Use constexpr for compile time constants

src/collision/broadphase/DynamicAABBTree.cpp

@@ -32,7 +32,7 @@
 using namespace reactphysics3d;
 
 // Initialization of static variables
-const int TreeNode::NULL_TREE_NODE = -1;
+constexpr int TreeNode::NULL_TREE_NODE = -1;
 
 // Constructor
 DynamicAABBTree::DynamicAABBTree(decimal extraAABBGap) : mExtraAABBGap(extraAABBGap) {

src/collision/narrowphase/EPA/EPAAlgorithm.h

@@ -43,10 +43,10 @@ namespace reactphysics3d {
 // ---------- Constants ---------- //
 
 /// Maximum number of support points of the polytope
-const unsigned int MAX_SUPPORT_POINTS = 100;
+constexpr unsigned int MAX_SUPPORT_POINTS = 100;
 
 /// Maximum number of facets of the polytope
-const unsigned int MAX_FACETS = 200;
+constexpr unsigned int MAX_FACETS = 200;
 
 
 // Class TriangleComparison

src/collision/narrowphase/EPA/EdgeEPA.cpp

@@ -32,7 +32,6 @@
 // We want to use the ReactPhysics3D namespace
 using namespace reactphysics3d;
 
-
 // Constructor
 EdgeEPA::EdgeEPA() {
     

src/collision/narrowphase/EPA/TrianglesStore.h

@@ -36,7 +36,7 @@
 namespace reactphysics3d {
 
 // Constants
-const unsigned int MAX_TRIANGLES = 200;     // Maximum number of triangles
+constexpr unsigned int MAX_TRIANGLES = 200;     // Maximum number of triangles
 
 // Class TriangleStore
 /**

src/collision/narrowphase/GJK/GJKAlgorithm.h

@@ -37,9 +37,9 @@
 namespace reactphysics3d {
 
 // Constants
-const decimal REL_ERROR = decimal(1.0e-3);
-const decimal REL_ERROR_SQUARE = REL_ERROR * REL_ERROR;
-const int MAX_ITERATIONS_GJK_RAYCAST = 32;
+constexpr decimal REL_ERROR = decimal(1.0e-3);
+constexpr decimal REL_ERROR_SQUARE = REL_ERROR * REL_ERROR;
+constexpr int MAX_ITERATIONS_GJK_RAYCAST = 32;
 
 // Class GJKAlgorithm
 /**

src/collision/shapes/CylinderShape.cpp

@@ -55,7 +55,7 @@ Vector3 CylinderShape::getLocalSupportPointWithoutMargin(const Vector3& directio
     Vector3 supportPoint(0.0, 0.0, 0.0);
     decimal uDotv = direction.y;
     Vector3 w(direction.x, 0.0, direction.z);
-    decimal lengthW = sqrt(direction.x * direction.x + direction.z * direction.z);
+    decimal lengthW = std::sqrt(direction.x * direction.x + direction.z * direction.z);
 
     if (lengthW > MACHINE_EPSILON) {
         if (uDotv < 0.0) supportPoint.y = -mHalfHeight;

src/configuration.h

@@ -83,66 +83,66 @@ const decimal DECIMAL_LARGEST = std::numeric_limits<decimal>::max();
 const decimal MACHINE_EPSILON = std::numeric_limits<decimal>::epsilon();
 
 /// Pi constant
-const decimal PI = decimal(3.14159265);
+constexpr decimal PI = decimal(3.14159265);
 
 /// 2*Pi constant
-const decimal PI_TIMES_2 = decimal(6.28318530);
+constexpr decimal PI_TIMES_2 = decimal(6.28318530);
 
 /// Default friction coefficient for a rigid body
-const decimal DEFAULT_FRICTION_COEFFICIENT = decimal(0.3);
+constexpr decimal DEFAULT_FRICTION_COEFFICIENT = decimal(0.3);
 
 /// Default bounciness factor for a rigid body
-const decimal DEFAULT_BOUNCINESS = decimal(0.5);
+constexpr decimal DEFAULT_BOUNCINESS = decimal(0.5);
 
 /// Default rolling resistance
-const decimal DEFAULT_ROLLING_RESISTANCE = decimal(0.0);
+constexpr decimal DEFAULT_ROLLING_RESISTANCE = decimal(0.0);
 
 /// True if the spleeping technique is enabled
-const bool SPLEEPING_ENABLED = true;
+constexpr bool SPLEEPING_ENABLED = true;
 
 /// Object margin for collision detection in meters (for the GJK-EPA Algorithm)
-const decimal OBJECT_MARGIN = decimal(0.04);
+constexpr decimal OBJECT_MARGIN = decimal(0.04);
 
 /// Distance threshold for two contact points for a valid persistent contact (in meters)
-const decimal PERSISTENT_CONTACT_DIST_THRESHOLD = decimal(0.03);
+constexpr decimal PERSISTENT_CONTACT_DIST_THRESHOLD = decimal(0.03);
 
 /// Velocity threshold for contact velocity restitution
-const decimal RESTITUTION_VELOCITY_THRESHOLD = decimal(1.0);
+constexpr decimal RESTITUTION_VELOCITY_THRESHOLD = decimal(1.0);
 
