Rename DynamicsWorld class to PhysicsWorld

CMakeLists.txt

@@ -127,7 +127,6 @@ SET (REACTPHYSICS3D_HEADERS
     "src/constraint/SliderJoint.h"
     "src/engine/Entity.h"
     "src/engine/EntityManager.h"
-    "src/engine/CollisionWorld.h"
     "src/engine/PhysicsCommon.h"
     "src/systems/ConstraintSolverSystem.h"
     "src/systems/ContactSolverSystem.h"
@@ -137,7 +136,7 @@ SET (REACTPHYSICS3D_HEADERS
     "src/systems/SolveFixedJointSystem.h"
     "src/systems/SolveHingeJointSystem.h"
     "src/systems/SolveSliderJointSystem.h"
-    "src/engine/DynamicsWorld.h"
+    "src/engine/PhysicsWorld.h"
     "src/engine/EventListener.h"
     "src/engine/Island.h"
     "src/engine/Islands.h"
@@ -229,7 +228,6 @@ SET (REACTPHYSICS3D_SOURCES
     "src/constraint/HingeJoint.cpp"
     "src/constraint/Joint.cpp"
     "src/constraint/SliderJoint.cpp"
-    "src/engine/CollisionWorld.cpp"
     "src/engine/PhysicsCommon.cpp"
     "src/systems/ConstraintSolverSystem.cpp"
     "src/systems/ContactSolverSystem.cpp"
@@ -239,7 +237,7 @@ SET (REACTPHYSICS3D_SOURCES
     "src/systems/SolveFixedJointSystem.cpp"
     "src/systems/SolveHingeJointSystem.cpp"
     "src/systems/SolveSliderJointSystem.cpp"
-    "src/engine/DynamicsWorld.cpp"
+    "src/engine/PhysicsWorld.cpp"
     "src/engine/Island.cpp"
     "src/engine/Material.cpp"
     "src/engine/OverlappingPairs.cpp"

src/body/CollisionBody.cpp

@@ -25,7 +25,7 @@
 
  // Libraries
 #include "CollisionBody.h"
-#include "engine/CollisionWorld.h"
+#include "engine/PhysicsWorld.h"
 #include "collision/ContactManifold.h"
 #include "collision/RaycastInfo.h"
 #include "utils/Logger.h"
@@ -39,7 +39,7 @@ using namespace reactphysics3d;
  * @param world The physics world where the body is created
  * @param id ID of the body
  */
-CollisionBody::CollisionBody(CollisionWorld& world, Entity entity)
+CollisionBody::CollisionBody(PhysicsWorld& world, Entity entity)
               : mEntity(entity), mWorld(world)  {
 
 #ifdef IS_LOGGING_ACTIVE

src/body/CollisionBody.h

@@ -39,8 +39,8 @@ namespace reactphysics3d {
 // Declarations
 struct ContactManifoldListElement;
 class Collider;
-class CollisionWorld;
 class CollisionShape;
+class PhysicsWorld;
 struct RaycastInfo;
 class DefaultPoolAllocator;
 class Profiler;
@@ -61,7 +61,7 @@ class CollisionBody {
         Entity mEntity;
 
         /// Reference to the world the body belongs to
-        CollisionWorld& mWorld;
+        PhysicsWorld& mWorld;
 
 #ifdef IS_LOGGING_ACTIVE
 
@@ -93,7 +93,7 @@ class CollisionBody {
         // -------------------- Methods -------------------- //
 
         /// Constructor
-        CollisionBody(CollisionWorld& world, Entity entity);
+        CollisionBody(PhysicsWorld& world, Entity entity);
 
         /// Destructor
         virtual ~CollisionBody();
@@ -179,8 +179,7 @@ class CollisionBody {
 
         // -------------------- Friendship -------------------- //
 
-        friend class CollisionWorld;
-        friend class DynamicsWorld;
+        friend class PhysicsWorld;
         friend class CollisionDetectionSystem;
         friend class BroadPhaseAlgorithm;
         friend class ConvexMeshShape;

src/body/RigidBody.cpp

@@ -25,9 +25,8 @@
 
 // Libraries
 #include "RigidBody.h"
-#include "constraint/Joint.h"
 #include "collision/shapes/CollisionShape.h"
-#include "engine/DynamicsWorld.h"
+#include "engine/PhysicsWorld.h"
 #include "utils/Profiler.h"
 
 // We want to use the ReactPhysics3D namespace
@@ -39,8 +38,9 @@ using namespace reactphysics3d;
 * @param world The world where the body has been added
 * @param id The ID of the body
 */
-RigidBody::RigidBody(CollisionWorld& world, Entity entity)
-          : CollisionBody(world, entity),  mMaterial(world.mConfig),
+RigidBody::RigidBody(PhysicsWorld& world, Entity entity)
+          : CollisionBody(world, entity),
+            mMaterial(world.mConfig.defaultFrictionCoefficient, world.mConfig.defaultRollingRestistance, world.mConfig.defaultBounciness),
             mIsCenterOfMassSetByUser(false), mIsInertiaTensorSetByUser(false) {
 
 }
@@ -147,7 +147,7 @@ decimal RigidBody::getMass() const {
 /// generate some torque and therefore, change the angular velocity of the body.
 /// If the body is sleeping, calling this method will wake it up. Note that the
 /// force will we added to the sum of the applied forces and that this sum will be
-/// reset to zero at the end of each call of the DynamicsWorld::update() method.
+/// reset to zero at the end of each call of the PhyscisWorld::update() method.
 /// You can only apply a force to a dynamic body otherwise, this method will do nothing.
 /**
  * @param force The force to apply on the body
@@ -197,7 +197,7 @@ void RigidBody::setInertiaTensorLocal(const Matrix3x3& inertiaTensorLocal) {
 // Apply an external force to the body at its center of mass.
 /// If the body is sleeping, calling this method will wake it up. Note that the
 /// force will we added to the sum of the applied forces and that this sum will be
-/// reset to zero at the end of each call of the DynamicsWorld::update() method.
+/// reset to zero at the end of each call of the PhyscisWorld::update() method.
 /// You can only apply a force to a dynamic body otherwise, this method will do nothing.
 /**
  * @param force The external force to apply on the center of mass of the body
@@ -632,7 +632,7 @@ bool RigidBody::isGravityEnabled() const {
 // Apply an external torque to the body.
 /// If the body is sleeping, calling this method will wake it up. Note that the
 /// force will we added to the sum of the applied torques and that this sum will be
-/// reset to zero at the end of each call of the DynamicsWorld::update() method.
+/// reset to zero at the end of each call of the PhyscisWorld::update() method.
 /// You can only apply a force to a dynamic body otherwise, this method will do nothing.
 /**
  * @param torque The external torque to apply on the body
@@ -713,7 +713,7 @@ void RigidBody::updateOverlappingPairs() {
 }
 
 /// Return the inverse of the inertia tensor in world coordinates.
-const Matrix3x3 RigidBody::getInertiaTensorInverseWorld(CollisionWorld& world, Entity bodyEntity) {
+const Matrix3x3 RigidBody::getInertiaTensorInverseWorld(PhysicsWorld& world, Entity bodyEntity) {
 
     Matrix3x3 orientation = world.mTransformComponents.getTransform(bodyEntity).getOrientation().getMatrix();
     const Matrix3x3& inverseInertiaLocalTensor = world.mRigidBodyComponents.getInertiaTensorLocalInverse(bodyEntity);

src/body/RigidBody.h

@@ -37,8 +37,7 @@ namespace reactphysics3d {
 
 // Class declarations
 struct JointListElement;
-class Joint;
-class DynamicsWorld;
+class PhysicsWorld;
 class MemoryManager;
 enum class BodyType;
 
@@ -77,14 +76,14 @@ class RigidBody : public CollisionBody {
         void updateOverlappingPairs();
 
         /// Return the inverse of the inertia tensor in world coordinates.
-        static const Matrix3x3 getInertiaTensorInverseWorld(CollisionWorld& world, Entity bodyEntity);
+        static const Matrix3x3 getInertiaTensorInverseWorld(PhysicsWorld& world, Entity bodyEntity);
 
     public :
 
         // -------------------- Methods -------------------- //
 
         /// Constructor
-        RigidBody(CollisionWorld& world, Entity entity);
+        RigidBody(PhysicsWorld& world, Entity entity);
 
         /// Destructor
         virtual ~RigidBody() override = default;
@@ -203,10 +202,9 @@ class RigidBody : public CollisionBody {
 
         // -------------------- Friendship -------------------- //
 
-        friend class DynamicsWorld;
+        friend class PhysicsWorld;
         friend class ContactSolverSystem;
         friend class DynamicsSystem;
-        friend class Joint;
         friend class BallAndSocketJoint;
         friend class SliderJoint;
         friend class HingeJoint;
@@ -215,6 +213,7 @@ class RigidBody : public CollisionBody {
         friend class SolveFixedJointSystem;
         friend class SolveHingeJointSystem;
         friend class SolveSliderJointSystem;
+        friend class Joint;
 };
 
 // Return a reference to the material properties of the rigid body

src/collision/Collider.cpp

@@ -28,7 +28,7 @@
 #include "utils/Logger.h"
 #include "collision/RaycastInfo.h"
 #include "memory/MemoryManager.h"
-#include "engine/CollisionWorld.h"
+#include "engine/PhysicsWorld.h"
 
 using namespace reactphysics3d;
 

src/collision/Collider.h

@@ -172,8 +172,7 @@ class Collider {
         friend class BroadPhaseAlgorithm;
         friend class DynamicAABBTree;
         friend class CollisionDetectionSystem;
-        friend class CollisionWorld;
-        friend class DynamicsWorld;
+        friend class PhysicsWorld;
         friend class GJKAlgorithm;
         friend class ConvexMeshShape;
 		friend class ContactManifoldSet;

src/collision/CollisionCallback.cpp

@@ -27,7 +27,7 @@
 #include "collision/CollisionCallback.h"
 #include "collision/ContactPair.h"
 #include "constraint/ContactPoint.h"
-#include "engine/CollisionWorld.h"
+#include "engine/PhysicsWorld.h"
 
 // We want to use the ReactPhysics3D namespace
 using namespace reactphysics3d;
@@ -39,7 +39,7 @@ CollisionCallback::ContactPoint::ContactPoint(const reactphysics3d::ContactPoint
 
 // Contact Pair Constructor
 CollisionCallback::ContactPair::ContactPair(const reactphysics3d::ContactPair& contactPair,
-                                            List<reactphysics3d::ContactPoint>* contactPoints, CollisionWorld& world)
+                                            List<reactphysics3d::ContactPoint>* contactPoints, PhysicsWorld& world)
                                :mContactPair(contactPair), mContactPoints(contactPoints),
                                 mWorld(world) {
 
@@ -67,7 +67,7 @@ Collider* CollisionCallback::ContactPair::getCollider2() const {
 
 // CollisionCallbackInfo Constructor
 CollisionCallback::CallbackData::CallbackData(List<reactphysics3d::ContactPair>* contactPairs, List<ContactManifold>* manifolds,
-                                                                List<reactphysics3d::ContactPoint>* contactPoints, CollisionWorld& world)
+                                                                List<reactphysics3d::ContactPoint>* contactPoints, PhysicsWorld &world)
                       :mContactPairs(contactPairs), mContactManifolds(manifolds), mContactPoints(contactPoints), mWorld(world) {
 
 }

src/collision/CollisionCallback.h

@@ -118,13 +118,13 @@ class CollisionCallback {
                 List<reactphysics3d::ContactPoint>* mContactPoints;
 
                 /// Reference to the physics world
-                CollisionWorld& mWorld;
+                PhysicsWorld& mWorld;
 
                 // -------------------- Methods -------------------- //
 
                 /// Constructor
                 ContactPair(const reactphysics3d::ContactPair& contactPair,  List<reactphysics3d::ContactPoint>* contactPoints,
-                            CollisionWorld& world);
+                            PhysicsWorld& world);
 
             public:
 
@@ -182,13 +182,13 @@ class CollisionCallback {
                 List<reactphysics3d::ContactPoint>* mContactPoints;
 
                 /// Reference to the physics world
-                CollisionWorld& mWorld;
+                PhysicsWorld& mWorld;
 
                 // -------------------- Methods -------------------- //
 
                 /// Constructor
                 CallbackData(List<reactphysics3d::ContactPair>* contactPairs, List<ContactManifold>* manifolds,
-                             List<reactphysics3d::ContactPoint>* contactPoints, CollisionWorld& world);
+                             List<reactphysics3d::ContactPoint>* contactPoints, PhysicsWorld& world);
 
                 /// Deleted copy constructor
                 CallbackData(const CallbackData& callbackData) = delete;

src/collision/ContactManifold.h

@@ -120,7 +120,7 @@ class ContactManifold {
 
         // -------------------- Friendship -------------------- //
 
-        friend class DynamicsWorld;
+        friend class PhysicsWorld;
         friend class Island;
         friend class CollisionBody;
         friend class ContactManifoldSet;

src/collision/OverlapCallback.cpp

@@ -25,13 +25,13 @@
 
 // Libraries
 #include "collision/OverlapCallback.h"
-#include "engine/CollisionWorld.h"
+#include "engine/PhysicsWorld.h"
 
 // We want to use the ReactPhysics3D namespace
 using namespace reactphysics3d;
 
 // Contact Pair Constructor
-OverlapCallback::OverlapPair::OverlapPair(Pair<Entity, Entity>& overlapPair, CollisionWorld& world)
+OverlapCallback::OverlapPair::OverlapPair(Pair<Entity, Entity>& overlapPair, PhysicsWorld& world)
                              : mOverlapPair(overlapPair), mWorld(world) {
 
 }
@@ -47,7 +47,7 @@ CollisionBody* OverlapCallback::OverlapPair::getBody2() const {
 }
 
 // CollisionCallbackData Constructor
-OverlapCallback::CallbackData::CallbackData(List<Pair<Entity, Entity>>& overlapColliders, CollisionWorld& world)
+OverlapCallback::CallbackData::CallbackData(List<Pair<Entity, Entity>>& overlapColliders, PhysicsWorld& world)
                 :mOverlapBodies(overlapColliders), mWorld(world) {
 
 }

src/collision/OverlapCallback.h

@@ -34,7 +34,7 @@ namespace reactphysics3d {
 
 // Declarations
 class CollisionBody;
-class CollisionWorld;
+class PhysicsWorld;
 class Collider;
 struct Entity;
 
@@ -61,12 +61,12 @@ class OverlapCallback {
                 Pair<Entity, Entity>& mOverlapPair;
 
                 /// Reference to the physics world
-                CollisionWorld& mWorld;
+                PhysicsWorld& mWorld;
 
                 // -------------------- Methods -------------------- //
 
                 /// Constructor
-                OverlapPair(Pair<Entity, Entity>& overlapPair, CollisionWorld& world);
+                OverlapPair(Pair<Entity, Entity>& overlapPair, reactphysics3d::PhysicsWorld& world);
 
             public:
 
@@ -105,12 +105,12 @@ class OverlapCallback {
                 List<Pair<Entity, Entity>>& mOverlapBodies;
 
                 /// Reference to the physics world
-                CollisionWorld& mWorld;
+                PhysicsWorld& mWorld;
 
                 // -------------------- Methods -------------------- //
 
                 /// Constructor
-                CallbackData(List<Pair<Entity, Entity>>& overlapColliders, CollisionWorld& world);
+                CallbackData(List<Pair<Entity, Entity>>& overlapColliders, PhysicsWorld& world);
 
                 /// Deleted copy constructor
                 CallbackData(const CallbackData& callbackData) = delete;

src/collision/shapes/CollisionShape.h

@@ -146,7 +146,7 @@ class CollisionShape {
         // -------------------- Friendship -------------------- //
 
         friend class Collider;
-        friend class CollisionWorld;
+        friend class PhyscisWorld;
 };
 
 // Return the name of the collision shape

src/collision/shapes/ConvexMeshShape.cpp

@@ -26,7 +26,7 @@
 // Libraries
 #include "configuration.h"
 #include "ConvexMeshShape.h"
-#include "engine/CollisionWorld.h"
+#include "engine/PhysicsWorld.h"
 #include "collision/RaycastInfo.h"
 
 using namespace reactphysics3d;

src/collision/shapes/ConvexMeshShape.h

@@ -35,9 +35,8 @@
 namespace reactphysics3d {
 
 // Declaration
-class CollisionWorld;
 class GJKAlgorithm;
-class CollisionWorld;
+class PhysicsWorld;
 
 // Class ConvexMeshShape
 /**

src/components/JointComponents.h

@@ -156,7 +156,7 @@ class JointComponents : public Components {
 
         friend class BroadPhaseSystem;
         friend class ConstraintSolverSystem;
-        friend class DynamicsWorld;
+        friend class PhysicsWorld;
 };
 
 // Return the entity of the first body of a joint

src/components/RigidBodyComponents.h

@@ -335,7 +335,7 @@ class RigidBodyComponents : public Components {
 
         // -------------------- Friendship -------------------- //
 
-        friend class DynamicsWorld;
+        friend class PhysicsWorld;
         friend class ContactSolverSystem;
         friend class SolveBallAndSocketJointSystem;
         friend class SolveFixedJointSystem;

src/configuration.h

@@ -112,82 +112,6 @@ constexpr decimal DYNAMIC_TREE_AABB_LIN_GAP_MULTIPLIER = decimal(1.7);
 /// Current version of ReactPhysics3D
 const std::string RP3D_VERSION = std::string("0.7.1");
 
-/// Structure WorldSettings
-/**
- * This class is used to describe some settings of a physics world.
- */
-struct WorldSettings {
-
-    /// Name of the world
-    std::string worldName = "";
-
-    /// Distance threshold for two contact points for a valid persistent contact (in meters)
-    decimal persistentContactDistanceThreshold = decimal(0.03);
-
-    /// Default friction coefficient for a rigid body
-    decimal defaultFrictionCoefficient = decimal(0.3);
-
-    /// Default bounciness factor for a rigid body
-    decimal defaultBounciness = decimal(0.5);
-
-    /// Velocity threshold for contact velocity restitution
-    decimal restitutionVelocityThreshold = decimal(0.5);
-
-    /// Default rolling resistance
-    decimal defaultRollingRestistance = decimal(0.0);
-
-    /// True if the sleeping technique is enabled
-    bool isSleepingEnabled = true;
-
-    /// Number of iterations when solving the velocity constraints of the Sequential Impulse technique
-    uint defaultVelocitySolverNbIterations = 10;
-
-    /// Number of iterations when solving the position constraints of the Sequential Impulse technique
-    uint defaultPositionSolverNbIterations = 5;
-
-    /// Time (in seconds) that a body must stay still to be considered sleeping
-    float defaultTimeBeforeSleep = 1.0f;
-
-    /// A body with a linear velocity smaller than the sleep linear velocity (in m/s)
-    /// might enter sleeping mode.
-    decimal defaultSleepLinearVelocity = decimal(0.02);
-
-    /// A body with angular velocity smaller than the sleep angular velocity (in rad/s)
-    /// might enter sleeping mode
-    decimal defaultSleepAngularVelocity = decimal(3.0) * (PI / decimal(180.0));
-
-    /// Maximum number of contact manifolds in an overlapping pair
-    uint nbMaxContactManifolds = 3;
-
-    /// This is used to test if two contact manifold are similar (same contact normal) in order to
-    /// merge them. If the cosine of the angle between the normals of the two manifold are larger
-    /// than the value bellow, the manifold are considered to be similar.
-    decimal cosAngleSimilarContactManifold = decimal(0.95);
-
-    /// Return a string with the world settings
-    std::string to_string() const {
-
-        std::stringstream ss;
-
-        ss << "worldName=" << worldName << std::endl;
-        ss << "persistentContactDistanceThreshold=" << persistentContactDistanceThreshold << std::endl;
-        ss << "defaultFrictionCoefficient=" << defaultFrictionCoefficient << std::endl;
-        ss << "defaultBounciness=" << defaultBounciness << std::endl;
-        ss << "restitutionVelocityThreshold=" << restitutionVelocityThreshold << std::endl;
-        ss << "defaultRollingRestistance=" << defaultRollingRestistance << std::endl;
-        ss << "isSleepingEnabled=" << isSleepingEnabled << std::endl;
-        ss << "defaultVelocitySolverNbIterations=" << defaultVelocitySolverNbIterations << std::endl;
-        ss << "defaultPositionSolverNbIterations=" << defaultPositionSolverNbIterations << std::endl;
-        ss << "defaultTimeBeforeSleep=" << defaultTimeBeforeSleep << std::endl;
-        ss << "defaultSleepLinearVelocity=" << defaultSleepLinearVelocity << std::endl;
-        ss << "defaultSleepAngularVelocity=" << defaultSleepAngularVelocity << std::endl;
-        ss << "nbMaxContactManifolds=" << nbMaxContactManifolds << std::endl;
-        ss << "cosAngleSimilarContactManifold=" << cosAngleSimilarContactManifold << std::endl;
-
-        return ss.str();
-    }
-};
-
 }
 
 #endif

src/constraint/BallAndSocketJoint.cpp

@@ -27,7 +27,7 @@
 #include "BallAndSocketJoint.h"
 #include "systems/ConstraintSolverSystem.h"
 #include "components/RigidBodyComponents.h"
-#include "engine/DynamicsWorld.h"
+#include "engine/PhysicsWorld.h"
 
 using namespace reactphysics3d;
 
