Refactor the way headers are included and use more forward declarations for faster compilation time

src/body/Body.cpp

@@ -26,6 +26,7 @@
 // Libraries
 #include "Body.h"
 #include "collision/shapes/CollisionShape.h"
+#include "utils/Logger.h"
 
 // We want to use the ReactPhysics3D namespace
 using namespace reactphysics3d;
@@ -43,3 +44,52 @@ Body::Body(bodyindex id)
 #endif
 
 }
+
+// Set whether or not the body is active
+/**
+ * @param isActive True if you want to activate the body
+ */
+void Body::setIsActive(bool isActive) {
+    mIsActive = isActive;
+
+    RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body,
+             "Body " + std::to_string(mID) + ": Set isActive=" +
+             (mIsActive ? "true" : "false"));
+}
+
+// Set the variable to know whether or not the body is sleeping
+void Body::setIsSleeping(bool isSleeping) {
+
+    if (isSleeping) {
+        mSleepTime = decimal(0.0);
+    }
+    else {
+        if (mIsSleeping) {
+            mSleepTime = decimal(0.0);
+        }
+    }
+
+    if (mIsSleeping != isSleeping) {
+
+        mIsSleeping = isSleeping;
+
+        RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body,
+             "Body " + std::to_string(mID) + ": Set isSleeping=" +
+             (mIsSleeping ? "true" : "false"));
+    }
+}
+
+// Set whether or not the body is allowed to go to sleep
+/**
+ * @param isAllowedToSleep True if the body is allowed to sleep
+ */
+void Body::setIsAllowedToSleep(bool isAllowedToSleep) {
+    mIsAllowedToSleep = isAllowedToSleep;
+
+    if (!mIsAllowedToSleep) setIsSleeping(false);
+
+    RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body,
+             "Body " + std::to_string(mID) + ": Set isAllowedToSleep=" +
+             (mIsAllowedToSleep ? "true" : "false"));
+}
+

src/body/Body.h

@@ -27,14 +27,15 @@
 #define REACTPHYSICS3D_BODY_H
 
 // Libraries
-#include <stdexcept>
 #include <cassert>
 #include "configuration.h"
-#include "utils/Logger.h"
 
 /// Namespace reactphysics3d
 namespace reactphysics3d {
 
+// Declarations
+class Logger;
+
 // TODO : Make this class abstract
 // Class Body
 /**
@@ -164,20 +165,6 @@ inline bool Body::isAllowedToSleep() const {
     return mIsAllowedToSleep;
 }
 
-// Set whether or not the body is allowed to go to sleep
-/**
- * @param isAllowedToSleep True if the body is allowed to sleep
- */
-inline void Body::setIsAllowedToSleep(bool isAllowedToSleep) {
-    mIsAllowedToSleep = isAllowedToSleep;
-
-    if (!mIsAllowedToSleep) setIsSleeping(false);
-
-    RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body,
-             "Body " + std::to_string(mID) + ": Set isAllowedToSleep=" +
-             (mIsAllowedToSleep ? "true" : "false"));
-}
-
 // Return whether or not the body is sleeping
 /**
  * @return True if the body is currently sleeping and false otherwise
@@ -194,40 +181,6 @@ inline bool Body::isActive() const {
     return mIsActive;
 }
 
-// Set whether or not the body is active
-/**
- * @param isActive True if you want to activate the body
- */
-inline void Body::setIsActive(bool isActive) {
-    mIsActive = isActive;
-
-    RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body,
-             "Body " + std::to_string(mID) + ": Set isActive=" +
-             (mIsActive ? "true" : "false"));
-}
-
-// Set the variable to know whether or not the body is sleeping
-inline void Body::setIsSleeping(bool isSleeping) {
-
-    if (isSleeping) {
-        mSleepTime = decimal(0.0);
-    }
-    else {
-        if (mIsSleeping) {
-            mSleepTime = decimal(0.0);
-        }
-    }
-
-    if (mIsSleeping != isSleeping) {
-
-        mIsSleeping = isSleeping;
-
-        RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body,
-             "Body " + std::to_string(mID) + ": Set isSleeping=" +
-             (mIsSleeping ? "true" : "false"));
-    }
-}
-
 // Return a pointer to the user data attached to this body
 /**
  * @return A pointer to the user data you have attached to the body

src/body/CollisionBody.cpp

@@ -27,6 +27,8 @@
 #include "CollisionBody.h"
 #include "engine/CollisionWorld.h"
 #include "collision/ContactManifold.h"
+#include "collision/RaycastInfo.h"
+#include "utils/Logger.h"
 
 // We want to use the ReactPhysics3D namespace
 using namespace reactphysics3d;
@@ -390,3 +392,49 @@ AABB CollisionBody::getAABB() const {
 
     return bodyAABB;
 }
+
+// Set the current position and orientation
+/**
+ * @param transform The transformation of the body that transforms the local-space
+ *                  of the body into world-space
+ */
+void CollisionBody::setTransform(const Transform& transform) {
+
+    // Update the transform of the body
+    mTransform = transform;
+
+    // Update the broad-phase state of the body
+    updateBroadPhaseState();
+
+    RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body,
+             "Body " + std::to_string(mID) + ": Set transform=" + mTransform.to_string());
+}
+
+
+// Set the type of the body
+/// The type of the body can either STATIC, KINEMATIC or DYNAMIC as described bellow:
+/// STATIC : A static body has infinite mass, zero velocity but the position can be
+///          changed manually. A static body does not collide with other static or kinematic bodies.
+/// KINEMATIC : A kinematic body has infinite mass, the velocity can be changed manually and its
+///             position is computed by the physics engine. A kinematic body does not collide with
+///             other static or kinematic bodies.
+/// DYNAMIC : A dynamic body has non-zero mass, non-zero velocity determined by forces and its
+///           position is determined by the physics engine. A dynamic body can collide with other
+///           dynamic, static or kinematic bodies.
+/**
+ * @param type The type of the body (STATIC, KINEMATIC, DYNAMIC)
+ */
+void CollisionBody::setType(BodyType type) {
+    mType = type;
+
+    if (mType == BodyType::STATIC) {
+
+        // Update the broad-phase state of the body
+        updateBroadPhaseState();
+    }
+
+    RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body,
+             "Body " + std::to_string(mID) + ": Set type=" +
+             (mType == BodyType::STATIC ? "Static" : (mType == BodyType::DYNAMIC ? "Dynamic" : "Kinematic")));
+}
+

src/body/CollisionBody.h

@@ -27,24 +27,23 @@
 #define REACTPHYSICS3D_COLLISION_BODY_H
 
 // Libraries
-#include <stdexcept>
 #include <cassert>
 #include "Body.h"
-#include "mathematics/Transform.h"
 #include "collision/shapes/AABB.h"
-#include "collision/shapes/CollisionShape.h"
-#include "collision/RaycastInfo.h"
-#include "memory/PoolAllocator.h"
+#include "mathematics/Transform.h"
 #include "configuration.h"
-#include "utils/Profiler.h"
 
 /// Namespace reactphysics3d
 namespace reactphysics3d {
 
-// Class declarations
+// Declarations
 struct ContactManifoldListElement;
 class ProxyShape;
 class CollisionWorld;
+class CollisionShape;
+struct RaycastInfo;
+class PoolAllocator;
+class Profiler;
 
 /// Enumeration for the type of a body
 /// STATIC : A static body has infinite mass, zero velocity but the position can be
@@ -210,33 +209,6 @@ inline BodyType CollisionBody::getType() const {
     return mType;
 }
 
-// Set the type of the body
-/// The type of the body can either STATIC, KINEMATIC or DYNAMIC as described bellow:
-/// STATIC : A static body has infinite mass, zero velocity but the position can be
-///          changed manually. A static body does not collide with other static or kinematic bodies.
-/// KINEMATIC : A kinematic body has infinite mass, the velocity can be changed manually and its
-///             position is computed by the physics engine. A kinematic body does not collide with
-///             other static or kinematic bodies.
-/// DYNAMIC : A dynamic body has non-zero mass, non-zero velocity determined by forces and its
-///           position is determined by the physics engine. A dynamic body can collide with other
-///           dynamic, static or kinematic bodies.
-/**
- * @param type The type of the body (STATIC, KINEMATIC, DYNAMIC)
- */
-inline void CollisionBody::setType(BodyType type) {
-    mType = type;
-
-    if (mType == BodyType::STATIC) {
-
-        // Update the broad-phase state of the body
-        updateBroadPhaseState();
-    }
-
-    RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body,
-             "Body " + std::to_string(mID) + ": Set type=" +
-             (mType == BodyType::STATIC ? "Static" : (mType == BodyType::DYNAMIC ? "Dynamic" : "Kinematic")));
-}
-
 // Return the current position and orientation
 /**
  * @return The current transformation of the body that transforms the local-space
@@ -246,23 +218,6 @@ inline const Transform& CollisionBody::getTransform() const {
     return mTransform;
 }
 
-// Set the current position and orientation
-/**
- * @param transform The transformation of the body that transforms the local-space
- *                  of the body into world-space
- */
-inline void CollisionBody::setTransform(const Transform& transform) {
-
-    // Update the transform of the body
-    mTransform = transform;
-
-    // Update the broad-phase state of the body
-    updateBroadPhaseState();
-
-    RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body,
-             "Body " + std::to_string(mID) + ": Set transform=" + mTransform.to_string());
-}
-
 // Return the first element of the linked list of contact manifolds involving this body
 /**
  * @return A pointer to the first element of the linked-list with the contact

src/body/RigidBody.cpp

@@ -28,6 +28,7 @@
 #include "constraint/Joint.h"
 #include "collision/shapes/CollisionShape.h"
 #include "engine/DynamicsWorld.h"
+#include "utils/Profiler.h"
 
 // We want to use the ReactPhysics3D namespace
 using namespace reactphysics3d;
@@ -334,6 +335,55 @@ void RigidBody::removeCollisionShape(const ProxyShape* proxyShape) {
     recomputeMassInformation();
 }
 
+// Set the variable to know if the gravity is applied to this rigid body
+/**
+ * @param isEnabled True if you want the gravity to be applied to this body
+ */
+void RigidBody::enableGravity(bool isEnabled) {
+    mIsGravityEnabled = isEnabled;
+
+    RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body,
+             "Body " + std::to_string(mID) + ": Set isGravityEnabled=" +
+             (mIsGravityEnabled ? "true" : "false"));
+}
+
+// Set the linear damping factor. This is the ratio of the linear velocity
+// that the body will lose every at seconds of simulation.
+/**
+ * @param linearDamping The linear damping factor of this body
+ */
+void RigidBody::setLinearDamping(decimal linearDamping) {
+    assert(linearDamping >= decimal(0.0));
+    mLinearDamping = linearDamping;
+
+    RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body,
+             "Body " + std::to_string(mID) + ": Set linearDamping=" + std::to_string(mLinearDamping));
+}
+
+// Set the angular damping factor. This is the ratio of the angular velocity
+// that the body will lose at every seconds of simulation.
+/**
+ * @param angularDamping The angular damping factor of this body
+ */
+void RigidBody::setAngularDamping(decimal angularDamping) {
+    assert(angularDamping >= decimal(0.0));
+    mAngularDamping = angularDamping;
+
+    RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body,
+             "Body " + std::to_string(mID) + ": Set angularDamping=" + std::to_string(mAngularDamping));
+}
+
+// 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(mID) + ": 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