 /// Number of iterations when solving the velocity constraints of the Sequential Impulse technique
-const uint DEFAULT_VELOCITY_SOLVER_NB_ITERATIONS = 10;
+constexpr uint DEFAULT_VELOCITY_SOLVER_NB_ITERATIONS = 10;
 
 /// Number of iterations when solving the position constraints of the Sequential Impulse technique
-const uint DEFAULT_POSITION_SOLVER_NB_ITERATIONS = 5;
+constexpr uint DEFAULT_POSITION_SOLVER_NB_ITERATIONS = 5;
 
 /// Time (in seconds) that a body must stay still to be considered sleeping
-const float DEFAULT_TIME_BEFORE_SLEEP = 1.0f;
+constexpr float DEFAULT_TIME_BEFORE_SLEEP = 1.0f;
 
 /// A body with a linear velocity smaller than the sleep linear velocity (in m/s)
 /// might enter sleeping mode.
-const decimal DEFAULT_SLEEP_LINEAR_VELOCITY = decimal(0.02);
+constexpr decimal DEFAULT_SLEEP_LINEAR_VELOCITY = decimal(0.02);
 
 /// A body with angular velocity smaller than the sleep angular velocity (in rad/s)
 /// might enter sleeping mode
-const decimal DEFAULT_SLEEP_ANGULAR_VELOCITY = decimal(3.0 * (PI / 180.0));
+constexpr decimal DEFAULT_SLEEP_ANGULAR_VELOCITY = decimal(3.0 * (PI / 180.0));
 
 /// In the broad-phase collision detection (dynamic AABB tree), the AABBs are
 /// inflated with a constant gap to allow the collision shape to move a little bit
 /// without triggering a large modification of the tree which can be costly
-const decimal DYNAMIC_TREE_AABB_GAP = decimal(0.1);
+constexpr decimal DYNAMIC_TREE_AABB_GAP = decimal(0.1);
 
 /// In the broad-phase collision detection (dynamic AABB tree), the AABBs are
 /// also inflated in direction of the linear motion of the body by mutliplying the
 /// followin constant with the linear velocity and the elapsed time between two frames.
-const decimal DYNAMIC_TREE_AABB_LIN_GAP_MULTIPLIER = decimal(1.7);
+constexpr decimal DYNAMIC_TREE_AABB_LIN_GAP_MULTIPLIER = decimal(1.7);
 
 /// Maximum number of contact manifolds in an overlapping pair that involves two
 /// convex collision shapes.
-const int NB_MAX_CONTACT_MANIFOLDS_CONVEX_SHAPE = 1;
+constexpr int NB_MAX_CONTACT_MANIFOLDS_CONVEX_SHAPE = 1;
 
 /// Maximum number of contact manifolds in an overlapping pair that involves at
 /// least one concave collision shape.
-const int NB_MAX_CONTACT_MANIFOLDS_CONCAVE_SHAPE = 3;
+constexpr int NB_MAX_CONTACT_MANIFOLDS_CONCAVE_SHAPE = 3;
 
 }
 

src/constraint/BallAndSocketJoint.cpp

@@ -30,7 +30,7 @@
 using namespace reactphysics3d;
 
 // Static variables definition
-const decimal BallAndSocketJoint::BETA = decimal(0.2);
+constexpr decimal BallAndSocketJoint::BETA = decimal(0.2);
 
 // Constructor
 BallAndSocketJoint::BallAndSocketJoint(const BallAndSocketJointInfo& jointInfo)

src/constraint/FixedJoint.cpp

@@ -30,7 +30,7 @@
 using namespace reactphysics3d;
 
 // Static variables definition
-const decimal FixedJoint::BETA = decimal(0.2);
+constexpr decimal FixedJoint::BETA = decimal(0.2);
 
 // Constructor
 FixedJoint::FixedJoint(const FixedJointInfo& jointInfo)

src/constraint/HingeJoint.cpp

@@ -31,7 +31,7 @@
 using namespace reactphysics3d;
 
 // Static variables definition
-const decimal HingeJoint::BETA = decimal(0.2);
+constexpr decimal HingeJoint::BETA = decimal(0.2);
 
 // Constructor
 HingeJoint::HingeJoint(const HingeJointInfo& jointInfo)

src/constraint/SliderJoint.cpp

@@ -29,7 +29,7 @@
 using namespace reactphysics3d;
 
 // Static variables definition
-const decimal SliderJoint::BETA = decimal(0.2);
+constexpr decimal SliderJoint::BETA = decimal(0.2);
 
 // Constructor
 SliderJoint::SliderJoint(const SliderJointInfo& jointInfo)

src/engine/ContactSolver.cpp

@@ -34,9 +34,9 @@ using namespace reactphysics3d;
 using namespace std;
 
 // Constants initialization
-const decimal ContactSolver::BETA = decimal(0.2);
-const decimal ContactSolver::BETA_SPLIT_IMPULSE = decimal(0.2);
-const decimal ContactSolver::SLOP= decimal(0.01);
+constexpr decimal ContactSolver::BETA = decimal(0.2);
+constexpr decimal ContactSolver::BETA_SPLIT_IMPULSE = decimal(0.2);
+constexpr decimal ContactSolver::SLOP= decimal(0.01);
 
 // Constructor
 ContactSolver::ContactSolver(const std::map<RigidBody*, uint>& mapBodyToVelocityIndex)