@@ -35,7 +35,7 @@ using namespace reactphysics3d;
 const decimal BallAndSocketJoint::BETA = decimal(0.2);
 
 // Constructor
-BallAndSocketJoint::BallAndSocketJoint(Entity entity, DynamicsWorld& world, const BallAndSocketJointInfo& jointInfo)
+BallAndSocketJoint::BallAndSocketJoint(Entity entity, PhysicsWorld& world, const BallAndSocketJointInfo& jointInfo)
                    : Joint(entity, world) {
 
     // Get the transforms of the two bodies

src/constraint/BallAndSocketJoint.h

@@ -88,7 +88,7 @@ class BallAndSocketJoint : public Joint {
         // -------------------- Methods -------------------- //
 
         /// Constructor
-        BallAndSocketJoint(Entity entity, DynamicsWorld& world, const BallAndSocketJointInfo& jointInfo);
+        BallAndSocketJoint(Entity entity, PhysicsWorld& world, const BallAndSocketJointInfo& jointInfo);
 
         /// Destructor
         virtual ~BallAndSocketJoint() override = default;

src/constraint/ContactPoint.cpp

@@ -31,13 +31,13 @@ using namespace reactphysics3d;
 using namespace std;
 
 // Constructor
-ContactPoint::ContactPoint(const ContactPointInfo* contactInfo, const WorldSettings& worldSettings)
+ContactPoint::ContactPoint(const ContactPointInfo* contactInfo, decimal persistentContactDistanceThreshold)
              : mNormal(contactInfo->normal),
                mPenetrationDepth(contactInfo->penetrationDepth),
                mLocalPointOnShape1(contactInfo->localPoint1),
                mLocalPointOnShape2(contactInfo->localPoint2),
                mIsRestingContact(false), mIsObsolete(false), mNext(nullptr), mPrevious(nullptr),
-               mWorldSettings(worldSettings) {
+               mPersistentContactDistanceThreshold(persistentContactDistanceThreshold) {
 
     assert(mPenetrationDepth > decimal(0.0));
     assert(mNormal.lengthSquare() > decimal(0.8));
@@ -46,13 +46,13 @@ ContactPoint::ContactPoint(const ContactPointInfo* contactInfo, const WorldSetti
 }
 
 // Constructor
-ContactPoint::ContactPoint(const ContactPointInfo& contactInfo, const WorldSettings& worldSettings)
+ContactPoint::ContactPoint(const ContactPointInfo& contactInfo, decimal persistentContactDistanceThreshold)
              : mNormal(contactInfo.normal),
                mPenetrationDepth(contactInfo.penetrationDepth),
                mLocalPointOnShape1(contactInfo.localPoint1),
                mLocalPointOnShape2(contactInfo.localPoint2),
                mIsRestingContact(false), mPenetrationImpulse(0), mIsObsolete(false),
-               mWorldSettings(worldSettings) {
+               mPersistentContactDistanceThreshold(persistentContactDistanceThreshold) {
 
     assert(mPenetrationDepth > decimal(0.0));
     assert(mNormal.lengthSquare() > decimal(0.8));

src/constraint/ContactPoint.h

@@ -75,8 +75,8 @@ class ContactPoint {
         /// Pointer to the previous contact point in the double linked-list
         ContactPoint* mPrevious;
 
-        /// World settings
-        const WorldSettings& mWorldSettings;
+        /// Persistent contact distance threshold;
+        decimal mPersistentContactDistanceThreshold;
 
         // -------------------- Methods -------------------- //
 
@@ -98,10 +98,10 @@ class ContactPoint {
         // -------------------- Methods -------------------- //
 
         /// Constructor
-        ContactPoint(const ContactPointInfo* contactInfo, const WorldSettings& worldSettings);
+        ContactPoint(const ContactPointInfo* contactInfo, decimal persistentContactDistanceThreshold);
 
         /// Constructor
-        ContactPoint(const ContactPointInfo& contactInfo, const WorldSettings& worldSettings);
+        ContactPoint(const ContactPointInfo& contactInfo, decimal persistentContactDistanceThreshold);
 
         /// Destructor
         ~ContactPoint() = default;
@@ -174,8 +174,8 @@ inline decimal ContactPoint::getPenetrationImpulse() const {
 
 // Return true if the contact point is similar (close enougth) to another given contact point
 inline bool ContactPoint::isSimilarWithContactPoint(const ContactPointInfo* localContactPointBody1) const {
-    return (localContactPointBody1->localPoint1 - mLocalPointOnShape1).lengthSquare() <= (mWorldSettings.persistentContactDistanceThreshold *
-            mWorldSettings.persistentContactDistanceThreshold);
+    return (localContactPointBody1->localPoint1 - mLocalPointOnShape1).lengthSquare() <= (mPersistentContactDistanceThreshold *
+            mPersistentContactDistanceThreshold);
 }
 
 // Set the cached penetration impulse

src/constraint/FixedJoint.cpp

@@ -27,12 +27,12 @@
 #include "FixedJoint.h"
 #include "systems/ConstraintSolverSystem.h"
 #include "components/RigidBodyComponents.h"
-#include "engine/DynamicsWorld.h"
+#include "engine/PhysicsWorld.h"
 
 using namespace reactphysics3d;
 
 // Constructor
-FixedJoint::FixedJoint(Entity entity, DynamicsWorld &world, const FixedJointInfo& jointInfo)
+FixedJoint::FixedJoint(Entity entity, PhysicsWorld &world, const FixedJointInfo& jointInfo)
            : Joint(entity, world) {
 
     // Compute the local-space anchor point for each body

src/constraint/FixedJoint.h

@@ -78,7 +78,7 @@ class FixedJoint : public Joint {
         // -------------------- Methods -------------------- //
 
         /// Constructor
-        FixedJoint(Entity entity, DynamicsWorld& world, const FixedJointInfo& jointInfo);
+        FixedJoint(Entity entity, PhysicsWorld& world, const FixedJointInfo& jointInfo);
 
         /// Destructor
         virtual ~FixedJoint() override = default;

src/constraint/HingeJoint.cpp

@@ -27,12 +27,12 @@
 #include "HingeJoint.h"
 #include "systems/ConstraintSolverSystem.h"
 #include "components/RigidBodyComponents.h"
-#include "engine/DynamicsWorld.h"
+#include "engine/PhysicsWorld.h"
 
 using namespace reactphysics3d;
 
 // Constructor
-HingeJoint::HingeJoint(Entity entity, DynamicsWorld &world, const HingeJointInfo& jointInfo) : Joint(entity, world) {
+HingeJoint::HingeJoint(Entity entity, PhysicsWorld &world, const HingeJointInfo& jointInfo) : Joint(entity, world) {
 
     const decimal lowerLimit = mWorld.mHingeJointsComponents.getLowerLimit(mEntity);
     const decimal upperLimit = mWorld.mHingeJointsComponents.getUpperLimit(mEntity);

src/constraint/HingeJoint.h

@@ -160,7 +160,7 @@ class HingeJoint : public Joint {
         // -------------------- Methods -------------------- //
 
         /// Constructor
-        HingeJoint(Entity entity, DynamicsWorld& world, const HingeJointInfo& jointInfo);
+        HingeJoint(Entity entity, PhysicsWorld& world, const HingeJointInfo& jointInfo);
 
         /// Destructor
         virtual ~HingeJoint() override = default;

src/constraint/Joint.cpp

@@ -25,12 +25,12 @@
 
 // Libraries
 #include "Joint.h"
-#include "engine/DynamicsWorld.h"
+#include "engine/PhysicsWorld.h"
 
 using namespace reactphysics3d;
 
 // Constructor
-Joint::Joint(Entity entity, DynamicsWorld& world) :mEntity(entity), mWorld(world) {
+Joint::Joint(Entity entity, PhysicsWorld& world) :mEntity(entity), mWorld(world) {
 
 }
 

src/constraint/Joint.h

@@ -40,6 +40,7 @@ enum class JointType {BALLSOCKETJOINT, SLIDERJOINT, HINGEJOINT, FIXEDJOINT};
 // Class declarations
 struct ConstraintSolverData;
 class Joint;
+class RigidBody;
 
 // Structure JointInfo
 /**
@@ -71,7 +72,9 @@ struct JointInfo {
         JointInfo(JointType constraintType)
                       : body1(nullptr), body2(nullptr), type(constraintType),
                         positionCorrectionTechnique(JointsPositionCorrectionTechnique::NON_LINEAR_GAUSS_SEIDEL),
-                        isCollisionEnabled(true) {}
+                        isCollisionEnabled(true) {
+
+        }
 
         /// Constructor
         JointInfo(RigidBody* rigidBody1, RigidBody* rigidBody2, JointType constraintType)
@@ -99,7 +102,7 @@ class Joint {
         Entity mEntity;
 
         /// Reference to the physics world
-        DynamicsWorld& mWorld;
+        PhysicsWorld& mWorld;
 
         // -------------------- Methods -------------------- //
 
@@ -114,7 +117,7 @@ class Joint {
         // -------------------- Methods -------------------- //
 
         /// Constructor
-        Joint(Entity entity, DynamicsWorld& world);
+        Joint(Entity entity, PhysicsWorld& world);
 
         /// Destructor
         virtual ~Joint() = default;
@@ -145,7 +148,7 @@ class Joint {
 
         // -------------------- Friendship -------------------- //
 
-        friend class DynamicsWorld;
+        friend class PhysicsWorld;
         friend class Island;
         friend class ConstraintSolverSystem;
 };

src/constraint/SliderJoint.cpp

@@ -27,7 +27,7 @@
 #include "SliderJoint.h"
 #include "systems/ConstraintSolverSystem.h"
 #include "components/RigidBodyComponents.h"
-#include "engine/DynamicsWorld.h"
+#include "engine/PhysicsWorld.h"
 
 using namespace reactphysics3d;
 
@@ -35,7 +35,7 @@ using namespace reactphysics3d;
 const decimal SliderJoint::BETA = decimal(0.2);
 
 // Constructor
-SliderJoint::SliderJoint(Entity entity, DynamicsWorld &world, const SliderJointInfo& jointInfo)
+SliderJoint::SliderJoint(Entity entity, PhysicsWorld &world, const SliderJointInfo& jointInfo)
             : Joint(entity, world) {
 
     assert(mWorld.mSliderJointsComponents.getUpperLimit(mEntity) >= decimal(0.0));

src/constraint/SliderJoint.h

@@ -163,7 +163,7 @@ class SliderJoint : public Joint {
         // -------------------- Methods -------------------- //
 
         /// Constructor
-        SliderJoint(Entity entity, DynamicsWorld& world, const SliderJointInfo& jointInfo);
+        SliderJoint(Entity entity, PhysicsWorld& world, const SliderJointInfo& jointInfo);
 
         /// Destructor
         virtual ~SliderJoint() override = default;

src/containers/Stack.h

@@ -119,8 +119,11 @@ class Stack {
 
             clear();
 
-            // Release the memory allocated on the heap
-            mAllocator.release(mArray, mCapacity * sizeof(T));
+            if (mCapacity > 0) {
+
+                // Release the memory allocated on the heap
+                mAllocator.release(mArray, mCapacity * sizeof(T));
+            }
         }
 
         /// Remove all the items from the stack

src/engine/CollisionWorld.cpp

@@ -1,303 +0,0 @@
-/********************************************************************************
-* ReactPhysics3D physics library, http://www.reactphysics3d.com                 *
-* Copyright (c) 2010-2019 Daniel Chappuis                                       *
-*********************************************************************************
-*                                                                               *
-* This software is provided 'as-is', without any express or implied warranty.   *
-* In no event will the authors be held liable for any damages arising from the  *
-* use of this software.                                                         *
-*                                                                               *
-* Permission is granted to anyone to use this software for any purpose,         *
-* including commercial applications, and to alter it and redistribute it        *
-* freely, subject to the following restrictions:                                *
-*                                                                               *
-* 1. The origin of this software must not be misrepresented; you must not claim *
-*    that you wrote the original software. If you use this software in a        *
-*    product, an acknowledgment in the product documentation would be           *
-*    appreciated but is not required.                                           *
-*                                                                               *
-* 2. Altered source versions must be plainly marked as such, and must not be    *
-*    misrepresented as being the original software.                             *
-*                                                                               *
-* 3. This notice may not be removed or altered from any source distribution.    *
-*                                                                               *
-********************************************************************************/
-
-// Libraries
-#include "CollisionWorld.h"
-#include "utils/Profiler.h"
-#include "utils/Logger.h"
-
-// Namespaces
-using namespace reactphysics3d;
-using namespace std;
-
-// Initialization of static fields
-uint CollisionWorld::mNbWorlds = 0;
-
-// Constructor
-CollisionWorld::CollisionWorld(MemoryManager& memoryManager, const WorldSettings& worldSettings, Logger* logger, Profiler* profiler)
-               : mMemoryManager(memoryManager), mConfig(worldSettings), mEntityManager(mMemoryManager.getHeapAllocator()),
-                 mCollisionBodyComponents(mMemoryManager.getHeapAllocator()), mRigidBodyComponents(mMemoryManager.getHeapAllocator()),
-                 mTransformComponents(mMemoryManager.getHeapAllocator()), mCollidersComponents(mMemoryManager.getHeapAllocator()),
-                 mJointsComponents(mMemoryManager.getHeapAllocator()), mBallAndSocketJointsComponents(mMemoryManager.getHeapAllocator()),
-                 mFixedJointsComponents(mMemoryManager.getHeapAllocator()), mHingeJointsComponents(mMemoryManager.getHeapAllocator()),
-                 mSliderJointsComponents(mMemoryManager.getHeapAllocator()),
-                 mCollisionDetection(this, mCollidersComponents, mTransformComponents, mCollisionBodyComponents, mRigidBodyComponents, mMemoryManager),
-                 mBodies(mMemoryManager.getHeapAllocator()),  mEventListener(nullptr),
-                 mName(worldSettings.worldName), mIsProfilerCreatedByUser(profiler != nullptr),
-                 mIsLoggerCreatedByUser(logger != nullptr) {
-
-    // Automatically generate a name for the world
-    if (mName == "") {
-
-        std::stringstream ss;
-        ss << "world";
-
-        if (mNbWorlds > 0) {
-            ss << mNbWorlds;
-        }
-
-        mName = ss.str();
-    }
-
-#ifdef IS_PROFILING_ACTIVE
-
-    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
-    mCollisionDetection.setProfiler(mProfiler);
-
-#endif
-
-#ifdef IS_LOGGING_ACTIVE
-
-    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++;
-
-    RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World,
-             "Collision World: Collision world " + mName + " has been created");
-    RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World,
-             "Collision World: Initial world settings: " + worldSettings.to_string());
-}
-
-// Destructor
-CollisionWorld::~CollisionWorld() {
-
-    RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World,
-             "Collision World: Collision world " + mName + " has been destroyed");
-
-    // Destroy all the collision bodies that have not been removed
-    for (int i=mBodies.size() - 1 ; i >= 0; i--) {
-        destroyCollisionBody(mBodies[i]);
-    }
-
-#ifdef IS_PROFILING_ACTIVE
-
-    /// Delete the profiler
-    if (!mIsProfilerCreatedByUser) {
-        delete mProfiler;
-    }
-
-#endif
-
-#ifdef IS_LOGGING_ACTIVE
-
-    /// Delete the logger
-    if (!mIsLoggerCreatedByUser) {
-        delete mLogger;
-    }
-
-#endif
-
-    assert(mBodies.size() == 0);
-    assert(mCollisionBodyComponents.getNbComponents() == 0);
-    assert(mTransformComponents.getNbComponents() == 0);
-    assert(mCollidersComponents.getNbComponents() == 0);
-}
-
-// Create a collision body and add it to the world
-/**
- * @param transform Transformation mapping the local-space of the body to world-space
- * @return A pointer to the body that has been created in the world
- */
-CollisionBody* CollisionWorld::createCollisionBody(const Transform& transform) {
-
-    // Create a new entity for the body
-    Entity entity = mEntityManager.createEntity();
-
-    mTransformComponents.addComponent(entity, false, TransformComponents::TransformComponent(transform));
-
-    // Create the collision body
-    CollisionBody* collisionBody = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool,
-                                        sizeof(CollisionBody)))
-                                        CollisionBody(*this, entity);
-
-    assert(collisionBody != nullptr);
-
-    // Add the components
-    CollisionBodyComponents::CollisionBodyComponent bodyComponent(collisionBody);
-    mCollisionBodyComponents.addComponent(entity, false, bodyComponent);
-
-    // Add the collision body to the world
-    mBodies.add(collisionBody);
-
-#ifdef IS_PROFILING_ACTIVE
-
-    collisionBody->setProfiler(mProfiler);
-
-#endif
-
-#ifdef IS_LOGGING_ACTIVE
-   collisionBody->setLogger(mLogger);
-#endif
-
-    RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body,
-             "Body " + std::to_string(entity.id) + ": New collision body created");
-
-    // Return the pointer to the rigid body
-    return collisionBody;
-}
-
-// Destroy a collision body
-/**
- * @param collisionBody Pointer to the body to destroy
- */
-void CollisionWorld::destroyCollisionBody(CollisionBody* collisionBody) {
-
-    RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body,
-             "Body " + std::to_string(collisionBody->getEntity().id) + ": collision body destroyed");
-
-    // Remove all the collision shapes of the body
-    collisionBody->removeAllCollisionShapes();
-
-    mCollisionBodyComponents.removeComponent(collisionBody->getEntity());
-    mTransformComponents.removeComponent(collisionBody->getEntity());
-    mEntityManager.destroyEntity(collisionBody->getEntity());
-
-    // Call the destructor of the collision body
-    collisionBody->~CollisionBody();
-
-    // Remove the collision body from the list of bodies
-    mBodies.remove(collisionBody);
-
-    // Free the object from the memory allocator
-    mMemoryManager.release(MemoryManager::AllocationType::Pool, collisionBody, sizeof(CollisionBody));
-}
-
-// Notify the world if a body is disabled (sleeping) or not
-void CollisionWorld::setBodyDisabled(Entity bodyEntity, bool isDisabled) {
-
-    if (isDisabled == mCollisionBodyComponents.getIsEntityDisabled(bodyEntity)) return;
-
-    // Notify all the components
-    mCollisionBodyComponents.setIsEntityDisabled(bodyEntity, isDisabled);
-    mTransformComponents.setIsEntityDisabled(bodyEntity, isDisabled);
-
-    if (mRigidBodyComponents.hasComponent(bodyEntity)) {
-        mRigidBodyComponents.setIsEntityDisabled(bodyEntity, isDisabled);
-    }
-
-    // For each collider of the body
-    const List<Entity>& collidersEntities = mCollisionBodyComponents.getColliders(bodyEntity);
-    for (uint i=0; i < collidersEntities.size(); i++) {
-
-        mCollidersComponents.setIsEntityDisabled(collidersEntities[i], isDisabled);
-    }
-
-    // Disable the joints of the body if necessary
-    if (mRigidBodyComponents.hasComponent(bodyEntity)) {
-
-        // For each joint of the body
-        const List<Entity>& joints = mRigidBodyComponents.getJoints(bodyEntity);
-        for(uint32 i=0; i < joints.size(); i++) {
-
-            const Entity body1Entity = mJointsComponents.getBody1Entity(joints[i]);
-            const Entity body2Entity = mJointsComponents.getBody2Entity(joints[i]);
-
-            // If both bodies of the joint are disabled
-            if (mRigidBodyComponents.getIsEntityDisabled(body1Entity) &&
-                mRigidBodyComponents.getIsEntityDisabled(body2Entity)) {
-
-                // We disable the joint
-                setJointDisabled(joints[i], true);
-            }
-            else {
-
-                // Enable the joint
-                setJointDisabled(joints[i], false);
-            }
-        }
-    }
-}
-
-// Notify the world whether a joint is disabled or not
-void CollisionWorld::setJointDisabled(Entity jointEntity, bool isDisabled) {
-
-    if (isDisabled == mJointsComponents.getIsEntityDisabled(jointEntity)) return;
-
-    mJointsComponents.setIsEntityDisabled(jointEntity, isDisabled);
-    if (mBallAndSocketJointsComponents.hasComponent(jointEntity)) {
-        mBallAndSocketJointsComponents.setIsEntityDisabled(jointEntity, isDisabled);
-    }
-    if (mFixedJointsComponents.hasComponent(jointEntity)) {
-        mFixedJointsComponents.setIsEntityDisabled(jointEntity, isDisabled);
-    }
-    if (mHingeJointsComponents.hasComponent(jointEntity)) {
-        mHingeJointsComponents.setIsEntityDisabled(jointEntity, isDisabled);
-    }
-    if (mSliderJointsComponents.hasComponent(jointEntity)) {
-        mSliderJointsComponents.setIsEntityDisabled(jointEntity, isDisabled);
-    }
-}
-
-// Return true if two bodies overlap
-/// Use this method if you are not interested in contacts but if you simply want to know
-/// if the two bodies overlap. If you want to get the contacts, you need to use the
-/// testCollision() method instead.
-/**
- * @param body1 Pointer to the first body
- * @param body2 Pointer to a second body
- * @return True if the two bodies overlap
- */
-bool CollisionWorld::testOverlap(CollisionBody* body1, CollisionBody* body2) {
-    return mCollisionDetection.testOverlap(body1, body2);
-}
-
-// Return the current world-space AABB of given collider
-/**
- * @param collider Pointer to a collider
- * @return The AAABB of the collider in world-space
- */
-AABB CollisionWorld::getWorldAABB(const Collider* collider) const {
-
-    if (collider->getBroadPhaseId() == -1) {
-        return AABB();
-    }
-
-   return mCollisionDetection.getWorldAABB(collider);
-}