@@ -31,7 +31,6 @@
 #include "CollisionBody.h"
 #include "engine/Material.h"
 #include "mathematics/mathematics.h"
-#include "memory/MemoryManager.h"
 
 /// Namespace reactphysics3d
 namespace reactphysics3d {
@@ -40,6 +39,7 @@ namespace reactphysics3d {
 struct JointListElement;
 class Joint;
 class DynamicsWorld;
+class MemoryManager;
 
 // Class RigidBody
 /**
@@ -319,18 +319,6 @@ inline bool RigidBody::isGravityEnabled() const {
     return mIsGravityEnabled;
 }
 
-// Set the variable to know if the gravity is applied to this rigid body
-/**
- * @param isEnabled True if you want the gravity to be applied to this body
- */
-inline void RigidBody::enableGravity(bool isEnabled) {
-    mIsGravityEnabled = isEnabled;
-
-    RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body,
-             "Body " + std::to_string(mID) + ": Set isGravityEnabled=" +
-             (mIsGravityEnabled ? "true" : "false"));
-}
-
 // Return a reference to the material properties of the rigid body
 /**
  * @return A reference to the material of the body
@@ -339,17 +327,6 @@ inline Material& RigidBody::getMaterial() {
     return mMaterial;
 }
 
-// Set a new material for this rigid body
-/**
- * @param material The material you want to set to the body
- */
-inline void RigidBody::setMaterial(const Material& material) {
-    mMaterial = material;
-
-    RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body,
-             "Body " + std::to_string(mID) + ": Set Material" + mMaterial.to_string());
-}
-
 // Return the linear velocity damping factor
 /**
  * @return The linear damping factor of this body
@@ -358,19 +335,6 @@ inline decimal RigidBody::getLinearDamping() const {
     return mLinearDamping;
 }
 
-// Set the linear damping factor. This is the ratio of the linear velocity
-// that the body will lose every at seconds of simulation.
-/**
- * @param linearDamping The linear damping factor of this body
- */
-inline void RigidBody::setLinearDamping(decimal linearDamping) {
-    assert(linearDamping >= decimal(0.0));
-    mLinearDamping = linearDamping;
-
-    RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body,
-             "Body " + std::to_string(mID) + ": Set linearDamping=" + std::to_string(mLinearDamping));
-}
-
 // Return the angular velocity damping factor
 /**
  * @return The angular damping factor of this body
@@ -379,19 +343,6 @@ inline decimal RigidBody::getAngularDamping() const {
     return mAngularDamping;
 }
 
-// Set the angular damping factor. This is the ratio of the angular velocity
-// that the body will lose at every seconds of simulation.
-/**
- * @param angularDamping The angular damping factor of this body
- */
-inline void RigidBody::setAngularDamping(decimal angularDamping) {
-    assert(angularDamping >= decimal(0.0));
-    mAngularDamping = angularDamping;
-
-    RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body,
-             "Body " + std::to_string(mID) + ": Set angularDamping=" + std::to_string(mAngularDamping));
-}
-
 // Return the first element of the linked list of joints involving this body
 /**
  * @return The first element of the linked-list of all the joints involving this body

src/collision/CollisionCallback.cpp

@@ -28,6 +28,7 @@
 #include "engine/OverlappingPair.h"
 #include "memory/MemoryAllocator.h"
 #include "collision/ContactManifold.h"
+#include "memory/MemoryManager.h"
 
 // We want to use the ReactPhysics3D namespace
 using namespace reactphysics3d;

src/collision/CollisionCallback.h

@@ -26,13 +26,16 @@
 #ifndef REACTPHYSICS3D_COLLISION_CALLBACK_H
 #define REACTPHYSICS3D_COLLISION_CALLBACK_H
 
-// Libraries
-#include "collision/ContactManifold.h"
-
 /// ReactPhysics3D namespace
 namespace reactphysics3d {
 
+// Declarations
 class OverlappingPair;
+class ContactManifold;
+struct ContactManifoldListElement;
+class CollisionBody;
+class ProxyShape;
+class MemoryManager;
 
 // Class CollisionCallback
 /**

src/collision/CollisionDetection.cpp

@@ -35,10 +35,13 @@
 #include "collision/CollisionCallback.h"
 #include "collision/MiddlePhaseTriangleCallback.h"
 #include "collision/OverlapCallback.h"
+#include "collision/NarrowPhaseInfo.h"
+#include "collision/ContactManifold.h"
+#include "collision/ContactManifoldInfo.h"
+#include "utils/Profiler.h"
+#include "engine/EventListener.h"
+#include "collision/RaycastInfo.h"
 #include <cassert>
-#include <complex>
-#include <utility>
-#include <utility>
 
 // We want to use the ReactPhysics3D namespace
 using namespace reactphysics3d;
@@ -376,6 +379,20 @@ void CollisionDetection::addAllContactManifoldsToBodies() {
     }
 }
 
+// Ray casting method
+void CollisionDetection::raycast(RaycastCallback* raycastCallback,
+                                        const Ray& ray,
+                                        unsigned short raycastWithCategoryMaskBits) const {
+
+    RP3D_PROFILE("CollisionDetection::raycast()", mProfiler);
+
+    RaycastTest rayCastTest(raycastCallback);
+
+    // Ask the broad-phase algorithm to call the testRaycastAgainstShape()
+    // callback method for each proxy shape hit by the ray in the broad-phase
+    mBroadPhaseAlgorithm.raycast(ray, rayCastTest, raycastWithCategoryMaskBits);
+}
+
 // Add a contact manifold to the linked list of contact manifolds of the two bodies involved
 // in the corresponding contact
 void CollisionDetection::addContactManifoldToBody(OverlappingPair* pair) {

src/collision/CollisionDetection.h

@@ -29,23 +29,24 @@
 // Libraries
 #include "body/CollisionBody.h"
 #include "broadphase/BroadPhaseAlgorithm.h"
+#include "collision/shapes/CollisionShape.h"
 #include "engine/OverlappingPair.h"
-#include "engine/EventListener.h"
-#include "narrowphase/DefaultCollisionDispatch.h"
-#include "memory/MemoryManager.h"
-#include "constraint/ContactPoint.h"
+#include "collision/narrowphase/DefaultCollisionDispatch.h"
 #include "containers/Map.h"
 #include "containers/Set.h"
-#include <utility>
 
 /// ReactPhysics3D namespace
 namespace reactphysics3d {
 
 // Declarations
-class BroadPhaseAlgorithm;
 class CollisionWorld;
 class CollisionCallback;
 class OverlapCallback;
+class RaycastCallback;
+class ContactPoint;
+class MemoryManager;
+class EventListener;
+class CollisionDispatch;
 
 // Class CollisionDetection
 /**
@@ -84,10 +85,6 @@ class CollisionDetection {
         /// Broad-phase algorithm
         BroadPhaseAlgorithm mBroadPhaseAlgorithm;
 
-        /// Narrow-phase GJK algorithm
-        // TODO : Delete this
-        GJKAlgorithm mNarrowPhaseGJKAlgorithm;
-
         /// Set of pair of bodies that cannot collide between each other
         Set<bodyindexpair> mNoCollisionPairs;
 
@@ -309,20 +306,6 @@ inline NarrowPhaseAlgorithm* CollisionDetection::selectNarrowPhaseAlgorithm(cons
     return mCollisionMatrix[shape1Index][shape2Index];
 }
 
-// Ray casting method
-inline void CollisionDetection::raycast(RaycastCallback* raycastCallback,
-                                        const Ray& ray,
-                                        unsigned short raycastWithCategoryMaskBits) const {
-
-    RP3D_PROFILE("CollisionDetection::raycast()", mProfiler);
-
-    RaycastTest rayCastTest(raycastCallback);
-
-    // Ask the broad-phase algorithm to call the testRaycastAgainstShape()
-    // callback method for each proxy shape hit by the ray in the broad-phase
-    mBroadPhaseAlgorithm.raycast(ray, rayCastTest, raycastWithCategoryMaskBits);
-}
-
 // Return a pointer to the world
 inline CollisionWorld* CollisionDetection::getWorld() {
     return mWorld;

src/collision/ContactManifold.cpp

@@ -24,8 +24,9 @@
 ********************************************************************************/
 
 // Libraries
-#include <iostream>
 #include "ContactManifold.h"
+#include "constraint/ContactPoint.h"
+#include "collision/ContactManifoldInfo.h"
 
 using namespace reactphysics3d;
 
@@ -98,6 +99,25 @@ void ContactManifold::removeContactPoint(ContactPoint* contactPoint) {
     assert(mNbContactPoints >= 0);
 }
 
+// Return the largest depth of all the contact points
+decimal ContactManifold::getLargestContactDepth() const {
+    decimal largestDepth = 0.0f;
+
+    assert(mNbContactPoints > 0);
+
+    ContactPoint* contactPoint = mContactPoints;
+    while(contactPoint != nullptr){
+        decimal depth = contactPoint->getPenetrationDepth();
+        if (depth > largestDepth) {
+            largestDepth = depth;
+        }
+
+        contactPoint = contactPoint->getNext();
+    }
+
+    return largestDepth;
+}
+
 // Add a contact point
 void ContactManifold::addContactPoint(const ContactPointInfo* contactPointInfo) {
 
@@ -117,6 +137,20 @@ void ContactManifold::addContactPoint(const ContactPointInfo* contactPointInfo)
     mNbContactPoints++;
 }
 
+// Set to true to make the manifold obsolete
+void ContactManifold::setIsObsolete(bool isObsolete, bool setContactPoints) {
+    mIsObsolete = isObsolete;
+
+    if (setContactPoints) {
+        ContactPoint* contactPoint = mContactPoints;
+        while (contactPoint != nullptr) {
+            contactPoint->setIsObsolete(isObsolete);
+
+            contactPoint = contactPoint->getNext();
+        }
+    }
+}
+
 // Clear the obsolete contact points
 void ContactManifold::clearObsoleteContactPoints() {
 

src/collision/ContactManifold.h

@@ -27,17 +27,18 @@
 #define	REACTPHYSICS3D_CONTACT_MANIFOLD_H
 
 // Libraries
-#include "body/CollisionBody.h"
 #include "collision/ProxyShape.h"
-#include "constraint/ContactPoint.h"
-#include "collision/ContactManifoldInfo.h"
-#include "memory/PoolAllocator.h"
 
