The Material is now part of the Collider instead of the RigidBody, fixes compilation errors with Logger and Profiler.

CHANGELOG.md

@@ -11,6 +11,10 @@
  - Now, the collision shapes need be be created with the PhysicsWorld::createXXXShape() methods instead of using the constructor of the shape as before. For instance, you need to use the PhysicsWorld::createBoxShape() method to create a BoxShape.
  - DynamicsWorld and CollisionWorld classes have been merged into a single class called PhysicsWorld.
  - ProxyShape class has been renamed into Collider.
+ - The Material is now part of the Collider instead of the RigidBody. Therefore, it is now possible to have a RigidBody with multiple
+   colliders and a different material per Collider.
+ - The Logger has to be instanciated using the PhysicsCommon::createLogger() method instead of using its constructor.
+ - The Profiler has to be instanciated using the PhysicsCommon::createProfiler() method instead of using its constructor.
  - There is now a single MemoryManager (with memory allocators) per PhysicsWorld. The memory allocators are no longer shared between worlds. 
  - An instance of the BoxShape class cannot be instanciated directly anymore. You need to use the PhysicsCommon::createBoxShape() method.
  - An instance of the SphereShape class cannot be instanciated directly anymore. You need to use the PhysicsCommon::createSphereShape() method.

src/body/RigidBody.cpp

@@ -39,9 +39,7 @@ using namespace reactphysics3d;
 * @param id The ID of the body
 */
 RigidBody::RigidBody(PhysicsWorld& world, Entity entity)
-          : CollisionBody(world, entity),
+          : CollisionBody(world, entity), mIsCenterOfMassSetByUser(false), mIsInertiaTensorSetByUser(false) {
-            mMaterial(world.mConfig.defaultFrictionCoefficient, world.mConfig.defaultRollingRestistance, world.mConfig.defaultBounciness),
-            mIsCenterOfMassSetByUser(false), mIsInertiaTensorSetByUser(false) {
 
 }
 
@@ -431,17 +429,6 @@ void RigidBody::setAngularDamping(decimal angularDamping) {
              "Body " + std::to_string(mEntity.id) + ": Set angularDamping=" + std::to_string(angularDamping));
 }
 
-// Set a new material for this rigid body
-/**
- * @param material The material you want to set to the body
- */
-void RigidBody::setMaterial(const Material& material) {
-    mMaterial = material;
-
-    RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body,
-             "Body " + std::to_string(mEntity.id) + ": Set Material" + mMaterial.to_string());
-}
-
 // Set the linear velocity of the rigid body.
 /**
  * @param linearVelocity Linear velocity vector of the body

src/body/RigidBody.h

@@ -29,7 +29,6 @@
 // Libraries
 #include <cassert>
 #include "CollisionBody.h"
-#include "engine/Material.h"
 #include "mathematics/mathematics.h"
 
 /// Namespace reactphysics3d
@@ -58,9 +57,6 @@ class RigidBody : public CollisionBody {
         /// by the user with respect to the center of mass of the body
         Matrix3x3 mUserInertiaTensorLocalInverse;
 
-        /// Material properties of the rigid body
-        Material mMaterial;
-
         /// True if the center of mass is set by the user
         bool mIsCenterOfMassSetByUser;
 
@@ -142,12 +138,6 @@ class RigidBody : public CollisionBody {
         /// Set the variable to know if the gravity is applied to this rigid body
         void enableGravity(bool isEnabled);
 
-        /// Return a reference to the material properties of the rigid body
-        Material& getMaterial();
-
-        /// Set a new material for this rigid body
-        void setMaterial(const Material& material);
-
         /// Return the linear velocity damping factor
         decimal getLinearDamping() const;
 
@@ -216,14 +206,6 @@ class RigidBody : public CollisionBody {
         friend class Joint;
 };
 
-// Return a reference to the material properties of the rigid body
-/**
- * @return A reference to the material of the body
- */
-inline Material& RigidBody::getMaterial() {
-    return mMaterial;
-}
-
 }
 
  #endif

src/collision/Collider.cpp

@@ -41,6 +41,8 @@ using namespace reactphysics3d;
  */
 Collider::Collider(Entity entity, CollisionBody* body, MemoryManager& memoryManager)
            :mMemoryManager(memoryManager), mEntity(entity), mBody(body),
+            mMaterial(body->mWorld.mConfig.defaultFrictionCoefficient, body->mWorld.mConfig.defaultRollingRestistance,
+                      body->mWorld.mConfig.defaultBounciness),
             mUserData(nullptr) {
 
 }
@@ -106,7 +108,7 @@ void Collider::setCollideWithMaskBits(unsigned short collideWithMaskBits) {
     int broadPhaseId = mBody->mWorld.mCollidersComponents.getBroadPhaseId(mEntity);
 
     RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Collider,
-             "Collider" " + std::to_string(broadPhaseId) + ": Set collideWithMaskBits=" +
+             "Collider" + std::to_string(broadPhaseId) + ": Set collideWithMaskBits=" +
              std::to_string(collideWithMaskBits));
 }
 
@@ -127,7 +129,7 @@ void Collider::setLocalToBodyTransform(const Transform& transform) {
     mBody->mWorld.mCollisionDetection.updateCollider(mEntity, 0);
 
     RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Collider,
-             "Collider " + std::to_string(broadPhaseId) + ": Set localToBodyTransform=" +
+             "Collider " + std::to_string(getBroadPhaseId()) + ": Set localToBodyTransform=" +
              transform.to_string());
 }
 

src/collision/Collider.h

@@ -29,6 +29,8 @@
 // Libraries
 #include "body/CollisionBody.h"
 #include "collision/shapes/CollisionShape.h"
+#include "engine/Material.h"
+#include "utils/Logger.h"
 
 namespace  reactphysics3d {
 
@@ -37,13 +39,10 @@ class MemoryManager;
 
 // Class Collider
 /**
- * The CollisionShape instances are supposed to be unique for memory optimization. For instance,
+ * A collider has a collision shape (box, sphere, capsule, ...) and is attached to a CollisionBody or
- * consider two rigid bodies with the same sphere collision shape. In this situation, we will have
+ * RigidBody. A body can have multiple colliders. The collider also have a mass value and a Material
- * a unique instance of SphereShape but we need to differentiate between the two instances during
+ * with many physics parameters like friction or bounciness. When you create a body, you need to attach
- * the collision detection. They do not have the same position in the world and they do not
+ * at least one collider to it if you want that body to be able to collide in the physics world.
- * belong to the same rigid body. The Collider class is used for that purpose by attaching a
- * rigid body with one of its collision shape. A body can have multiple colliders (one for
- * each collision shape attached to the body).
  */
 class Collider {
 
@@ -60,6 +59,9 @@ class Collider {
         /// Pointer to the parent body
         CollisionBody* mBody;
 
+        /// Material properties of the rigid body
+        Material mMaterial;
+
         /// Pointer to user data
         void* mUserData;
 
@@ -151,6 +153,12 @@ class Collider {
         /// Return the broad-phase id
         int getBroadPhaseId() const;
 
+        /// Return a reference to the material properties of the collider
+        Material& getMaterial();
+
+        /// Set a new material for this collider
+        void setMaterial(const Material& material);
+
 #ifdef IS_PROFILING_ACTIVE
 
 		/// Set the profiler
@@ -221,6 +229,30 @@ inline bool Collider::testAABBOverlap(const AABB& worldAABB) const {
     return worldAABB.testCollision(getWorldAABB());
 }
 
+// Return a reference to the material properties of the collider
+/**
+ * @return A reference to the material of the body
+ */
+inline Material& Collider::getMaterial() {
+    return mMaterial;
+}
+
+// Set a new material for this rigid body
+/**
+ * @param material The material you want to set to the body
+ */
+inline void Collider::setMaterial(const Material& material) {
+
+    mMaterial = material;
+
+#ifdef IS_LOGGING_ACTIVE
+
+    RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Collider,
+             "Collider " + std::to_string(mEntity.id) + ": Set Material" + mMaterial.to_string());
+#endif
+
+}
+
 #ifdef IS_LOGGING_ACTIVE
 