src/engine/CollisionWorld.h

@@ -1,356 +0,0 @@
-/********************************************************************************
-* ReactPhysics3D physics library, http://www.reactphysics3d.com                 *
-* Copyright (c) 2010-2019 Daniel Chappuis                                       *
-*********************************************************************************
-*                                                                               *
-* This software is provided 'as-is', without any express or implied warranty.   *
-* In no event will the authors be held liable for any damages arising from the  *
-* use of this software.                                                         *
-*                                                                               *
-* Permission is granted to anyone to use this software for any purpose,         *
-* including commercial applications, and to alter it and redistribute it        *
-* freely, subject to the following restrictions:                                *
-*                                                                               *
-* 1. The origin of this software must not be misrepresented; you must not claim *
-*    that you wrote the original software. If you use this software in a        *
-*    product, an acknowledgment in the product documentation would be           *
-*    appreciated but is not required.                                           *
-*                                                                               *
-* 2. Altered source versions must be plainly marked as such, and must not be    *
-*    misrepresented as being the original software.                             *
-*                                                                               *
-* 3. This notice may not be removed or altered from any source distribution.    *
-*                                                                               *
-********************************************************************************/
-
-#ifndef REACTPHYSICS3D_COLLISION_WORLD_H
-#define REACTPHYSICS3D_COLLISION_WORLD_H
-
-// Libraries
-#include "mathematics/mathematics.h"
-#include "containers/List.h"
-#include "systems/CollisionDetectionSystem.h"
-#include "constraint/Joint.h"
-#include "memory/MemoryManager.h"
-#include "engine/EntityManager.h"
-#include "components/CollisionBodyComponents.h"
-#include "components/RigidBodyComponents.h"
-#include "components/TransformComponents.h"
-#include "components/ColliderComponents.h"
-#include "components/JointComponents.h"
-#include "components/BallAndSocketJointComponents.h"
-#include "components/FixedJointComponents.h"
-#include "components/HingeJointComponents.h"
-#include "components/SliderJointComponents.h"
-#include "collision/CollisionCallback.h"
-#include "collision/OverlapCallback.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;
-
-// Class CollisionWorld
-/**
- * This class represent a world where it is possible to move bodies
- * by hand and to test collision between each other. In this kind of
- * world, the bodies movement is not computed using the laws of physics.
- */
-class CollisionWorld {
-
-    protected :
-
-        // -------------------- Attributes -------------------- //
-
-        /// Memory manager
-        MemoryManager& mMemoryManager;
-
-        /// Configuration of the physics world
-        WorldSettings mConfig;
-
-        /// Entity Manager for the ECS
-        EntityManager mEntityManager;
-
-        /// Collision Body Components
-        CollisionBodyComponents mCollisionBodyComponents;
-
-        /// Rigid Body Components
-        RigidBodyComponents mRigidBodyComponents;
-
-        /// Transform Components
-        TransformComponents mTransformComponents;
-
-        /// Collider Components
-        ColliderComponents mCollidersComponents;
-
-        /// Joint Components
-        JointComponents mJointsComponents;
-
-        /// Ball And Socket joints Components
-        BallAndSocketJointComponents mBallAndSocketJointsComponents;
-
-        /// Fixed joints Components
-        FixedJointComponents mFixedJointsComponents;
-
-        /// Hinge joints Components
-        HingeJointComponents mHingeJointsComponents;
-
-        /// Slider joints Components
-        SliderJointComponents mSliderJointsComponents;
-
-        /// Reference to the collision detection
-        CollisionDetectionSystem mCollisionDetection;
-
-        /// All the bodies (rigid and soft) of the world
-        List<CollisionBody*> mBodies;
-
-        /// Pointer to an event listener object
-        EventListener* mEventListener;
-
-        /// Name of the collision world
-        std::string mName;
-
-#ifdef IS_PROFILING_ACTIVE
-
-		/// Real-time hierarchical profiler
-        Profiler* mProfiler;
-#endif
-
-#ifdef IS_LOGGING_ACTIVE
-
-        /// Logger
-        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;
-
-        // -------------------- Methods -------------------- //
-
-        /// Constructor
-        CollisionWorld(MemoryManager& memoryManager, const WorldSettings& worldSettings = WorldSettings(), Logger* logger = nullptr,
-                       Profiler* profiler = nullptr);
-
-        /// Notify the world if a body is disabled (slepping or inactive) or not
-        void setBodyDisabled(Entity entity, bool isDisabled);
-
-        /// Notify the world whether a joint is disabled or not
-        void setJointDisabled(Entity jointEntity, bool isDisabled);
-
-        /// Destructor
-        virtual ~CollisionWorld();
-
-    public :
-
-        // -------------------- Methods -------------------- //
-
-        /// Deleted copy-constructor
-        CollisionWorld(const CollisionWorld& world) = delete;
-
-        /// Deleted assignment operator
-        CollisionWorld& operator=(const CollisionWorld& world) = delete;
-
-        /// Create a collision body
-        CollisionBody* createCollisionBody(const Transform& transform);
-
-        /// Destroy a collision body
-        void destroyCollisionBody(CollisionBody* collisionBody);
-
-        /// Get the collision dispatch configuration
-        CollisionDispatch& getCollisionDispatch();
-
-        /// Ray cast method
-        void raycast(const Ray& ray, RaycastCallback* raycastCallback, unsigned short raycastWithCategoryMaskBits = 0xFFFF) const;
-
-        /// Return true if two bodies overlap (collide)
-        bool testOverlap(CollisionBody* body1, CollisionBody* body2);
-
-        /// Report all the bodies that overlap (collide) with the body in parameter
-        void testOverlap(CollisionBody* body, OverlapCallback& overlapCallback);
-
-        /// Report all the bodies that overlap (collide) in the world
-        void testOverlap(OverlapCallback& overlapCallback);
-
-        /// Test collision and report contacts between two bodies.
-        void testCollision(CollisionBody* body1, CollisionBody* body2, CollisionCallback& callback);
-
-        /// Test collision and report all the contacts involving the body in parameter
-        void testCollision(CollisionBody* body, CollisionCallback& callback);
-
-        /// Test collision and report contacts between each colliding bodies in the world
-        void testCollision(CollisionCallback& callback);
-
-        /// Return a reference to the memory manager of the world
-        MemoryManager& getMemoryManager();
-
-#ifdef IS_PROFILING_ACTIVE
-
-        /// Return a reference to the profiler
-        Profiler* getProfiler();
-
-#endif
-
-#ifdef IS_LOGGING_ACTIVE
-
-        /// Return a reference to the logger
-        Logger* getLogger();
-
-#endif
-
-        /// Return the current world-space AABB of given collider
-        AABB getWorldAABB(const Collider* collider) const;
-
-        /// Return the name of the world
-        const std::string& getName() const;
-
-        // -------------------- Friendship -------------------- //
-
-        friend class PhysicsCommon;
-        friend class CollisionDetectionSystem;
-        friend class CollisionBody;
-        friend class RigidBody;
-        friend class Collider;
-        friend class ConvexMeshShape;
-        friend class CollisionCallback::ContactPair;
-        friend class OverlapCallback::OverlapPair;
-};
-
-// Set the collision dispatch configuration
-/// This can be used to replace default collision detection algorithms by your
-/// custom algorithm for instance.
-/**
- * @param CollisionDispatch Pointer to a collision dispatch object describing
- * which collision detection algorithm to use for two given collision shapes
- */
-inline CollisionDispatch& CollisionWorld::getCollisionDispatch() {
-    return mCollisionDetection.getCollisionDispatch();
-}
-
-// Ray cast method
-/**
- * @param ray Ray to use for raycasting
- * @param raycastCallback Pointer to the class with the callback method
- * @param raycastWithCategoryMaskBits Bits mask corresponding to the category of
- *                                    bodies to be raycasted
- */
-inline void CollisionWorld::raycast(const Ray& ray,
-                                    RaycastCallback* raycastCallback,
-                                    unsigned short raycastWithCategoryMaskBits) const {
-    mCollisionDetection.raycast(raycastCallback, ray, raycastWithCategoryMaskBits);
-}
-
-// Test collision and report contacts between two bodies.
-/// Use this method if you only want to get all the contacts between two bodies.
-/// All the contacts will be reported using the callback object in paramater.
-/// If you are not interested in the contacts but you only want to know if the bodies collide,
-/// you can use the testOverlap() method instead.
-/**
- * @param body1 Pointer to the first body to test
- * @param body2 Pointer to the second body to test
- * @param callback Pointer to the object with the callback method
- */
-inline void CollisionWorld::testCollision(CollisionBody* body1, CollisionBody* body2, CollisionCallback& callback) {
-    mCollisionDetection.testCollision(body1, body2, callback);
-}
-
-// Test collision and report all the contacts involving the body in parameter
-/// Use this method if you only want to get all the contacts involving a given body.
-/// All the contacts will be reported using the callback object in paramater.
-/// If you are not interested in the contacts but you only want to know if the bodies collide,
-/// you can use the testOverlap() method instead.
-/**
- * @param body Pointer to the body against which we need to test collision
- * @param callback Pointer to the object with the callback method to report contacts
- */
-inline void CollisionWorld::testCollision(CollisionBody* body, CollisionCallback& callback) {
-    mCollisionDetection.testCollision(body, callback);
-}
-
-// Test collision and report contacts between each colliding bodies in the world
-/// Use this method if you want to get all the contacts between colliding bodies in the world.
-/// All the contacts will be reported using the callback object in paramater.
-/// If you are not interested in the contacts but you only want to know if the bodies collide,
-/// you can use the testOverlap() method instead.
-/**
- * @param callback Pointer to the object with the callback method to report contacts
- */
-inline void CollisionWorld::testCollision(CollisionCallback& callback) {
-    mCollisionDetection.testCollision(callback);
-}
-
-// Report all the bodies that overlap (collide) with the body in parameter
-/// Use this method if you are not interested in contacts but if you simply want to know
-/// which bodies overlap with the body in parameter. If you want to get the contacts, you need to use the
-/// testCollision() method instead.
-/**
- * @param body Pointer to the collision body to test overlap with
- * @param overlapCallback Pointer to the callback class to report overlap
- */
-inline void CollisionWorld::testOverlap(CollisionBody* body, OverlapCallback& overlapCallback) {
-    mCollisionDetection.testOverlap(body, overlapCallback);
-}
-
-// Report all the bodies that overlap (collide) in the world
-/// Use this method if you are not interested in contacts but if you simply want to know
-/// which bodies overlap. If you want to get the contacts, you need to use the
-/// testCollision() method instead.
-inline void CollisionWorld::testOverlap(OverlapCallback& overlapCallback) {
-    mCollisionDetection.testOverlap(overlapCallback);
-}
-
-// Return a reference to the memory manager of the world
-inline MemoryManager& CollisionWorld::getMemoryManager() {
-    return mMemoryManager;
-}
-
-// Return the name of the world
-/**
- * @return Name of the world
- */
-inline const std::string& CollisionWorld::getName() const {
-    return mName;
-}
-
-#ifdef IS_PROFILING_ACTIVE
-
-// Return a pointer to the profiler
-/**
- * @return A pointer to the profiler
- */
-inline Profiler* CollisionWorld::getProfiler() {
-    return mProfiler;
-}
-
-#endif
-
-#ifdef IS_LOGGING_ACTIVE
-
-// Return a pointer to the logger
-/**
- * @return A pointer to the logger
- */
-inline Logger* CollisionWorld::getLogger() {
-    return mLogger;
-}
-
-#endif
-
-}
-
-#endif

src/engine/DynamicsWorld.h

@@ -1,415 +0,0 @@
-/********************************************************************************
-* ReactPhysics3D physics library, http://www.reactphysics3d.com                 *
-* Copyright (c) 2010-2019 Daniel Chappuis                                       *
-*********************************************************************************
-*                                                                               *
-* This software is provided 'as-is', without any express or implied warranty.   *
-* In no event will the authors be held liable for any damages arising from the  *
-* use of this software.                                                         *
-*                                                                               *
-* Permission is granted to anyone to use this software for any purpose,         *
-* including commercial applications, and to alter it and redistribute it        *
-* freely, subject to the following restrictions:                                *
-*                                                                               *
-* 1. The origin of this software must not be misrepresented; you must not claim *
-*    that you wrote the original software. If you use this software in a        *
-*    product, an acknowledgment in the product documentation would be           *
-*    appreciated but is not required.                                           *
-*                                                                               *
-* 2. Altered source versions must be plainly marked as such, and must not be    *
-*    misrepresented as being the original software.                             *
-*                                                                               *
-* 3. This notice may not be removed or altered from any source distribution.    *
-*                                                                               *
-********************************************************************************/
-
-#ifndef REACTPHYSICS3D_DYNAMICS_WORLD_H
-#define REACTPHYSICS3D_DYNAMICS_WORLD_H
-
-// Libraries
-#include "CollisionWorld.h"
-#include "systems/ConstraintSolverSystem.h"
-#include "configuration.h"
-#include "utils/Logger.h"
-#include "systems/ContactSolverSystem.h"
-#include "systems/DynamicsSystem.h"
-#include "engine/Islands.h"
-
-/// Namespace ReactPhysics3D
-namespace reactphysics3d {
-
-// Declarations
-class CollisionDetectionSystem;
-class Island;
-class RigidBody;
-
-// Class DynamicsWorld
-/**
- * This class represents a dynamics world. This class inherits from
- * the CollisionWorld class. In a dynamics world, bodies can collide
- * and their movements are simulated using the laws of physics.
- */
-class DynamicsWorld : public CollisionWorld {
-
-    protected :
-
-        // -------------------- Attributes -------------------- //
-
-        /// All the islands of bodies of the current frame
-        Islands mIslands;
-
-        /// Contact solver system
-        ContactSolverSystem mContactSolverSystem;
-
-        /// Constraint solver system
-        ConstraintSolverSystem mConstraintSolverSystem;
-
-        /// Dynamics system
-        DynamicsSystem mDynamicsSystem;
-
-        /// Number of iterations for the velocity solver of the Sequential Impulses technique
-        uint mNbVelocitySolverIterations;
-
-        /// Number of iterations for the position solver of the Sequential Impulses technique
-        uint mNbPositionSolverIterations;
-
-        /// True if the spleeping technique for inactive bodies is enabled
-        bool mIsSleepingEnabled;
-
-        /// All the rigid bodies of the physics world
-        List<RigidBody*> mRigidBodies;
-
-        /// Gravity vector of the world
-        Vector3 mGravity;
-
-        /// True if the gravity force is on
-        bool mIsGravityEnabled;
-
-        /// Sleep linear velocity threshold
-        decimal mSleepLinearVelocity;
-
-        /// Sleep angular velocity threshold
-        decimal mSleepAngularVelocity;
-
-        /// Time (in seconds) before a body is put to sleep if its velocity
-        /// becomes smaller than the sleep velocity.
-        decimal mTimeBeforeSleep;
-
-        /// Current joint id
-        uint mCurrentJointId;
-
-        // -------------------- Methods -------------------- //
-
-        /// Constructor
-        DynamicsWorld(const Vector3& mGravity, MemoryManager& memoryManager, const WorldSettings& worldSettings = WorldSettings(),
-                      Logger* logger = nullptr, Profiler* profiler = nullptr);
-
-        /// Solve the contacts and constraints
-        void solveContactsAndConstraints(decimal timeStep);
-
-        /// Solve the position error correction of the constraints
-        void solvePositionCorrection();
-
-        /// Compute the islands of awake bodies.
-        void computeIslands();
-
-        /// Compute the islands using potential contacts and joints and create the actual contacts.
-        void createIslands();
-
-        /// Put bodies to sleep if needed.
-        void updateSleepingBodies(decimal timeStep);
-
-        /// Add the joint to the list of joints of the two bodies involved in the joint
-        void addJointToBodies(Entity body1, Entity body2, Entity joint);
-
-        /// Destructor
-        virtual ~DynamicsWorld() override;
-
-    public :
-
-        // -------------------- Methods -------------------- //
-
-        /// Deleted copy-constructor
-        DynamicsWorld(const DynamicsWorld& world) = delete;
-
-        /// Deleted assignment operator
-        DynamicsWorld& operator=(const DynamicsWorld& world) = delete;
-
-        /// Update the physics simulation
-        void update(decimal timeStep);
-
-        /// Get the number of iterations for the velocity constraint solver
-        uint getNbIterationsVelocitySolver() const;
-
-        /// Set the number of iterations for the velocity constraint solver
-        void setNbIterationsVelocitySolver(uint nbIterations);
-
-        /// Get the number of iterations for the position constraint solver
-        uint getNbIterationsPositionSolver() const;
-
-        /// Set the number of iterations for the position constraint solver
-        void setNbIterationsPositionSolver(uint nbIterations);
-
-        /// Set the position correction technique used for contacts
-        void setContactsPositionCorrectionTechnique(ContactsPositionCorrectionTechnique technique);
-
-        /// Set the position correction technique used for joints
-        void setJointsPositionCorrectionTechnique(JointsPositionCorrectionTechnique technique);
-
-        /// Create a rigid body into the physics world.
-        RigidBody* createRigidBody(const Transform& transform);
-
-        /// Disable the joints for pair of sleeping bodies
-        void disableJointsOfSleepingBodies();
-
-        /// Destroy a rigid body and all the joints which it belongs
-        void destroyRigidBody(RigidBody* rigidBody);
-
-        /// Create a joint between two bodies in the world and return a pointer to the new joint
-        Joint* createJoint(const JointInfo& jointInfo);
-
-        /// Destroy a joint
-        void destroyJoint(Joint* joint);
-
-        /// Return the gravity vector of the world
-        Vector3 getGravity() const;
-
-        /// Set the gravity vector of the world
-        void setGravity(Vector3& gravity);
-
-        /// Return if the gravity is on
-        bool isGravityEnabled() const;
-
-        /// Enable/Disable the gravity
-        void setIsGratityEnabled(bool isGravityEnabled);
-
-        /// Return true if the sleeping technique is enabled
-        bool isSleepingEnabled() const;
-
-        /// Enable/Disable the sleeping technique
-        void enableSleeping(bool isSleepingEnabled);
-
-        /// Return the current sleep linear velocity
-        decimal getSleepLinearVelocity() const;
-
-        /// Set the sleep linear velocity.
-        void setSleepLinearVelocity(decimal sleepLinearVelocity);
-
-        /// Return the current sleep angular velocity
-        decimal getSleepAngularVelocity() const;
-
-        /// Set the sleep angular velocity.
-        void setSleepAngularVelocity(decimal sleepAngularVelocity);
-
-        /// Return the time a body is required to stay still before sleeping
-        decimal getTimeBeforeSleep() const;
-
-        /// Set the time a body is required to stay still before sleeping
-        void setTimeBeforeSleep(decimal timeBeforeSleep);
-
-        /// Set an event listener object to receive events callbacks.
-        void setEventListener(EventListener* eventListener);
-
-        // -------------------- Friendship -------------------- //
-
-        friend class PhysicsCommon;
-        friend class RigidBody;
-        friend class Joint;
-        friend class BallAndSocketJoint;
-        friend class FixedJoint;
-        friend class HingeJoint;
-        friend class SliderJoint;
-};
-
-// Get the number of iterations for the velocity constraint solver
-/**
- * @return The number of iterations of the velocity constraint solver
- */
-inline uint DynamicsWorld::getNbIterationsVelocitySolver() const {
-    return mNbVelocitySolverIterations;
-}
-
-// Set the number of iterations for the velocity constraint solver
-/**
- * @param nbIterations Number of iterations for the velocity solver
- */
-inline void DynamicsWorld::setNbIterationsVelocitySolver(uint nbIterations) {
-    mNbVelocitySolverIterations = nbIterations;
-
-    RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World,
-             "Dynamics World: Set nb iterations velocity solver to " + std::to_string(nbIterations));
-}
-
-// Get the number of iterations for the position constraint solver
-/**
- * @return The number of iterations of the position constraint solver
- */
-inline uint DynamicsWorld::getNbIterationsPositionSolver() const {
-    return mNbPositionSolverIterations;
-}
-
-// Set the number of iterations for the position constraint solver
-/**
- * @param nbIterations Number of iterations for the position solver
- */
-inline void DynamicsWorld::setNbIterationsPositionSolver(uint nbIterations) {
-    mNbPositionSolverIterations = nbIterations;
-
-    RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World,
-             "Dynamics World: Set nb iterations position solver to " + std::to_string(nbIterations));
-}
-
-// Set the position correction technique used for contacts
-/**
- * @param technique Technique used for the position correction (Baumgarte or Split Impulses)
- */
-inline void DynamicsWorld::setContactsPositionCorrectionTechnique(
-                              ContactsPositionCorrectionTechnique technique) {
-    if (technique == ContactsPositionCorrectionTechnique::BAUMGARTE_CONTACTS) {
-        mContactSolverSystem.setIsSplitImpulseActive(false);
-    }
-    else {
-        mContactSolverSystem.setIsSplitImpulseActive(true);
-    }
-}
-
-// Set the position correction technique used for joints
-/**
- * @param technique Technique used for the joins position correction (Baumgarte or Non Linear Gauss Seidel)
- */
-inline void DynamicsWorld::setJointsPositionCorrectionTechnique(
-                              JointsPositionCorrectionTechnique technique) {
-    if (technique == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) {
-        mConstraintSolverSystem.setIsNonLinearGaussSeidelPositionCorrectionActive(false);
-    }
-    else {
-        mConstraintSolverSystem.setIsNonLinearGaussSeidelPositionCorrectionActive(true);
-    }
-}
-
-// Return the gravity vector of the world
-/**
- * @return The current gravity vector (in meter per seconds squared)
- */
-inline Vector3 DynamicsWorld::getGravity() const {
-    return mGravity;
-}
-
-// Set the gravity vector of the world
-/**
- * @param gravity The gravity vector (in meter per seconds squared)
- */
-inline void DynamicsWorld::setGravity(Vector3& gravity) {
-    mGravity = gravity;
-
-    RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World,
-             "Dynamics World: Set gravity vector to " + gravity.to_string());
-}
-
-// Return if the gravity is enaled
-/**
- * @return True if the gravity is enabled in the world
- */
-inline bool DynamicsWorld::isGravityEnabled() const {
-    return mIsGravityEnabled;
-}
-
-// Enable/Disable the gravity
-/**
- * @param isGravityEnabled True if you want to enable the gravity in the world
- *                         and false otherwise
- */
-inline void DynamicsWorld::setIsGratityEnabled(bool isGravityEnabled) {
-    mIsGravityEnabled = isGravityEnabled;
-
-    RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World,
-             "Dynamics World: isGravityEnabled= " + (isGravityEnabled ? std::string("true") : std::string("false")));
-}
-
-// Return true if the sleeping technique is enabled
-/**
- * @return True if the sleeping technique is enabled and false otherwise
- */
-inline bool DynamicsWorld::isSleepingEnabled() const {
-    return mIsSleepingEnabled;
-}
-
-// Return the current sleep linear velocity
-/**
- * @return The sleep linear velocity (in meters per second)
- */
-inline decimal DynamicsWorld::getSleepLinearVelocity() const {
-    return mSleepLinearVelocity;
-}
-
-// Set the sleep linear velocity.
-/// When the velocity of a body becomes smaller than the sleep linear/angular
-/// velocity for a given amount of time, the body starts sleeping and does not need
-/// to be simulated anymore.
-/**
- * @param sleepLinearVelocity The sleep linear velocity (in meters per second)
- */
-inline void DynamicsWorld::setSleepLinearVelocity(decimal sleepLinearVelocity) {
-    assert(sleepLinearVelocity >= decimal(0.0));
-    mSleepLinearVelocity = sleepLinearVelocity;
-
-    RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World,
-             "Dynamics World: sleepLinearVelocity= " + std::to_string(sleepLinearVelocity));
-}
-
-// Return the current sleep angular velocity
-/**
- * @return The sleep angular velocity (in radian per second)
- */
-inline decimal DynamicsWorld::getSleepAngularVelocity() const {
-    return mSleepAngularVelocity;
-}
-
-// Set the sleep angular velocity.
-/// When the velocity of a body becomes smaller than the sleep linear/angular
-/// velocity for a given amount of time, the body starts sleeping and does not need
-/// to be simulated anymore.
-/**
- * @param sleepAngularVelocity The sleep angular velocity (in radian per second)
- */
-inline void DynamicsWorld::setSleepAngularVelocity(decimal sleepAngularVelocity) {
-    assert(sleepAngularVelocity >= decimal(0.0));
-    mSleepAngularVelocity = sleepAngularVelocity;
-
-    RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World,
-             "Dynamics World: sleepAngularVelocity= " + std::to_string(sleepAngularVelocity));
-}
-
-// Return the time a body is required to stay still before sleeping
-/**
- * @return Time a body is required to stay still before sleeping (in seconds)
- */
-inline decimal DynamicsWorld::getTimeBeforeSleep() const {
-    return mTimeBeforeSleep;
-}
-
-// Set the time a body is required to stay still before sleeping
-/**
- * @param timeBeforeSleep Time a body is required to stay still before sleeping (in seconds)
- */
-inline void DynamicsWorld::setTimeBeforeSleep(decimal timeBeforeSleep) {
-    assert(timeBeforeSleep >= decimal(0.0));
-    mTimeBeforeSleep = timeBeforeSleep;
-
-    RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World,
-             "Dynamics World: timeBeforeSleep= " + std::to_string(timeBeforeSleep));
-}
-
-// Set an event listener object to receive events callbacks.
-/// If you use "nullptr" as an argument, the events callbacks will be disabled.
-/**
- * @param eventListener Pointer to the event listener object that will receive
- *                      event callbacks during the simulation
- */
-inline void DynamicsWorld::setEventListener(EventListener* eventListener) {
-    mEventListener = eventListener;
-}
-
-}
-
-#endif