 /// ReactPhysics3D namespace
 namespace reactphysics3d {
 
 // Class declarations
 class ContactManifold;
+class ContactManifoldInfo;
+struct ContactPointInfo;
+class CollisionBody;
+class ContactPoint;
+class PoolAllocator;
 
 // Structure ContactManifoldListElement
 /**
@@ -353,25 +354,6 @@ inline bool ContactManifold::isAlreadyInIsland() const {
     return mIsAlreadyInIsland;
 }
 
-// Return the largest depth of all the contact points
-inline decimal ContactManifold::getLargestContactDepth() const {
-    decimal largestDepth = 0.0f;
-
-    assert(mNbContactPoints > 0);
-
-    ContactPoint* contactPoint = mContactPoints;
-    while(contactPoint != nullptr){
-        decimal depth = contactPoint->getPenetrationDepth();
-        if (depth > largestDepth) {
-            largestDepth = depth;
-        }
-
-        contactPoint = contactPoint->getNext();
-    }
-
-    return largestDepth;
-}
-
 // Return a pointer to the previous element in the linked-list
 inline ContactManifold* ContactManifold::getPrevious() const {
     return mPrevious;
@@ -397,20 +379,6 @@ inline bool ContactManifold::getIsObsolete() const {
     return mIsObsolete;
 }
 
-// Set to true to make the manifold obsolete
-inline void ContactManifold::setIsObsolete(bool isObsolete, bool setContactPoints) {
-    mIsObsolete = isObsolete;
-
-    if (setContactPoints) {
-        ContactPoint* contactPoint = mContactPoints;
-        while (contactPoint != nullptr) {
-            contactPoint->setIsObsolete(isObsolete);
-
-            contactPoint = contactPoint->getNext();
-        }
-    }
-}
-
 }
 
 #endif

src/collision/ContactManifoldInfo.cpp

@@ -25,6 +25,7 @@
 
 // Libraries
 #include "ContactManifoldInfo.h"
+#include "collision/ContactPointInfo.h"
 
 using namespace reactphysics3d;
 

src/collision/ContactManifoldInfo.h

@@ -27,12 +27,16 @@
 #define	REACTPHYSICS3D_CONTACT_MANIFOLD_INFO_H
 
 // Libraries
-#include "collision/ContactPointInfo.h"
-#include "memory/MemoryAllocator.h"
+#include "configuration.h"
 
 /// ReactPhysics3D namespace
 namespace reactphysics3d {
 
+// Declarations
+class MemoryAllocator;
+struct ContactPointInfo;
+class Transform;
+
 // Constants
 const int8 MAX_CONTACT_POINTS_IN_MANIFOLD = 4;   // Maximum number of contacts in the manifold
 

src/collision/ContactManifoldSet.cpp

@@ -25,6 +25,10 @@
 
 // Libraries
 #include "ContactManifoldSet.h"
+#include "constraint/ContactPoint.h"
+#include "collision/ContactManifoldInfo.h"
+#include "ProxyShape.h"
+#include "collision/ContactManifold.h"
 
 using namespace reactphysics3d;
 
@@ -65,6 +69,34 @@ void ContactManifoldSet::addContactManifold(const ContactManifoldInfo* contactMa
     }
 }
 
+// Return the total number of contact points in the set of manifolds
+int ContactManifoldSet::getTotalNbContactPoints() const {
+    int nbPoints = 0;
+
+    ContactManifold* manifold = mManifolds;
+    while (manifold != nullptr) {
+        nbPoints += manifold->getNbContactPoints();
+
+        manifold = manifold->getNext();
+    }
+
+    return nbPoints;
+}
+
+// Return the maximum number of contact manifolds allowed between to collision shapes
+int ContactManifoldSet::computeNbMaxContactManifolds(const CollisionShape* shape1, const CollisionShape* shape2) {
+
+    // If both shapes are convex
+    if (shape1->isConvex() && shape2->isConvex()) {
+        return mWorldSettings.nbMaxContactManifoldsConvexShape;
+
+    }   // If there is at least one concave shape
+    else {
+        return mWorldSettings.nbMaxContactManifoldsConcaveShape;
+    }
+}
+
+
 // Update a previous similar manifold with a new one
 void ContactManifoldSet::updateManifoldWithNewOne(ContactManifold* oldManifold, const ContactManifoldInfo* newManifold) {
 

src/collision/ContactManifoldSet.h

@@ -26,11 +26,16 @@
 #ifndef REACTPHYSICS3D_CONTACT_MANIFOLD_SET_H
 #define REACTPHYSICS3D_CONTACT_MANIFOLD_SET_H
 
-// Libraries
-#include "ContactManifold.h"
-
 namespace reactphysics3d {
 
+// Declarations
+class ContactManifold;
+class ContactManifoldInfo;
+class ProxyShape;
+class MemoryAllocator;
+struct WorldSettings;
+class CollisionShape;
+
 // Constants
 const int MAX_MANIFOLDS_IN_CONTACT_MANIFOLD_SET = 3;   // Maximum number of contact manifolds in the set
 const int CONTACT_CUBEMAP_FACE_NB_SUBDIVISIONS = 3;    // N Number for the N x N subdivisions of the cubemap
@@ -151,33 +156,6 @@ inline ContactManifold* ContactManifoldSet::getContactManifolds() const {
     return mManifolds;
 }
 
-// Return the total number of contact points in the set of manifolds
-inline int ContactManifoldSet::getTotalNbContactPoints() const {
-    int nbPoints = 0;
-
-    ContactManifold* manifold = mManifolds;
-    while (manifold != nullptr) {
-        nbPoints += manifold->getNbContactPoints();
-
-        manifold = manifold->getNext();
-    }
-
-    return nbPoints;
-}
-
-// Return the maximum number of contact manifolds allowed between to collision shapes
-inline int ContactManifoldSet::computeNbMaxContactManifolds(const CollisionShape* shape1, const CollisionShape* shape2) {
-
-    // If both shapes are convex
-    if (shape1->isConvex() && shape2->isConvex()) {
-        return mWorldSettings.nbMaxContactManifoldsConvexShape;
-
-    }   // If there is at least one concave shape
-    else {
-        return mWorldSettings.nbMaxContactManifoldsConcaveShape;
-    }
-}
-
 }
 
 #endif

src/collision/ContactPointInfo.h

@@ -27,13 +27,15 @@
 #define REACTPHYSICS3D_CONTACT_POINT_INFO_H
 
 // Libraries
-#include "body/CollisionBody.h"
 #include "mathematics/mathematics.h"
 #include "configuration.h"
 
 /// ReactPhysics3D namespace
 namespace reactphysics3d {
 
+// Declarations
+class CollisionBody;
+
 // Structure ContactPointInfo
 /**
  * This structure contains informations about a collision contact

src/collision/MiddlePhaseTriangleCallback.cpp

@@ -25,6 +25,9 @@
 
 // Libraries
 #include "collision/MiddlePhaseTriangleCallback.h"
+#include "engine/OverlappingPair.h"
+#include "collision/NarrowPhaseInfo.h"
+#include "collision/shapes/TriangleShape.h"
 
 using namespace reactphysics3d;
 

src/collision/MiddlePhaseTriangleCallback.h

@@ -26,13 +26,24 @@
 #ifndef REACTPHYSICS3D_MIDDLE_PHASE_TRIANGLE_CALLBACK_H
 #define REACTPHYSICS3D_MIDDLE_PHASE_TRIANGLE_CALLBACK_H
 
-// Libraries
+#include "configuration.h"
 #include "collision/shapes/ConcaveShape.h"
-#include "collision/narrowphase/NarrowPhaseAlgorithm.h"
 
 /// Namespace ReactPhysics3D
 namespace reactphysics3d {
 
+// Libraries
+
+// Declarations
+class ConcaveShape;
+class OverlappingPair;
+class NarrowPhaseAlgorithm;
+class ProxyShape;
+class MemoryAllocator;
+class Profiler;
+struct NarrowPhaseInfo;
+struct Vector3;
+
 // Class ConvexVsTriangleCallback
 /**
  * This class is used to report a collision between the triangle

src/collision/NarrowPhaseInfo.cpp

@@ -24,7 +24,6 @@
 ********************************************************************************/
 
 // Libraries
-#include <iostream>
 #include "NarrowPhaseInfo.h"
 #include "ContactPointInfo.h"
 #include "collision/shapes/TriangleShape.h"

src/collision/NarrowPhaseInfo.h

@@ -27,14 +27,16 @@
 #define REACTPHYSICS3D_NARROW_PHASE_INFO_H
 
 // Libraries
-#include "shapes/CollisionShape.h"
-#include "collision/ContactManifoldInfo.h"
 #include "engine/OverlappingPair.h"
 
 /// Namespace ReactPhysics3D
 namespace reactphysics3d {
 
+// Declarations
+class CollisionShape;
 struct LastFrameCollisionInfo;
+class ContactManifoldInfo;
+struct ContactPointInfo;
 
 // Class NarrowPhaseInfo
 /**

src/collision/OverlapCallback.h

@@ -26,12 +26,12 @@
 #ifndef REACTPHYSICS3D_OVERLAP_CALLBACK_H
 #define REACTPHYSICS3D_OVERLAP_CALLBACK_H
 
-// Libraries
-#include "body/CollisionBody.h"
-
 /// ReactPhysics3D namespace
 namespace reactphysics3d {
 
+// Declarations
+class CollisionBody;
+
 // Class OverlapCallback
 /**
  * This class can be used to register a callback for collision overlap queries.

src/collision/PolyhedronMesh.cpp

@@ -26,6 +26,7 @@
 // Libraries
 #include "PolyhedronMesh.h"
 #include "memory/MemoryManager.h"
+#include "collision/PolygonVertexArray.h"
 
 using namespace reactphysics3d;
 

src/collision/PolyhedronMesh.h

@@ -29,11 +29,13 @@
 // Libraries
 #include "mathematics/mathematics.h"
 #include "HalfEdgeStructure.h"
-#include "collision/PolygonVertexArray.h"
-#include "memory/DefaultAllocator.h"
 
 namespace reactphysics3d {
 
+// Declarations
+class DefaultAllocator;
+class PolygonVertexArray;
+
 // Class PolyhedronMesh
 /**
  * This class describes a polyhedron mesh made of faces and vertices.

src/collision/ProxyShape.cpp

@@ -25,6 +25,9 @@
 
 // Libraries
 #include "ProxyShape.h"
+#include "utils/Logger.h"
+#include "collision/RaycastInfo.h"
+#include "memory/MemoryManager.h"
 
 using namespace reactphysics3d;
 
@@ -57,6 +60,45 @@ bool ProxyShape::testPointInside(const Vector3& worldPoint) {
     return mCollisionShape->testPointInside(localPoint, this);
 }
 