 // Set the logger

src/engine/Material.h

@@ -94,7 +94,7 @@ class Material {
 
         // ---------- Friendship ---------- //
 
-        friend class RigidBody;
+        friend class Collider;
 };
 
 // Return the bounciness

src/engine/PhysicsCommon.cpp

@@ -35,7 +35,8 @@ PhysicsCommon::PhysicsCommon(MemoryAllocator* baseMemoryAllocator)
                 mBoxShapes(mMemoryManager.getHeapAllocator()), mCapsuleShapes(mMemoryManager.getHeapAllocator()),
                 mConvexMeshShapes(mMemoryManager.getHeapAllocator()), mConcaveMeshShapes(mMemoryManager.getHeapAllocator()),
                 mHeightFieldShapes(mMemoryManager.getHeapAllocator()), mPolyhedronMeshes(mMemoryManager.getHeapAllocator()),
-                mTriangleMeshes(mMemoryManager.getHeapAllocator()) {
+                mTriangleMeshes(mMemoryManager.getHeapAllocator()), mLoggers(mMemoryManager.getHeapAllocator()),
+                mProfilers(mMemoryManager.getHeapAllocator()) {
 
 }
 
@@ -93,11 +94,49 @@ void PhysicsCommon::release() {
     for (auto it = mTriangleMeshes.begin(); it != mTriangleMeshes.end(); ++it) {
         destroyTriangleMesh(*it);
     }
+
+    // Destroy the loggers
+    for (auto it = mLoggers.begin(); it != mLoggers.end(); ++it) {
+        destroyLogger(*it);
+    }
+
+    // Destroy the profilers
+    for (auto it = mProfilers.begin(); it != mProfilers.end(); ++it) {
+        destroyProfiler(*it);
+    }
 }
 
 // Create and return an instance of PhysicsWorld
 PhysicsWorld* PhysicsCommon::createPhysicsWorld(const PhysicsWorld::WorldSettings& worldSettings, Logger* logger, Profiler* profiler) {
 
+#ifdef IS_PROFILING_ACTIVE
+
+    // If the user has not provided its own profiler, we create one
+    if (profiler == nullptr) {
+
+        profiler = createProfiler();
+
+        // Add a destination file for the profiling data
+        profiler->addFileDestination("rp3d_profiling_" + worldSettings.worldName + ".txt", Profiler::Format::Text);
+    }
+
+#endif
+
+#ifdef IS_LOGGING_ACTIVE
+
+    // If the user has not provided its own logger, we create one
+    if (logger == nullptr) {
+
+       logger = createLogger();
+
+        // Add a log destination file
+        uint logLevel = static_cast<uint>(Logger::Level::Information) | static_cast<uint>(Logger::Level::Warning) |
+                static_cast<uint>(Logger::Level::Error);
+        logger->addFileDestination("rp3d_log_" + worldSettings.worldName + ".html", logLevel, Logger::Format::HTML);
+    }
+
+#endif
+
     PhysicsWorld* world = new(mMemoryManager.allocate(MemoryManager::AllocationType::Heap, sizeof(PhysicsWorld))) PhysicsWorld(mMemoryManager, worldSettings, logger, profiler);
 
     mPhysicsWorlds.add(world);
@@ -106,7 +145,7 @@ PhysicsWorld* PhysicsCommon::createPhysicsWorld(const PhysicsWorld::WorldSetting
 }
 
 // Destroy an instance of PhysicsWorld
-PhysicsWorld* PhysicsCommon::destroyPhysicsWorld(PhysicsWorld* world) {
+void PhysicsCommon::destroyPhysicsWorld(PhysicsWorld* world) {
 
    // Call the destructor of the world
    world->~PhysicsWorld();
@@ -294,3 +333,48 @@ void PhysicsCommon::destroyTriangleMesh(TriangleMesh* triangleMesh) {
 
    mTriangleMeshes.remove(triangleMesh);
 }
+
+// Create and return a new logger
+Logger* PhysicsCommon::createLogger() {
+
+    Logger* logger = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(Logger))) Logger(mMemoryManager.getHeapAllocator());
+
+    mLoggers.add(logger);
+
+    return logger;
+}
+
+// Destroy a logger
+void PhysicsCommon::destroyLogger(Logger* logger) {
+
+   // Call the destructor of the logger
+   logger->~Logger();
+
+   // Release allocated memory
+   mMemoryManager.release(MemoryManager::AllocationType::Pool, logger, sizeof(Logger));
+
+   mLoggers.remove(logger);
+}
+
+// Create and return a new profiler
+/// Note that you need to use a different profiler for each PhysicsWorld.
+Profiler* PhysicsCommon::createProfiler() {
+
+    Profiler* profiler = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(Profiler))) Profiler();
+
+    mProfilers.add(profiler);
+
+    return profiler;
+}
+
+// Destroy a profiler
+void PhysicsCommon::destroyProfiler(Profiler* profiler) {
+
+   // Call the destructor of the profiler
+   profiler->~Profiler();
+
+   // Release allocated memory
+   mMemoryManager.release(MemoryManager::AllocationType::Pool, profiler, sizeof(Profiler));
+
+   mProfilers.remove(profiler);
+}

src/engine/PhysicsCommon.h

@@ -82,6 +82,12 @@ class PhysicsCommon {
         /// Set of triangle meshes
         Set<TriangleMesh*> mTriangleMeshes;
 
+        /// Set of loggers
+        Set<Logger*> mLoggers;
+
+        /// Set of loggers
+        Set<Profiler*> mProfilers;
+
         // -------------------- Methods -------------------- //
 
         /// Destroy and release everything that has been allocated
@@ -100,12 +106,15 @@ class PhysicsCommon {
         /// Destructor
         ~PhysicsCommon();
 
+        // TODO : Add better code documentation for all methods in this class (document
+        //        the method parameters with the "@param" keyword for Doxygen
+
         /// Create and return an instance of PhysicsWorld
         PhysicsWorld* createPhysicsWorld(const PhysicsWorld::WorldSettings& worldSettings = PhysicsWorld::WorldSettings(),
-                                           Logger* logger = nullptr, Profiler* profiler = nullptr);
+                                         Logger* logger = nullptr, Profiler* profiler = nullptr);
 
         /// Destroy an instance of PhysicsWorld
-        PhysicsWorld* destroyPhysicsWorld(PhysicsWorld* world);
+        void destroyPhysicsWorld(PhysicsWorld* world);
 
         /// Create and return a sphere collision shape
         SphereShape* createSphereShape(const decimal radius);
@@ -157,6 +166,18 @@ class PhysicsCommon {
 
         /// Destroy a triangle mesh
         void destroyTriangleMesh(TriangleMesh* triangleMesh);
+
+        /// Create and return a new logger
+        Logger* createLogger();
+
+        /// Destroy a logger
+        void destroyLogger(Logger* logger);
+
+        /// Create and return a new profiler
+        Profiler* createProfiler();
+
+        /// Destroy a profiler
+        void destroyProfiler(Profiler* profiler);
 };
 
 }

src/engine/PhysicsWorld.cpp

@@ -59,8 +59,7 @@ PhysicsWorld::PhysicsWorld(MemoryManager& memoryManager, const WorldSettings& wo
                 mSliderJointsComponents(mMemoryManager.getHeapAllocator()), mCollisionDetection(this, mCollidersComponents, mTransformComponents, mCollisionBodyComponents, mRigidBodyComponents,
                                         mMemoryManager),
                 mBodies(mMemoryManager.getHeapAllocator()), mEventListener(nullptr),
-                mName(worldSettings.worldName), mIsProfilerCreatedByUser(profiler != nullptr),
+                mName(worldSettings.worldName),  mIslands(mMemoryManager.getSingleFrameAllocator()),
-                mIsLoggerCreatedByUser(logger != nullptr), mIslands(mMemoryManager.getSingleFrameAllocator()),
                 mContactSolverSystem(mMemoryManager, *this, mIslands, mCollisionBodyComponents, mRigidBodyComponents,
                                mCollidersComponents, mConfig.restitutionVelocityThreshold),
                 mConstraintSolverSystem(*this, mIslands, mRigidBodyComponents, mTransformComponents, mJointsComponents,
@@ -88,18 +87,9 @@ PhysicsWorld::PhysicsWorld(MemoryManager& memoryManager, const WorldSettings& wo
 
