Replace linked-list by rp3d::List for contactPoints of NarrowPhaseInfo

src/collision/CollisionDetection.cpp

@@ -242,7 +242,7 @@ void CollisionDetection::computeNarrowPhase() {
 
         NarrowPhaseInfo* narrowPhaseInfo = mNarrowPhaseInfos[i];
 
-        assert(narrowPhaseInfo->contactPoints == nullptr);
+        assert(narrowPhaseInfo->contactPoints.size() == 0);
 
         // Select the narrow phase algorithm to use according to the two collision shapes
         const CollisionShapeType shape1Type = narrowPhaseInfo->collisionShape1->getType();
@@ -434,7 +434,7 @@ void CollisionDetection::processAllPotentialContacts(const List<NarrowPhaseInfo*
         NarrowPhaseInfo* narrowPhaseInfo = collidingNarrowPhaseInfos[i];
 
         assert(narrowPhaseInfo != nullptr);
-        assert(narrowPhaseInfo->contactPoints != nullptr);
+        assert(narrowPhaseInfo->contactPoints.size() > 0);
 
         // Transfer the contact points from the narrow phase info to the overlapping pair
         narrowPhaseInfo->overlappingPair->addPotentialContactPoints(narrowPhaseInfo);

src/collision/ContactManifoldSet.cpp

@@ -51,11 +51,12 @@ ContactManifoldSet::~ContactManifoldSet() {
 
 void ContactManifoldSet::addContactPoints(NarrowPhaseInfo* narrowPhaseInfo) {
 
-    assert(narrowPhaseInfo->contactPoints != nullptr);
+    assert(narrowPhaseInfo->contactPoints.size() > 0);
 
     // For each potential contact point to add
-    ContactPointInfo* contactPoint = narrowPhaseInfo->contactPoints;
-    while (contactPoint != nullptr) {
+    for (uint i=0; i < narrowPhaseInfo->contactPoints.size(); i++) {
+
+        ContactPointInfo* contactPoint = narrowPhaseInfo->contactPoints[i];
 
         // 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)
@@ -91,8 +92,6 @@ void ContactManifoldSet::addContactPoints(NarrowPhaseInfo* narrowPhaseInfo) {
             // Add the contact point to the manifold
             manifold->addContactPoint(contactPoint);
         }
-
-        contactPoint = contactPoint->next;
     }
 }
 

src/collision/NarrowPhaseInfo.cpp

@@ -37,7 +37,7 @@ NarrowPhaseInfo::NarrowPhaseInfo(OverlappingPair* pair, CollisionShape* shape1,
                 const Transform& shape2Transform, MemoryAllocator& shapeAllocator)
       : overlappingPair(pair), collisionShape1(shape1), collisionShape2(shape2),
         shape1ToWorldTransform(shape1Transform), shape2ToWorldTransform(shape2Transform),
-        contactPoints(nullptr), collisionShapeAllocator(shapeAllocator) {
+        contactPoints(overlappingPair->getTemporaryAllocator()), collisionShapeAllocator(shapeAllocator) {
 
     // Add a collision info for the two collision shapes into the overlapping pair (if not present yet)
     overlappingPair->addLastFrameInfoIfNecessary(shape1->getId(), shape2->getId());
@@ -46,7 +46,7 @@ NarrowPhaseInfo::NarrowPhaseInfo(OverlappingPair* pair, CollisionShape* shape1,
 // Destructor
 NarrowPhaseInfo::~NarrowPhaseInfo() {
 
-    assert(contactPoints == nullptr);
+    assert(contactPoints.size() == 0);
 
 	// Release the memory of the TriangleShape (this memory was allocated in the
 	// MiddlePhaseTriangleCallback::testTriangle() method)
@@ -73,9 +73,8 @@ void NarrowPhaseInfo::addContactPoint(const Vector3& contactNormal, decimal penD
     ContactPointInfo* contactPointInfo = new (allocator.allocate(sizeof(ContactPointInfo)))
             ContactPointInfo(contactNormal, penDepth, localPt1, localPt2);
 
-    // Add it into the linked list of contact points
-    contactPointInfo->next = contactPoints;
-    contactPoints = contactPointInfo;
+    // Add it into the list of contact points
+    contactPoints.add(contactPointInfo);
 }
 
 // Reset the remaining contact points
@@ -85,19 +84,16 @@ void NarrowPhaseInfo::resetContactPoints() {
     MemoryAllocator& allocator = overlappingPair->getTemporaryAllocator();
 
     // For each remaining contact point info
-    ContactPointInfo* element = contactPoints;
-    while(element != nullptr) {
+    for (uint i=0; i < contactPoints.size(); i++) {
 
-        ContactPointInfo* elementToDelete = element;
-
-        element = element->next;
+        ContactPointInfo* contactPoint = contactPoints[i];
 
         // Call the destructor
-        elementToDelete->~ContactPointInfo();
+        contactPoint->~ContactPointInfo();
 
         // Delete the current element
-        allocator.release(elementToDelete, sizeof(ContactPointInfo));
+        allocator.release(contactPoint, sizeof(ContactPointInfo));
     }
 
-    contactPoints = nullptr;
+    contactPoints.clear();
 }

src/collision/NarrowPhaseInfo.h

@@ -62,8 +62,8 @@ struct NarrowPhaseInfo {
         /// Transform that maps from collision shape 2 local-space to world-space
         Transform shape2ToWorldTransform;
 
-        /// Linked-list of contact points created during the narrow-phase
-        ContactPointInfo* contactPoints;
+        /// List of contact points created during the narrow-phase
+        List<ContactPointInfo*> contactPoints;
 
         /// Memory allocator for the collision shape (Used to release TriangleShape memory in destructor)
         MemoryAllocator& collisionShapeAllocator;

src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.cpp

@@ -76,8 +76,8 @@ bool CapsuleVsConvexPolyhedronAlgorithm::testCollision(NarrowPhaseInfo* narrowPh
             // two contact points instead of a single one (as in the deep contact case with SAT algorithm)
 
             // Get the contact point created by GJK
-            ContactPointInfo* contactPoint = narrowPhaseInfo->contactPoints;
-            assert(contactPoint != nullptr);
+            assert(narrowPhaseInfo->contactPoints.size() > 0);
+            ContactPointInfo*& contactPoint = narrowPhaseInfo->contactPoints[0];
 
             bool isCapsuleShape1 = narrowPhaseInfo->collisionShape1->getType() == CollisionShapeType::CAPSULE;