+// Set the collision category bits
+/**
+ * @param collisionCategoryBits The collision category bits mask of the proxy shape
+ */
+void ProxyShape::setCollisionCategoryBits(unsigned short collisionCategoryBits) {
+    mCollisionCategoryBits = collisionCategoryBits;
+
+    RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::ProxyShape,
+             "ProxyShape " + std::to_string(mBroadPhaseID) + ": Set collisionCategoryBits=" +
+             std::to_string(mCollisionCategoryBits));
+}
+
+// Set the collision bits mask
+/**
+ * @param collideWithMaskBits The bits mask that specifies with which collision category this shape will collide
+ */
+void ProxyShape::setCollideWithMaskBits(unsigned short collideWithMaskBits) {
+    mCollideWithMaskBits = collideWithMaskBits;
+
+    RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::ProxyShape,
+             "ProxyShape " + std::to_string(mBroadPhaseID) + ": Set collideWithMaskBits=" +
+             std::to_string(mCollideWithMaskBits));
+}
+
+// Set the local to parent body transform
+void ProxyShape::setLocalToBodyTransform(const Transform& transform) {
+
+    mLocalToBodyTransform = transform;
+
+    mBody->setIsSleeping(false);
+
+    // Notify the body that the proxy shape has to be updated in the broad-phase
+    mBody->updateProxyShapeInBroadPhase(this, true);
+
+    RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::ProxyShape,
+             "ProxyShape " + std::to_string(mBroadPhaseID) + ": Set localToBodyTransform=" +
+             mLocalToBodyTransform.to_string());
+}
+
 // Raycast method with feedback information
 /**
  * @param ray Ray to use for the raycasting

src/collision/ProxyShape.h

@@ -28,11 +28,13 @@
 
 // Libraries
 #include "body/CollisionBody.h"
-#include "shapes/CollisionShape.h"
-#include "memory/MemoryManager.h"
+#include "collision/shapes/CollisionShape.h"
 
 namespace  reactphysics3d {
 
+// Declarations
+class MemoryManager;
+
 // Class ProxyShape
 /**
  * The CollisionShape instances are supposed to be unique for memory optimization. For instance,
@@ -265,21 +267,6 @@ inline const Transform& ProxyShape::getLocalToBodyTransform() const {
     return mLocalToBodyTransform;
 }
 
-// Set the local to parent body transform
-inline void ProxyShape::setLocalToBodyTransform(const Transform& transform) {
-
-    mLocalToBodyTransform = transform;
-
-    mBody->setIsSleeping(false);
-
-    // Notify the body that the proxy shape has to be updated in the broad-phase
-    mBody->updateProxyShapeInBroadPhase(this, true);
-
-    RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::ProxyShape,
-             "ProxyShape " + std::to_string(mBroadPhaseID) + ": Set localToBodyTransform=" +
-             mLocalToBodyTransform.to_string());
-}
-
 // Return the local to world transform
 /**
  * @return The transformation that transforms the local-space of the collision
@@ -323,18 +310,6 @@ inline unsigned short ProxyShape::getCollisionCategoryBits() const {
     return mCollisionCategoryBits;
 }
 
-// Set the collision category bits
-/**
- * @param collisionCategoryBits The collision category bits mask of the proxy shape
- */
-inline void ProxyShape::setCollisionCategoryBits(unsigned short collisionCategoryBits) {
-    mCollisionCategoryBits = collisionCategoryBits;
-
-    RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::ProxyShape,
-             "ProxyShape " + std::to_string(mBroadPhaseID) + ": Set collisionCategoryBits=" +
-             std::to_string(mCollisionCategoryBits));
-}
-
 // Return the collision bits mask
 /**
  * @return The bits mask that specifies with which collision category this shape will collide
@@ -343,18 +318,6 @@ inline unsigned short ProxyShape::getCollideWithMaskBits() const {
     return mCollideWithMaskBits;
 }
 
-// Set the collision bits mask
-/**
- * @param collideWithMaskBits The bits mask that specifies with which collision category this shape will collide
- */
-inline void ProxyShape::setCollideWithMaskBits(unsigned short collideWithMaskBits) {
-    mCollideWithMaskBits = collideWithMaskBits;
-
-    RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::ProxyShape,
-             "ProxyShape " + std::to_string(mBroadPhaseID) + ": Set collideWithMaskBits=" +
-             std::to_string(mCollideWithMaskBits));
-}
-
 // Return the broad-phase id
 inline int ProxyShape::getBroadPhaseId() const {
     return mBroadPhaseID;

src/collision/RaycastInfo.h

@@ -28,7 +28,6 @@
 
 // Libraries
 #include "mathematics/Vector3.h"
-#include "mathematics/Ray.h"
 
 /// ReactPhysics3D namespace
 namespace reactphysics3d {
@@ -37,6 +36,7 @@ namespace reactphysics3d {
 class CollisionBody;
 class ProxyShape;
 class CollisionShape;
+struct Ray;
 
 // Structure RaycastInfo
 /**

src/collision/TriangleMesh.cpp

@@ -25,5 +25,12 @@
 
 // Libraries
 #include "TriangleMesh.h"
+#include "memory/MemoryManager.h"
 
 using namespace reactphysics3d;
+
+// Constructor
+TriangleMesh::TriangleMesh()
+             : mTriangleArrays(MemoryManager::getBaseAllocator()) {
+
+}

src/collision/TriangleMesh.h

@@ -28,12 +28,14 @@
 
 // Libraries
 #include <cassert>
-#include "TriangleVertexArray.h"
-#include "memory/MemoryManager.h"
 #include "containers/List.h"
 
 namespace reactphysics3d {
 
+// Declarations
+class TriangleVertexArray;
+class MemoryManager;
+
 // Class TriangleMesh
 /**
  * This class represents a mesh made of triangles. A TriangleMesh contains
@@ -52,9 +54,7 @@ class TriangleMesh {
     public:
 
         /// Constructor
-        TriangleMesh() : mTriangleArrays(MemoryManager::getBaseAllocator()) {
-
-        }
+        TriangleMesh();
 
         /// Destructor
         ~TriangleMesh() = default;

src/collision/TriangleVertexArray.h

@@ -31,6 +31,7 @@
 
 namespace reactphysics3d {
 
+// Declarations
 struct Vector3;
 
 // Class TriangleVertexArray

src/collision/broadphase/BroadPhaseAlgorithm.cpp

@@ -27,6 +27,8 @@
 #include "BroadPhaseAlgorithm.h"
 #include "collision/CollisionDetection.h"
 #include "utils/Profiler.h"
+#include "collision/RaycastInfo.h"
+#include "memory/MemoryManager.h"
 
 // We want to use the ReactPhysics3D namespace
 using namespace reactphysics3d;
@@ -96,6 +98,31 @@ void BroadPhaseAlgorithm::addMovedCollisionShape(int broadPhaseID) {
     mNbMovedShapes++;
 }
 
+// Return true if the two broad-phase collision shapes are overlapping
+bool BroadPhaseAlgorithm::testOverlappingShapes(const ProxyShape* shape1,
+                                                       const ProxyShape* shape2) const {
+
+    if (shape1->getBroadPhaseId() == -1 || shape2->getBroadPhaseId() == -1) return false;
+
+    // Get the two AABBs of the collision shapes
+    const AABB& aabb1 = mDynamicAABBTree.getFatAABB(shape1->getBroadPhaseId());
+    const AABB& aabb2 = mDynamicAABBTree.getFatAABB(shape2->getBroadPhaseId());
+
+    // Check if the two AABBs are overlapping
+    return aabb1.testCollision(aabb2);
+}
+
+// Ray casting method
+void BroadPhaseAlgorithm::raycast(const Ray& ray, RaycastTest& raycastTest,
+                                         unsigned short raycastWithCategoryMaskBits) const {
+
+    RP3D_PROFILE("BroadPhaseAlgorithm::raycast()", mProfiler);
+
+    BroadPhaseRaycastCallback broadPhaseRaycastCallback(mDynamicAABBTree, raycastWithCategoryMaskBits, raycastTest);
+
+    mDynamicAABBTree.raycast(ray, broadPhaseRaycastCallback);
+}
+
 // Remove a collision shape from the array of shapes that have moved in the last simulation step
 // and that need to be tested again for broad-phase overlapping.
 void BroadPhaseAlgorithm::removeMovedCollisionShape(int broadPhaseID) {

src/collision/broadphase/BroadPhaseAlgorithm.h

@@ -27,10 +27,7 @@
 #define REACTPHYSICS3D_BROAD_PHASE_ALGORITHM_H
 
 // Libraries
-#include "body/CollisionBody.h"
-#include "collision/ProxyShape.h"
 #include "DynamicAABBTree.h"
-#include "utils/Profiler.h"
 #include "containers/LinkedList.h"
 
 /// Namespace ReactPhysics3D
@@ -39,6 +36,10 @@ namespace reactphysics3d {
 // Declarations
 class CollisionDetection;
 class BroadPhaseAlgorithm;
+class CollisionBody;
+class ProxyShape;
+class MemoryManager;
+class Profiler;
 
 // Structure BroadPhasePair
 /**
@@ -242,36 +243,11 @@ inline bool BroadPhasePair::smallerThan(const BroadPhasePair& pair1, const Broad
     return false;
 }
 
-// Return true if the two broad-phase collision shapes are overlapping
-inline bool BroadPhaseAlgorithm::testOverlappingShapes(const ProxyShape* shape1,
-                                                       const ProxyShape* shape2) const {
-
-    if (shape1->getBroadPhaseId() == -1 || shape2->getBroadPhaseId() == -1) return false;
-
-    // Get the two AABBs of the collision shapes
-    const AABB& aabb1 = mDynamicAABBTree.getFatAABB(shape1->getBroadPhaseId());
-    const AABB& aabb2 = mDynamicAABBTree.getFatAABB(shape2->getBroadPhaseId());
-
-    // Check if the two AABBs are overlapping
-    return aabb1.testCollision(aabb2);
-}
-
 // Return the fat AABB of a given broad-phase shape
 inline const AABB& BroadPhaseAlgorithm::getFatAABB(int broadPhaseId) const  {
     return mDynamicAABBTree.getFatAABB(broadPhaseId);
 }
 
-// Ray casting method
-inline void BroadPhaseAlgorithm::raycast(const Ray& ray, RaycastTest& raycastTest,
-                                         unsigned short raycastWithCategoryMaskBits) const {
-
-    RP3D_PROFILE("BroadPhaseAlgorithm::raycast()", mProfiler);
-
-    BroadPhaseRaycastCallback broadPhaseRaycastCallback(mDynamicAABBTree, raycastWithCategoryMaskBits, raycastTest);
-
-    mDynamicAABBTree.raycast(ray, broadPhaseRaycastCallback);
-}
-
 // Return the proxy shape corresponding to the broad-phase node id in parameter
 inline ProxyShape* BroadPhaseAlgorithm::getProxyShapeForBroadPhaseId(int broadPhaseId) const {
     return static_cast<ProxyShape*>(mDynamicAABBTree.getNodeDataPointer(broadPhaseId));

src/collision/broadphase/DynamicAABBTree.h

@@ -29,8 +29,6 @@
 // Libraries
 #include "configuration.h"
 #include "collision/shapes/AABB.h"
-#include "body/CollisionBody.h"
-#include "memory/MemoryAllocator.h"
 