 #ifdef IS_PROFILING_ACTIVE
 
+    assert(profiler != nullptr);
     mProfiler = profiler;
 
-    // If the user has not provided its own profiler, we create one
-    if (mProfiler == nullptr) {
-
-       mProfiler = new Profiler();
-
-        // Add a destination file for the profiling data
-        mProfiler->addFileDestination("rp3d_profiling_" + mName + ".txt", Profiler::Format::Text);
-    }
-
-
     // Set the profiler
     mConstraintSolverSystem.setProfiler(mProfiler);
     mContactSolverSystem.setProfiler(mProfiler);
@@ -110,19 +100,9 @@ PhysicsWorld::PhysicsWorld(MemoryManager& memoryManager, const WorldSettings& wo
 
 #ifdef IS_LOGGING_ACTIVE
 
+    assert(logger != nullptr);
     mLogger = logger;
 
-    // If the user has not provided its own logger, we create one
-    if (mLogger == nullptr) {
-
-       mLogger = new Logger();
-
-        // Add a log destination file
-        uint logLevel = static_cast<uint>(Logger::Level::Information) | static_cast<uint>(Logger::Level::Warning) |
-                static_cast<uint>(Logger::Level::Error);
-        mLogger->addFileDestination("rp3d_log_" + mName + ".html", logLevel, Logger::Format::HTML);
-    }
-
 #endif
 
     mNbWorlds++;
@@ -150,23 +130,9 @@ PhysicsWorld::~PhysicsWorld() {
 
 #ifdef IS_PROFILING_ACTIVE
 
-    /// Delete the profiler
-    if (!mIsProfilerCreatedByUser) {
-        delete mProfiler;
-    }
-
     // Print the profiling report into the destinations
     mProfiler->printReport();
 
-#endif
-
-#ifdef IS_LOGGING_ACTIVE
-
-    /// Delete the logger
-    if (!mIsLoggerCreatedByUser) {
-        delete mLogger;
-    }
-
 #endif
 
     assert(mBodies.size() == 0);

src/engine/PhysicsWorld.h

@@ -234,12 +234,6 @@ class PhysicsWorld {
         Logger* mLogger;
 #endif
 
-        /// True if the profiler has been created by the user
-        bool mIsProfilerCreatedByUser;
-
-        /// True if the logger has been created by the user
-        bool mIsLoggerCreatedByUser;
-
         /// Total number of worlds
         static uint mNbWorlds;
 

src/memory/HeapAllocator.cpp

@@ -36,8 +36,11 @@ size_t HeapAllocator::INIT_ALLOCATED_SIZE = 5 * 1048576;    // 5 Mb
 
 // Constructor
 HeapAllocator::HeapAllocator(MemoryAllocator& baseAllocator, size_t initAllocatedMemory)
-              : mBaseAllocator(baseAllocator), mAllocatedMemory(0), mMemoryUnits(nullptr), mCachedFreeUnit(nullptr),
+              : mBaseAllocator(baseAllocator), mAllocatedMemory(0), mMemoryUnits(nullptr), mCachedFreeUnit(nullptr) {
-                mNbTimesAllocateMethodCalled(0) {
+
+#ifndef NDEBUG
+        mNbTimesAllocateMethodCalled = 0;
+#endif
 
     reserve(initAllocatedMemory == 0 ? INIT_ALLOCATED_SIZE : initAllocatedMemory);
 }

src/systems/ContactSolverSystem.cpp

@@ -30,6 +30,7 @@
 #include "constraint/ContactPoint.h"
 #include "utils/Profiler.h"
 #include "engine/Island.h"
+#include "collision/Collider.h"
 #include "components/CollisionBodyComponents.h"
 #include "components/ColliderComponents.h"
 #include "collision/ContactManifold.h"
@@ -134,6 +135,9 @@ void ContactSolverSystem::initializeForIsland(uint islandIndex) {
         const uint rigidBodyIndex1 = mRigidBodyComponents.getEntityIndex(externalManifold.bodyEntity1);
         const uint rigidBodyIndex2 = mRigidBodyComponents.getEntityIndex(externalManifold.bodyEntity2);
 
+        Collider* collider1 = mColliderComponents.getCollider(externalManifold.colliderEntity1);
+        Collider* collider2 = mColliderComponents.getCollider(externalManifold.colliderEntity2);
+
         // Get the position of the two bodies
         const Vector3& x1 = mRigidBodyComponents.mCentersOfMassWorld[rigidBodyIndex1];
         const Vector3& x2 = mRigidBodyComponents.mCentersOfMassWorld[rigidBodyIndex2];
@@ -147,8 +151,8 @@ void ContactSolverSystem::initializeForIsland(uint islandIndex) {
         mContactConstraints[mNbContactManifolds].massInverseBody1 = mRigidBodyComponents.mInverseMasses[rigidBodyIndex1];
         mContactConstraints[mNbContactManifolds].massInverseBody2 = mRigidBodyComponents.mInverseMasses[rigidBodyIndex2];
         mContactConstraints[mNbContactManifolds].nbContacts = externalManifold.nbContactPoints;
-        mContactConstraints[mNbContactManifolds].frictionCoefficient = computeMixedFrictionCoefficient(body1, body2);
+        mContactConstraints[mNbContactManifolds].frictionCoefficient = computeMixedFrictionCoefficient(collider1, collider2);
-        mContactConstraints[mNbContactManifolds].rollingResistanceFactor = computeMixedRollingResistance(body1, body2);
+        mContactConstraints[mNbContactManifolds].rollingResistanceFactor = computeMixedRollingResistance(collider1, collider2);
         mContactConstraints[mNbContactManifolds].externalContactManifold = &externalManifold;
         mContactConstraints[mNbContactManifolds].normal.setToZero();
         mContactConstraints[mNbContactManifolds].frictionPointBody1.setToZero();
@@ -236,7 +240,7 @@ void ContactSolverSystem::initializeForIsland(uint islandIndex) {
             decimal deltaVDotN = deltaV.x * mContactPoints[mNbContactPoints].normal.x +
                                  deltaV.y * mContactPoints[mNbContactPoints].normal.y +
                                  deltaV.z * mContactPoints[mNbContactPoints].normal.z;
-            const decimal restitutionFactor = computeMixedRestitutionFactor(body1, body2);
+            const decimal restitutionFactor = computeMixedRestitutionFactor(collider1, collider2);
             if (deltaVDotN < -mRestitutionVelocityThreshold) {
                 mContactPoints[mNbContactPoints].restitutionBias = restitutionFactor * deltaVDotN;
             }
@@ -769,25 +773,26 @@ void ContactSolverSystem::solve() {
     }
 }
 
-// Compute the collision restitution factor from the restitution factor of each body
+// Compute the collision restitution factor from the restitution factor of each collider
-decimal ContactSolverSystem::computeMixedRestitutionFactor(RigidBody* body1, RigidBody* body2) const {
+decimal ContactSolverSystem::computeMixedRestitutionFactor(Collider* collider1, Collider* collider2) const {
-    decimal restitution1 = body1->getMaterial().getBounciness();
+    decimal restitution1 = collider1->getMaterial().getBounciness();
-    decimal restitution2 = body2->getMaterial().getBounciness();
+    decimal restitution2 = collider2->getMaterial().getBounciness();
 
     // Return the largest restitution factor
     return (restitution1 > restitution2) ? restitution1 : restitution2;
 }
 
-// Compute the mixed friction coefficient from the friction coefficient of each body
+// Compute the mixed friction coefficient from the friction coefficient of each collider
-decimal ContactSolverSystem::computeMixedFrictionCoefficient(RigidBody* body1, RigidBody* body2) const {
+decimal ContactSolverSystem::computeMixedFrictionCoefficient(Collider* collider1, Collider* collider2) const {
+
     // Use the geometric mean to compute the mixed friction coefficient
-    return std::sqrt(body1->getMaterial().getFrictionCoefficient() *
+    return std::sqrt(collider1->getMaterial().getFrictionCoefficient() *
-                body2->getMaterial().getFrictionCoefficient());
+                collider2->getMaterial().getFrictionCoefficient());
 }
 