src/engine/EventListener.h

@@ -36,7 +36,7 @@ namespace reactphysics3d {
  * This class can be used to receive event callbacks from the physics engine.
  * In order to receive callbacks, you need to create a new class that inherits from
  * this one and you must override the methods you need. Then, you need to register your
- * new event listener class to the physics world using the DynamicsWorld::setEventListener()
+ * new event listener class to the physics world using the PhysicsWorld::setEventListener()
  * method.
  */
 class EventListener : public CollisionCallback {

src/engine/Island.h

@@ -101,7 +101,7 @@ class Island {
 
         // -------------------- Friendship -------------------- //
 
-        friend class DynamicsWorld;
+        friend class PhysicsWorld;
 };
 
 // Add a body into the island

src/engine/Material.cpp

@@ -29,16 +29,14 @@
 using namespace reactphysics3d;
 
 // Constructor
-Material::Material(const WorldSettings& worldSettings)
-         : mFrictionCoefficient(worldSettings.defaultFrictionCoefficient),
-           mRollingResistance(worldSettings.defaultRollingRestistance),
-           mBounciness(worldSettings.defaultBounciness) {
+Material::Material(decimal frictionCoefficient, decimal rollingResistance, decimal bounciness)
+         : mFrictionCoefficient(frictionCoefficient), mRollingResistance(rollingResistance), mBounciness(bounciness) {
 
 }
 
 // Copy-constructor
 Material::Material(const Material& material)
-         : mFrictionCoefficient(material.mFrictionCoefficient),
-           mRollingResistance(material.mRollingResistance), mBounciness(material.mBounciness) {
+         : mFrictionCoefficient(material.mFrictionCoefficient), mRollingResistance(material.mRollingResistance),
+           mBounciness(material.mBounciness) {
 
 }

src/engine/Material.h

@@ -53,12 +53,10 @@ class Material {
         /// Bounciness during collisions (between 0 and 1) where 1 is for a very bouncy body
         decimal mBounciness;
 
-    public :
-
         // -------------------- Methods -------------------- //
 
         /// Constructor
-        Material(const WorldSettings& worldSettings);
+        Material(decimal frictionCoefficient, decimal rollingResistance, decimal bounciness);
 
         /// Copy-constructor
         Material(const Material& material);
@@ -66,6 +64,10 @@ class Material {
         /// Destructor
         ~Material() = default;
 
+    public :
+
+        // -------------------- Methods -------------------- //
+
         /// Return the bounciness
         decimal getBounciness() const;
 
@@ -89,6 +91,10 @@ class Material {
 
         /// Overloaded assignment operator
         Material& operator=(const Material& material);
+
+        // ---------- Friendship ---------- //
+
+        friend class RigidBody;
 };
 
 // Return the bounciness

src/engine/OverlappingPairs.h

@@ -291,7 +291,7 @@ class OverlappingPairs {
 
         // -------------------- Friendship -------------------- //
 
-        friend class DynamicsWorld;
+        friend class PhysicsWorld;
         friend class CollisionDetectionSystem;
 };
 

src/engine/PhysicsCommon.cpp

@@ -30,8 +30,8 @@ using namespace reactphysics3d;
 
 /// Constructor
 PhysicsCommon::PhysicsCommon(MemoryAllocator* baseMemoryAllocator)
-              : mMemoryManager(baseMemoryAllocator), mCollisionWorlds(mMemoryManager.getHeapAllocator()),
-                mDynamicsWorlds(mMemoryManager.getHeapAllocator()), mSphereShapes(mMemoryManager.getHeapAllocator()),
+              : mMemoryManager(baseMemoryAllocator),
+                mPhysicsWorlds(mMemoryManager.getHeapAllocator()), mSphereShapes(mMemoryManager.getHeapAllocator()),
                 mBoxShapes(mMemoryManager.getHeapAllocator()), mCapsuleShapes(mMemoryManager.getHeapAllocator()),
                 mConvexMeshShapes(mMemoryManager.getHeapAllocator()), mConcaveMeshShapes(mMemoryManager.getHeapAllocator()),
                 mHeightFieldShapes(mMemoryManager.getHeapAllocator()), mPolyhedronMeshes(mMemoryManager.getHeapAllocator()),
@@ -49,14 +49,9 @@ PhysicsCommon::~PhysicsCommon() {
 // Destroy and release everything that has been allocated
 void PhysicsCommon::release() {
 
-    // Destroy the collision worlds
-    for (auto it = mCollisionWorlds.begin(); it != mCollisionWorlds.end(); ++it) {
-        destroyCollisionWorld(*it);
-    }
-
-    // Destroy the dynamics worlds
-    for (auto it = mDynamicsWorlds.begin(); it != mDynamicsWorlds.end(); ++it) {
-        destroyDynamicsWorld(*it);
+    // Destroy the physics worlds
+    for (auto it = mPhysicsWorlds.begin(); it != mPhysicsWorlds.end(); ++it) {
+        destroyPhysicsWorld(*it);
     }
 
     // Destroy the sphere shapes
@@ -100,48 +95,26 @@ void PhysicsCommon::release() {
     }
 }
 
-// Create and return an instance of CollisionWorld
-CollisionWorld* PhysicsCommon::createCollisionWorld(const WorldSettings& worldSettings, Logger* logger, Profiler* profiler) {
+// Create and return an instance of PhysicsWorld
+PhysicsWorld* PhysicsCommon::createPhysicsWorld(const PhysicsWorld::WorldSettings& worldSettings, Logger* logger, Profiler* profiler) {
 
-    CollisionWorld* world = new(mMemoryManager.allocate(MemoryManager::AllocationType::Heap, sizeof(CollisionWorld))) CollisionWorld(mMemoryManager, worldSettings, logger, profiler);
-    mCollisionWorlds.add(world);
+    PhysicsWorld* world = new(mMemoryManager.allocate(MemoryManager::AllocationType::Heap, sizeof(PhysicsWorld))) PhysicsWorld(mMemoryManager, worldSettings, logger, profiler);
+
+    mPhysicsWorlds.add(world);
 
     return world;
 }
 
-// Destroy an instance of CollisionWorld
-void PhysicsCommon::destroyCollisionWorld(CollisionWorld* world) {
+// Destroy an instance of PhysicsWorld
+PhysicsWorld* PhysicsCommon::destroyPhysicsWorld(PhysicsWorld* world) {
 
    // Call the destructor of the world
-   world->~CollisionWorld();
+   world->~PhysicsWorld();
 
    // Release allocated memory
-   mMemoryManager.release(MemoryManager::AllocationType::Heap, world, sizeof(CollisionWorld));
+   mMemoryManager.release(MemoryManager::AllocationType::Heap, world, sizeof(PhysicsWorld));
 
-   mCollisionWorlds.remove(world);
-}
-
-// Create and return an instance of DynamicsWorld
-DynamicsWorld* PhysicsCommon::createDynamicsWorld(const Vector3& gravity, const WorldSettings& worldSettings,
-                                                  Logger* logger, Profiler* profiler) {
-
-    DynamicsWorld* world = new(mMemoryManager.allocate(MemoryManager::AllocationType::Heap, sizeof(DynamicsWorld))) DynamicsWorld(gravity, mMemoryManager, worldSettings, logger, profiler);
-
-    mDynamicsWorlds.add(world);
-
-    return world;
-}
-
-// Destroy an instance of DynamicsWorld
-DynamicsWorld* PhysicsCommon::destroyDynamicsWorld(DynamicsWorld* world) {
-
-   // Call the destructor of the world
-   world->~DynamicsWorld();
-
-   // Release allocated memory
-   mMemoryManager.release(MemoryManager::AllocationType::Heap, world, sizeof(DynamicsWorld));
-
-   mDynamicsWorlds.remove(world);
+   mPhysicsWorlds.remove(world);
 }
 
 // Create and return a sphere collision shape

src/engine/PhysicsCommon.h

@@ -28,8 +28,7 @@
 
 // Libraries
 #include "memory/MemoryManager.h"
-#include "engine/CollisionWorld.h"
-#include "engine/DynamicsWorld.h"
+#include "engine/PhysicsWorld.h"
 #include "collision/shapes/SphereShape.h"
 #include "collision/shapes/BoxShape.h"
 #include "collision/shapes/CapsuleShape.h"
@@ -56,11 +55,8 @@ class PhysicsCommon {
         /// Memory manager
         MemoryManager mMemoryManager;
 
-        /// Set of collision worlds
-        Set<CollisionWorld*> mCollisionWorlds;
-
-        /// Set of dynamics worlds
-        Set<DynamicsWorld*> mDynamicsWorlds;
+        /// Set of physics worlds
+        Set<PhysicsWorld*> mPhysicsWorlds;
 
         /// Set of sphere shapes
         Set<SphereShape*> mSphereShapes;
@@ -104,19 +100,12 @@ class PhysicsCommon {
         /// Destructor
         ~PhysicsCommon();
 
-        /// Create and return an instance of CollisionWorld
-        CollisionWorld* createCollisionWorld(const WorldSettings& worldSettings = WorldSettings(), Logger* logger = nullptr,
-                                             Profiler* profiler = nullptr);
-
-        /// Destroy an instance of CollisionWorld
-        void destroyCollisionWorld(CollisionWorld* world);
-
-        /// Create and return an instance of DynamicsWorld
-        DynamicsWorld* createDynamicsWorld(const Vector3& gravity, const WorldSettings& worldSettings = WorldSettings(),
+        /// Create and return an instance of PhysicsWorld
+        PhysicsWorld* createPhysicsWorld(const PhysicsWorld::WorldSettings& worldSettings = PhysicsWorld::WorldSettings(),
                                            Logger* logger = nullptr, Profiler* profiler = nullptr);
 
-        /// Destroy an instance of DynamicsWorld
-        DynamicsWorld* destroyDynamicsWorld(DynamicsWorld* world);
+        /// Destroy an instance of PhysicsWorld
+        PhysicsWorld* destroyPhysicsWorld(PhysicsWorld* world);
 
         /// Create and return a sphere collision shape
         SphereShape* createSphereShape(const decimal radius);

src/engine/PhysicsWorld.cpp

@@ -24,7 +24,7 @@
 ********************************************************************************/
 
 // Libraries
-#include "DynamicsWorld.h"
+#include "PhysicsWorld.h"
 #include "constraint/BallAndSocketJoint.h"
 #include "constraint/SliderJoint.h"
 #include "constraint/HingeJoint.h"
@@ -32,7 +32,6 @@
 #include "utils/Profiler.h"
 #include "engine/EventListener.h"
 #include "engine/Island.h"
-#include "engine/Islands.h"
 #include "collision/ContactManifold.h"
 #include "containers/Stack.h"
 
@@ -40,6 +39,10 @@
 using namespace reactphysics3d;
 using namespace std;
 
+// Static initializations
+
+uint PhysicsWorld::mNbWorlds = 0;
+
 // Constructor
 /**
  * @param gravity Gravity vector in the world (in meters per second squared)
@@ -47,38 +50,129 @@ using namespace std;
  * @param logger Pointer to the logger
  * @param profiler Pointer to the profiler
  */
-DynamicsWorld::DynamicsWorld(const Vector3& gravity, MemoryManager& memoryManager, const WorldSettings& worldSettings, Logger* logger, Profiler* profiler)
-              : CollisionWorld(memoryManager, worldSettings, logger, profiler),
-                mIslands(mMemoryManager.getSingleFrameAllocator()),
+PhysicsWorld::PhysicsWorld(MemoryManager& memoryManager, const WorldSettings& worldSettings, Logger* logger, Profiler* profiler)
+              : mMemoryManager(memoryManager), mConfig(worldSettings), mEntityManager(mMemoryManager.getHeapAllocator()),
+                mCollisionBodyComponents(mMemoryManager.getHeapAllocator()), mRigidBodyComponents(mMemoryManager.getHeapAllocator()),
+                mTransformComponents(mMemoryManager.getHeapAllocator()), mCollidersComponents(mMemoryManager.getHeapAllocator()),
+                mJointsComponents(mMemoryManager.getHeapAllocator()), mBallAndSocketJointsComponents(mMemoryManager.getHeapAllocator()),
+                mFixedJointsComponents(mMemoryManager.getHeapAllocator()), mHingeJointsComponents(mMemoryManager.getHeapAllocator()),
+                mSliderJointsComponents(mMemoryManager.getHeapAllocator()), mCollisionDetection(this, mCollidersComponents, mTransformComponents, mCollisionBodyComponents, mRigidBodyComponents,
+                                        mMemoryManager),
+                mBodies(mMemoryManager.getHeapAllocator()), mEventListener(nullptr),
+                mName(worldSettings.worldName), mIsProfilerCreatedByUser(profiler != nullptr),
+                mIsLoggerCreatedByUser(logger != nullptr), mIslands(mMemoryManager.getSingleFrameAllocator()),
                 mContactSolverSystem(mMemoryManager, *this, mIslands, mCollisionBodyComponents, mRigidBodyComponents,
-                               mCollidersComponents, mConfig),
+                               mCollidersComponents, mConfig.restitutionVelocityThreshold),
                 mConstraintSolverSystem(*this, mIslands, mRigidBodyComponents, mTransformComponents, mJointsComponents,
                                         mBallAndSocketJointsComponents, mFixedJointsComponents, mHingeJointsComponents,
                                         mSliderJointsComponents),
-                mDynamicsSystem(*this, mCollisionBodyComponents, mRigidBodyComponents, mTransformComponents, mCollidersComponents, mIsGravityEnabled, mGravity),
+                mDynamicsSystem(*this, mCollisionBodyComponents, mRigidBodyComponents, mTransformComponents, mCollidersComponents, mIsGravityEnabled, mConfig.gravity),
                 mNbVelocitySolverIterations(mConfig.defaultVelocitySolverNbIterations),
                 mNbPositionSolverIterations(mConfig.defaultPositionSolverNbIterations), 
                 mIsSleepingEnabled(mConfig.isSleepingEnabled), mRigidBodies(mMemoryManager.getPoolAllocator()),
-                mGravity(gravity), mIsGravityEnabled(true), mSleepLinearVelocity(mConfig.defaultSleepLinearVelocity),
+                mIsGravityEnabled(true), mSleepLinearVelocity(mConfig.defaultSleepLinearVelocity),
                 mSleepAngularVelocity(mConfig.defaultSleepAngularVelocity), mTimeBeforeSleep(mConfig.defaultTimeBeforeSleep), mCurrentJointId(0) {
 
+    // Automatically generate a name for the world
+    if (mName == "") {
+
+        std::stringstream ss;
+        ss << "world";
+
+        if (mNbWorlds > 0) {
+            ss << mNbWorlds;
+        }
+
+        mName = ss.str();
+    }
+
 #ifdef IS_PROFILING_ACTIVE
 
-	// Set the profiler
+    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);
     mDynamicsSystem.setProfiler(mProfiler);
+    mCollisionDetection.setProfiler(mProfiler);
 
 #endif
 
+#ifdef IS_LOGGING_ACTIVE
+
+    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++;
+
     RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World,
-             "Dynamics World: Dynamics world " + mName + " has been created");
+             "Physics World: Physics world " + mName + " has been created");
+    RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World,
+             "Physics World: Initial world settings: " + worldSettings.to_string());
+
+    RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World,
+             "Physics World: Physics world " + mName + " has been created");
 
 }
 
 // Destructor
-DynamicsWorld::~DynamicsWorld() {
+PhysicsWorld::~PhysicsWorld() {
 
+    RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World,
+             "Physics World: Physics world " + mName + " has been destroyed");
+
+    // Destroy all the collision bodies that have not been removed
+    for (int i=mBodies.size() - 1 ; i >= 0; i--) {
+        destroyCollisionBody(mBodies[i]);
+    }
+
+#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);
+    assert(mCollisionBodyComponents.getNbComponents() == 0);
+    assert(mTransformComponents.getNbComponents() == 0);
+    assert(mCollidersComponents.getNbComponents() == 0);
     // Destroy all the joints that have not been removed
     for (uint32 i=0; i < mJointsComponents.getNbComponents(); i++) {
         destroyJoint(mJointsComponents.mJoints[i]);
@@ -92,28 +186,184 @@ DynamicsWorld::~DynamicsWorld() {
     assert(mJointsComponents.getNbComponents() == 0);
     assert(mRigidBodies.size() == 0);
 
