(short int normalDirectionId) const {
+ContactManifold* ContactManifoldSet::selectManifoldWithSimilarNormal(const ContactManifoldInfo* contactManifold) const {
+
+    // Get the contact normal of the first point of the manifold
+    const ContactPointInfo* contactPoint = contactManifold->getFirstContactPointInfo();
+    assert(contactPoint != nullptr);
 
     ContactManifold* manifold = mManifolds;
 
     // Return the Id of the manifold with the same normal direction id (if exists)
     while (manifold != nullptr) {
-        if (normalDirectionId == manifold->getContactNormalId()) {
+
+        // Get the first contact point of the current manifold
+        const ContactPoint* point = manifold->getContactPoints();
+        assert(point != nullptr);
+
+        // If the contact normal of the two manifolds are close enough
+        if (contactPoint->normal.dot(point->getNormal()) >= COS_ANGLE_SIMILAR_CONTACT_MANIFOLD) {
             return manifold;
         }
 
@@ -157,43 +167,6 @@ ContactManifold* ContactManifoldSet::selectManifoldWithSimilarNormal(short int n
     return nullptr;
 }
 
-// Map the normal vector into a cubemap face bucket (a face contains 4x4 buckets)
-// Each face of the cube is divided into 4x4 buckets. This method maps the
-// normal vector into of the of the bucket and returns a unique Id for the bucket
-short int ContactManifoldSet::computeCubemapNormalId(const Vector3& normal) {
-
-    assert(normal.lengthSquare() > MACHINE_EPSILON);
-
-    int faceNo;
-    decimal u, v;
-    decimal max = max3(std::fabs(normal.x), std::fabs(normal.y), std::fabs(normal.z));
-    Vector3 normalScaled = normal / max;
-
-    if (normalScaled.x >= normalScaled.y && normalScaled.x >= normalScaled.z) {
-        faceNo = normalScaled.x > 0 ? 0 : 1;
-        u = normalScaled.y;
-        v = normalScaled.z;
-    }
-    else if (normalScaled.y >= normalScaled.x && normalScaled.y >= normalScaled.z) {
-        faceNo = normalScaled.y > 0 ? 2 : 3;
-        u = normalScaled.x;
-        v = normalScaled.z;
-    }
-    else {
-        faceNo = normalScaled.z > 0 ? 4 : 5;
-        u = normalScaled.x;
-        v = normalScaled.y;
-    }
-
-    int indexU = std::floor(((u + 1)/2) * CONTACT_CUBEMAP_FACE_NB_SUBDIVISIONS);
-    int indexV = std::floor(((v + 1)/2) * CONTACT_CUBEMAP_FACE_NB_SUBDIVISIONS);
-    if (indexU == CONTACT_CUBEMAP_FACE_NB_SUBDIVISIONS) indexU--;
-    if (indexV == CONTACT_CUBEMAP_FACE_NB_SUBDIVISIONS) indexV--;
-
-    const int nbSubDivInFace = CONTACT_CUBEMAP_FACE_NB_SUBDIVISIONS * CONTACT_CUBEMAP_FACE_NB_SUBDIVISIONS;
-    return faceNo * 200 + indexU * nbSubDivInFace + indexV;
-}
-
 // Clear the contact manifold set
 void ContactManifoldSet::clear() {
 

src/collision/ContactManifoldSet.h

@@ -71,8 +71,8 @@ class ContactManifoldSet {
         /// Create a new contact manifold and add it to the set
         void createManifold(const ContactManifoldInfo* manifoldInfo);
 
-        // Return the contact manifold with a similar average normal.
+        // Return the contact manifold with a similar contact normal.
-        ContactManifold* selectManifoldWithSimilarNormal(short int normalDirectionId) const;
+        ContactManifold* selectManifoldWithSimilarNormal(const ContactManifoldInfo* contactManifold) const;
 
         /// Remove a contact manifold that is the least optimal (smaller penetration depth)
         void removeNonOptimalManifold();
@@ -126,11 +126,6 @@ class ContactManifoldSet {
 
         // Remove some contact manifolds and contact points if there are too many of them
         void reduce();
-
-        // Map the normal vector into a cubemap face bucket (a face contains 4x4 buckets)
-        // Each face of the cube is divided into 4x4 buckets. This method maps the
-        // normal vector into of the of the bucket and returns a unique Id for the bucket
-        static short int computeCubemapNormalId(const Vector3& normal);
 };
 