 /// Namespace ReactPhysics3D
 namespace reactphysics3d {
@@ -39,7 +37,12 @@ namespace reactphysics3d {
 class BroadPhaseAlgorithm;
 class BroadPhaseRaycastTestCallback;
 class DynamicAABBTreeOverlapCallback;
+class CollisionBody;
 struct RaycastTest;
+class AABB;
+class Profiler;
+class MemoryAllocator;
+
 
 // Structure TreeNode
 /**

src/collision/narrowphase/CapsuleVsCapsuleAlgorithm.cpp

@@ -26,6 +26,7 @@
 // Libraries
 #include "CapsuleVsCapsuleAlgorithm.h"
 #include "collision/shapes/CapsuleShape.h"
+#include "collision/NarrowPhaseInfo.h"
 
 // We want to use the ReactPhysics3D namespace
 using namespace reactphysics3d;  

src/collision/narrowphase/CapsuleVsCapsuleAlgorithm.h

@@ -27,14 +27,15 @@
 #define	REACTPHYSICS3D_CAPSULE_VS_CAPSULE_ALGORITHM_H
 
 // Libraries
-#include "body/Body.h"
-#include "constraint/ContactPoint.h"
 #include "NarrowPhaseAlgorithm.h"
 
-
 /// Namespace ReactPhysics3D
 namespace reactphysics3d {
 
+// Declarations
+class Body;
+class ContactPoint;
+
 // Class CapsuleVsCapsuleAlgorithm
 /**
  * This class is used to compute the narrow-phase collision detection

src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.cpp

@@ -29,6 +29,8 @@
 #include "GJK/GJKAlgorithm.h"
 #include "collision/shapes/CapsuleShape.h"
 #include "collision/shapes/ConvexPolyhedronShape.h"
+#include "collision/NarrowPhaseInfo.h"
+#include "collision/ContactPointInfo.h"
 #include <cassert>
 
 // We want to use the ReactPhysics3D namespace

src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.h

@@ -27,14 +27,15 @@
 #define	REACTPHYSICS3D_CAPSULE_VS_CONVEX_POLYHEDRON_ALGORITHM_H
 
 // Libraries
-#include "body/Body.h"
-#include "constraint/ContactPoint.h"
 #include "NarrowPhaseAlgorithm.h"
 
-
 /// Namespace ReactPhysics3D
 namespace reactphysics3d {
 
+// Declarations
+class ContactPoint;
+class Body;
+
 // Class CapsuleVsConvexPolyhedronAlgorithm
 /**
  * This class is used to compute the narrow-phase collision detection

src/collision/narrowphase/CollisionDispatch.h

@@ -27,10 +27,13 @@
 #define	REACTPHYSICS3D_COLLISION_DISPATCH_H
 
 // Libraries
-#include "NarrowPhaseAlgorithm.h"
 
 namespace reactphysics3d {
 
+// Declarations
+class NarrowPhaseAlgorithm;
+class Profiler;
+
 // Class CollisionDispatch
 /**
  * This is the abstract base class for dispatching the narrow-phase

src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.cpp

@@ -27,6 +27,7 @@
 #include "ConvexPolyhedronVsConvexPolyhedronAlgorithm.h"
 #include "GJK/GJKAlgorithm.h"
 #include "SAT/SATAlgorithm.h"
+#include "collision/NarrowPhaseInfo.h"
 
 // We want to use the ReactPhysics3D namespace
 using namespace reactphysics3d;

src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.h

@@ -27,14 +27,15 @@
 #define	REACTPHYSICS3D_CONVEX_POLYHEDRON_VS_CONVEX_POLYHEDRON_ALGORITHM_H
 
 // Libraries
-#include "body/Body.h"
-#include "constraint/ContactPoint.h"
 #include "NarrowPhaseAlgorithm.h"
 
-
 /// Namespace ReactPhysics3D
 namespace reactphysics3d {
 
+// Declarations
+class Body;
+class ContactPoint;
+
 // Class ConvexPolyhedronVsConvexPolyhedronAlgorithm
 /**
  * This class is used to compute the narrow-phase collision detection

src/collision/narrowphase/DefaultCollisionDispatch.h

@@ -34,7 +34,6 @@
 #include "CapsuleVsCapsuleAlgorithm.h"
 #include "CapsuleVsConvexPolyhedronAlgorithm.h"
 #include "ConvexPolyhedronVsConvexPolyhedronAlgorithm.h"
-#include "GJK/GJKAlgorithm.h"
 
 namespace reactphysics3d {
 

src/collision/narrowphase/GJK/GJKAlgorithm.cpp

@@ -30,9 +30,8 @@
 #include "collision/shapes/TriangleShape.h"
 #include "configuration.h"
 #include "utils/Profiler.h"
-#include <algorithm>
-#include <cmath>
-#include <cfloat>
+#include "collision/NarrowPhaseInfo.h"
+#include "collision/narrowphase/GJK/VoronoiSimplex.h"
 #include <cassert>
 
 // We want to use the ReactPhysics3D namespace

src/collision/narrowphase/GJK/GJKAlgorithm.h

@@ -27,14 +27,18 @@
 #define REACTPHYSICS3D_GJK_ALGORITHM_H
 
 // Libraries
-#include "collision/ContactManifoldInfo.h"
-#include "collision/NarrowPhaseInfo.h"
-#include "collision/shapes/ConvexShape.h"
-#include "VoronoiSimplex.h"
+#include "decimal.h"
 
 /// ReactPhysics3D namespace
 namespace reactphysics3d {
 
+// Declarations
+class ContactManifoldInfo;
+struct NarrowPhaseInfo;
+class ConvexShape;
+class Profiler;
+class VoronoiSimplex;
+
 // Constants
 constexpr decimal REL_ERROR = decimal(1.0e-3);
 constexpr decimal REL_ERROR_SQUARE = REL_ERROR * REL_ERROR;

src/collision/narrowphase/GJK/VoronoiSimplex.cpp

@@ -25,7 +25,7 @@
 
 // Libraries
 #include "VoronoiSimplex.h"
-#include <cfloat>
+#include "mathematics/Vector2.h"
 
 // We want to use the ReactPhysics3D namespace
 using namespace reactphysics3d;

src/collision/narrowphase/GJK/VoronoiSimplex.h

@@ -27,7 +27,7 @@
 #define	REACTPHYSICS3D_VORONOI_SIMPLEX_H
 
 // Libraries
-#include "mathematics/mathematics.h"
+#include "mathematics/Vector3.h"
 
 /// ReactPhysics3D namespace
 namespace reactphysics3d {

src/collision/narrowphase/NarrowPhaseAlgorithm.h

@@ -27,16 +27,19 @@
 #define REACTPHYSICS3D_NARROW_PHASE_ALGORITHM_H
 
 // Libraries
-#include "body/Body.h"
-#include "collision/ContactManifoldInfo.h"
-#include "memory/PoolAllocator.h"
-#include "engine/OverlappingPair.h"
-#include "collision/NarrowPhaseInfo.h"
 
 /// Namespace ReactPhysics3D
 namespace reactphysics3d {
 
 class CollisionDetection;
+class Body;
+class ContactManifoldInfo;
+class PoolAllocator;
+class OverlappingPair;
+struct NarrowPhaseInfo;
+struct ContactPointInfo;
+class Profiler;
+class MemoryAllocator;
 
 // Class NarrowPhaseCallback
 /**

src/collision/narrowphase/SAT/SATAlgorithm.cpp

@@ -31,11 +31,9 @@
 #include "collision/shapes/SphereShape.h"
 #include "engine/OverlappingPair.h"
 #include "collision/shapes/TriangleShape.h"
+#include "collision/NarrowPhaseInfo.h"
 #include "configuration.h"
 #include "utils/Profiler.h"
-#include <algorithm>
-#include <cmath>
-#include <cfloat>
 #include <cassert>
 
 // We want to use the ReactPhysics3D namespace

src/collision/narrowphase/SAT/SATAlgorithm.h

@@ -27,16 +27,20 @@
 #define REACTPHYSICS3D_SAT_ALGORITHM_H
 
 // Libraries
-#include "collision/ContactManifoldInfo.h"
-#include "collision/NarrowPhaseInfo.h"
-#include "collision/shapes/ConvexPolyhedronShape.h"
-
+#include "decimal.h"
+#include "collision/HalfEdgeStructure.h"
 
 /// ReactPhysics3D namespace
 namespace reactphysics3d {
 
+// Declarations
 class CapsuleShape;
 class SphereShape;
+class ContactManifoldInfo;
+struct NarrowPhaseInfo;
+class ConvexPolyhedronShape;
+class MemoryAllocator;
+class Profiler;
 
 // Class SATAlgorithm
 class SATAlgorithm {

src/collision/narrowphase/SphereVsCapsuleAlgorithm.cpp

@@ -27,6 +27,7 @@
 #include "SphereVsCapsuleAlgorithm.h"
 #include "collision/shapes/SphereShape.h"
 #include "collision/shapes/CapsuleShape.h"
+#include "collision/NarrowPhaseInfo.h"
 
 // We want to use the ReactPhysics3D namespace
 using namespace reactphysics3d;  

src/collision/narrowphase/SphereVsCapsuleAlgorithm.h

@@ -27,14 +27,16 @@
 #define	REACTPHYSICS3D_SPHERE_VS_CAPSULE_ALGORITHM_H
 
 // Libraries
-#include "body/Body.h"
-#include "constraint/ContactPoint.h"
 #include "NarrowPhaseAlgorithm.h"
 
 
 /// Namespace ReactPhysics3D
 namespace reactphysics3d {
 
+// Declarations
+class Body;
+class ContactPoint;
+
 // Class SphereVsCapsuleAlgorithm
 /**
  * This class is used to compute the narrow-phase collision detection

src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.cpp

@@ -27,6 +27,7 @@
 #include "SphereVsConvexPolyhedronAlgorithm.h"
 #include "GJK/GJKAlgorithm.h"
 #include "SAT/SATAlgorithm.h"
+#include "collision/NarrowPhaseInfo.h"
 
 // We want to use the ReactPhysics3D namespace
 using namespace reactphysics3d;

src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.h

@@ -27,14 +27,15 @@
 #define	REACTPHYSICS3D_SPHERE_VS_CONVEX_POLYHEDRON_ALGORITHM_H
 
 // Libraries
-#include "body/Body.h"
-#include "constraint/ContactPoint.h"
 #include "NarrowPhaseAlgorithm.h"
 