+    RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World,
+             "Physics World: Physics world " + mName + " has been destroyed");
+}
+
+// Create a collision body and add it to the world
+/**
+ * @param transform Transformation mapping the local-space of the body to world-space
+ * @return A pointer to the body that has been created in the world
+ */
+CollisionBody* PhysicsWorld::createCollisionBody(const Transform& transform) {
+
+    // Create a new entity for the body
+    Entity entity = mEntityManager.createEntity();
+
+    mTransformComponents.addComponent(entity, false, TransformComponents::TransformComponent(transform));
+
+    // Create the collision body
+    CollisionBody* collisionBody = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool,
+                                        sizeof(CollisionBody)))
+                                        CollisionBody(*this, entity);
+
+    assert(collisionBody != nullptr);
+
+    // Add the components
+    CollisionBodyComponents::CollisionBodyComponent bodyComponent(collisionBody);
+    mCollisionBodyComponents.addComponent(entity, false, bodyComponent);
+
+    // Add the collision body to the world
+    mBodies.add(collisionBody);
+
 #ifdef IS_PROFILING_ACTIVE
 
-    // Print the profiling report into the destinations
-    mProfiler->printReport();
+    collisionBody->setProfiler(mProfiler);
+
 #endif
 
-    RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World,
-             "Dynamics World: Dynamics world " + mName + " has been destroyed");
+#ifdef IS_LOGGING_ACTIVE
+   collisionBody->setLogger(mLogger);
+#endif
+
+    RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body,
+             "Body " + std::to_string(entity.id) + ": New collision body created");
+
+    // Return the pointer to the rigid body
+    return collisionBody;
+}
+
+// Destroy a collision body
+/**
+ * @param collisionBody Pointer to the body to destroy
+ */
+void PhysicsWorld::destroyCollisionBody(CollisionBody* collisionBody) {
+
+    RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body,
+             "Body " + std::to_string(collisionBody->getEntity().id) + ": collision body destroyed");
+
+    // Remove all the collision shapes of the body
+    collisionBody->removeAllCollisionShapes();
+
+    mCollisionBodyComponents.removeComponent(collisionBody->getEntity());
+    mTransformComponents.removeComponent(collisionBody->getEntity());
+    mEntityManager.destroyEntity(collisionBody->getEntity());
+
+    // Call the destructor of the collision body
+    collisionBody->~CollisionBody();
+
+    // Remove the collision body from the list of bodies
+    mBodies.remove(collisionBody);
+
+    // Free the object from the memory allocator
+    mMemoryManager.release(MemoryManager::AllocationType::Pool, collisionBody, sizeof(CollisionBody));
+}
+
+// Notify the world if a body is disabled (sleeping) or not
+void PhysicsWorld::setBodyDisabled(Entity bodyEntity, bool isDisabled) {
+
+    if (isDisabled == mCollisionBodyComponents.getIsEntityDisabled(bodyEntity)) return;
+
+    // Notify all the components
+    mCollisionBodyComponents.setIsEntityDisabled(bodyEntity, isDisabled);
+    mTransformComponents.setIsEntityDisabled(bodyEntity, isDisabled);
+
+    if (mRigidBodyComponents.hasComponent(bodyEntity)) {
+        mRigidBodyComponents.setIsEntityDisabled(bodyEntity, isDisabled);
+    }
+
+    // For each collider of the body
+    const List<Entity>& collidersEntities = mCollisionBodyComponents.getColliders(bodyEntity);
+    for (uint i=0; i < collidersEntities.size(); i++) {
+
+        mCollidersComponents.setIsEntityDisabled(collidersEntities[i], isDisabled);
+    }
+
+    // Disable the joints of the body if necessary
+    if (mRigidBodyComponents.hasComponent(bodyEntity)) {
+
+        // For each joint of the body
+        const List<Entity>& joints = mRigidBodyComponents.getJoints(bodyEntity);
+        for(uint32 i=0; i < joints.size(); i++) {
+
+            const Entity body1Entity = mJointsComponents.getBody1Entity(joints[i]);
+            const Entity body2Entity = mJointsComponents.getBody2Entity(joints[i]);
+
+            // If both bodies of the joint are disabled
+            if (mRigidBodyComponents.getIsEntityDisabled(body1Entity) &&
+                mRigidBodyComponents.getIsEntityDisabled(body2Entity)) {
+
+                // We disable the joint
+                setJointDisabled(joints[i], true);
+            }
+            else {
+
+                // Enable the joint
+                setJointDisabled(joints[i], false);
+            }
+        }
+    }
+}
+
+// Notify the world whether a joint is disabled or not
+void PhysicsWorld::setJointDisabled(Entity jointEntity, bool isDisabled) {
+
+    if (isDisabled == mJointsComponents.getIsEntityDisabled(jointEntity)) return;
+
+    mJointsComponents.setIsEntityDisabled(jointEntity, isDisabled);
+    if (mBallAndSocketJointsComponents.hasComponent(jointEntity)) {
+        mBallAndSocketJointsComponents.setIsEntityDisabled(jointEntity, isDisabled);
+    }
+    if (mFixedJointsComponents.hasComponent(jointEntity)) {
+        mFixedJointsComponents.setIsEntityDisabled(jointEntity, isDisabled);
+    }
+    if (mHingeJointsComponents.hasComponent(jointEntity)) {
+        mHingeJointsComponents.setIsEntityDisabled(jointEntity, isDisabled);
+    }
+    if (mSliderJointsComponents.hasComponent(jointEntity)) {
+        mSliderJointsComponents.setIsEntityDisabled(jointEntity, isDisabled);
+    }
+}
+
+// Return true if two bodies overlap
+/// Use this method if you are not interested in contacts but if you simply want to know
+/// if the two bodies overlap. If you want to get the contacts, you need to use the
+/// testCollision() method instead.
+/**
+ * @param body1 Pointer to the first body
+ * @param body2 Pointer to a second body
+ * @return True if the two bodies overlap
+ */
+bool PhysicsWorld::testOverlap(CollisionBody* body1, CollisionBody* body2) {
+    return mCollisionDetection.testOverlap(body1, body2);
+}
+
+// Return the current world-space AABB of given collider
+/**
+ * @param collider Pointer to a collider
+ * @return The AAABB of the collider in world-space
+ */
+AABB PhysicsWorld::getWorldAABB(const Collider* collider) const {
+
+    if (collider->getBroadPhaseId() == -1) {
+        return AABB();
+    }
+
+   return mCollisionDetection.getWorldAABB(collider);
 }
 
 // Update the physics simulation
 /**
  * @param timeStep The amount of time to step the simulation by (in seconds)
  */
-void DynamicsWorld::update(decimal timeStep) {
+void PhysicsWorld::update(decimal timeStep) {
 
 #ifdef IS_PROFILING_ACTIVE
     // Increment the frame counter of the profiler
     mProfiler->incrementFrameCounter();
 #endif
 
-    RP3D_PROFILE("DynamicsWorld::update()", mProfiler);
+    RP3D_PROFILE("PhysicsWorld::update()", mProfiler);
 
     // Compute the collision detection
     mCollisionDetection.computeCollisionDetection();
@@ -159,9 +409,9 @@ void DynamicsWorld::update(decimal timeStep) {
 
 
 // Solve the contacts and constraints
-void DynamicsWorld::solveContactsAndConstraints(decimal timeStep) {
+void PhysicsWorld::solveContactsAndConstraints(decimal timeStep) {
 
-    RP3D_PROFILE("DynamicsWorld::solveContactsAndConstraints()", mProfiler);
+    RP3D_PROFILE("PhysicsWorld::solveContactsAndConstraints()", mProfiler);
 
     // ---------- Solve velocity constraints for joints and contacts ---------- //
 
@@ -186,9 +436,9 @@ void DynamicsWorld::solveContactsAndConstraints(decimal timeStep) {
 }
 
 // Solve the position error correction of the constraints
-void DynamicsWorld::solvePositionCorrection() {
+void PhysicsWorld::solvePositionCorrection() {
 
-    RP3D_PROFILE("DynamicsWorld::solvePositionCorrection()", mProfiler);
+    RP3D_PROFILE("PhysicsWorld::solvePositionCorrection()", mProfiler);
 
     // ---------- Solve the position error correction for the constraints ---------- //
 
@@ -201,7 +451,7 @@ void DynamicsWorld::solvePositionCorrection() {
 }
 
 // Disable the joints for pair of sleeping bodies
-void DynamicsWorld::disableJointsOfSleepingBodies() {
+void PhysicsWorld::disableJointsOfSleepingBodies() {
 
     // For each joint
     for (uint32 i=0; i < mJointsComponents.getNbEnabledComponents(); i++) {
@@ -223,7 +473,7 @@ void DynamicsWorld::disableJointsOfSleepingBodies() {
  * @param transform Transformation from body local-space to world-space
  * @return A pointer to the body that has been created in the world
  */
-RigidBody* DynamicsWorld::createRigidBody(const Transform& transform) {
+RigidBody* PhysicsWorld::createRigidBody(const Transform& transform) {
 
     // Create a new entity for the body
     Entity entity = mEntityManager.createEntity();
@@ -267,7 +517,7 @@ RigidBody* DynamicsWorld::createRigidBody(const Transform& transform) {
 /**
  * @param rigidBody Pointer to the body you want to destroy
  */
-void DynamicsWorld::destroyRigidBody(RigidBody* rigidBody) {
+void PhysicsWorld::destroyRigidBody(RigidBody* rigidBody) {
 
     RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body,
              "Body " + std::to_string(rigidBody->getEntity().id) + ": rigid body destroyed");
@@ -303,7 +553,7 @@ void DynamicsWorld::destroyRigidBody(RigidBody* rigidBody) {
  * @param jointInfo The information that is necessary to create the joint
  * @return A pointer to the joint that has been created in the world
  */
-Joint* DynamicsWorld::createJoint(const JointInfo& jointInfo) {
+Joint* PhysicsWorld::createJoint(const JointInfo& jointInfo) {
 
     // Create a new entity for the joint
     Entity entity = mEntityManager.createEntity();
@@ -426,7 +676,7 @@ Joint* DynamicsWorld::createJoint(const JointInfo& jointInfo) {
 /**
  * @param joint Pointer to the joint you want to destroy
  */
-void DynamicsWorld::destroyJoint(Joint* joint) {
+void PhysicsWorld::destroyJoint(Joint* joint) {
 
     assert(joint != nullptr);
 
@@ -479,7 +729,7 @@ void DynamicsWorld::destroyJoint(Joint* joint) {
 }
 
 // Add the joint to the list of joints of the two bodies involved in the joint
-void DynamicsWorld::addJointToBodies(Entity body1, Entity body2, Entity joint) {
+void PhysicsWorld::addJointToBodies(Entity body1, Entity body2, Entity joint) {
 
     mRigidBodyComponents.addJointToBody(body1, joint);
 
@@ -502,12 +752,12 @@ void DynamicsWorld::addJointToBodies(Entity body1, Entity body2, Entity joint) {
 /// (graph where nodes are the bodies and where the edges are the constraints between the bodies) to
 /// find all the bodies that are connected with it (the bodies that share joints or contacts with
 /// it). Then, we create an island with this group of connected bodies.
-void DynamicsWorld::createIslands() {
+void PhysicsWorld::createIslands() {
 
     // list of contact pairs involving a non-rigid body
     List<uint> nonRigidBodiesContactPairs(mMemoryManager.getSingleFrameAllocator());
 
-    RP3D_PROFILE("DynamicsWorld::createIslands()", mProfiler);
+    RP3D_PROFILE("PhysicsWorld::createIslands()", mProfiler);
 
     // Reset all the isAlreadyInIsland variables of bodies and joints
     for (uint b=0; b < mRigidBodyComponents.getNbComponents(); b++) {
@@ -640,9 +890,9 @@ void DynamicsWorld::createIslands() {
 // Put bodies to sleep if needed.
 /// For each island, if all the bodies have been almost still for a long enough period of
 /// time, we put all the bodies of the island to sleep.
-void DynamicsWorld::updateSleepingBodies(decimal timeStep) {
+void PhysicsWorld::updateSleepingBodies(decimal timeStep) {
 
-    RP3D_PROFILE("DynamicsWorld::updateSleepingBodies()", mProfiler);
+    RP3D_PROFILE("PhysicsWorld::updateSleepingBodies()", mProfiler);
 
     const decimal sleepLinearVelocitySquare = mSleepLinearVelocity * mSleepLinearVelocity;
     const decimal sleepAngularVelocitySquare = mSleepAngularVelocity * mSleepAngularVelocity;
@@ -704,7 +954,7 @@ void DynamicsWorld::updateSleepingBodies(decimal timeStep) {
  * @param isSleepingEnabled True if you want to enable the sleeping technique
  *                          and false otherwise
  */
-void DynamicsWorld::enableSleeping(bool isSleepingEnabled) {
+void PhysicsWorld::enableSleeping(bool isSleepingEnabled) {
     mIsSleepingEnabled = isSleepingEnabled;
 
     if (!mIsSleepingEnabled) {
@@ -719,5 +969,5 @@ void DynamicsWorld::enableSleeping(bool isSleepingEnabled) {
     }
 
     RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World,
-             "Dynamics World: isSleepingEnabled=" + (isSleepingEnabled ? std::string("true") : std::string("false")) );
+             "Physics World: isSleepingEnabled=" + (isSleepingEnabled ? std::string("true") : std::string("false")) );
 }