-// Compute th mixed rolling resistance factor between two bodies
+// Compute th mixed rolling resistance factor between two colliders
-inline decimal ContactSolverSystem::computeMixedRollingResistance(RigidBody* body1, RigidBody* body2) const {
+inline decimal ContactSolverSystem::computeMixedRollingResistance(Collider* collider1, Collider* collider2) const {
-    return decimal(0.5f) * (body1->getMaterial().getRollingResistance() + body2->getMaterial().getRollingResistance());
+    return decimal(0.5f) * (collider1->getMaterial().getRollingResistance() + collider2->getMaterial().getRollingResistance());
 }
 
 // Store the computed impulses to use them to

src/systems/ContactSolverSystem.h

@@ -43,6 +43,7 @@ class Profiler;
 class Island;
 struct Islands;
 class RigidBody;
+class Collider;
 class PhysicsWorld;
 class CollisionBodyComponents;
 class DynamicsComponents;
@@ -338,16 +339,15 @@ class ContactSolverSystem {
 
         // -------------------- Methods -------------------- //
 
-        /// Compute the collision restitution factor from the restitution factor of each body
+        /// Compute the collision restitution factor from the restitution factor of each collider
-        decimal computeMixedRestitutionFactor(RigidBody* body1,
+        decimal computeMixedRestitutionFactor(Collider* collider1,
-                                              RigidBody* body2) const;
+                                              Collider* collider2) const;
 
-        /// Compute the mixed friction coefficient from the friction coefficient of each body
+        /// Compute the mixed friction coefficient from the friction coefficient of each collider
-        decimal computeMixedFrictionCoefficient(RigidBody* body1,
+        decimal computeMixedFrictionCoefficient(Collider* collider1, Collider* collider2) const;
-                                                RigidBody* body2) const;
 
-        /// Compute th mixed rolling resistance factor between two bodies
+        /// Compute th mixed rolling resistance factor between two colliders
-        decimal computeMixedRollingResistance(RigidBody* body1, RigidBody* body2) const;
+        decimal computeMixedRollingResistance(Collider* collider1, Collider* collider2) const;
 
         /// Compute the two unit orthogonal vectors "t1" and "t2" that span the tangential friction
         /// plane for a contact manifold. The two vectors have to be

src/utils/Logger.cpp

@@ -32,10 +32,9 @@
 using namespace reactphysics3d;
 
 // Constructor
-Logger::Logger()
+Logger::Logger(MemoryAllocator& allocator)
-       : mDestinations(MemoryManager::getBaseAllocator()), mFormatters(MemoryManager::getBaseAllocator())
+       : mAllocator(allocator), mDestinations(allocator), mFormatters(allocator)
 {
-
     // Create the log formatters
     mFormatters.add(Pair<Format, Formatter*>(Format::Text, new TextFormatter()));
     mFormatters.add(Pair<Format, Formatter*>(Format::HTML, new HtmlFormatter()));
@@ -46,7 +45,7 @@ Logger::~Logger() {
 
     removeAllDestinations();
 
-    // Remove all the loggers
+    // Remove all the formatters
     for (auto it = mFormatters.begin(); it != mFormatters.end(); ++it) {
 
        delete it->second;
@@ -67,14 +66,14 @@ Logger::Formatter* Logger::getFormatter(Format format) const {
 // Add a log file destination to the logger
 void Logger::addFileDestination(const std::string& filePath, uint logLevelFlag, Format format) {
 
-    FileDestination* destination = new FileDestination(filePath, logLevelFlag, getFormatter(format));
+    FileDestination* destination = new (mAllocator.allocate(sizeof(FileDestination))) FileDestination(filePath, logLevelFlag, getFormatter(format));
     mDestinations.add(destination);
 }
 
 /// Add a stream destination to the logger
 void Logger::addStreamDestination(std::ostream& outputStream, uint logLevelFlag, Format format) {
 
-    StreamDestination* destination = new StreamDestination(outputStream, logLevelFlag, getFormatter(format));
+    StreamDestination* destination = new (mAllocator.allocate(sizeof(StreamDestination))) StreamDestination(outputStream, logLevelFlag, getFormatter(format));
     mDestinations.add(destination);
 }
 
@@ -83,7 +82,12 @@ void Logger::removeAllDestinations() {
 
     // Delete all the destinations
     for (uint i=0; i<mDestinations.size(); i++) {
-        delete mDestinations[i];
+
+        size_t size = mDestinations[i]->getSizeBytes();
+
+        mDestinations[i]->~Destination();
+
+        mAllocator.release(mDestinations[i], size);
     }
 
     mDestinations.clear();

src/utils/Logger.h

@@ -343,6 +343,9 @@ class Logger {
 
                 /// Write a message into the output stream
                 virtual void write(const time_t& time, const std::string& message, Level level, Category category) = 0;
+
+                /// Return the size in bytes of the type
+                virtual size_t getSizeBytes() const=0;
         };
 
         class FileDestination : public Destination {
@@ -386,6 +389,11 @@ class Logger {
                 virtual void write(const time_t& time, const std::string& message, Level level, Category category) override {
                     mFileStream << formatter->format(time, message, level, category) << std::endl << std::flush;
                 }
+
+                /// Return the size in bytes of the type
+                virtual size_t getSizeBytes() const override {
+                    return sizeof(FileDestination);
+                }
         };
 
         /// Stream destination to output the logs into a stream
@@ -417,6 +425,11 @@ class Logger {
                 virtual void write(const time_t& time, const std::string& message, Level level, Category category) override {
                     mOutputStream << formatter->format(time, message, level, category) << std::endl << std::flush;
                 }
+
+                /// Return the size in bytes of the type
+                virtual size_t getSizeBytes() const override {
+                    return sizeof(StreamDestination);
+                }
         };
 
 
@@ -424,6 +437,9 @@ class Logger {
 
         // -------------------- Attributes -------------------- //
 
+        /// Memory allocator
+        MemoryAllocator& mAllocator;
+
         /// All the log destinations
         List<Destination*> mDestinations;
 
@@ -438,16 +454,16 @@ class Logger {
         /// Return the corresponding formatter
         Formatter* getFormatter(Format format) const;
 
-    public :
-
-        // -------------------- Methods -------------------- //
-
         /// Constructor
-        Logger();
+        Logger(MemoryAllocator& allocator);
 
         /// Destructor
         ~Logger();
 
+    public :
+
+        // -------------------- Methods -------------------- //
+
         /// Add a file destination to the logger
         void addFileDestination(const std::string& filePath, uint logLevelFlag, Format format);
 
@@ -459,6 +475,10 @@ class Logger {
 
         /// Log something
         void log(Level level, Category category, const std::string& message);
+
+        // ---------- Friendship ---------- //
+
+        friend class PhysicsCommon;
 };
 
 }

src/utils/Profiler.h

@@ -310,16 +310,16 @@ class Profiler {
 		/// Destroy the profiler (release the memory)
 		void destroy();
 
+        /// Constructor
+        Profiler();
+
+        /// Destructor
+        ~Profiler();
+
     public :
 
         // -------------------- Methods -------------------- //
 
-		/// Constructor
-        Profiler();
-
-		/// Destructor
-		~Profiler();
-
         /// Method called when we want to start profiling a block of code.
         void startProfilingBlock(const char *name);
 
@@ -356,6 +356,9 @@ class Profiler {
 
         /// Print the report of the profiler in every output destinations
         void printReport();
+
+        // ---------- Friendship ---------- //
+        friend class PhysicsCommon;
 };
 
 // Class ProfileSample

test/tests/collision/TestDynamicAABBTree.h

@@ -125,12 +125,6 @@ class TestDynamicAABBTree : public Test {
             // Dynamic AABB Tree
             DynamicAABBTree tree(mAllocator);
 			
-#ifdef IS_PROFILING_ACTIVE
-			/// Pointer to the profiler
-			Profiler* profiler = new Profiler();
-			tree.setProfiler(profiler);
-#endif
-
             int object1Data = 56;
             int object2Data = 23;
             int object3Data = 13;
@@ -168,10 +162,6 @@ class TestDynamicAABBTree : public Test {
             rp3d_test(*(int*)(tree.getNodeDataPointer(object2Id)) == object2Data);
             rp3d_test(*(int*)(tree.getNodeDataPointer(object3Id)) == object3Data);
             rp3d_test(*(int*)(tree.getNodeDataPointer(object4Id)) == object4Data);
-
-#ifdef IS_PROFILING_ACTIVE
-			delete profiler;
-#endif
         }
 
         void testOverlapping() {
@@ -181,12 +171,6 @@ class TestDynamicAABBTree : public Test {
             // Dynamic AABB Tree
             DynamicAABBTree tree(mAllocator);
 