-
 /// Namespace ReactPhysics3D
 namespace reactphysics3d {
 
+// Declarations
+class ContactPoint;
+class Body;
+
 // Class SphereVsConvexPolyhedronAlgorithm
 /**
  * This class is used to compute the narrow-phase collision detection

src/collision/narrowphase/SphereVsSphereAlgorithm.cpp

@@ -26,6 +26,7 @@
 // Libraries
 #include "SphereVsSphereAlgorithm.h"
 #include "collision/shapes/SphereShape.h"
+#include "collision/NarrowPhaseInfo.h"
 
 // We want to use the ReactPhysics3D namespace
 using namespace reactphysics3d;  

src/collision/narrowphase/SphereVsSphereAlgorithm.h

@@ -27,14 +27,15 @@
 #define	REACTPHYSICS3D_SPHERE_VS_SPHERE_ALGORITHM_H
 
 // Libraries
-#include "body/Body.h"
-#include "constraint/ContactPoint.h"
 #include "NarrowPhaseAlgorithm.h"
 
-
 /// Namespace ReactPhysics3D
 namespace reactphysics3d {
 
+// Declarations
+class ContactPoint;
+class Body;
+
 // Class SphereVsSphereAlgorithm
 /**
  * This class is used to compute the narrow-phase collision detection

src/collision/shapes/BoxShape.cpp

@@ -28,6 +28,7 @@
 #include "collision/ProxyShape.h"
 #include "configuration.h"
 #include "memory/MemoryManager.h"
+#include "collision/RaycastInfo.h"
 #include <cassert>
 
 using namespace reactphysics3d;

src/collision/shapes/BoxShape.h

@@ -27,15 +27,16 @@
 #define REACTPHYSICS3D_BOX_SHAPE_H
 
 // Libraries
-#include <cfloat>
 #include "ConvexPolyhedronShape.h"
-#include "body/CollisionBody.h"
 #include "mathematics/mathematics.h"
-#include "memory/DefaultAllocator.h"
 
 /// ReactPhysics3D namespace
 namespace reactphysics3d {
 
+// Declarations
+class CollisionBody;
+class DefaultAllocator;
+
 // Class BoxShape
 /**
  * This class represents a 3D box shape. Those axis are unit length.

src/collision/shapes/CapsuleShape.cpp

@@ -27,6 +27,7 @@
 #include "CapsuleShape.h"
 #include "collision/ProxyShape.h"
 #include "configuration.h"
+#include "collision/RaycastInfo.h"
 #include <cassert>
 
 using namespace reactphysics3d;

src/collision/shapes/CapsuleShape.h

@@ -28,12 +28,14 @@
 
 // Libraries
 #include "ConvexShape.h"
-#include "body/CollisionBody.h"
 #include "mathematics/mathematics.h"
 
 // ReactPhysics3D namespace
 namespace reactphysics3d {
 
+// Declarations
+class CollisionBody;
+
 // Class CapsuleShape
 /**
  * This class represents a capsule collision shape that is defined around the Y axis.

src/collision/shapes/CollisionShape.h

@@ -28,17 +28,20 @@
 
 // Libraries
 #include <cassert>
-#include <typeinfo>
-#include "mathematics/Vector3.h"
-#include "mathematics/Matrix3x3.h"
-#include "mathematics/Ray.h"
-#include "AABB.h"
-#include "collision/RaycastInfo.h"
-#include "memory/PoolAllocator.h"
-#include "utils/Profiler.h"
+#include "configuration.h"
 
 /// ReactPhysics3D namespace
 namespace reactphysics3d {
+
+// Declarations
+class Profiler;
+class PoolAllocator;
+class AABB;
+class Transform;
+struct Ray;
+struct RaycastInfo;
+struct Vector3;
+class Matrix3x3;
     
 /// Type of collision shapes
 enum class CollisionShapeType {SPHERE, CAPSULE, CONVEX_POLYHEDRON, CONCAVE_SHAPE};

src/collision/shapes/ConcaveMeshShape.cpp

@@ -26,6 +26,10 @@
 // Libraries
 #include "ConcaveMeshShape.h"
 #include "memory/MemoryManager.h"
+#include "collision/RaycastInfo.h"
+#include "collision/TriangleMesh.h"
+#include "utils/Profiler.h"
+#include "collision/TriangleVertexArray.h"
 
 using namespace reactphysics3d;
 

src/collision/shapes/ConcaveMeshShape.h

@@ -29,14 +29,15 @@
 // Libraries
 #include "ConcaveShape.h"
 #include "collision/broadphase/DynamicAABBTree.h"
-#include "collision/TriangleMesh.h"
-#include "collision/shapes/TriangleShape.h"
 #include "containers/List.h"
-#include "utils/Profiler.h"
 
 namespace reactphysics3d {
 
+// Declarations
 class ConcaveMeshShape;
+class Profiler;
+class TriangleShape;
+class TriangleMesh;
 
 // class ConvexTriangleAABBOverlapCallback
 class ConvexTriangleAABBOverlapCallback : public DynamicAABBTreeOverlapCallback {

src/collision/shapes/ConvexMeshShape.cpp

@@ -24,9 +24,10 @@
 ********************************************************************************/
 
 // Libraries
-#include <complex>
 #include "configuration.h"
 #include "ConvexMeshShape.h"
+#include "engine/CollisionWorld.h"
+#include "collision/RaycastInfo.h"
 
 using namespace reactphysics3d;
 

src/collision/shapes/ConvexMeshShape.h

@@ -28,17 +28,16 @@
 
 // Libraries
 #include "ConvexPolyhedronShape.h"
-#include "engine/CollisionWorld.h"
 #include "mathematics/mathematics.h"
-
 #include "collision/PolyhedronMesh.h"
-#include "collision/narrowphase/GJK/GJKAlgorithm.h"
 
 /// ReactPhysics3D namespace
 namespace reactphysics3d {
 
 // Declaration
 class CollisionWorld;
+class GJKAlgorithm;
+class CollisionWorld;
 
 // Class ConvexMeshShape
 /**

src/collision/shapes/ConvexShape.cpp

@@ -25,7 +25,7 @@
 
 // Libraries
 #include "ConvexShape.h"
-
+#include "mathematics/Vector3.h"
 
 // We want to use the ReactPhysics3D namespace
 using namespace reactphysics3d;

src/collision/shapes/HeightFieldShape.cpp

@@ -25,6 +25,8 @@
 
 // Libraries
 #include "HeightFieldShape.h"
+#include "collision/RaycastInfo.h"
+#include "utils/Profiler.h"
 
 using namespace reactphysics3d;
 

src/collision/shapes/HeightFieldShape.h

@@ -28,12 +28,13 @@
 
 // Libraries
 #include "ConcaveShape.h"
-#include "collision/shapes/TriangleShape.h"
-#include "utils/Profiler.h"
+#include "collision/shapes/AABB.h"
 
 namespace reactphysics3d {
 
 class HeightFieldShape;
+class Profiler;
+class TriangleShape;
 
 // Class TriangleOverlapCallback
 /**

src/collision/shapes/SphereShape.cpp

@@ -27,6 +27,7 @@
 #include "SphereShape.h"
 #include "collision/ProxyShape.h"
 #include "configuration.h"
+#include "collision/RaycastInfo.h"
 #include <cassert>
 
 using namespace reactphysics3d;
@@ -40,6 +41,22 @@ SphereShape::SphereShape(decimal radius)
     assert(radius > decimal(0.0));
 }
 
+// Update the AABB of a body using its collision shape
+/**
+ * @param[out] aabb The axis-aligned bounding box (AABB) of the collision shape
+ *                  computed in world-space coordinates
+ * @param transform Transform used to compute the AABB of the collision shape
+ */
+void SphereShape::computeAABB(AABB& aabb, const Transform& transform) const {
+
+    // Get the local extents in x,y and z direction
+    Vector3 extents(mMargin, mMargin, mMargin);
+
+    // Update the AABB with the new minimum and maximum coordinates
+    aabb.setMin(transform.getPosition() - extents);
+    aabb.setMax(transform.getPosition() + extents);
+}
+
 // Raycast method with feedback information
 bool SphereShape::raycast(const Ray& ray, RaycastInfo& raycastInfo, ProxyShape* proxyShape, MemoryAllocator& allocator) const {
 

src/collision/shapes/SphereShape.h

@@ -28,12 +28,14 @@
 
 // Libraries
 #include "ConvexShape.h"
-#include "body/CollisionBody.h"
 #include "mathematics/mathematics.h"
 
 // ReactPhysics3D namespace
 namespace reactphysics3d {
 
+// Declarations
+class CollisionBody;
+
 // Class SphereShape
 /**
  * This class represents a sphere collision shape that is centered
@@ -152,22 +154,6 @@ inline void SphereShape::computeLocalInertiaTensor(Matrix3x3& tensor, decimal ma
                         0.0, 0.0, diag);
 }
 
-// Update the AABB of a body using its collision shape
-/**
- * @param[out] aabb The axis-aligned bounding box (AABB) of the collision shape
- *                  computed in world-space coordinates
- * @param transform Transform used to compute the AABB of the collision shape
- */
-inline void SphereShape::computeAABB(AABB& aabb, const Transform& transform) const {
-
-    // Get the local extents in x,y and z direction
-    Vector3 extents(mMargin, mMargin, mMargin);
-
-    // Update the AABB with the new minimum and maximum coordinates
-    aabb.setMin(transform.getPosition() - extents);
-    aabb.setMax(transform.getPosition() + extents);
-}
-
 // Return true if a point is inside the collision shape
 inline bool SphereShape::testPointInside(const Vector3& localPoint, ProxyShape* proxyShape) const {
     return (localPoint.lengthSquare() < mMargin * mMargin);

src/collision/shapes/TriangleShape.cpp

@@ -27,6 +27,7 @@
 #include "TriangleShape.h"
 #include "collision/ProxyShape.h"
 #include "mathematics/mathematics_functions.h"
+#include "collision/RaycastInfo.h"
 #include "utils/Profiler.h"
 #include "configuration.h"
 #include <cassert>
@@ -208,6 +209,25 @@ Vector3 TriangleShape::computeSmoothLocalContactNormalForTriangle(const Vector3&
     return (u * mVerticesNormals[0] + v * mVerticesNormals[1] + w * mVerticesNormals[2]).getUnit();
 }
 
+// Update the AABB of a body using its collision shape
+/**
+ * @param[out] aabb The axis-aligned bounding box (AABB) of the collision shape
+ *                  computed in world-space coordinates
+ * @param transform Transform used to compute the AABB of the collision shape
+ */
+void TriangleShape::computeAABB(AABB& aabb, const Transform& transform) const {
+
+    const Vector3 worldPoint1 = transform * mPoints[0];
+    const Vector3 worldPoint2 = transform * mPoints[1];
+    const Vector3 worldPoint3 = transform * mPoints[2];
+
+    const Vector3 xAxis(worldPoint1.x, worldPoint2.x, worldPoint3.x);
+    const Vector3 yAxis(worldPoint1.y, worldPoint2.y, worldPoint3.y);
+    const Vector3 zAxis(worldPoint1.z, worldPoint2.z, worldPoint3.z);
+    aabb.setMin(Vector3(xAxis.getMinValue(), yAxis.getMinValue(), zAxis.getMinValue()));
+    aabb.setMax(Vector3(xAxis.getMaxValue(), yAxis.getMaxValue(), zAxis.getMaxValue()));
+}
+
 // Raycast method with feedback information
 /// This method use the line vs triangle raycasting technique described in
 /// Real-time Collision Detection by Christer Ericson.