src/engine/PhysicsWorld.h

@@ -0,0 +1,786 @@
+/********************************************************************************
+* ReactPhysics3D physics library, http://www.reactphysics3d.com                 *
+* Copyright (c) 2010-2019 Daniel Chappuis                                       *
+*********************************************************************************
+*                                                                               *
+* This software is provided 'as-is', without any express or implied warranty.   *
+* In no event will the authors be held liable for any damages arising from the  *
+* use of this software.                                                         *
+*                                                                               *
+* Permission is granted to anyone to use this software for any purpose,         *
+* including commercial applications, and to alter it and redistribute it        *
+* freely, subject to the following restrictions:                                *
+*                                                                               *
+* 1. The origin of this software must not be misrepresented; you must not claim *
+*    that you wrote the original software. If you use this software in a        *
+*    product, an acknowledgment in the product documentation would be           *
+*    appreciated but is not required.                                           *
+*                                                                               *
+* 2. Altered source versions must be plainly marked as such, and must not be    *
+*    misrepresented as being the original software.                             *
+*                                                                               *
+* 3. This notice may not be removed or altered from any source distribution.    *
+*                                                                               *
+********************************************************************************/
+
+#ifndef REACTPHYSICS3D_PHYSICS_WORLD_H
+#define REACTPHYSICS3D_PHYSICS_WORLD_H
+
+// Libraries
+#include "mathematics/mathematics.h"
+#include "containers/List.h"
+#include "constraint/Joint.h"
+#include "memory/MemoryManager.h"
+#include "engine/EntityManager.h"
+#include "components/CollisionBodyComponents.h"
+#include "components/RigidBodyComponents.h"
+#include "components/TransformComponents.h"
+#include "components/ColliderComponents.h"
+#include "components/JointComponents.h"
+#include "components/BallAndSocketJointComponents.h"
+#include "components/FixedJointComponents.h"
+#include "components/HingeJointComponents.h"
+#include "components/SliderJointComponents.h"
+#include "collision/CollisionCallback.h"
+#include "collision/OverlapCallback.h"
+#include "configuration.h"
+#include "utils/Logger.h"
+#include "systems/ConstraintSolverSystem.h"
+#include "systems/CollisionDetectionSystem.h"
+#include "systems/ContactSolverSystem.h"
+#include "systems/DynamicsSystem.h"
+#include "engine/Islands.h"
+#include <sstream>
+
+/// Namespace ReactPhysics3D
+namespace reactphysics3d {
+
+// Declarations
+class Island;
+class RigidBody;
+struct JointInfo;
+
+// Class PhysicsWorld
+/**
+ * This class represents a physics world.
+ */
+class PhysicsWorld {
+
+    public:
+
+        /// Structure WorldSettings
+        /**
+         * This class is used to describe some settings of a physics world.
+         */
+        struct WorldSettings {
+
+            /// Name of the world
+            std::string worldName;
+
+            /// Gravity vector of the world
+            Vector3 gravity;
+
+            /// Distance threshold for two contact points for a valid persistent contact (in meters)
+            decimal persistentContactDistanceThreshold;
+
+            /// Default friction coefficient for a rigid body
+            decimal defaultFrictionCoefficient;
+
+            /// Default bounciness factor for a rigid body
+            decimal defaultBounciness;
+
+            /// Velocity threshold for contact velocity restitution
+            decimal restitutionVelocityThreshold;
+
+            /// Default rolling resistance
+            decimal defaultRollingRestistance;
+
+            /// True if the sleeping technique is enabled
+            bool isSleepingEnabled;
+
+            /// Number of iterations when solving the velocity constraints of the Sequential Impulse technique
+            uint defaultVelocitySolverNbIterations;
+
+            /// Number of iterations when solving the position constraints of the Sequential Impulse technique
+            uint defaultPositionSolverNbIterations;
+
+            /// Time (in seconds) that a body must stay still to be considered sleeping
+            float defaultTimeBeforeSleep;
+
+            /// A body with a linear velocity smaller than the sleep linear velocity (in m/s)
+            /// might enter sleeping mode.
+            decimal defaultSleepLinearVelocity;
+
+            /// A body with angular velocity smaller than the sleep angular velocity (in rad/s)
+            /// might enter sleeping mode
+            decimal defaultSleepAngularVelocity;
+
+            /// Maximum number of contact manifolds in an overlapping pair
+            uint nbMaxContactManifolds;
+
+            /// This is used to test if two contact manifold are similar (same contact normal) in order to
+            /// merge them. If the cosine of the angle between the normals of the two manifold are larger
+            /// than the value bellow, the manifold are considered to be similar.
+            decimal cosAngleSimilarContactManifold;
+
+            WorldSettings() {
+
+                worldName = "";
+                gravity = Vector3(0, decimal(-9.81), 0);
+                persistentContactDistanceThreshold = decimal(0.03);
+                defaultFrictionCoefficient = decimal(0.3);
+                defaultBounciness = decimal(0.5);
+                restitutionVelocityThreshold = decimal(0.5);
+                defaultRollingRestistance = decimal(0.0);
+                isSleepingEnabled = true;
+                defaultVelocitySolverNbIterations = 10;
+                defaultPositionSolverNbIterations = 5;
+                defaultTimeBeforeSleep = 1.0f;
+                defaultSleepLinearVelocity = decimal(0.02);
+                defaultSleepAngularVelocity = decimal(3.0) * (PI / decimal(180.0));
+                nbMaxContactManifolds = 3;
+                cosAngleSimilarContactManifold = decimal(0.95);
+
+            }
+
+            ~WorldSettings() = default;
+
+            /// Return a string with the world settings
+            std::string to_string() const {
+
+                std::stringstream ss;
+
+                ss << "worldName=" << worldName << std::endl;
+                ss << "gravity=" << gravity.to_string() << std::endl;
+                ss << "persistentContactDistanceThreshold=" << persistentContactDistanceThreshold << std::endl;
+                ss << "defaultFrictionCoefficient=" << defaultFrictionCoefficient << std::endl;
+                ss << "defaultBounciness=" << defaultBounciness << std::endl;
+                ss << "restitutionVelocityThreshold=" << restitutionVelocityThreshold << std::endl;
+                ss << "defaultRollingRestistance=" << defaultRollingRestistance << std::endl;
+                ss << "isSleepingEnabled=" << isSleepingEnabled << std::endl;
+                ss << "defaultVelocitySolverNbIterations=" << defaultVelocitySolverNbIterations << std::endl;
+                ss << "defaultPositionSolverNbIterations=" << defaultPositionSolverNbIterations << std::endl;
+                ss << "defaultTimeBeforeSleep=" << defaultTimeBeforeSleep << std::endl;
+                ss << "defaultSleepLinearVelocity=" << defaultSleepLinearVelocity << std::endl;
+                ss << "defaultSleepAngularVelocity=" << defaultSleepAngularVelocity << std::endl;
+                ss << "nbMaxContactManifolds=" << nbMaxContactManifolds << std::endl;
+                ss << "cosAngleSimilarContactManifold=" << cosAngleSimilarContactManifold << std::endl;
+
+                return ss.str();
+            }
+        };
+
+    protected :
+
+        // -------------------- Attributes -------------------- //
+
+        /// Memory manager
+        MemoryManager& mMemoryManager;
+
+        /// Configuration of the physics world
+        WorldSettings mConfig;
+
+        /// Entity Manager for the ECS
+        EntityManager mEntityManager;
+
+        /// Collision Body Components
+        CollisionBodyComponents mCollisionBodyComponents;
+
+        /// Rigid Body Components
+        RigidBodyComponents mRigidBodyComponents;
+
+        /// Transform Components
+        TransformComponents mTransformComponents;
+
+        /// Collider Components
+        ColliderComponents mCollidersComponents;
+
+        /// Joint Components
+        JointComponents mJointsComponents;
+
+        /// Ball And Socket joints Components
+        BallAndSocketJointComponents mBallAndSocketJointsComponents;
+
+        /// Fixed joints Components
+        FixedJointComponents mFixedJointsComponents;
+
+        /// Hinge joints Components
+        HingeJointComponents mHingeJointsComponents;
+
+        /// Slider joints Components
+        SliderJointComponents mSliderJointsComponents;
+
+        /// Reference to the collision detection
+        CollisionDetectionSystem mCollisionDetection;
+
+        /// All the bodies (rigid and soft) of the world
+        List<CollisionBody*> mBodies;
+
+        /// Pointer to an event listener object
+        EventListener* mEventListener;
+
+        /// Name of the physics world
+        std::string mName;
+
+#ifdef IS_PROFILING_ACTIVE
+
+        /// Real-time hierarchical profiler
+        Profiler* mProfiler;
+#endif
+
+#ifdef IS_LOGGING_ACTIVE
+
+        /// Logger
+        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;
+
+        /// All the islands of bodies of the current frame
+        Islands mIslands;
+
+        /// Contact solver system
+        ContactSolverSystem mContactSolverSystem;
+
+        /// Constraint solver system
+        ConstraintSolverSystem mConstraintSolverSystem;
+
+        /// Dynamics system
+        DynamicsSystem mDynamicsSystem;
+
+        /// Number of iterations for the velocity solver of the Sequential Impulses technique
+        uint mNbVelocitySolverIterations;
+
+        /// Number of iterations for the position solver of the Sequential Impulses technique
+        uint mNbPositionSolverIterations;
+
+        /// True if the spleeping technique for inactive bodies is enabled
+        bool mIsSleepingEnabled;
+
+        /// All the rigid bodies of the physics world
+        List<RigidBody*> mRigidBodies;
+
+        /// True if the gravity force is on
+        bool mIsGravityEnabled;
+
+        /// Sleep linear velocity threshold
+        decimal mSleepLinearVelocity;
+
+        /// Sleep angular velocity threshold
+        decimal mSleepAngularVelocity;
+
+        /// Time (in seconds) before a body is put to sleep if its velocity
+        /// becomes smaller than the sleep velocity.
+        decimal mTimeBeforeSleep;
+
+        /// Current joint id
+        uint mCurrentJointId;
+
+        // -------------------- Methods -------------------- //
+
+        /// Constructor
+        PhysicsWorld(MemoryManager& memoryManager, const WorldSettings& worldSettings = WorldSettings(),
+                      Logger* logger = nullptr, Profiler* profiler = nullptr);
+
+        /// Notify the world if a body is disabled (slepping or inactive) or not
+        void setBodyDisabled(Entity entity, bool isDisabled);
+
+        /// Notify the world whether a joint is disabled or not
+        void setJointDisabled(Entity jointEntity, bool isDisabled);
+
+        /// Solve the contacts and constraints
+        void solveContactsAndConstraints(decimal timeStep);
+
+        /// Solve the position error correction of the constraints
+        void solvePositionCorrection();
+
+        /// Compute the islands of awake bodies.
+        void computeIslands();
+
+        /// Compute the islands using potential contacts and joints and create the actual contacts.
+        void createIslands();
+
+        /// Put bodies to sleep if needed.
+        void updateSleepingBodies(decimal timeStep);
+
+        /// Add the joint to the list of joints of the two bodies involved in the joint
+        void addJointToBodies(Entity body1, Entity body2, Entity joint);
+
+        /// Destructor
+        ~PhysicsWorld();
+
+    public :
+
+        // -------------------- Methods -------------------- //
+
+        /// Create a collision body
+        CollisionBody* createCollisionBody(const Transform& transform);
+
+        /// Destroy a collision body
+        void destroyCollisionBody(CollisionBody* collisionBody);
+
+        /// Get the collision dispatch configuration
+        CollisionDispatch& getCollisionDispatch();
+
+        /// Ray cast method
+        void raycast(const Ray& ray, RaycastCallback* raycastCallback, unsigned short raycastWithCategoryMaskBits = 0xFFFF) const;
+
+        /// Return true if two bodies overlap (collide)
+        bool testOverlap(CollisionBody* body1, CollisionBody* body2);
+
+        /// Report all the bodies that overlap (collide) with the body in parameter
+        void testOverlap(CollisionBody* body, OverlapCallback& overlapCallback);
+
+        /// Report all the bodies that overlap (collide) in the world
+        void testOverlap(OverlapCallback& overlapCallback);
+
+        /// Test collision and report contacts between two bodies.
+        void testCollision(CollisionBody* body1, CollisionBody* body2, CollisionCallback& callback);
+
+        /// Test collision and report all the contacts involving the body in parameter
+        void testCollision(CollisionBody* body, CollisionCallback& callback);
+
+        /// Test collision and report contacts between each colliding bodies in the world
+        void testCollision(CollisionCallback& callback);
+
+        /// Return a reference to the memory manager of the world
+        MemoryManager& getMemoryManager();
+
+        /// Return the current world-space AABB of given collider
+        AABB getWorldAABB(const Collider* collider) const;
+
+        /// Return the name of the world
+        const std::string& getName() const;
+
+        /// Deleted copy-constructor
+        PhysicsWorld(const PhysicsWorld& world) = delete;
+
+        /// Deleted assignment operator
+        PhysicsWorld& operator=(const PhysicsWorld& world) = delete;
+
+        /// Update the physics simulation
+        void update(decimal timeStep);
+
+        /// Get the number of iterations for the velocity constraint solver
+        uint getNbIterationsVelocitySolver() const;
+
+        /// Set the number of iterations for the velocity constraint solver
+        void setNbIterationsVelocitySolver(uint nbIterations);
+
+        /// Get the number of iterations for the position constraint solver
+        uint getNbIterationsPositionSolver() const;
+
+        /// Set the number of iterations for the position constraint solver
+        void setNbIterationsPositionSolver(uint nbIterations);
+
+        /// Set the position correction technique used for contacts
+        void setContactsPositionCorrectionTechnique(ContactsPositionCorrectionTechnique technique);
+
+        /// Set the position correction technique used for joints
+        void setJointsPositionCorrectionTechnique(JointsPositionCorrectionTechnique technique);
+
+        /// Create a rigid body into the physics world.
+        RigidBody* createRigidBody(const Transform& transform);
+
+        /// Disable the joints for pair of sleeping bodies
+        void disableJointsOfSleepingBodies();
+
+        /// Destroy a rigid body and all the joints which it belongs
+        void destroyRigidBody(RigidBody* rigidBody);
+
+        /// Create a joint between two bodies in the world and return a pointer to the new joint
+        Joint* createJoint(const JointInfo& jointInfo);
+
+        /// Destroy a joint
+        void destroyJoint(Joint* joint);
+
+        /// Return the gravity vector of the world
+        Vector3 getGravity() const;
+
+        /// Set the gravity vector of the world
+        void setGravity(Vector3& gravity);
+
+        /// Return if the gravity is on
+        bool isGravityEnabled() const;
+
+        /// Enable/Disable the gravity
+        void setIsGratityEnabled(bool isGravityEnabled);
+
+        /// Return true if the sleeping technique is enabled
+        bool isSleepingEnabled() const;
+
+        /// Enable/Disable the sleeping technique
+        void enableSleeping(bool isSleepingEnabled);
+
+        /// Return the current sleep linear velocity
+        decimal getSleepLinearVelocity() const;
+
+        /// Set the sleep linear velocity.
+        void setSleepLinearVelocity(decimal sleepLinearVelocity);
+
+        /// Return the current sleep angular velocity
+        decimal getSleepAngularVelocity() const;
+
+        /// Set the sleep angular velocity.
+        void setSleepAngularVelocity(decimal sleepAngularVelocity);
+
+        /// Return the time a body is required to stay still before sleeping
+        decimal getTimeBeforeSleep() const;
+
+        /// Set the time a body is required to stay still before sleeping
+        void setTimeBeforeSleep(decimal timeBeforeSleep);
+
+        /// Set an event listener object to receive events callbacks.
+        void setEventListener(EventListener* eventListener);
+
+#ifdef IS_PROFILING_ACTIVE
+
+        /// Return a reference to the profiler
+        Profiler* getProfiler();
+
+#endif
+
+#ifdef IS_LOGGING_ACTIVE
+
+        /// Return a reference to the logger
+        Logger* getLogger();
+
+#endif
+
+        // -------------------- Friendship -------------------- //
+
+        friend class CollisionDetectionSystem;
+        friend class CollisionBody;
+        friend class Collider;
+        friend class ConvexMeshShape;
+        friend class CollisionCallback::ContactPair;
+        friend class OverlapCallback::OverlapPair;
+        friend class PhysicsCommon;
+        friend class RigidBody;
+        friend class Joint;
+        friend class BallAndSocketJoint;
+        friend class FixedJoint;
+        friend class HingeJoint;
+        friend class SliderJoint;
+};
+
+// Set the collision dispatch configuration
+/// This can be used to replace default collision detection algorithms by your
+/// custom algorithm for instance.
+/**
+ * @param CollisionDispatch Pointer to a collision dispatch object describing
+ * which collision detection algorithm to use for two given collision shapes
+ */
+inline CollisionDispatch& PhysicsWorld::getCollisionDispatch() {
+    return mCollisionDetection.getCollisionDispatch();
+}
+
+// Ray cast method
+/**
+ * @param ray Ray to use for raycasting
+ * @param raycastCallback Pointer to the class with the callback method
+ * @param raycastWithCategoryMaskBits Bits mask corresponding to the category of
+ *                                    bodies to be raycasted
+ */
+inline void PhysicsWorld::raycast(const Ray& ray,
+                                    RaycastCallback* raycastCallback,
+                                    unsigned short raycastWithCategoryMaskBits) const {
+    mCollisionDetection.raycast(raycastCallback, ray, raycastWithCategoryMaskBits);
+}
+
+// Test collision and report contacts between two bodies.
+/// Use this method if you only want to get all the contacts between two bodies.
+/// All the contacts will be reported using the callback object in paramater.
+/// If you are not interested in the contacts but you only want to know if the bodies collide,
+/// you can use the testOverlap() method instead.
+/**
+ * @param body1 Pointer to the first body to test
+ * @param body2 Pointer to the second body to test
+ * @param callback Pointer to the object with the callback method
+ */
+inline void PhysicsWorld::testCollision(CollisionBody* body1, CollisionBody* body2, CollisionCallback& callback) {
+    mCollisionDetection.testCollision(body1, body2, callback);
+}
+
+// Test collision and report all the contacts involving the body in parameter
+/// Use this method if you only want to get all the contacts involving a given body.
+/// All the contacts will be reported using the callback object in paramater.
+/// If you are not interested in the contacts but you only want to know if the bodies collide,
+/// you can use the testOverlap() method instead.
+/**
+ * @param body Pointer to the body against which we need to test collision
+ * @param callback Pointer to the object with the callback method to report contacts
+ */
+inline void PhysicsWorld::testCollision(CollisionBody* body, CollisionCallback& callback) {
+    mCollisionDetection.testCollision(body, callback);
+}
+
+// Test collision and report contacts between each colliding bodies in the world
+/// Use this method if you want to get all the contacts between colliding bodies in the world.
+/// All the contacts will be reported using the callback object in paramater.
+/// If you are not interested in the contacts but you only want to know if the bodies collide,
+/// you can use the testOverlap() method instead.
+/**
+ * @param callback Pointer to the object with the callback method to report contacts
+ */
+inline void PhysicsWorld::testCollision(CollisionCallback& callback) {
+    mCollisionDetection.testCollision(callback);
+}
+
+// Report all the bodies that overlap (collide) with the body in parameter
+/// Use this method if you are not interested in contacts but if you simply want to know
+/// which bodies overlap with the body in parameter. If you want to get the contacts, you need to use the
+/// testCollision() method instead.
+/**
+ * @param body Pointer to the collision body to test overlap with
+ * @param overlapCallback Pointer to the callback class to report overlap
+ */
+inline void PhysicsWorld::testOverlap(CollisionBody* body, OverlapCallback& overlapCallback) {
+    mCollisionDetection.testOverlap(body, overlapCallback);
+}
+
+// Report all the bodies that overlap (collide) in the world
+/// Use this method if you are not interested in contacts but if you simply want to know
+/// which bodies overlap. If you want to get the contacts, you need to use the
+/// testCollision() method instead.
+inline void PhysicsWorld::testOverlap(OverlapCallback& overlapCallback) {
+    mCollisionDetection.testOverlap(overlapCallback);
+}
+
+// Return a reference to the memory manager of the world
+inline MemoryManager& PhysicsWorld::getMemoryManager() {
+    return mMemoryManager;
+}
+
+// Return the name of the world
+/**
+ * @return Name of the world
+ */
+inline const std::string& PhysicsWorld::getName() const {
+    return mName;
+}
+
+#ifdef IS_PROFILING_ACTIVE
+
+// Return a pointer to the profiler
+/**
+ * @return A pointer to the profiler
+ */
+inline Profiler* PhysicsWorld::getProfiler() {
+    return mProfiler;
+}
+
+#endif
+
+#ifdef IS_LOGGING_ACTIVE
+
+// Return a pointer to the logger
+/**
+ * @return A pointer to the logger
+ */
+inline Logger* PhysicsWorld::getLogger() {
+    return mLogger;
+}
+
+#endif
+
+// Get the number of iterations for the velocity constraint solver
+/**
+ * @return The number of iterations of the velocity constraint solver
+ */
+inline uint PhysicsWorld::getNbIterationsVelocitySolver() const {
+    return mNbVelocitySolverIterations;
+}
+
+// Set the number of iterations for the velocity constraint solver
+/**
+ * @param nbIterations Number of iterations for the velocity solver
+ */
+inline void PhysicsWorld::setNbIterationsVelocitySolver(uint nbIterations) {
+    mNbVelocitySolverIterations = nbIterations;
+
+    RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World,
+             "Physics World: Set nb iterations velocity solver to " + std::to_string(nbIterations));
+}
+
+// Get the number of iterations for the position constraint solver
+/**
+ * @return The number of iterations of the position constraint solver
+ */
+inline uint PhysicsWorld::getNbIterationsPositionSolver() const {
+    return mNbPositionSolverIterations;
+}
+
+// Set the number of iterations for the position constraint solver
+/**
+ * @param nbIterations Number of iterations for the position solver
+ */
+inline void PhysicsWorld::setNbIterationsPositionSolver(uint nbIterations) {
+    mNbPositionSolverIterations = nbIterations;
+
+    RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World,
+             "Physics World: Set nb iterations position solver to " + std::to_string(nbIterations));
+}
+
+// Set the position correction technique used for contacts
+/**
+ * @param technique Technique used for the position correction (Baumgarte or Split Impulses)
+ */
+inline void PhysicsWorld::setContactsPositionCorrectionTechnique(
+                              ContactsPositionCorrectionTechnique technique) {
+    if (technique == ContactsPositionCorrectionTechnique::BAUMGARTE_CONTACTS) {
+        mContactSolverSystem.setIsSplitImpulseActive(false);
+    }
+    else {
+        mContactSolverSystem.setIsSplitImpulseActive(true);
+    }
+}
+
+// Set the position correction technique used for joints
+/**
+ * @param technique Technique used for the joins position correction (Baumgarte or Non Linear Gauss Seidel)
+ */
+inline void PhysicsWorld::setJointsPositionCorrectionTechnique(
+                              JointsPositionCorrectionTechnique technique) {
+    if (technique == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) {
+        mConstraintSolverSystem.setIsNonLinearGaussSeidelPositionCorrectionActive(false);
+    }
+    else {
+        mConstraintSolverSystem.setIsNonLinearGaussSeidelPositionCorrectionActive(true);
+    }
+}
+
+// Return the gravity vector of the world
+/**
+ * @return The current gravity vector (in meter per seconds squared)
+ */
+inline Vector3 PhysicsWorld::getGravity() const {
+    return mConfig.gravity;
+}
+
+// Set the gravity vector of the world
+/**
+ * @param gravity The gravity vector (in meter per seconds squared)
+ */
+inline void PhysicsWorld::setGravity(Vector3& gravity) {
+
+    mConfig.gravity = gravity;
+
+    RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World,
+             "Physics World: Set gravity vector to " + gravity.to_string());
+}
+
+// Return if the gravity is enaled
+/**
+ * @return True if the gravity is enabled in the world
+ */
+inline bool PhysicsWorld::isGravityEnabled() const {
+    return mIsGravityEnabled;
+}
+
+// Enable/Disable the gravity
+/**
+ * @param isGravityEnabled True if you want to enable the gravity in the world
+ *                         and false otherwise
+ */
+inline void PhysicsWorld::setIsGratityEnabled(bool isGravityEnabled) {
+    mIsGravityEnabled = isGravityEnabled;
+
+    RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World,
+             "Physics World: isGravityEnabled= " + (isGravityEnabled ? std::string("true") : std::string("false")));
+}
+
+// Return true if the sleeping technique is enabled
+/**
+ * @return True if the sleeping technique is enabled and false otherwise
+ */
+inline bool PhysicsWorld::isSleepingEnabled() const {
+    return mIsSleepingEnabled;
+}
+
+// Return the current sleep linear velocity
+/**
+ * @return The sleep linear velocity (in meters per second)
+ */
+inline decimal PhysicsWorld::getSleepLinearVelocity() const {
+    return mSleepLinearVelocity;
+}
+
+// Set the sleep linear velocity.
+/// When the velocity of a body becomes smaller than the sleep linear/angular
+/// velocity for a given amount of time, the body starts sleeping and does not need
+/// to be simulated anymore.
+/**
+ * @param sleepLinearVelocity The sleep linear velocity (in meters per second)
+ */
+inline void PhysicsWorld::setSleepLinearVelocity(decimal sleepLinearVelocity) {
+    assert(sleepLinearVelocity >= decimal(0.0));
+    mSleepLinearVelocity = sleepLinearVelocity;
+
+    RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World,
+             "Physics World: sleepLinearVelocity= " + std::to_string(sleepLinearVelocity));
+}
+
+// Return the current sleep angular velocity
+/**
+ * @return The sleep angular velocity (in radian per second)
+ */
+inline decimal PhysicsWorld::getSleepAngularVelocity() const {
+    return mSleepAngularVelocity;
+}
+
+// Set the sleep angular velocity.
+/// When the velocity of a body becomes smaller than the sleep linear/angular
+/// velocity for a given amount of time, the body starts sleeping and does not need
+/// to be simulated anymore.
+/**
+ * @param sleepAngularVelocity The sleep angular velocity (in radian per second)
+ */
+inline void PhysicsWorld::setSleepAngularVelocity(decimal sleepAngularVelocity) {
+    assert(sleepAngularVelocity >= decimal(0.0));
+    mSleepAngularVelocity = sleepAngularVelocity;
+
+    RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World,
+             "Physics World: sleepAngularVelocity= " + std::to_string(sleepAngularVelocity));
+}
+
+// Return the time a body is required to stay still before sleeping
+/**
+ * @return Time a body is required to stay still before sleeping (in seconds)
+ */
+inline decimal PhysicsWorld::getTimeBeforeSleep() const {
+    return mTimeBeforeSleep;
+}
+
+// Set the time a body is required to stay still before sleeping
+/**
+ * @param timeBeforeSleep Time a body is required to stay still before sleeping (in seconds)
+ */
+inline void PhysicsWorld::setTimeBeforeSleep(decimal timeBeforeSleep) {
+    assert(timeBeforeSleep >= decimal(0.0));
+    mTimeBeforeSleep = timeBeforeSleep;
+
+    RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World,
+             "Physics World: timeBeforeSleep= " + std::to_string(timeBeforeSleep));
+}
+
+// Set an event listener object to receive events callbacks.
+/// If you use "nullptr" as an argument, the events callbacks will be disabled.
+/**
+ * @param eventListener Pointer to the event listener object that will receive
+ *                      event callbacks during the simulation
+ */
+inline void PhysicsWorld::setEventListener(EventListener* eventListener) {
+    mEventListener = eventListener;
+}
+
+}
+
+#endif

src/reactphysics3d.h

@@ -40,8 +40,7 @@
 #include "body/CollisionBody.h"
 #include "body/RigidBody.h"
 #include "engine/PhysicsCommon.h"
-#include "engine/DynamicsWorld.h"
-#include "engine/CollisionWorld.h"
+#include "engine/PhysicsWorld.h"
 #include "engine/Material.h"
 #include "engine/EventListener.h"
 #include "collision/shapes/CollisionShape.h"

src/systems/BroadPhaseSystem.cpp

@@ -29,7 +29,7 @@
 #include "utils/Profiler.h"
 #include "collision/RaycastInfo.h"
 #include "memory/MemoryManager.h"
-#include "engine/DynamicsWorld.h"
+#include "engine/PhysicsWorld.h"
 
 // We want to use the ReactPhysics3D namespace
 using namespace reactphysics3d;

src/systems/CollisionDetectionSystem.cpp

@@ -25,7 +25,7 @@
 
 // Libraries
 #include "systems/CollisionDetectionSystem.h"
-#include "engine/CollisionWorld.h"
+#include "engine/PhysicsWorld.h"
 #include "collision/OverlapCallback.h"
 #include "collision/shapes/BoxShape.h"
 #include "collision/shapes/ConcaveShape.h"
@@ -40,7 +40,6 @@
 #include "utils/Profiler.h"
 #include "engine/EventListener.h"
 #include "collision/RaycastInfo.h"
-#include "engine/Islands.h"
 #include "containers/Pair.h"
 #include <cassert>
 #include <iostream>
@@ -49,9 +48,8 @@
 using namespace reactphysics3d;
 using namespace std;
 