-#ifdef IS_PROFILING_ACTIVE
-			/// Pointer to the profiler
-			Profiler* profiler = new Profiler();
-			tree.setProfiler(profiler);
-#endif
-
             int object1Data = 56;
             int object2Data = 23;
             int object3Data = 13;
@@ -370,9 +354,6 @@ class TestDynamicAABBTree : public Test {
             rp3d_test(!isOverlapping(object3Id, overlappingNodes));
             rp3d_test(!isOverlapping(object4Id, overlappingNodes));
 
-#ifdef IS_PROFILING_ACTIVE
-			delete profiler;
-#endif
         }
 
         void testRaycast() {
@@ -382,12 +363,6 @@ class TestDynamicAABBTree : public Test {
             // Dynamic AABB Tree
             DynamicAABBTree tree(mAllocator);
 
-#ifdef IS_PROFILING_ACTIVE
-			/// Pointer to the profiler
-			Profiler* profiler = new Profiler();
-			tree.setProfiler(profiler);
-#endif
-
             int object1Data = 56;
             int object2Data = 23;
             int object3Data = 13;
@@ -551,9 +526,6 @@ class TestDynamicAABBTree : public Test {
             rp3d_test(mRaycastCallback.isHit(object3Id));
             rp3d_test(mRaycastCallback.isHit(object4Id));
 
-#ifdef IS_PROFILING_ACTIVE
-			delete profiler;
-#endif
         }
  };
 

testbed/common/Box.h

@@ -82,13 +82,16 @@ class Box : public PhysicsObject {
         Box(const openglframework::Vector3& size, float mass, reactphysics3d::PhysicsCommon& physicsCommon, reactphysics3d::PhysicsWorld *world, const std::string& meshFolderPath);
 
 		/// Destructor
-		~Box();
+        virtual ~Box() override;
 
 		/// Render the cube at the correct position and with the correct orientation
         virtual void render(openglframework::Shader& shader, const openglframework::Matrix4& worldToCameraMatrix) override;
 
         /// Update the transform matrix of the object
         virtual void updateTransform(float interpolationFactor) override;
+
+        /// Return the collider
+        rp3d::Collider* getCollider();
 };
 
 // Update the transform matrix of the object
@@ -96,5 +99,10 @@ inline void Box::updateTransform(float interpolationFactor) {
 	mTransformMatrix = computeTransform(interpolationFactor, mScalingMatrix);
 }
 
+// Return the collider
+inline rp3d::Collider* Box::getCollider() {
+   return mCollider;
+}
+
 
 #endif

testbed/common/Capsule.h

@@ -51,9 +51,6 @@ class Capsule : public PhysicsObject {
         rp3d::CapsuleShape* mCapsuleShape;
         rp3d::Collider* mCollider;
 
-		/// Previous transform (for interpolation)
-		rp3d::Transform mPreviousTransform;
-
 		/// Vertex Buffer Object for the vertices data
 		static openglframework::VertexBufferObject mVBOVertices;
 
@@ -86,13 +83,16 @@ class Capsule : public PhysicsObject {
                 const std::string& meshFolderPath);
 
 		/// Destructor
-		~Capsule();
+        virtual ~Capsule() override;
 
 		/// Render the sphere at the correct position and with the correct orientation
         virtual void render(openglframework::Shader& shader, const openglframework::Matrix4& worldToCameraMatrix) override;
 
         /// Update the transform matrix of the object
         virtual void updateTransform(float interpolationFactor) override;
+
+        /// Return the collider
+        rp3d::Collider* getCollider();
 };
 
 // Update the transform matrix of the object
@@ -100,4 +100,9 @@ inline void Capsule::updateTransform(float interpolationFactor) {
 	mTransformMatrix = computeTransform(interpolationFactor, mScalingMatrix);
 }
 
+// Return the collider
+inline rp3d::Collider* Capsule::getCollider() {
+    return mCollider;
+}
+
 #endif

testbed/common/ConcaveMesh.h

@@ -38,9 +38,6 @@ class ConcaveMesh : public PhysicsObject {
 
         // -------------------- Attributes -------------------- //
 
-        /// Previous transform (for interpolation)
-        rp3d::Transform mPreviousTransform;
-
         /// Collision shape
         rp3d::ConcaveMeshShape* mConcaveShape;
         rp3d::Collider* mCollider;
@@ -82,7 +79,7 @@ class ConcaveMesh : public PhysicsObject {
         ConcaveMesh(float mass, reactphysics3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld, const std::string& meshPath);
 
         /// Destructor
-        ~ConcaveMesh();
+        virtual ~ConcaveMesh() override;
 
         /// Render the mesh at the correct position and with the correct orientation
         void render(openglframework::Shader& shader,
@@ -90,6 +87,10 @@ class ConcaveMesh : public PhysicsObject {
 
         /// Update the transform matrix of the object
         virtual void updateTransform(float interpolationFactor) override;
+
+        /// Return the collider
+        rp3d::Collider* getCollider();
+
 };
 
 // Update the transform matrix of the object
@@ -97,4 +98,9 @@ inline void ConcaveMesh::updateTransform(float interpolationFactor) {
     mTransformMatrix = computeTransform(interpolationFactor, mScalingMatrix);
 }
 
+// Return the collider
+inline rp3d::Collider* ConcaveMesh::getCollider() {
+    return mCollider;
+}
+
 #endif

testbed/common/ConvexMesh.h

@@ -38,9 +38,6 @@ class ConvexMesh : public PhysicsObject {
 
         // -------------------- Attributes -------------------- //
 
-        /// Previous transform (for interpolation)
-        rp3d::Transform mPreviousTransform;
-
         rp3d::PolygonVertexArray::PolygonFace* mPolygonFaces;
 
         rp3d::PolygonVertexArray* mPolygonVertexArray;
@@ -95,13 +92,16 @@ class ConvexMesh : public PhysicsObject {
         ConvexMesh(float mass, rp3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld, const std::string& meshPath);
 
         /// Destructor
-        ~ConvexMesh();
+        virtual ~ConvexMesh() override;
 
         /// Render the mesh at the correct position and with the correct orientation
         virtual void render(openglframework::Shader& shader, const openglframework::Matrix4& worldToCameraMatrix) override;
 
         /// Update the transform matrix of the object
         virtual void updateTransform(float interpolationFactor) override;
+
+        /// Return the collider
+        rp3d::Collider* getCollider();
 };
 
 // Update the transform matrix of the object
@@ -109,4 +109,9 @@ inline void ConvexMesh::updateTransform(float interpolationFactor) {
     mTransformMatrix = computeTransform(interpolationFactor, mScalingMatrix);
 }
 
+// Return the collider
+inline rp3d::Collider* ConvexMesh::getCollider() {
+    return mCollider;
+}
+
 #endif

testbed/common/Dumbbell.h

@@ -51,9 +51,6 @@ class Dumbbell : public PhysicsObject {
         /// Scaling matrix (applied to a sphere to obtain the correct sphere dimensions)
         openglframework::Matrix4 mScalingMatrix;
 
-        /// Previous transform (for interpolation)
-        rp3d::Transform mPreviousTransform;
-
         /// Vertex Buffer Object for the vertices data
         static openglframework::VertexBufferObject mVBOVertices;
 
@@ -86,13 +83,22 @@ class Dumbbell : public PhysicsObject {
                  const std::string& meshFolderPath);
 
         /// Destructor
-        ~Dumbbell();
+        virtual ~Dumbbell() override;
 
         /// Render the sphere at the correct position and with the correct orientation
         virtual void render(openglframework::Shader& shader, const openglframework::Matrix4& worldToCameraMatrix) override;
 