src/collision/shapes/TriangleShape.h

@@ -221,25 +221,6 @@ inline void TriangleShape::computeLocalInertiaTensor(Matrix3x3& tensor, decimal
     tensor.setToZero();
 }
 
-// Update the AABB of a body using its collision shape
-/**
- * @param[out] aabb The axis-aligned bounding box (AABB) of the collision shape
- *                  computed in world-space coordinates
- * @param transform Transform used to compute the AABB of the collision shape
- */
-inline void TriangleShape::computeAABB(AABB& aabb, const Transform& transform) const {
-
-    const Vector3 worldPoint1 = transform * mPoints[0];
-    const Vector3 worldPoint2 = transform * mPoints[1];
-    const Vector3 worldPoint3 = transform * mPoints[2];
-
-    const Vector3 xAxis(worldPoint1.x, worldPoint2.x, worldPoint3.x);
-    const Vector3 yAxis(worldPoint1.y, worldPoint2.y, worldPoint3.y);
-    const Vector3 zAxis(worldPoint1.z, worldPoint2.z, worldPoint3.z);
-    aabb.setMin(Vector3(xAxis.getMinValue(), yAxis.getMinValue(), zAxis.getMinValue()));
-    aabb.setMax(Vector3(xAxis.getMaxValue(), yAxis.getMaxValue(), zAxis.getMaxValue()));
-}
-
 // Return true if a point is inside the collision shape
 inline bool TriangleShape::testPointInside(const Vector3& localPoint, ProxyShape* proxyShape) const {
     return false;

src/configuration.h

@@ -30,7 +30,6 @@
 #include <limits>
 #include <cfloat>
 #include <utility>
-#include <cstdint>
 #include <sstream>
 #include <string>
 #include "decimal.h"

src/constraint/ContactPoint.h

@@ -27,14 +27,16 @@
 #define REACTPHYSICS3D_CONTACT_POINT_H
 
 // Libraries
-#include "body/CollisionBody.h"
-#include "collision/ContactPointInfo.h"
 #include "configuration.h"
 #include "mathematics/mathematics.h"
+#include "collision/ContactPointInfo.h"
 
 /// ReactPhysics3D namespace
 namespace reactphysics3d {
 
+// Declarations
+class CollisionBody;
+
 struct NarrowPhaseInfo;
 
 // Class ContactPoint

src/constraint/HingeJoint.cpp

@@ -26,7 +26,6 @@
 // Libraries
 #include "HingeJoint.h"
 #include "engine/ConstraintSolver.h"
-#include <cmath>
 
 using namespace reactphysics3d;
 

src/constraint/SliderJoint.cpp

@@ -25,6 +25,7 @@
 
 // Libraries
 #include "SliderJoint.h"
+#include "engine/ConstraintSolver.h"
 
 using namespace reactphysics3d;
 

src/constraint/SliderJoint.h

@@ -28,10 +28,14 @@
 
 // Libraries
 #include "mathematics/mathematics.h"
-#include "engine/ConstraintSolver.h"
+#include "body/RigidBody.h"
+#include "Joint.h"
 
 namespace reactphysics3d {
 
+// Declarations
+class ConstraintSolver;
+
 // Structure SliderJointInfo
 /**
  * This structure is used to gather the information needed to create a slider

src/engine/CollisionWorld.cpp

@@ -25,8 +25,8 @@
 
 // Libraries
 #include "CollisionWorld.h"
-#include <algorithm>
-#include <sstream>
+#include "utils/Profiler.h"
+#include "utils/Logger.h"
 
 // Namespaces
 using namespace reactphysics3d;

src/engine/CollisionWorld.h

@@ -27,24 +27,24 @@
 #define REACTPHYSICS3D_COLLISION_WORLD_H
 
 // Libraries
-#include <algorithm>
 #include "mathematics/mathematics.h"
 #include "containers/List.h"
-#include "utils/Profiler.h"
-#include "utils/Logger.h"
-#include "body/CollisionBody.h"
-#include "collision/RaycastInfo.h"
-#include "OverlappingPair.h"
 #include "collision/CollisionDetection.h"
 #include "constraint/Joint.h"
-#include "constraint/ContactPoint.h"
 #include "memory/MemoryManager.h"
-#include "EventListener.h"
 
 /// Namespace reactphysics3d
 namespace reactphysics3d {
 
 // Declarations
+class Profiler;
+class Logger;
+class EventListener;
+class Joint;
+class ContactPoint;
+class OverlappingPair;
+class CollisionBody;
+struct RaycastInfo;
 class CollisionCallback;
 class OverlapCallback;
 

src/engine/ConstraintSolver.cpp

@@ -26,6 +26,7 @@
 // Libraries
 #include "ConstraintSolver.h"
 #include "utils/Profiler.h"
+#include "engine/Island.h"
 
 using namespace reactphysics3d;
 

src/engine/ConstraintSolver.h

@@ -29,11 +29,14 @@
 // Libraries
 #include "configuration.h"
 #include "mathematics/mathematics.h"
-#include "constraint/Joint.h"
-#include "Island.h"
 
 namespace reactphysics3d {
 
+// Declarations
+class Joint;
+class Island;
+class Profiler;
+
 // Structure ConstraintSolverData
 /**
  * This structure contains data from the constraint solver that are used to solve

src/engine/ContactSolver.cpp

@@ -27,8 +27,10 @@
 #include "ContactSolver.h"
 #include "DynamicsWorld.h"
 #include "body/RigidBody.h"
+#include "constraint/ContactPoint.h"
 #include "utils/Profiler.h"
-#include <limits>
+#include "engine/Island.h"
+#include "collision/ContactManifold.h"
 
 using namespace reactphysics3d;
 using namespace std;
@@ -758,6 +760,30 @@ void ContactSolver::solve() {
     }
 }
 
+// Compute the collision restitution factor from the restitution factor of each body
+decimal ContactSolver::computeMixedRestitutionFactor(RigidBody* body1,
+                                                            RigidBody* body2) const {
+    decimal restitution1 = body1->getMaterial().getBounciness();
+    decimal restitution2 = body2->getMaterial().getBounciness();
+
+    // Return the largest restitution factor
+    return (restitution1 > restitution2) ? restitution1 : restitution2;
+}
+
+// Compute the mixed friction coefficient from the friction coefficient of each body
+decimal ContactSolver::computeMixedFrictionCoefficient(RigidBody *body1,
+                                                              RigidBody *body2) const {
+    // Use the geometric mean to compute the mixed friction coefficient
+    return std::sqrt(body1->getMaterial().getFrictionCoefficient() *
+                body2->getMaterial().getFrictionCoefficient());
+}
+
+// Compute th mixed rolling resistance factor between two bodies
+inline decimal ContactSolver::computeMixedRollingResistance(RigidBody* body1,
+                                                            RigidBody* body2) const {
+    return decimal(0.5f) * (body1->getMaterial().getRollingResistance() + body2->getMaterial().getRollingResistance());
+}
+
 // Store the computed impulses to use them to
 // warm start the solver at the next iteration
 void ContactSolver::storeImpulses() {

src/engine/ContactSolver.h

@@ -27,15 +27,21 @@
 #define REACTPHYSICS3D_CONTACT_SOLVER_H
 
 // Libraries
-#include "constraint/ContactPoint.h"
 #include "configuration.h"
-#include "constraint/Joint.h"
-#include "collision/ContactManifold.h"
-#include "Island.h"
+#include "mathematics/Vector3.h"
+#include "mathematics/Matrix3x3.h"
 
 /// ReactPhysics3D namespace
 namespace reactphysics3d {
 
+// Declarations
+class ContactPoint;
+class Joint;
+class ContactManifold;
+class MemoryManager;
+class Profiler;
+class Island;
+class RigidBody;
 
 // Class Contact Solver
 /**
@@ -316,8 +322,8 @@ class ContactSolver {
         // -------------------- Methods -------------------- //
 
         /// Compute the collision restitution factor from the restitution factor of each body
-        decimal computeMixedRestitutionFactor(RigidBody *body1,
-                                              RigidBody *body2) const;
+        decimal computeMixedRestitutionFactor(RigidBody* body1,
+                                              RigidBody* body2) const;
 
         /// Compute the mixed friction coefficient from the friction coefficient of each body
         decimal computeMixedFrictionCoefficient(RigidBody* body1,
@@ -412,30 +418,6 @@ inline void ContactSolver::setIsSplitImpulseActive(bool isActive) {
     mIsSplitImpulseActive = isActive;
 }
 
-// Compute the collision restitution factor from the restitution factor of each body
-inline decimal ContactSolver::computeMixedRestitutionFactor(RigidBody* body1,
-                                                            RigidBody* body2) const {
-    decimal restitution1 = body1->getMaterial().getBounciness();
-    decimal restitution2 = body2->getMaterial().getBounciness();
-
-    // Return the largest restitution factor
-    return (restitution1 > restitution2) ? restitution1 : restitution2;
-}
-
-// Compute the mixed friction coefficient from the friction coefficient of each body
-inline decimal ContactSolver::computeMixedFrictionCoefficient(RigidBody *body1,
-                                                              RigidBody *body2) const {
-    // Use the geometric mean to compute the mixed friction coefficient
-    return std::sqrt(body1->getMaterial().getFrictionCoefficient() *
-                body2->getMaterial().getFrictionCoefficient());
-}
-
-// Compute th mixed rolling resistance factor between two bodies
-inline decimal ContactSolver::computeMixedRollingResistance(RigidBody* body1,
-                                                            RigidBody* body2) const {
-    return decimal(0.5f) * (body1->getMaterial().getRollingResistance() + body2->getMaterial().getRollingResistance());
-}
-
 #ifdef IS_PROFILING_ACTIVE
 
 // Set the profiler

src/engine/DynamicsWorld.cpp

@@ -29,7 +29,10 @@
 #include "constraint/SliderJoint.h"
 #include "constraint/HingeJoint.h"
 #include "constraint/FixedJoint.h"
-#include <fstream>
+#include "utils/Profiler.h"
+#include "engine/EventListener.h"
+#include "engine/Island.h"
+#include "collision/ContactManifold.h"
 