-
 // Constructor
-CollisionDetectionSystem::CollisionDetectionSystem(CollisionWorld* world, ColliderComponents& collidersComponents, TransformComponents& transformComponents,
+CollisionDetectionSystem::CollisionDetectionSystem(PhysicsWorld* world, ColliderComponents& collidersComponents, TransformComponents& transformComponents,
                                        CollisionBodyComponents& collisionBodyComponents, RigidBodyComponents& rigidBodyComponents, MemoryManager& memoryManager)
                    : mMemoryManager(memoryManager), mCollidersComponents(collidersComponents),
                      mCollisionDispatch(mMemoryManager.getPoolAllocator()), mWorld(world),
@@ -687,7 +685,7 @@ void CollisionDetectionSystem::createContacts() {
                 ContactPointInfo& potentialContactPoint = mPotentialContactPoints[potentialManifold.potentialContactPointsIndices[c]];
 
                 // Create a new contact point
-                ContactPoint contactPoint(potentialContactPoint, mWorld->mConfig);
+                ContactPoint contactPoint(potentialContactPoint, mWorld->mConfig.persistentContactDistanceThreshold);
 
                 // Add the contact point
                 mCurrentContactPoints->add(contactPoint);
@@ -755,7 +753,7 @@ void CollisionDetectionSystem::createSnapshotContacts(List<ContactPair>& contact
                 ContactPointInfo& potentialContactPoint = potentialContactPoints[potentialManifold.potentialContactPointsIndices[c]];
 
                 // Create a new contact point
-                ContactPoint contactPoint(potentialContactPoint, mWorld->mConfig);
+                ContactPoint contactPoint(potentialContactPoint, mWorld->mConfig.persistentContactDistanceThreshold);
 
                 // Add the contact point
                 contactPoints.add(contactPoint);

src/systems/CollisionDetectionSystem.h

@@ -48,7 +48,7 @@
 namespace reactphysics3d {
 
 // Declarations
-class CollisionWorld;
+class PhysicsWorld;
 class CollisionCallback;
 class OverlapCallback;
 class RaycastCallback;
@@ -87,7 +87,7 @@ class CollisionDetectionSystem {
         CollisionDispatch mCollisionDispatch;
 
         /// Pointer to the physics world
-        CollisionWorld* mWorld;
+        PhysicsWorld* mWorld;
 
         /// Set of pair of bodies that cannot collide between each other
         Set<bodypair> mNoCollisionPairs;
@@ -267,7 +267,7 @@ class CollisionDetectionSystem {
         // -------------------- Methods -------------------- //
 
         /// Constructor
-        CollisionDetectionSystem(CollisionWorld* world, ColliderComponents& collidersComponents,
+        CollisionDetectionSystem(PhysicsWorld* world, ColliderComponents& collidersComponents,
                            TransformComponents& transformComponents, CollisionBodyComponents& collisionBodyComponents, RigidBodyComponents& rigidBodyComponents,
                            MemoryManager& memoryManager);
 
@@ -339,7 +339,7 @@ class CollisionDetectionSystem {
         MemoryManager& getMemoryManager() const;
 
         /// Return a pointer to the world
-        CollisionWorld* getWorld();
+        PhysicsWorld* getWorld();
 
         /// Return the world event listener
         EventListener* getWorldEventListener();
@@ -356,7 +356,7 @@ class CollisionDetectionSystem {
 
         // -------------------- Friendship -------------------- //
 
-        friend class DynamicsWorld;
+        friend class PhysicsWorld;
         friend class ConvexMeshShape;
         friend class RigidBody;
 };
@@ -401,7 +401,7 @@ inline void CollisionDetectionSystem::askForBroadPhaseCollisionCheck(Collider* s
 }
 
 // Return a pointer to the world
-inline CollisionWorld* CollisionDetectionSystem::getWorld() {
+inline PhysicsWorld* CollisionDetectionSystem::getWorld() {
     return mWorld;
 }
 

src/systems/ConstraintSolverSystem.cpp

@@ -33,7 +33,7 @@
 using namespace reactphysics3d;
 
 // Constructor
-ConstraintSolverSystem::ConstraintSolverSystem(DynamicsWorld& world, Islands& islands, RigidBodyComponents& rigidBodyComponents,
+ConstraintSolverSystem::ConstraintSolverSystem(PhysicsWorld& world, Islands& islands, RigidBodyComponents& rigidBodyComponents,
                                                TransformComponents& transformComponents,
                                                JointComponents& jointComponents,
                                                BallAndSocketJointComponents& ballAndSocketJointComponents,

src/systems/ConstraintSolverSystem.h

@@ -29,7 +29,6 @@
 // Libraries
 #include "configuration.h"
 #include "mathematics/mathematics.h"
-#include "engine/Islands.h"
 #include "systems/SolveBallAndSocketJointSystem.h"
 #include "systems/SolveFixedJointSystem.h"
 #include "systems/SolveHingeJointSystem.h"
@@ -40,6 +39,7 @@ namespace reactphysics3d {
 // Declarations
 class Joint;
 class Island;
+struct Islands;
 class Profiler;
 class RigidBodyComponents;
 class JointComponents;
@@ -184,7 +184,7 @@ class ConstraintSolverSystem {
         // -------------------- Methods -------------------- //
 
         /// Constructor
-        ConstraintSolverSystem(DynamicsWorld& world, Islands& islands, RigidBodyComponents& rigidBodyComponents,
+        ConstraintSolverSystem(PhysicsWorld& world, Islands& islands, RigidBodyComponents& rigidBodyComponents,
                                TransformComponents& transformComponents,
                                JointComponents& jointComponents,
                                BallAndSocketJointComponents& ballAndSocketJointComponents,

src/systems/ContactSolverSystem.cpp

@@ -25,7 +25,7 @@
 
 // Libraries
 #include "systems/ContactSolverSystem.h"
-#include "engine/DynamicsWorld.h"
+#include "engine/PhysicsWorld.h"
 #include "body/RigidBody.h"
 #include "constraint/ContactPoint.h"
 #include "utils/Profiler.h"
@@ -43,14 +43,14 @@ const decimal ContactSolverSystem::BETA_SPLIT_IMPULSE = decimal(0.2);
 const decimal ContactSolverSystem::SLOP = decimal(0.01);
 
 // Constructor
-ContactSolverSystem::ContactSolverSystem(MemoryManager& memoryManager, DynamicsWorld& world, Islands& islands, CollisionBodyComponents& bodyComponents,
-                             RigidBodyComponents& rigidBodyComponents, ColliderComponents& colliderComponents,
-                             const WorldSettings& worldSettings)
-              :mMemoryManager(memoryManager), mWorld(world), mContactConstraints(nullptr), mContactPoints(nullptr),
+ContactSolverSystem::ContactSolverSystem(MemoryManager& memoryManager, PhysicsWorld& world, Islands& islands,
+                                         CollisionBodyComponents& bodyComponents, RigidBodyComponents& rigidBodyComponents,
+                                         ColliderComponents& colliderComponents, decimal& restitutionVelocityThreshold)
+              :mMemoryManager(memoryManager), mWorld(world), mRestitutionVelocityThreshold(restitutionVelocityThreshold),
+               mContactConstraints(nullptr), mContactPoints(nullptr),
                mIslands(islands), mAllContactManifolds(nullptr), mAllContactPoints(nullptr),
                mBodyComponents(bodyComponents), mRigidBodyComponents(rigidBodyComponents),
-               mColliderComponents(colliderComponents), mIsSplitImpulseActive(true),
-               mWorldSettings(worldSettings) {
+               mColliderComponents(colliderComponents), mIsSplitImpulseActive(true) {
 
 #ifdef IS_PROFILING_ACTIVE
         mProfiler = nullptr;
@@ -237,7 +237,7 @@ void ContactSolverSystem::initializeForIsland(uint islandIndex) {
                                  deltaV.y * mContactPoints[mNbContactPoints].normal.y +
                                  deltaV.z * mContactPoints[mNbContactPoints].normal.z;
             const decimal restitutionFactor = computeMixedRestitutionFactor(body1, body2);
-            if (deltaVDotN < -mWorldSettings.restitutionVelocityThreshold) {
+            if (deltaVDotN < -mRestitutionVelocityThreshold) {
                 mContactPoints[mNbContactPoints].restitutionBias = restitutionFactor * deltaVDotN;
             }
 

src/systems/ContactSolverSystem.h

@@ -30,7 +30,6 @@
 #include "configuration.h"
 #include "mathematics/Vector3.h"
 #include "mathematics/Matrix3x3.h"
-#include "engine/Islands.h"
 
 /// ReactPhysics3D namespace
 namespace reactphysics3d {
@@ -42,7 +41,9 @@ class ContactManifold;
 class MemoryManager;
 class Profiler;
 class Island;
+struct Islands;
 class RigidBody;
+class PhysicsWorld;
 class CollisionBodyComponents;
 class DynamicsComponents;
 class RigidBodyComponents;
@@ -285,11 +286,14 @@ class ContactSolverSystem {
         MemoryManager& mMemoryManager;
 
         /// Physics world
-        DynamicsWorld& mWorld;
+        PhysicsWorld& mWorld;
 
         /// Current time step
         decimal mTimeStep;
 
+        /// Reference to the velocity threshold for contact velocity restitution
+        decimal& mRestitutionVelocityThreshold;
+
         /// Contact constraints
         // TODO : Use List<> here
         ContactManifoldSolver* mContactConstraints;
@@ -325,9 +329,6 @@ class ContactSolverSystem {
         /// True if the split impulse position correction is active
         bool mIsSplitImpulseActive;
 
-        /// World settings
-        const WorldSettings& mWorldSettings;
-
 #ifdef IS_PROFILING_ACTIVE
 
 		/// Pointer to the profiler
@@ -362,9 +363,8 @@ class ContactSolverSystem {
         // -------------------- Methods -------------------- //
 
         /// Constructor
-        ContactSolverSystem(MemoryManager& memoryManager, DynamicsWorld& world, Islands& islands, CollisionBodyComponents& bodyComponents,
-                      RigidBodyComponents& rigidBodyComponents, ColliderComponents& colliderComponents,
-                      const WorldSettings& worldSettings);
+        ContactSolverSystem(MemoryManager& memoryManager, PhysicsWorld& world, Islands& islands, CollisionBodyComponents& bodyComponents,
+                      RigidBodyComponents& rigidBodyComponents, ColliderComponents& colliderComponents, decimal& restitutionVelocityThreshold);
 
         /// Destructor
         ~ContactSolverSystem() = default;

src/systems/DynamicsSystem.cpp

@@ -26,12 +26,12 @@
 // Libraries
 #include "systems/DynamicsSystem.h"
 #include "body/RigidBody.h"
-#include "engine/DynamicsWorld.h"
+#include "engine/PhysicsWorld.h"
 
 using namespace reactphysics3d;
 
 // Constructor
-DynamicsSystem::DynamicsSystem(DynamicsWorld& world, CollisionBodyComponents& collisionBodyComponents, RigidBodyComponents& rigidBodyComponents,
+DynamicsSystem::DynamicsSystem(PhysicsWorld& world, CollisionBodyComponents& collisionBodyComponents, RigidBodyComponents& rigidBodyComponents,
                                TransformComponents& transformComponents, ColliderComponents& colliderComponents, bool& isGravityEnabled, Vector3& gravity)
               :mWorld(world), mCollisionBodyComponents(collisionBodyComponents), mRigidBodyComponents(rigidBodyComponents), mTransformComponents(transformComponents), mColliderComponents(colliderComponents),
                mIsGravityEnabled(isGravityEnabled), mGravity(gravity) {

src/systems/DynamicsSystem.h

@@ -35,7 +35,7 @@
 
 namespace reactphysics3d {
 
-class DynamicsWorld;
+class PhysicsWorld;
 
 // Class DynamicsSystem
 /**
@@ -49,7 +49,7 @@ class DynamicsSystem {
         // -------------------- Attributes -------------------- //
 
         /// Physics world
-        DynamicsWorld& mWorld;
+        PhysicsWorld& mWorld;
 
         /// Reference to the collision body components
         CollisionBodyComponents& mCollisionBodyComponents;
@@ -80,7 +80,7 @@ class DynamicsSystem {
         // -------------------- Methods -------------------- //
 
         /// Constructor
-        DynamicsSystem(DynamicsWorld& world, CollisionBodyComponents& collisionBodyComponents,
+        DynamicsSystem(PhysicsWorld& world, CollisionBodyComponents& collisionBodyComponents,
                        RigidBodyComponents& rigidBodyComponents, TransformComponents& transformComponents,
                        ColliderComponents& colliderComponents, bool& isGravityEnabled, Vector3& gravity);
 

src/systems/SolveBallAndSocketJointSystem.cpp

@@ -25,7 +25,7 @@
 
 // Libraries
 #include "systems/SolveBallAndSocketJointSystem.h"
-#include "engine/DynamicsWorld.h"
+#include "engine/PhysicsWorld.h"
 #include "body/RigidBody.h"
 
 using namespace reactphysics3d;
@@ -34,7 +34,7 @@ using namespace reactphysics3d;
 const decimal SolveBallAndSocketJointSystem::BETA = decimal(0.2);
 
 // Constructor
-SolveBallAndSocketJointSystem::SolveBallAndSocketJointSystem(DynamicsWorld& world, RigidBodyComponents& rigidBodyComponents,
+SolveBallAndSocketJointSystem::SolveBallAndSocketJointSystem(PhysicsWorld& world, RigidBodyComponents& rigidBodyComponents,
                                                              TransformComponents& transformComponents,
                                                              JointComponents& jointComponents,
                                                              BallAndSocketJointComponents& ballAndSocketJointComponents)

src/systems/SolveBallAndSocketJointSystem.h

@@ -36,7 +36,7 @@
 namespace reactphysics3d {
 
 // Forward declarations
-class DynamicsWorld;
+class PhysicsWorld;
 
 // Class SolveBallAndSocketJointSystem
 /**
@@ -54,7 +54,7 @@ class SolveBallAndSocketJointSystem {
         // -------------------- Attributes -------------------- //
 
         /// Physics world
-        DynamicsWorld& mWorld;
+        PhysicsWorld& mWorld;
 
         /// Reference to the rigid body components
         RigidBodyComponents& mRigidBodyComponents;
@@ -85,7 +85,7 @@ class SolveBallAndSocketJointSystem {
         // -------------------- Methods -------------------- //
 
         /// Constructor
-        SolveBallAndSocketJointSystem(DynamicsWorld& world, RigidBodyComponents& rigidBodyComponents,
+        SolveBallAndSocketJointSystem(PhysicsWorld& world, RigidBodyComponents& rigidBodyComponents,
                                       TransformComponents& transformComponents,
                                       JointComponents& jointComponents,
                                       BallAndSocketJointComponents& ballAndSocketJointComponents);

src/systems/SolveFixedJointSystem.cpp

@@ -25,7 +25,7 @@
 
 // Libraries
 #include "systems/SolveFixedJointSystem.h"
-#include "engine/DynamicsWorld.h"
+#include "engine/PhysicsWorld.h"
 #include "body/RigidBody.h"
 
 using namespace reactphysics3d;
@@ -34,7 +34,7 @@ using namespace reactphysics3d;
 const decimal SolveFixedJointSystem::BETA = decimal(0.2);
 
 // Constructor
-SolveFixedJointSystem::SolveFixedJointSystem(DynamicsWorld& world, RigidBodyComponents& rigidBodyComponents,
+SolveFixedJointSystem::SolveFixedJointSystem(PhysicsWorld& world, RigidBodyComponents& rigidBodyComponents,
                                              TransformComponents& transformComponents,
                                              JointComponents& jointComponents,
                                              FixedJointComponents& fixedJointComponents)

src/systems/SolveFixedJointSystem.h

@@ -35,7 +35,7 @@
 
 namespace reactphysics3d {
 
-class DynamicsWorld;
+class PhysicsWorld;
 
 // Class SolveFixedJointSystem
 /**
@@ -53,7 +53,7 @@ class SolveFixedJointSystem {
         // -------------------- Attributes -------------------- //
 
         /// Physics world
-        DynamicsWorld& mWorld;
+        PhysicsWorld& mWorld;
 
         /// Reference to the rigid body components
         RigidBodyComponents& mRigidBodyComponents;
@@ -84,7 +84,7 @@ class SolveFixedJointSystem {
         // -------------------- Methods -------------------- //
 
         /// Constructor
-        SolveFixedJointSystem(DynamicsWorld& world, RigidBodyComponents& rigidBodyComponents, TransformComponents& transformComponents,
+        SolveFixedJointSystem(PhysicsWorld& world, RigidBodyComponents& rigidBodyComponents, TransformComponents& transformComponents,
                               JointComponents& jointComponents, FixedJointComponents& fixedJointComponents);
 
         /// Destructor

src/systems/SolveHingeJointSystem.cpp

@@ -25,7 +25,7 @@
 
 // Libraries
 #include "systems/SolveHingeJointSystem.h"
-#include "engine/DynamicsWorld.h"
+#include "engine/PhysicsWorld.h"
 #include "body/RigidBody.h"
 
 using namespace reactphysics3d;
@@ -34,7 +34,7 @@ using namespace reactphysics3d;
 const decimal SolveHingeJointSystem::BETA = decimal(0.2);
 
 // Constructor
-SolveHingeJointSystem::SolveHingeJointSystem(DynamicsWorld& world, RigidBodyComponents& rigidBodyComponents,
+SolveHingeJointSystem::SolveHingeJointSystem(PhysicsWorld& world, RigidBodyComponents& rigidBodyComponents,
                                                              TransformComponents& transformComponents,
                                                              JointComponents& jointComponents,
                                                              HingeJointComponents& hingeJointComponents)

src/systems/SolveHingeJointSystem.h

@@ -35,7 +35,7 @@
 
 namespace reactphysics3d {
 
-class DynamicsWorld;
+class PhysicsWorld;
 
 // Class SolveHingeJointSystem
 /**
@@ -53,7 +53,7 @@ class SolveHingeJointSystem {
         // -------------------- Attributes -------------------- //
 
         /// Physics world
-        DynamicsWorld& mWorld;
+        PhysicsWorld& mWorld;
 
         /// Reference to the rigid body components
         RigidBodyComponents& mRigidBodyComponents;
@@ -100,7 +100,7 @@ class SolveHingeJointSystem {
         // -------------------- Methods -------------------- //
 
         /// Constructor
-        SolveHingeJointSystem(DynamicsWorld& world, RigidBodyComponents& rigidBodyComponents,
+        SolveHingeJointSystem(PhysicsWorld& world, RigidBodyComponents& rigidBodyComponents,
                               TransformComponents& transformComponents,
                               JointComponents& jointComponents,
                               HingeJointComponents& hingeJointComponents);

src/systems/SolveSliderJointSystem.cpp

@@ -25,7 +25,7 @@
 
 // Libraries
 #include "systems/SolveSliderJointSystem.h"
-#include "engine/DynamicsWorld.h"
+#include "engine/PhysicsWorld.h"
 #include "body/RigidBody.h"
 
 using namespace reactphysics3d;
@@ -34,7 +34,7 @@ using namespace reactphysics3d;
 const decimal SolveSliderJointSystem::BETA = decimal(0.2);
 
 // Constructor
-SolveSliderJointSystem::SolveSliderJointSystem(DynamicsWorld& world, RigidBodyComponents& rigidBodyComponents,
+SolveSliderJointSystem::SolveSliderJointSystem(PhysicsWorld& world, RigidBodyComponents& rigidBodyComponents,
                                                              TransformComponents& transformComponents,
                                                              JointComponents& jointComponents,
                                                              SliderJointComponents& sliderJointComponents)

src/systems/SolveSliderJointSystem.h

@@ -35,7 +35,7 @@
 
 namespace reactphysics3d {
 
-class DynamicsWorld;
+class PhysicsWorld;
 
 // Class SolveSliderJointSystem
 /**
@@ -53,7 +53,7 @@ class SolveSliderJointSystem {
         // -------------------- Attributes -------------------- //
 
         /// Physics world
-        DynamicsWorld& mWorld;
+        PhysicsWorld& mWorld;
 
         /// Reference to the rigid body components
         RigidBodyComponents& mRigidBodyComponents;
@@ -86,7 +86,7 @@ class SolveSliderJointSystem {
         // -------------------- Methods -------------------- //
 
         /// Constructor
-        SolveSliderJointSystem(DynamicsWorld& world, RigidBodyComponents& rigidBodyComponents,
+        SolveSliderJointSystem(PhysicsWorld& world, RigidBodyComponents& rigidBodyComponents,
                               TransformComponents& transformComponents,
                               JointComponents& jointComponents,
                               SliderJointComponents& sliderJointComponents);

test/tests/collision/TestCollisionWorld.h

@@ -268,7 +268,7 @@ class TestCollisionWorld : public Test {
         PhysicsCommon mPhysicsCommon;
 
         // Physics world
-        CollisionWorld* mWorld;
+        PhysicsWorld* mWorld;
 
         // Bodies
         CollisionBody* mBoxBody1;
@@ -332,7 +332,7 @@ class TestCollisionWorld : public Test {
         TestCollisionWorld(const std::string& name) : Test(name) {
 
             // Create the collision world
-            mWorld = mPhysicsCommon.createCollisionWorld();
+            mWorld = mPhysicsCommon.createPhysicsWorld();
 
             // ---------- Boxes ---------- //
             Transform boxTransform1(Vector3(-20, 20, 0), Quaternion::identity());
@@ -486,7 +486,7 @@ class TestCollisionWorld : public Test {
 
             delete mConcaveMeshTriangleVertexArray;
 
