Small modifications

examples/common/opengl-framework/src/Shader.h

@@ -158,10 +158,8 @@ inline int Shader::getUniformLocation(const std::string& variableName) const {
 
 // Clear the shader
 inline void Shader::destroy() {
-    if (mProgramObjectID != 0) {
+    glDeleteProgram(mProgramObjectID);
-        glDeleteShader(mProgramObjectID);
+    mProgramObjectID = 0;
-        mProgramObjectID = 0;
-    }
 }
 
 // Set a float uniform value to this shader (be careful if the uniform is not

src/body/CollisionBody.cpp

@@ -145,8 +145,6 @@ void CollisionBody::removeCollisionShape(const ProxyShape* proxyShape) {
 // Remove all the collision shapes
 void CollisionBody::removeAllCollisionShapes() {
 
-    // TODO : Remove all the contact manifolds at the end of this call
-
     ProxyShape* current = mProxyCollisionShapes;
 
     // Look for the proxy shape that contains the collision shape in parameter

src/collision/CollisionDetection.cpp

@@ -134,7 +134,7 @@ void CollisionDetection::reportCollisionBetweenShapes(CollisionCallback* callbac
 
             // Delete and remove the contact info from the memory allocator
             contactInfo->~ContactPointInfo();
-             mWorld->mMemoryAllocator.release(contactInfo, sizeof(ContactPointInfo));
+            mWorld->mMemoryAllocator.release(contactInfo, sizeof(ContactPointInfo));
         }
     }
 }
@@ -181,6 +181,8 @@ void CollisionDetection::computeNarrowPhase() {
             std::map<overlappingpairid, OverlappingPair*>::iterator itToRemove = it;
             ++it;
 
+            // TODO : Remove all the contact manifold of the overlapping pair from the contact manifolds list of the two bodies involved
+
             // Destroy the overlapping pair
             itToRemove->second->~OverlappingPair();
             mWorld->mMemoryAllocator.release(itToRemove->second, sizeof(OverlappingPair));
@@ -287,6 +289,8 @@ void CollisionDetection::computeNarrowPhaseBetweenShapes(CollisionCallback* call
             std::map<overlappingpairid, OverlappingPair*>::iterator itToRemove = it;
             ++it;
 
+            // TODO : Remove all the contact manifold of the overlapping pair from the contact manifolds list of the two bodies involved
+
             // Destroy the overlapping pair
             itToRemove->second->~OverlappingPair();
             mWorld->mMemoryAllocator.release(itToRemove->second, sizeof(OverlappingPair));
@@ -380,6 +384,8 @@ void CollisionDetection::removeProxyCollisionShape(ProxyShape* proxyShape) {
             std::map<overlappingpairid, OverlappingPair*>::iterator itToRemove = it;
             ++it;
 
+            // TODO : Remove all the contact manifold of the overlapping pair from the contact manifolds list of the two bodies involved
+
             // Destroy the overlapping pair
             itToRemove->second->~OverlappingPair();
             mWorld->mMemoryAllocator.release(itToRemove->second, sizeof(OverlappingPair));

src/collision/broadphase/BroadPhaseAlgorithm.cpp

@@ -37,19 +37,19 @@ BroadPhaseAlgorithm::BroadPhaseAlgorithm(CollisionDetection& collisionDetection)
                      mNbNonUsedMovedShapes(0), mNbPotentialPairs(0), mNbAllocatedPotentialPairs(8),
                      mCollisionDetection(collisionDetection) {
 
-    // Allocate memory for the array of non-static bodies IDs
+    // Allocate memory for the array of non-static proxy shapes IDs
     mMovedShapes = (int*) malloc(mNbAllocatedMovedShapes * sizeof(int));
     assert(mMovedShapes != NULL);
 
     // Allocate memory for the array of potential overlapping pairs
-    mPotentialPairs = (BroadPair*) malloc(mNbAllocatedPotentialPairs * sizeof(BroadPair));
+    mPotentialPairs = (BroadPhasePair*) malloc(mNbAllocatedPotentialPairs * sizeof(BroadPhasePair));
     assert(mPotentialPairs != NULL);
 }
 
 // Destructor
 BroadPhaseAlgorithm::~BroadPhaseAlgorithm() {
 
-    // Release the memory for the array of non-static bodies IDs
+    // Release the memory for the array of non-static proxy shapes IDs
     free(mMovedShapes);
 
     // Release the memory for the array of potential overlapping pairs
@@ -60,7 +60,7 @@ BroadPhaseAlgorithm::~BroadPhaseAlgorithm() {
 // and that need to be tested again for broad-phase overlapping.
 void BroadPhaseAlgorithm::addMovedCollisionShape(int broadPhaseID) {
 