 // Namespaces
 using namespace reactphysics3d;

src/engine/DynamicsWorld.h

@@ -28,16 +28,19 @@
 
 // Libraries
 #include "CollisionWorld.h"
-#include "collision/CollisionDetection.h"
-#include "ContactSolver.h"
 #include "ConstraintSolver.h"
-#include "body/RigidBody.h"
-#include "Island.h"
 #include "configuration.h"
+#include "utils/Logger.h"
+#include "engine/ContactSolver.h"
 
 /// Namespace ReactPhysics3D
 namespace reactphysics3d {
 
+// Declarations
+class CollisionDetection;
+class Island;
+class RigidBody;
+
 // Class DynamicsWorld
 /**
  * This class represents a dynamics world. This class inherits from

src/engine/Island.cpp

@@ -25,6 +25,7 @@
 
 // Libraries
 #include "Island.h"
+#include "memory/MemoryManager.h"
 
 using namespace reactphysics3d;
 

src/engine/Island.h

@@ -27,13 +27,15 @@
 #define REACTPHYSICS3D_ISLAND_H
 
 // Libraries
-#include "memory/SingleFrameAllocator.h"
-#include "body/RigidBody.h"
 #include "constraint/Joint.h"
-#include "collision/ContactManifold.h"
 
 namespace reactphysics3d {
 
+// Declarations
+class RigidBody;
+class SingleFrameAllocator;
+class ContactManifold;
+
 // Class Island
 /**
  * An island represent an isolated group of awake bodies that are connected with each other by

src/engine/OverlappingPair.cpp

@@ -29,10 +29,10 @@
 #include "collision/ContactManifoldInfo.h"
 #include "collision/NarrowPhaseInfo.h"
 #include "containers/containers_common.h"
+#include "collision/ContactPointInfo.h"
 
 using namespace reactphysics3d;
 
-
 // Constructor
 OverlappingPair::OverlappingPair(ProxyShape* shape1, ProxyShape* shape2,
                                  MemoryAllocator& persistentMemoryAllocator, MemoryAllocator& temporaryMemoryAllocator,

src/engine/OverlappingPair.h

@@ -29,7 +29,6 @@
 // Libraries
 #include "collision/ContactManifoldSet.h"
 #include "collision/ProxyShape.h"
-#include "collision/shapes/CollisionShape.h"
 #include "containers/Map.h"
 #include "containers/Pair.h"
 #include "containers/containers_common.h"
@@ -37,6 +36,10 @@
 /// ReactPhysics3D namespace
 namespace reactphysics3d {
 
+// Declarations
+struct NarrowPhaseInfo;
+class CollisionShape;
+
 // Structure LastFrameCollisionInfo
 /**
  * This structure contains collision info about the last frame.

src/engine/Timer.h

@@ -27,8 +27,6 @@
 #define REACTPHYSICS3D_TIMER_H
 
 // Libraries
-#include <stdexcept>
-#include <iostream>
 #include <ctime>
 #include <cassert>
 #include "configuration.h"

src/mathematics/Matrix2x2.h

@@ -28,7 +28,6 @@
 
 // Libraries
 #include <cassert>
-#include <string>
 #include "Vector2.h"
 
 /// ReactPhysics3D namespace

src/mathematics/Matrix3x3.cpp

@@ -24,7 +24,6 @@
 ********************************************************************************/
 
 // Libraries
-#include <iostream>
 #include "Matrix3x3.h"
 
 // Namespaces

src/mathematics/Matrix3x3.h

@@ -29,13 +29,11 @@
 
 // Libraries
 #include <cassert>
-#include <string>
 #include "Vector3.h"
 
 /// ReactPhysics3D namespace
 namespace reactphysics3d {
 
-
 // Class Matrix3x3
 /**
  * This class represents a 3x3 matrix.

src/mathematics/Quaternion.cpp

@@ -26,6 +26,7 @@
 // Libraries
 #include "Quaternion.h"
 #include "Vector3.h"
+#include "Matrix3x3.h"
 #include <cassert>
 
 // Namespace

src/mathematics/Quaternion.h

@@ -27,14 +27,15 @@
 #define REACTPHYSICS3D_QUATERNION_H
 
 // Libraries
-#include <cmath>
-#include "Vector3.h"
-#include "Matrix3x3.h"
 #include "decimal.h"
+#include "Vector3.h"
 
 /// ReactPhysics3D namespace
 namespace reactphysics3d {
 
+// Declarations
+class Matrix3x3;
+
 // Class Quaternion
 /**
  * This class represents a quaternion. We use the notation :

src/mathematics/Transform.cpp

@@ -25,7 +25,30 @@
 
 // Libraries
 #include "Transform.h"
+#include "Matrix3x3.h"
 
 // Namespaces
 using namespace reactphysics3d;
 
+
+// Set the transform from an OpenGL transform matrix
+void Transform::setFromOpenGL(decimal* openglMatrix) {
+    Matrix3x3 matrix(openglMatrix[0], openglMatrix[4], openglMatrix[8],
+                     openglMatrix[1], openglMatrix[5], openglMatrix[9],
+                     openglMatrix[2], openglMatrix[6], openglMatrix[10]);
+    mOrientation = Quaternion(matrix);
+    mPosition.setAllValues(openglMatrix[12], openglMatrix[13], openglMatrix[14]);
+}
+
+// Get the OpenGL matrix of the transform
+void Transform::getOpenGLMatrix(decimal* openglMatrix) const {
+    const Matrix3x3& matrix = mOrientation.getMatrix();
+    openglMatrix[0] = matrix[0][0]; openglMatrix[1] = matrix[1][0];
+    openglMatrix[2] = matrix[2][0]; openglMatrix[3] = 0.0;
+    openglMatrix[4] = matrix[0][1]; openglMatrix[5] = matrix[1][1];
+    openglMatrix[6] = matrix[2][1]; openglMatrix[7] = 0.0;
+    openglMatrix[8] = matrix[0][2]; openglMatrix[9] = matrix[1][2];
+    openglMatrix[10] = matrix[2][2]; openglMatrix[11] = 0.0;
+    openglMatrix[12] = mPosition.x; openglMatrix[13] = mPosition.y;
+    openglMatrix[14] = mPosition.z; openglMatrix[15] = 1.0;
+}

src/mathematics/Transform.h

@@ -27,7 +27,6 @@
 #define	REACTPHYSICS3D_TRANSFORM_H
 
 // Libraries
-#include "Matrix3x3.h"
 #include "Vector3.h"
 #include "Quaternion.h"
 
@@ -170,28 +169,6 @@ inline void Transform::setToIdentity() {
     mOrientation = Quaternion::identity();
 }                                           
 
-// Set the transform from an OpenGL transform matrix
-inline void Transform::setFromOpenGL(decimal* openglMatrix) {
-    Matrix3x3 matrix(openglMatrix[0], openglMatrix[4], openglMatrix[8],
-                     openglMatrix[1], openglMatrix[5], openglMatrix[9],
-                     openglMatrix[2], openglMatrix[6], openglMatrix[10]);
-    mOrientation = Quaternion(matrix);
-    mPosition.setAllValues(openglMatrix[12], openglMatrix[13], openglMatrix[14]);
-}
-
-// Get the OpenGL matrix of the transform
-inline void Transform::getOpenGLMatrix(decimal* openglMatrix) const {
-    const Matrix3x3& matrix = mOrientation.getMatrix();
-    openglMatrix[0] = matrix[0][0]; openglMatrix[1] = matrix[1][0];
-    openglMatrix[2] = matrix[2][0]; openglMatrix[3] = 0.0;
-    openglMatrix[4] = matrix[0][1]; openglMatrix[5] = matrix[1][1];
-    openglMatrix[6] = matrix[2][1]; openglMatrix[7] = 0.0;
-    openglMatrix[8] = matrix[0][2]; openglMatrix[9] = matrix[1][2];
-    openglMatrix[10] = matrix[2][2]; openglMatrix[11] = 0.0;
-    openglMatrix[12] = mPosition.x; openglMatrix[13] = mPosition.y;
-    openglMatrix[14] = mPosition.z; openglMatrix[15] = 1.0;
-}
-
 // Return the inverse of the transform
 inline Transform Transform::getInverse() const {
     const Quaternion& invQuaternion = mOrientation.getInverse();

src/mathematics/Vector2.h

@@ -27,9 +27,7 @@
 #define REACTPHYSICS3D_VECTOR2_H
 
 // Libraries
-#include <cmath>
 #include <cassert>
-#include <string>
 #include "mathematics_functions.h"
 #include "decimal.h"
 
@@ -55,7 +53,7 @@ struct Vector2 {
 
         // -------------------- Methods -------------------- //
 
-        /// Constructor of the class Vector3D
+        /// Constructor of the struct Vector2
         Vector2();
 
         /// Constructor with arguments

src/mathematics/Vector3.cpp

@@ -25,7 +25,6 @@
 
 // Libraries
 #include "Vector3.h"
-#include <iostream>
 
 // Namespaces
 using namespace reactphysics3d;

src/mathematics/Vector3.h

@@ -27,9 +27,7 @@
 #define REACTPHYSICS3D_VECTOR3_H
 
 // Libraries
-#include <cmath>
 #include <cassert>
-#include <string>
 #include "mathematics_functions.h"
 #include "decimal.h"
 
@@ -37,7 +35,7 @@
 /// ReactPhysics3D namespace
 namespace reactphysics3d {
 
-// Class Vector3
+// Struct Vector3
 /**
  * This class represents a 3D vector.
  */
@@ -58,7 +56,7 @@ struct Vector3 {
 
         // -------------------- Methods -------------------- //
 
-        /// Constructor of the class Vector3D
+        /// Constructor of the struct Vector3
         Vector3();
 
         /// Constructor with arguments
@@ -172,7 +170,7 @@ struct Vector3 {
         friend Vector3 operator/(const Vector3& vector1, const Vector3& vector2);
 };
 
-// Constructor of the class Vector3D
+// Constructor of the struct Vector3
 inline Vector3::Vector3() : x(0.0), y(0.0), z(0.0) {
 
 }

src/memory/DefaultAllocator.h

@@ -42,7 +42,7 @@ class DefaultAllocator : public MemoryAllocator {
     public:
 
         /// Destructor
-        virtual ~DefaultAllocator() = default;
+        virtual ~DefaultAllocator() override = default;
 
         /// Assignment operator
         DefaultAllocator& operator=(DefaultAllocator& allocator) = default;

src/memory/MemoryManager.h

@@ -27,7 +27,6 @@
 #define REACTPHYSICS3D_MEMORY_MANAGER_H
 
 // Libraries
-#include "memory/MemoryAllocator.h"
 #include "memory/DefaultAllocator.h"
 #include "memory/PoolAllocator.h"
 #include "memory/SingleFrameAllocator.h"
@@ -35,6 +34,9 @@
 /// Namespace ReactPhysics3D
 namespace reactphysics3d {
 
+// Declarations
+class MemoryAllocator;
+
 // Class MemoryManager
 /**
  * The memory manager is used to store the different memory allocators that are used