         /// Update the transform matrix of the object
         virtual void updateTransform(float interpolationFactor) override;
+
+        /// Return the capsule collider
+        rp3d::Collider* getCapsuleCollider();
+
+        /// Return the first sphere collider
+        rp3d::Collider* getSphere1Collider();
+
+        /// Return the second sphere collider
+        rp3d::Collider* getSphere2Collider();
 };
 
 // Update the transform matrix of the object
@@ -100,4 +106,19 @@ inline void Dumbbell::updateTransform(float interpolationFactor) {
     mTransformMatrix = computeTransform(interpolationFactor, mScalingMatrix);
 }
 
+// Return the capsule collider
+inline rp3d::Collider* Dumbbell::getCapsuleCollider() {
+   return mColliderCapsule;
+}
+
+// Return the first sphere collider
+inline rp3d::Collider* Dumbbell::getSphere1Collider() {
+    return mColliderSphere1;
+}
+
+// Return the second sphere collider
+inline rp3d::Collider* Dumbbell::getSphere2Collider() {
+    return mColliderSphere2;
+}
+
 #endif

testbed/common/HeightField.h

@@ -45,9 +45,6 @@ class HeightField : public PhysicsObject {
         /// Height field data
         float mHeightData[NB_POINTS_WIDTH * NB_POINTS_LENGTH];
 
-        /// Previous transform (for interpolation)
-        rp3d::Transform mPreviousTransform;
-
         /// Collision shape
         rp3d::HeightFieldShape* mHeightFieldShape;
         rp3d::Collider* mCollider;
@@ -95,7 +92,7 @@ class HeightField : public PhysicsObject {
         HeightField(float mass, rp3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld);
 
         /// Destructor
-        ~HeightField();
+        virtual ~HeightField() override;
 
         /// Render the mesh at the correct position and with the correct orientation
         void render(openglframework::Shader& shader,
@@ -103,6 +100,9 @@ class HeightField : public PhysicsObject {
 
         /// Update the transform matrix of the object
         virtual void updateTransform(float interpolationFactor) override;
+
+        /// Return the collider
+        rp3d::Collider* getCollider();
 };
 
 // Update the transform matrix of the object
@@ -110,4 +110,9 @@ inline void HeightField::updateTransform(float interpolationFactor) {
     mTransformMatrix = computeTransform(interpolationFactor, mScalingMatrix);
 }
 
+// Return the collider
+inline rp3d::Collider* HeightField::getCollider() {
+    return mCollider;
+}
+
 #endif

testbed/common/Sphere.h

@@ -48,9 +48,6 @@ class Sphere : public PhysicsObject {
         /// Scaling matrix (applied to a sphere to obtain the correct sphere dimensions)
         openglframework::Matrix4 mScalingMatrix;
 
-        /// Previous transform (for interpolation)
-        rp3d::Transform mPreviousTransform;
-
         /// Vertex Buffer Object for the vertices data
         static openglframework::VertexBufferObject mVBOVertices;
 
@@ -92,6 +89,9 @@ class Sphere : public PhysicsObject {
 
         /// Update the transform matrix of the object
         virtual void updateTransform(float interpolationFactor) override;
+
+        /// Return the collider
+        rp3d::Collider* getCollider();
 };
 
 // Update the transform matrix of the object
@@ -99,4 +99,9 @@ inline void Sphere::updateTransform(float interpolationFactor) {
     mTransformMatrix = computeTransform(interpolationFactor, mScalingMatrix);
 }
 
+// Return the collider
+inline rp3d::Collider* Sphere::getCollider() {
+    return mCollider;
+}
+
 #endif

testbed/scenes/collisionshapes/CollisionShapesScene.cpp

@@ -63,8 +63,12 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin
         dumbbell->setSleepingColor(mSleepingColorDemo);
 
         // Change the material properties of the rigid body
-        rp3d::Material& material = dumbbell->getRigidBody()->getMaterial();
+        rp3d::Material& capsuleMaterial = dumbbell->getCapsuleCollider()->getMaterial();
-        material.setBounciness(rp3d::decimal(0.2));
+        capsuleMaterial.setBounciness(rp3d::decimal(0.2));
+        rp3d::Material& sphere1Material = dumbbell->getSphere1Collider()->getMaterial();
+        sphere1Material.setBounciness(rp3d::decimal(0.2));
+        rp3d::Material& sphere2Material = dumbbell->getSphere2Collider()->getMaterial();
+        sphere2Material.setBounciness(rp3d::decimal(0.2));
 
         // Add the mesh the list of dumbbells in the scene
         mDumbbells.push_back(dumbbell);
@@ -82,7 +86,7 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin
         box->setSleepingColor(mSleepingColorDemo);
 
         // Change the material properties of the rigid body
-        rp3d::Material& material = box->getRigidBody()->getMaterial();
+        rp3d::Material& material = box->getCollider()->getMaterial();
         material.setBounciness(rp3d::decimal(0.2));
 
         // Add the sphere the list of sphere in the scene
@@ -97,14 +101,14 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin
         Sphere* sphere = new Sphere(SPHERE_RADIUS, BOX_MASS, mPhysicsCommon, mPhysicsWorld, meshFolderPath);
 
         // Add some rolling resistance
-        sphere->getRigidBody()->getMaterial().setRollingResistance(rp3d::decimal(0.08));
+        sphere->getCollider()->getMaterial().setRollingResistance(rp3d::decimal(0.08));
 
         // Set the box color
         sphere->setColor(mObjectColorDemo);
         sphere->setSleepingColor(mSleepingColorDemo);
 
         // Change the material properties of the rigid body
-        rp3d::Material& material = sphere->getRigidBody()->getMaterial();
+        rp3d::Material& material = sphere->getCollider()->getMaterial();
         material.setBounciness(rp3d::decimal(0.2));
 
         // Add the sphere the list of sphere in the scene
@@ -119,14 +123,14 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin
         Capsule* capsule = new Capsule(true, CAPSULE_RADIUS, CAPSULE_HEIGHT, CAPSULE_MASS,
                                        mPhysicsCommon, mPhysicsWorld, meshFolderPath);
 
-        capsule->getRigidBody()->getMaterial().setRollingResistance(rp3d::decimal(0.08f));
+        capsule->getCollider()->getMaterial().setRollingResistance(rp3d::decimal(0.08f));
 
         // Set the box color
         capsule->setColor(mObjectColorDemo);
         capsule->setSleepingColor(mSleepingColorDemo);
 
         // Change the material properties of the rigid body
-        rp3d::Material& material = capsule->getRigidBody()->getMaterial();
+        rp3d::Material& material = capsule->getCollider()->getMaterial();
         material.setBounciness(rp3d::decimal(0.2));
 
         // Add the cylinder the list of sphere in the scene
@@ -145,7 +149,7 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin
         mesh->setSleepingColor(mSleepingColorDemo);
 
         // Change the material properties of the rigid body
-        rp3d::Material& material = mesh->getRigidBody()->getMaterial();
+        rp3d::Material& material = mesh->getCollider()->getMaterial();
         material.setBounciness(rp3d::decimal(0.2));
 
         // Add the mesh the list of sphere in the scene
@@ -166,7 +170,7 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin
     mFloor->getRigidBody()->setType(rp3d::BodyType::STATIC);
 
     // Change the material properties of the rigid body
-    rp3d::Material& material = mFloor->getRigidBody()->getMaterial();
+    rp3d::Material& material = mFloor->getCollider()->getMaterial();
     material.setBounciness(rp3d::decimal(0.2));
 
     // Get the physics engine parameters

testbed/scenes/concavemesh/ConcaveMeshScene.cpp

@@ -64,8 +64,12 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett
         dumbbell->setSleepingColor(mSleepingColorDemo);
 
         // Change the material properties of the rigid body
-        rp3d::Material& material = dumbbell->getRigidBody()->getMaterial();
+        rp3d::Material& capsuleMaterial = dumbbell->getCapsuleCollider()->getMaterial();
-        material.setBounciness(rp3d::decimal(0.2));
+        capsuleMaterial.setBounciness(rp3d::decimal(0.2));
+        rp3d::Material& sphere1Material = dumbbell->getSphere1Collider()->getMaterial();
+        sphere1Material.setBounciness(rp3d::decimal(0.2));
+        rp3d::Material& sphere2Material = dumbbell->getSphere2Collider()->getMaterial();
+        sphere2Material.setBounciness(rp3d::decimal(0.2));
 