-    // Allocate more elements in the array of bodies that have moved if necessary
+    // Allocate more elements in the array of shapes that have moved if necessary
     if (mNbAllocatedMovedShapes == mNbMovedShapes) {
         mNbAllocatedMovedShapes *= 2;
         int* oldArray = mMovedShapes;
@@ -70,7 +70,7 @@ void BroadPhaseAlgorithm::addMovedCollisionShape(int broadPhaseID) {
         free(oldArray);
     }
 
-    // Store the broad-phase ID into the array of bodies that have moved
+    // Store the broad-phase ID into the array of shapes that have moved
     assert(mNbMovedShapes < mNbAllocatedMovedShapes);
     assert(mMovedShapes != NULL);
     mMovedShapes[mNbMovedShapes] = broadPhaseID;
@@ -83,7 +83,7 @@ void BroadPhaseAlgorithm::removeMovedCollisionShape(int broadPhaseID) {
 
     assert(mNbNonUsedMovedShapes <= mNbMovedShapes);
 
-    // If less than the quarter of allocated elements of the non-static bodies IDs array
+    // If less than the quarter of allocated elements of the non-static shapes IDs array
     // are used, we release some allocated memory
     if ((mNbMovedShapes - mNbNonUsedMovedShapes) < mNbAllocatedMovedShapes / 4 &&
             mNbAllocatedMovedShapes > 8) {
@@ -133,7 +133,7 @@ void BroadPhaseAlgorithm::removeProxyCollisionShape(ProxyShape* proxyShape) {
     // Remove the collision shape from the dynamic AABB tree
     mDynamicAABBTree.removeObject(broadPhaseID);
 
-    // Remove the collision shape into the array of bodies that have moved (or have been created)
+    // Remove the collision shape into the array of shapes that have moved (or have been created)
     // during the last simulation step
     removeMovedCollisionShape(broadPhaseID);
 }
@@ -153,7 +153,7 @@ void BroadPhaseAlgorithm::updateProxyCollisionShape(ProxyShape* proxyShape, cons
     // into the tree).
     if (hasBeenReInserted) {
 
-        // Add the collision shape into the array of bodies that have moved (or have been created)
+        // Add the collision shape into the array of shapes that have moved (or have been created)
         // during the last simulation step
         addMovedCollisionShape(broadPhaseID);
     }
@@ -186,7 +186,7 @@ void BroadPhaseAlgorithm::computeOverlappingPairs() {
     mNbMovedShapes = 0;
 
     // Sort the array of potential overlapping pairs in order to remove duplicate pairs
-    std::sort(mPotentialPairs, mPotentialPairs + mNbPotentialPairs, BroadPair::smallerThan);
+    std::sort(mPotentialPairs, mPotentialPairs + mNbPotentialPairs, BroadPhasePair::smallerThan);
 
     // Check all the potential overlapping pairs avoiding duplicates to report unique
     // overlapping pairs
@@ -194,7 +194,7 @@ void BroadPhaseAlgorithm::computeOverlappingPairs() {
     while (i < mNbPotentialPairs) {
 
         // Get a potential overlapping pair
-        BroadPair* pair = mPotentialPairs + i;
+        BroadPhasePair* pair = mPotentialPairs + i;
         i++;
 
         // Get the two collision shapes of the pair
@@ -208,7 +208,7 @@ void BroadPhaseAlgorithm::computeOverlappingPairs() {
         while (i < mNbPotentialPairs) {
 
             // Get the next pair
-            BroadPair* nextPair = mPotentialPairs + i;
+            BroadPhasePair* nextPair = mPotentialPairs + i;
 
             // If the next pair is different from the previous one, we stop skipping pairs
             if (nextPair->collisionShape1ID != pair->collisionShape1ID ||
@@ -224,11 +224,11 @@ void BroadPhaseAlgorithm::computeOverlappingPairs() {
     if (mNbPotentialPairs < mNbAllocatedPotentialPairs / 4 && mNbPotentialPairs > 8) {
 
         // Reduce the number of allocated potential overlapping pairs
-        BroadPair* oldPairs = mPotentialPairs;
+        BroadPhasePair* oldPairs = mPotentialPairs;
         mNbAllocatedPotentialPairs /= 2;
-        mPotentialPairs = (BroadPair*) malloc(mNbAllocatedPotentialPairs * sizeof(BroadPair));
+        mPotentialPairs = (BroadPhasePair*) malloc(mNbAllocatedPotentialPairs * sizeof(BroadPhasePair));
         assert(mPotentialPairs);
-        memcpy(mPotentialPairs, oldPairs, mNbPotentialPairs * sizeof(BroadPair));
+        memcpy(mPotentialPairs, oldPairs, mNbPotentialPairs * sizeof(BroadPhasePair));
         free(oldPairs);
     }
 }
@@ -243,11 +243,11 @@ void BroadPhaseAlgorithm::notifyOverlappingPair(int node1ID, int node2ID) {
     if (mNbPotentialPairs == mNbAllocatedPotentialPairs) {
 