 // Return the first proxy shape

src/configuration.h

@@ -99,8 +99,8 @@ constexpr decimal DEFAULT_BOUNCINESS = decimal(0.5);
 /// Default rolling resistance
 constexpr decimal DEFAULT_ROLLING_RESISTANCE = decimal(0.0);
 
-/// True if the spleeping technique is enabled
+/// True if the sleeping technique is enabled
-constexpr bool SPLEEPING_ENABLED = true;
+constexpr bool SLEEPING_ENABLED = true;
 
 /// Distance threshold for two contact points for a valid persistent contact (in meters)
 constexpr decimal PERSISTENT_CONTACT_DIST_THRESHOLD = decimal(0.03);
@@ -143,6 +143,11 @@ constexpr int NB_MAX_CONTACT_MANIFOLDS_CONVEX_SHAPE = 1;
 /// least one concave collision shape.
 constexpr int NB_MAX_CONTACT_MANIFOLDS_CONCAVE_SHAPE = 3;
 
+/// This is used to test if two contact manifold are similar (same contact normal) in order to
+/// merge them. If the cosine of the angle between the normals of the two manifold are larger
+/// than the value bellow, the manifold are considered to be similar.
+constexpr decimal COS_ANGLE_SIMILAR_CONTACT_MANIFOLD = decimal(0.95);
+
 /// Size (in bytes) of the single frame allocator
 constexpr size_t SIZE_SINGLE_FRAME_ALLOCATOR_BYTES = 15728640; // 15 Mb
 

src/engine/DynamicsWorld.cpp

@@ -44,7 +44,7 @@ DynamicsWorld::DynamicsWorld(const Vector3 &gravity)
                 mConstraintSolver(mMapBodyToConstrainedVelocityIndex),
                 mNbVelocitySolverIterations(DEFAULT_VELOCITY_SOLVER_NB_ITERATIONS),
                 mNbPositionSolverIterations(DEFAULT_POSITION_SOLVER_NB_ITERATIONS),
-                mIsSleepingEnabled(SPLEEPING_ENABLED), mGravity(gravity),
+                mIsSleepingEnabled(SLEEPING_ENABLED), mGravity(gravity),
                 mIsGravityEnabled(true), mConstrainedLinearVelocities(nullptr),
                 mConstrainedAngularVelocities(nullptr), mSplitLinearVelocities(nullptr),
                 mSplitAngularVelocities(nullptr), mConstrainedPositions(nullptr),

src/engine/OverlappingPair.cpp

@@ -54,21 +54,22 @@ void OverlappingPair::addPotentialContactPoints(NarrowPhaseInfo* narrowPhaseInfo
 
         ContactPointInfo* nextContactPoint = contactPoint->next;
 
-        // Compute the contact normal id
-        short contactNormalId = ContactManifoldSet::computeCubemapNormalId(contactPoint->normal);
-
         // Look if the contact point correspond to an existing potential manifold
         // (if the contact point normal is similar to the normal of an existing manifold)
         ContactManifoldInfo* manifold = mPotentialContactManifolds;
         bool similarManifoldFound = false;
         while(manifold != nullptr) {
 
+            // Get the first contact point
+            const ContactPointInfo* point = manifold->getFirstContactPointInfo();
+            assert(point != nullptr);
+
             // If we have found a corresponding manifold for the new contact point
             // (a manifold with a similar contact normal direction)
-            if (manifold->getContactNormalId() == contactNormalId) {
+            if (point->normal.dot(contactPoint->normal) >= COS_ANGLE_SIMILAR_CONTACT_MANIFOLD) {
 
                 // Add the contact point to the manifold
-                manifold->addContactPoint(contactPoint, contactNormalId);
+                manifold->addContactPoint(contactPoint);
 
                similarManifoldFound = true;
 
@@ -90,7 +91,7 @@ void OverlappingPair::addPotentialContactPoints(NarrowPhaseInfo* narrowPhaseInfo
             mPotentialContactManifolds = manifoldInfo;
 
             // Add the contact point to the manifold
-            manifoldInfo->addContactPoint(contactPoint, contactNormalId);
+            manifoldInfo->addContactPoint(contactPoint);
         }
 
         contactPoint = nextContactPoint;