         // Add the mesh the list of dumbbells in the scene
         mDumbbells.push_back(dumbbell);
@@ -83,7 +87,7 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett
         box->setSleepingColor(mSleepingColorDemo);
 
         // Change the material properties of the rigid body
-        rp3d::Material& material = box->getRigidBody()->getMaterial();
+        rp3d::Material& material = box->getCollider()->getMaterial();
         material.setBounciness(rp3d::decimal(0.2));
 
         // Add the sphere the list of sphere in the scene
@@ -98,14 +102,14 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett
         Sphere* sphere = new Sphere(SPHERE_RADIUS, BOX_MASS, mPhysicsCommon, mPhysicsWorld, meshFolderPath);
 
         // Add some rolling resistance
-        sphere->getRigidBody()->getMaterial().setRollingResistance(rp3d::decimal(0.08));
+        sphere->getCollider()->getMaterial().setRollingResistance(rp3d::decimal(0.08));
 
         // Set the box color
         sphere->setColor(mObjectColorDemo);
         sphere->setSleepingColor(mSleepingColorDemo);
 
         // Change the material properties of the rigid body
-        rp3d::Material& material = sphere->getRigidBody()->getMaterial();
+        rp3d::Material& material = sphere->getCollider()->getMaterial();
         material.setBounciness(rp3d::decimal(0.2));
 
         // Add the sphere the list of sphere in the scene
@@ -120,14 +124,14 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett
         Capsule* capsule = new Capsule(true, CAPSULE_RADIUS, CAPSULE_HEIGHT, CAPSULE_MASS,
                                        mPhysicsCommon, mPhysicsWorld, meshFolderPath);
 
-        capsule->getRigidBody()->getMaterial().setRollingResistance(rp3d::decimal(0.08));
+        capsule->getCollider()->getMaterial().setRollingResistance(rp3d::decimal(0.08));
 
         // Set the box color
         capsule->setColor(mObjectColorDemo);
         capsule->setSleepingColor(mSleepingColorDemo);
 
         // Change the material properties of the rigid body
-        rp3d::Material& material = capsule->getRigidBody()->getMaterial();
+        rp3d::Material& material = capsule->getCollider()->getMaterial();
         material.setBounciness(rp3d::decimal(0.2));
 
         // Add the cylinder the list of sphere in the scene
@@ -146,7 +150,7 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett
         mesh->setSleepingColor(mSleepingColorDemo);
 
         // Change the material properties of the rigid body
-        rp3d::Material& material = mesh->getRigidBody()->getMaterial();
+        rp3d::Material& material = mesh->getCollider()->getMaterial();
         material.setBounciness(rp3d::decimal(0.2));
 
         // Add the mesh the list of sphere in the scene
@@ -172,7 +176,7 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett
     mPhysicsObjects.push_back(mConcaveMesh);
 
     // Change the material properties of the rigid body
-    rp3d::Material& material = mConcaveMesh->getRigidBody()->getMaterial();
+    rp3d::Material& material = mConcaveMesh->getCollider()->getMaterial();
     material.setBounciness(rp3d::decimal(0.2));
     material.setFrictionCoefficient(rp3d::decimal(0.1));
 

testbed/scenes/cubes/CubesScene.cpp

@@ -62,7 +62,7 @@ CubesScene::CubesScene(const std::string& name, EngineSettings& settings)
         cube->setSleepingColor(mSleepingColorDemo);
 
         // Change the material properties of the rigid body
-        rp3d::Material& material = cube->getRigidBody()->getMaterial();
+        rp3d::Material& material = cube->getCollider()->getMaterial();
         material.setBounciness(rp3d::decimal(0.4));
 
         // Add the box the list of box in the scene

testbed/scenes/cubestack/CubeStackScene.cpp

@@ -64,7 +64,7 @@ CubeStackScene::CubeStackScene(const std::string& name, EngineSettings& settings
             cube->setSleepingColor(mSleepingColorDemo);
 
             // Change the material properties of the rigid body
-            rp3d::Material& material = cube->getRigidBody()->getMaterial();
+            rp3d::Material& material = cube->getCollider()->getMaterial();
             material.setBounciness(rp3d::decimal(0.4));
 
             // Add the box the list of box in the scene

testbed/scenes/heightfield/HeightFieldScene.cpp

@@ -63,8 +63,12 @@ HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& sett
 		dumbbell->setSleepingColor(mSleepingColorDemo);
 
 		// Change the material properties of the rigid body
-		rp3d::Material& material = dumbbell->getRigidBody()->getMaterial();
+        rp3d::Material& capsuleMaterial = dumbbell->getCapsuleCollider()->getMaterial();
-		material.setBounciness(rp3d::decimal(0.2));
+        capsuleMaterial.setBounciness(rp3d::decimal(0.2));
+        rp3d::Material& sphere1Material = dumbbell->getSphere1Collider()->getMaterial();
+        sphere1Material.setBounciness(rp3d::decimal(0.2));
+        rp3d::Material& sphere2Material = dumbbell->getSphere2Collider()->getMaterial();
+        sphere2Material.setBounciness(rp3d::decimal(0.2));
 
 		// Add the mesh the list of dumbbells in the scene
 		mDumbbells.push_back(dumbbell);
@@ -82,7 +86,7 @@ HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& sett
 		box->setSleepingColor(mSleepingColorDemo);
 
 		// Change the material properties of the rigid body
-		rp3d::Material& material = box->getRigidBody()->getMaterial();
+        rp3d::Material& material = box->getCollider()->getMaterial();
 		material.setBounciness(rp3d::decimal(0.2));
 
 		// Add the sphere the list of sphere in the scene
@@ -97,14 +101,14 @@ HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& sett
         Sphere* sphere = new Sphere(SPHERE_RADIUS, BOX_MASS, mPhysicsCommon, mPhysicsWorld, meshFolderPath);
 
 		// Add some rolling resistance
-        sphere->getRigidBody()->getMaterial().setRollingResistance(0.08f);
+        sphere->getCollider()->getMaterial().setRollingResistance(0.08f);
 
 		// Set the box color
 		sphere->setColor(mObjectColorDemo);
 		sphere->setSleepingColor(mSleepingColorDemo);
 
 		// Change the material properties of the rigid body
-		rp3d::Material& material = sphere->getRigidBody()->getMaterial();
+        rp3d::Material& material = sphere->getCollider()->getMaterial();
 		material.setBounciness(rp3d::decimal(0.2));
 
 		// Add the sphere the list of sphere in the scene
@@ -119,14 +123,14 @@ HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& sett
         Capsule* capsule = new Capsule(true, CAPSULE_RADIUS, CAPSULE_HEIGHT, CAPSULE_MASS,
                                        mPhysicsCommon, mPhysicsWorld, meshFolderPath);
 
-        capsule->getRigidBody()->getMaterial().setRollingResistance(0.08f);
+        capsule->getCollider()->getMaterial().setRollingResistance(0.08f);
 
 		// Set the box color
 		capsule->setColor(mObjectColorDemo);
 		capsule->setSleepingColor(mSleepingColorDemo);
 
 		// Change the material properties of the rigid body
-		rp3d::Material& material = capsule->getRigidBody()->getMaterial();
+        rp3d::Material& material = capsule->getCollider()->getMaterial();
 		material.setBounciness(rp3d::decimal(0.2));
 
 		// Add the cylinder the list of sphere in the scene
@@ -145,7 +149,7 @@ HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& sett
 		mesh->setSleepingColor(mSleepingColorDemo);
 
 		// Change the material properties of the rigid body
-		rp3d::Material& material = mesh->getRigidBody()->getMaterial();
+        rp3d::Material& material = mesh->getCollider()->getMaterial();
 		material.setBounciness(rp3d::decimal(0.2));
 
 		// Add the mesh the list of sphere in the scene
@@ -171,7 +175,7 @@ HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& sett
     mHeightField->setSleepingColor(mFloorColorDemo);
 