         // Allocate more memory for the array of potential pairs
-        BroadPair* oldPairs = mPotentialPairs;
+        BroadPhasePair* oldPairs = mPotentialPairs;
         mNbAllocatedPotentialPairs *= 2;
-        mPotentialPairs = (BroadPair*) malloc(mNbAllocatedPotentialPairs * sizeof(BroadPair));
+        mPotentialPairs = (BroadPhasePair*) malloc(mNbAllocatedPotentialPairs * sizeof(BroadPhasePair));
         assert(mPotentialPairs);
-        memcpy(mPotentialPairs, oldPairs, mNbPotentialPairs * sizeof(BroadPair));
+        memcpy(mPotentialPairs, oldPairs, mNbPotentialPairs * sizeof(BroadPhasePair));
         free(oldPairs);
     }
 

src/collision/broadphase/BroadPhaseAlgorithm.h

@@ -38,20 +38,12 @@ namespace reactphysics3d {
 // Declarations
 class CollisionDetection;
 
-// TODO : Check that when a kinematic or static body is manually moved, the dynamic aabb tree
+// Structure BroadPhasePair
-//        is correctly updated
-
-// TODO : Replace the names "body, bodies" by "collision shapes"
-
-// TODO : Remove the pair manager
-
-// TODO : RENAME THIS
-// Structure BroadPair
 /**
- * This structure represent a potential overlapping pair during the broad-phase collision
+ * This structure represent a potential overlapping pair during the
- * detection.
+ * broad-phase collision detection.
  */
-struct BroadPair {
+struct BroadPhasePair {
 
     // -------------------- Attributes -------------------- //
 
@@ -64,13 +56,13 @@ struct BroadPair {
     // -------------------- Methods -------------------- //
 
     /// Method used to compare two pairs for sorting algorithm
-    static bool smallerThan(const BroadPair& pair1, const BroadPair& pair2);
+    static bool smallerThan(const BroadPhasePair& pair1, const BroadPhasePair& pair2);
 };
 
 // Class BroadPhaseAlgorithm
 /**
  * This class represents the broad-phase collision detection. The
- * goal of the broad-phase collision detection is to compute the pairs of bodies
+ * goal of the broad-phase collision detection is to compute the pairs of proxy shapes
  * that have their AABBs overlapping. Only those pairs of bodies will be tested
  * later for collision during the narrow-phase collision detection. A dynamic AABB
  * tree data structure is used for fast broad-phase collision detection.
@@ -102,7 +94,7 @@ class BroadPhaseAlgorithm {
         uint mNbNonUsedMovedShapes;
 
         /// Temporary array of potential overlapping pairs (with potential duplicates)
-        BroadPair* mPotentialPairs;
+        BroadPhasePair* mPotentialPairs;
 
         /// Number of potential overlapping pairs
         uint mNbPotentialPairs;
@@ -164,7 +156,7 @@ class BroadPhaseAlgorithm {
 };
 
 // Method used to compare two pairs for sorting algorithm
-inline bool BroadPair::smallerThan(const BroadPair& pair1, const BroadPair& pair2) {
+inline bool BroadPhasePair::smallerThan(const BroadPhasePair& pair1, const BroadPhasePair& pair2) {
 
     if (pair1.collisionShape1ID < pair2.collisionShape1ID) return true;
     if (pair1.collisionShape1ID == pair2.collisionShape1ID) {
@@ -185,8 +177,7 @@ inline bool BroadPhaseAlgorithm::testOverlappingShapes(const ProxyShape* shape1,
 }
 
 // Ray casting method
-inline void BroadPhaseAlgorithm::raycast(const Ray& ray,
+inline void BroadPhaseAlgorithm::raycast(const Ray& ray, RaycastTest& raycastTest,
-                                         RaycastTest& raycastTest,
                                          unsigned short raycastWithCategoryMaskBits) const {
     mDynamicAABBTree.raycast(ray, raycastTest, raycastWithCategoryMaskBits);
 }

src/engine/DynamicsWorld.cpp

@@ -190,10 +190,6 @@ void DynamicsWorld::integrateRigidBodiesPositions() {
             mConstrainedOrientations[indexArray] = currentOrientation +
                                                    Quaternion(0, newAngVelocity) *
                                                    currentOrientation * decimal(0.5) * dt;
-
-            // TODO : DELETE THIS
-            Vector3 newPos = mConstrainedPositions[indexArray];
-            Quaternion newOrientation = mConstrainedOrientations[indexArray];
         }
     }
 }

src/engine/OverlappingPair.h

@@ -97,7 +97,6 @@ class OverlappingPair {
         Vector3 getCachedSeparatingAxis() const;
 
         /// Set the cached separating axis
-        // TODO : Check that this variable is correctly used allong the collision detection process
         void setCachedSeparatingAxis(const Vector3& axis);
 
         /// Return the number of contacts in the cache