     // Change the material properties of the rigid body
-    rp3d::Material& material = mHeightField->getRigidBody()->getMaterial();
+    rp3d::Material& material = mHeightField->getCollider()->getMaterial();
     material.setBounciness(rp3d::decimal(0.2));
     material.setFrictionCoefficient(0.1f);
 

testbed/scenes/joints/JointsScene.cpp

@@ -230,7 +230,7 @@ void JointsScene::createBallAndSocketJoints() {
         mBallAndSocketJointChainBoxes[i]->getRigidBody()->setAngularDamping(rp3d::decimal(0.2));
 
         // Change the material properties of the rigid body
-        rp3d::Material& material = mBallAndSocketJointChainBoxes[i]->getRigidBody()->getMaterial();
+        rp3d::Material& material = mBallAndSocketJointChainBoxes[i]->getCollider()->getMaterial();
         material.setBounciness(rp3d::decimal(0.4));
 
 		mPhysicsObjects.push_back(mBallAndSocketJointChainBoxes[i]);
@@ -277,7 +277,7 @@ void JointsScene::createSliderJoint() {
     mSliderJointBottomBox->getRigidBody()->setType(rp3d::BodyType::STATIC);
 
     // Change the material properties of the rigid body
-    rp3d::Material& material1 = mSliderJointBottomBox->getRigidBody()->getMaterial();
+    rp3d::Material& material1 = mSliderJointBottomBox->getCollider()->getMaterial();
     material1.setBounciness(0.4f);
 	mPhysicsObjects.push_back(mSliderJointBottomBox);
 
@@ -296,7 +296,7 @@ void JointsScene::createSliderJoint() {
     mSliderJointTopBox->setSleepingColor(mSleepingColorDemo);
 
     // Change the material properties of the rigid body
-    rp3d::Material& material2 = mSliderJointTopBox->getRigidBody()->getMaterial();
+    rp3d::Material& material2 = mSliderJointTopBox->getCollider()->getMaterial();
     material2.setBounciness(0.4f);
 	mPhysicsObjects.push_back(mSliderJointTopBox);
 
@@ -338,7 +338,7 @@ void JointsScene::createPropellerHingeJoint() {
     mPropellerBox->setSleepingColor(mSleepingColorDemo);
 
     // Change the material properties of the rigid body
-    rp3d::Material& material = mPropellerBox->getRigidBody()->getMaterial();
+    rp3d::Material& material = mPropellerBox->getCollider()->getMaterial();
     material.setBounciness(rp3d::decimal(0.4));
 	mPhysicsObjects.push_back(mPropellerBox);
 
@@ -379,7 +379,7 @@ void JointsScene::createFixedJoints() {
     mFixedJointBox1->setSleepingColor(mSleepingColorDemo);
 
     // Change the material properties of the rigid body
-    rp3d::Material& material1 = mFixedJointBox1->getRigidBody()->getMaterial();
+    rp3d::Material& material1 = mFixedJointBox1->getCollider()->getMaterial();
     material1.setBounciness(rp3d::decimal(0.4));
 	mPhysicsObjects.push_back(mFixedJointBox1);
 
@@ -397,7 +397,7 @@ void JointsScene::createFixedJoints() {
     mFixedJointBox2->setSleepingColor(mSleepingColorDemo);
 
     // Change the material properties of the rigid body
-    rp3d::Material& material2 = mFixedJointBox2->getRigidBody()->getMaterial();
+    rp3d::Material& material2 = mFixedJointBox2->getCollider()->getMaterial();
     material2.setBounciness(rp3d::decimal(0.4));
 	mPhysicsObjects.push_back(mFixedJointBox2);
 
@@ -440,7 +440,7 @@ void JointsScene::createFloor() {
     mFloor->getRigidBody()->setType(rp3d::BodyType::STATIC);
 
     // Change the material properties of the rigid body
-    rp3d::Material& material = mFloor->getRigidBody()->getMaterial();
+    rp3d::Material& material = mFloor->getCollider()->getMaterial();
     material.setBounciness(rp3d::decimal(0.3));
 	mPhysicsObjects.push_back(mFloor);
 }

testbed/scenes/pile/PileScene.cpp

@@ -61,8 +61,12 @@ PileScene::PileScene(const std::string& name, EngineSettings& settings)
         dumbbell->setSleepingColor(mSleepingColorDemo);
 
         // Change the material properties of the rigid body
-        rp3d::Material& material = dumbbell->getRigidBody()->getMaterial();
+        rp3d::Material& capsuleMaterial = dumbbell->getCapsuleCollider()->getMaterial();
-        material.setBounciness(rp3d::decimal(0.2));
+        capsuleMaterial.setBounciness(rp3d::decimal(0.2));
+        rp3d::Material& sphere1Material = dumbbell->getSphere1Collider()->getMaterial();
+        sphere1Material.setBounciness(rp3d::decimal(0.2));
+        rp3d::Material& sphere2Material = dumbbell->getSphere2Collider()->getMaterial();
+        sphere2Material.setBounciness(rp3d::decimal(0.2));
 
         // Add the mesh the list of dumbbells in the scene
         mDumbbells.push_back(dumbbell);
@@ -80,7 +84,7 @@ PileScene::PileScene(const std::string& name, EngineSettings& settings)
         box->setSleepingColor(mSleepingColorDemo);
 
         // Change the material properties of the rigid body
-        rp3d::Material& material = box->getRigidBody()->getMaterial();
+        rp3d::Material& material = box->getCollider()->getMaterial();
         material.setBounciness(rp3d::decimal(0.2));
 
         // Add the sphere the list of sphere in the scene
@@ -95,14 +99,14 @@ PileScene::PileScene(const std::string& name, EngineSettings& settings)
         Sphere* sphere = new Sphere(SPHERE_RADIUS, BOX_MASS, mPhysicsCommon, mPhysicsWorld, meshFolderPath);
 
         // Add some rolling resistance
-        sphere->getRigidBody()->getMaterial().setRollingResistance(rp3d::decimal(0.08));
+        sphere->getCollider()->getMaterial().setRollingResistance(rp3d::decimal(0.08));
 
         // Set the box color
         sphere->setColor(mObjectColorDemo);
         sphere->setSleepingColor(mSleepingColorDemo);
 
         // Change the material properties of the rigid body
-        rp3d::Material& material = sphere->getRigidBody()->getMaterial();
+        rp3d::Material& material = sphere->getCollider()->getMaterial();
         material.setBounciness(rp3d::decimal(0.2));
 
         // Add the sphere the list of sphere in the scene
@@ -117,14 +121,14 @@ PileScene::PileScene(const std::string& name, EngineSettings& settings)
         Capsule* capsule = new Capsule(true, CAPSULE_RADIUS, CAPSULE_HEIGHT, CAPSULE_MASS,
                                        mPhysicsCommon, mPhysicsWorld, meshFolderPath);
 
-        capsule->getRigidBody()->getMaterial().setRollingResistance(rp3d::decimal(0.08f));
+        capsule->getCollider()->getMaterial().setRollingResistance(rp3d::decimal(0.08f));
 
         // Set the box color
         capsule->setColor(mObjectColorDemo);
         capsule->setSleepingColor(mSleepingColorDemo);
 
         // Change the material properties of the rigid body
-        rp3d::Material& material = capsule->getRigidBody()->getMaterial();
+        rp3d::Material& material = capsule->getCollider()->getMaterial();
         material.setBounciness(rp3d::decimal(0.2));
 
         // Add the cylinder the list of sphere in the scene
@@ -143,7 +147,7 @@ PileScene::PileScene(const std::string& name, EngineSettings& settings)
         mesh->setSleepingColor(mSleepingColorDemo);
 
         // Change the material properties of the rigid body
-        rp3d::Material& material = mesh->getRigidBody()->getMaterial();
+        rp3d::Material& material = mesh->getCollider()->getMaterial();
         material.setBounciness(rp3d::decimal(0.2));
 
         // Add the mesh the list of sphere in the scene
@@ -169,7 +173,7 @@ PileScene::PileScene(const std::string& name, EngineSettings& settings)
     mPhysicsObjects.push_back(mSandbox);
 
     // Change the material properties of the rigid body
-    rp3d::Material& material = mSandbox->getRigidBody()->getMaterial();
+    rp3d::Material& material = mSandbox->getCollider()->getMaterial();
     material.setBounciness(rp3d::decimal(0.2));
     material.setFrictionCoefficient(rp3d::decimal(0.1));