-            mPhysicsCommon.destroyCollisionWorld(mWorld);
+            mPhysicsCommon.destroyPhysicsWorld(mWorld);
         }
 
         /// Run the tests

test/tests/collision/TestPointInside.h

@@ -32,7 +32,7 @@
 #include "collision/shapes/SphereShape.h"
 #include "collision/shapes/CapsuleShape.h"
 #include "collision/shapes/ConvexMeshShape.h"
-#include "engine/CollisionWorld.h"
+#include "engine/PhysicsWorld.h"
 #include "engine/PhysicsCommon.h"
 #include "collision/PolygonVertexArray.h"
 
@@ -53,7 +53,7 @@ class TestPointInside : public Test {
         PhysicsCommon mPhysicsCommon;
 
         // Physics world
-        CollisionWorld* mWorld;
+        PhysicsWorld* mWorld;
 
         // Bodies
         CollisionBody* mBoxBody;
@@ -97,7 +97,7 @@ class TestPointInside : public Test {
         TestPointInside(const std::string& name) : Test(name) {
 
             // Create the world
-            mWorld = mPhysicsCommon.createCollisionWorld();
+            mWorld = mPhysicsCommon.createPhysicsWorld();
 
             // Body transform
             Vector3 position(-3, 2, 7);
@@ -180,7 +180,7 @@ class TestPointInside : public Test {
             mPhysicsCommon.destroySphereShape(mSphereShape);
             mPhysicsCommon.destroyCapsuleShape(mCapsuleShape);
             mPhysicsCommon.destroyConvexMeshShape(mConvexMeshShape);
-            mPhysicsCommon.destroyCollisionWorld(mWorld);
+            mPhysicsCommon.destroyPhysicsWorld(mWorld);
             mPhysicsCommon.destroyPolyhedronMesh(mConvexMeshPolyhedronMesh);
             delete[] mConvexMeshPolygonFaces;
             delete mConvexMeshPolygonVertexArray;

test/tests/collision/TestRaycast.h

@@ -29,7 +29,7 @@
 // Libraries
 #include "Test.h"
 #include "engine/PhysicsCommon.h"
-#include "engine/CollisionWorld.h"
+#include "engine/PhysicsWorld.h"
 #include "body/CollisionBody.h"
 #include "collision/shapes/BoxShape.h"
 #include "collision/shapes/SphereShape.h"
@@ -113,7 +113,7 @@ class TestRaycast : public Test {
         decimal epsilon;
 
         // Physics world
-        CollisionWorld* mWorld;
+        PhysicsWorld* mWorld;
 
         // Bodies
         CollisionBody* mBoxBody;
@@ -172,7 +172,7 @@ class TestRaycast : public Test {
             epsilon = decimal(0.0001);
 
             // Create the world
-            mWorld = mPhysicsCommon.createCollisionWorld();
+            mWorld = mPhysicsCommon.createPhysicsWorld();
 
             // Body transform
             Vector3 position(-3, 2, 7);
@@ -311,7 +311,7 @@ class TestRaycast : public Test {
             mPhysicsCommon.destroyConcaveMeshShape(mConcaveMeshShape);
             mPhysicsCommon.destroyHeightFieldShape(mHeightFieldShape);
 
-            mPhysicsCommon.destroyCollisionWorld(mWorld);
+            mPhysicsCommon.destroyPhysicsWorld(mWorld);
             delete mConcaveMeshVertexArray;
 
             delete mPolygonVertexArray;
@@ -330,7 +330,7 @@ class TestRaycast : public Test {
         }
 
         /// Test the Collider::raycast(), CollisionBody::raycast() and
-        /// CollisionWorld::raycast() methods.
+        /// PhysicsWorld::raycast() methods.
         void testBox() {
 
             // ----- Test feedback data ----- //
@@ -341,7 +341,7 @@ class TestRaycast : public Test {
 
             mCallback.shapeToTest = mBoxCollider;
 
-            // CollisionWorld::raycast()
+            // PhysicsWorld::raycast()
             mCallback.reset();
             mWorld->raycast(ray, &mCallback);
             rp3d_test(mCallback.isHit);
@@ -542,7 +542,7 @@ class TestRaycast : public Test {
         }
 
         /// Test the Collider::raycast(), CollisionBody::raycast() and
-        /// CollisionWorld::raycast() methods.
+        /// PhysicsWorld::raycast() methods.
         void testSphere() {
 
             // ----- Test feedback data ----- //
@@ -553,7 +553,7 @@ class TestRaycast : public Test {
 
             mCallback.shapeToTest = mSphereCollider;
 
-            // CollisionWorld::raycast()
+            // PhysicsWorld::raycast()
             mCallback.reset();
             mWorld->raycast(ray, &mCallback);
             rp3d_test(mCallback.isHit);
@@ -752,7 +752,7 @@ class TestRaycast : public Test {
         }
 
         /// Test the Collider::raycast(), CollisionBody::raycast() and
-        /// CollisionWorld::raycast() methods.
+        /// PhysicsWorld::raycast() methods.
         void testCapsule() {
 
             // ----- Test feedback data ----- //
@@ -773,7 +773,7 @@ class TestRaycast : public Test {
 
             mCallback.shapeToTest = mCapsuleCollider;
 
-            // CollisionWorld::raycast()
+            // PhysicsWorld::raycast()
             mCallback.reset();
             mWorld->raycast(ray, &mCallback);
             rp3d_test(mCallback.isHit);
@@ -992,7 +992,7 @@ class TestRaycast : public Test {
         }
 
         /// Test the Collider::raycast(), CollisionBody::raycast() and
-        /// CollisionWorld::raycast() methods.
+        /// PhysicsWorld::raycast() methods.
         void testConvexMesh() {
 
             // ----- Test feedback data ----- //
@@ -1003,7 +1003,7 @@ class TestRaycast : public Test {
 
             mCallback.shapeToTest = mConvexMeshCollider;
 
-            // CollisionWorld::raycast()
+            // PhysicsWorld::raycast()
             mCallback.reset();
             mWorld->raycast(ray, &mCallback);
             rp3d_test(mCallback.isHit);
@@ -1205,7 +1205,7 @@ class TestRaycast : public Test {
         }
 
         /// Test the CollisionBody::raycast() and
-        /// CollisionWorld::raycast() methods.
+        /// PhysicsWorld::raycast() methods.
         void testCompound() {
 
             // ----- Test feedback data ----- //
@@ -1349,7 +1349,7 @@ class TestRaycast : public Test {
 
             mCallback.shapeToTest = mConcaveMeshCollider;
 
-            // CollisionWorld::raycast()
+            // PhysicsWorld::raycast()
             mCallback.reset();
             mWorld->raycast(ray, &mCallback);
             rp3d_test(mCallback.isHit);
@@ -1584,7 +1584,7 @@ class TestRaycast : public Test {
 
             mCallback.shapeToTest = mHeightFieldCollider;
 
-            // CollisionWorld::raycast()
+            // PhysicsWorld::raycast()
             mCallback.reset();
             mWorld->raycast(ray, &mCallback);
             rp3d_test(mCallback.isHit);

testbed/common/Box.cpp

@@ -38,7 +38,7 @@ openglframework::VertexArrayObject Box::mVAO;
 int Box::totalNbBoxes = 0;
 
 // Constructor
-Box::Box(const openglframework::Vector3& size, reactphysics3d::PhysicsCommon& physicsCommon, reactphysics3d::CollisionWorld* world,
+Box::Box(const openglframework::Vector3& size, reactphysics3d::PhysicsCommon& physicsCommon, reactphysics3d::PhysicsWorld* world,
          const std::string& meshFolderPath)
     : PhysicsObject(physicsCommon, meshFolderPath + "cube.obj") {
 
@@ -61,7 +61,7 @@ Box::Box(const openglframework::Vector3& size, reactphysics3d::PhysicsCommon& ph
 
     mPreviousTransform = rp3d::Transform::identity();
 
-    // Create a rigid body in the dynamics world
+    // Create a rigid body in the physics world
     mBody = world->createCollisionBody(mPreviousTransform);
 
     // Add the collision shape to the body
@@ -80,7 +80,7 @@ Box::Box(const openglframework::Vector3& size, reactphysics3d::PhysicsCommon& ph
 }
 
 // Constructor
-Box::Box(const openglframework::Vector3& size, float mass, reactphysics3d::PhysicsCommon &physicsCommon, reactphysics3d::DynamicsWorld* world,
+Box::Box(const openglframework::Vector3& size, float mass, reactphysics3d::PhysicsCommon &physicsCommon, reactphysics3d::PhysicsWorld* world,
          const std::string& meshFolderPath)
     : PhysicsObject(physicsCommon, meshFolderPath + "cube.obj") {
 
@@ -102,7 +102,7 @@ Box::Box(const openglframework::Vector3& size, float mass, reactphysics3d::Physi
 
     mPreviousTransform = rp3d::Transform::identity();
 
-    // Create a rigid body in the dynamics world
+    // Create a rigid body in the physics world
     rp3d::RigidBody* body = world->createRigidBody(mPreviousTransform);
 
     // Add the collision shape to the body

testbed/common/Box.h

@@ -76,10 +76,10 @@ class Box : public PhysicsObject {
 
 		/// Constructor
         Box(const openglframework::Vector3& size, reactphysics3d::PhysicsCommon& physicsCommon,
-            reactphysics3d::CollisionWorld* world, const std::string& meshFolderPath);
+            reactphysics3d::PhysicsWorld* world, const std::string& meshFolderPath);
 
 		/// Constructor
-        Box(const openglframework::Vector3& size, float mass, reactphysics3d::PhysicsCommon& physicsCommon, reactphysics3d::DynamicsWorld *world, const std::string& meshFolderPath);
+        Box(const openglframework::Vector3& size, float mass, reactphysics3d::PhysicsCommon& physicsCommon, reactphysics3d::PhysicsWorld *world, const std::string& meshFolderPath);
 
 		/// Destructor
 		~Box();

testbed/common/Capsule.cpp

@@ -34,41 +34,7 @@ openglframework::VertexArrayObject Capsule::mVAO;
 int Capsule::totalNbCapsules = 0;
 
 // Constructor
-Capsule::Capsule(float radius, float height, rp3d::PhysicsCommon& physicsCommon, rp3d::CollisionWorld* world, const std::string& meshFolderPath)
-        : PhysicsObject(physicsCommon, meshFolderPath + "capsule.obj"), mRadius(radius), mHeight(height) {
-
-    // Compute the scaling matrix
-    mScalingMatrix = openglframework::Matrix4(mRadius, 0, 0, 0,
-                                              0, (mHeight + 2.0f * mRadius) / 3, 0,0,
-                                              0, 0, mRadius, 0,
-                                              0, 0, 0, 1.0f);
-
-    // Create the collision shape for the rigid body (sphere shape)
-    // ReactPhysics3D will clone this object to create an internal one. Therefore,
-    // it is OK if this object is destroyed right after calling RigidBody::addCollisionShape()
-    mCapsuleShape = mPhysicsCommon.createCapsuleShape(mRadius, mHeight);
-    //mCapsuleShape->setLocalScaling(rp3d::Vector3(2, 2, 2));
-
-    mPreviousTransform = rp3d::Transform::identity();
-
-    // Create a rigid body corresponding in the dynamics world
-    mBody = world->createCollisionBody(mPreviousTransform);
-
-    // Add a collision shape to the body and specify the mass of the shape
-    mCollider = mBody->addCollider(mCapsuleShape, rp3d::Transform::identity());
-
-    mTransformMatrix = mTransformMatrix * mScalingMatrix;
-
-    // Create the VBOs and VAO
-    if (totalNbCapsules == 0) {
-        createVBOAndVAO();
-    }
-
-    totalNbCapsules++;
-}
-
-// Constructor
-Capsule::Capsule(float radius, float height, float mass, reactphysics3d::PhysicsCommon &physicsCommon, rp3d::DynamicsWorld* dynamicsWorld,
+Capsule::Capsule(bool createRigidBody, float radius, float height, float mass, reactphysics3d::PhysicsCommon &physicsCommon, rp3d::PhysicsWorld* physicsWorld,
                  const std::string& meshFolderPath)
         : PhysicsObject(physicsCommon, meshFolderPath + "capsule.obj"), mRadius(radius), mHeight(height) {
 
@@ -85,13 +51,24 @@ Capsule::Capsule(float radius, float height, float mass, reactphysics3d::Physics
     // it is OK if this object is destroyed right after calling RigidBody::addCollisionShape()
     mCapsuleShape = mPhysicsCommon.createCapsuleShape(mRadius, mHeight);
 
-    // Create a rigid body corresponding in the dynamics world
-    rp3d::RigidBody* body = dynamicsWorld->createRigidBody(mPreviousTransform);
+    // Create a body corresponding in the physics world
+    if (createRigidBody) {
 
-    // Add a collision shape to the body and specify the mass of the shape
-    mCollider = body->addCollider(mCapsuleShape, rp3d::Transform::identity(), mass);
+        rp3d::RigidBody* body = physicsWorld->createRigidBody(mPreviousTransform);
 
-    mBody = body;
+        // Add a collision shape to the body and specify the mass of the shape
+        mCollider = body->addCollider(mCapsuleShape, rp3d::Transform::identity(), mass);
+
+        mBody = body;
+    }
+    else {
+
+        // Create a rigid body corresponding in the physics world
+        mBody = physicsWorld->createCollisionBody(mPreviousTransform);
+
+        // Add a collision shape to the body and specify the mass of the shape
+        mCollider = mBody->addCollider(mCapsuleShape, rp3d::Transform::identity());
+    }
 
     mTransformMatrix = mTransformMatrix * mScalingMatrix;
 

testbed/common/Capsule.h

@@ -82,11 +82,8 @@ class Capsule : public PhysicsObject {
 		// -------------------- Methods -------------------- //
 
 		/// Constructor
-        Capsule(float radius, float height, reactphysics3d::PhysicsCommon &physicsCommon, rp3d::CollisionWorld* world, const std::string& meshFolderPath);
-
-		/// Constructor
-        Capsule(float radius, float height, float mass, reactphysics3d::PhysicsCommon& physicsCommon, rp3d::DynamicsWorld* dynamicsWorld,
-				const std::string& meshFolderPath);
+        Capsule(bool createRigidBody, float radius, float height, float mass, reactphysics3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld,
+                const std::string& meshFolderPath);
 
 		/// Destructor
 		~Capsule();

testbed/common/ConcaveMesh.cpp

@@ -27,7 +27,7 @@
 #include "ConcaveMesh.h"
 
 // Constructor
-ConcaveMesh::ConcaveMesh(rp3d::PhysicsCommon& physicsCommon, rp3d::CollisionWorld* world, const std::string& meshPath)
+ConcaveMesh::ConcaveMesh(rp3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* world, const std::string& meshPath)
            : PhysicsObject(physicsCommon, meshPath), mVBOVertices(GL_ARRAY_BUFFER),
              mVBONormals(GL_ARRAY_BUFFER), mVBOTextureCoords(GL_ARRAY_BUFFER),
              mVBOIndices(GL_ELEMENT_ARRAY_BUFFER) {
@@ -59,7 +59,7 @@ ConcaveMesh::ConcaveMesh(rp3d::PhysicsCommon& physicsCommon, rp3d::CollisionWorl
 
     mPreviousTransform = rp3d::Transform::identity();
 
-    // Create a rigid body corresponding to the sphere in the dynamics world
+    // Create a rigid body corresponding to the sphere in the physics world
     mBody = world->createCollisionBody(mPreviousTransform);
 
     // Add a collision shape to the body and specify the mass of the collision shape
@@ -72,7 +72,7 @@ ConcaveMesh::ConcaveMesh(rp3d::PhysicsCommon& physicsCommon, rp3d::CollisionWorl
 }
 
 // Constructor
-ConcaveMesh::ConcaveMesh(float mass, reactphysics3d::PhysicsCommon& physicsCommon, rp3d::DynamicsWorld* dynamicsWorld, const std::string& meshPath)
+ConcaveMesh::ConcaveMesh(float mass, reactphysics3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld, const std::string& meshPath)
            : PhysicsObject(physicsCommon, meshPath), mVBOVertices(GL_ARRAY_BUFFER),
              mVBONormals(GL_ARRAY_BUFFER), mVBOTextureCoords(GL_ARRAY_BUFFER),
              mVBOIndices(GL_ELEMENT_ARRAY_BUFFER) {
@@ -102,8 +102,8 @@ ConcaveMesh::ConcaveMesh(float mass, reactphysics3d::PhysicsCommon& physicsCommo
 
     mPreviousTransform = rp3d::Transform::identity();
 
-    // Create a rigid body corresponding to the sphere in the dynamics world
-    rp3d::RigidBody* body = dynamicsWorld->createRigidBody(mPreviousTransform);
+    // Create a rigid body corresponding to the sphere in the physics world
+    rp3d::RigidBody* body = physicsWorld->createRigidBody(mPreviousTransform);
 
     // Add a collision shape to the body and specify the mass of the collision shape
     mCollider = body->addCollider(mConcaveShape, rp3d::Transform::identity(), mass);

testbed/common/ConcaveMesh.h

@@ -76,10 +76,10 @@ class ConcaveMesh : public PhysicsObject {
         // -------------------- Methods -------------------- //
 
         /// Constructor
-        ConcaveMesh(reactphysics3d::PhysicsCommon& physicsCommon, rp3d::CollisionWorld* world, const std::string& meshPath);
+        ConcaveMesh(reactphysics3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* world, const std::string& meshPath);
 
         /// Constructor
-        ConcaveMesh(float mass, reactphysics3d::PhysicsCommon& physicsCommon, rp3d::DynamicsWorld* dynamicsWorld, const std::string& meshPath);
+        ConcaveMesh(float mass, reactphysics3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld, const std::string& meshPath);
 
         /// Destructor
         ~ConcaveMesh();

testbed/common/ConvexMesh.cpp

@@ -28,7 +28,7 @@
 #include <unordered_set>
 
 // Constructor
-ConvexMesh::ConvexMesh(rp3d::PhysicsCommon& physicsCommon, rp3d::CollisionWorld* world, const std::string& meshPath)
+ConvexMesh::ConvexMesh(rp3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* world, const std::string& meshPath)
            : PhysicsObject(physicsCommon, meshPath), mVBOVertices(GL_ARRAY_BUFFER),
              mVBONormals(GL_ARRAY_BUFFER), mVBOTextureCoords(GL_ARRAY_BUFFER),
              mVBOIndices(GL_ELEMENT_ARRAY_BUFFER) {
@@ -75,7 +75,7 @@ ConvexMesh::ConvexMesh(rp3d::PhysicsCommon& physicsCommon, rp3d::CollisionWorld*
 
     mPreviousTransform = rp3d::Transform::identity();
 
-    // Create a rigid body corresponding to the sphere in the dynamics world
+    // Create a rigid body corresponding to the sphere in the physics world
     mBody = world->createCollisionBody(mPreviousTransform);
 
     // Add a collision shape to the body and specify the mass of the collision shape
@@ -88,7 +88,7 @@ ConvexMesh::ConvexMesh(rp3d::PhysicsCommon& physicsCommon, rp3d::CollisionWorld*
 }
 
 // Constructor
-ConvexMesh::ConvexMesh(float mass, rp3d::PhysicsCommon& physicsCommon, rp3d::DynamicsWorld* dynamicsWorld, const std::string& meshPath)
+ConvexMesh::ConvexMesh(float mass, rp3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld, const std::string& meshPath)
            : PhysicsObject(physicsCommon, meshPath), mVBOVertices(GL_ARRAY_BUFFER),
              mVBONormals(GL_ARRAY_BUFFER), mVBOTextureCoords(GL_ARRAY_BUFFER),
              mVBOIndices(GL_ELEMENT_ARRAY_BUFFER) {
@@ -135,8 +135,8 @@ ConvexMesh::ConvexMesh(float mass, rp3d::PhysicsCommon& physicsCommon, rp3d::Dyn
 
     mPreviousTransform = rp3d::Transform::identity();
 
-    // Create a rigid body corresponding to the sphere in the dynamics world
-    rp3d::RigidBody* body = dynamicsWorld->createRigidBody(mPreviousTransform);
+    // Create a rigid body corresponding to the sphere in the physics world
+    rp3d::RigidBody* body = physicsWorld->createRigidBody(mPreviousTransform);
 
     // Add a collision shape to the body and specify the mass of the collision shape
     mCollider = body->addCollider(mConvexShape, rp3d::Transform::identity(), mass);

testbed/common/ConvexMesh.h

@@ -89,10 +89,10 @@ class ConvexMesh : public PhysicsObject {
         // -------------------- Methods -------------------- //
 
         /// Constructor
-        ConvexMesh(rp3d::PhysicsCommon& physicsCommon, rp3d::CollisionWorld* world, const std::string& meshPath);
+        ConvexMesh(rp3d::PhysicsCommon& physicsCommon, reactphysics3d::PhysicsWorld* world, const std::string& meshPath);
 
         /// Constructor
-        ConvexMesh(float mass, rp3d::PhysicsCommon& physicsCommon, rp3d::DynamicsWorld* dynamicsWorld, const std::string& meshPath);
+        ConvexMesh(float mass, rp3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld, const std::string& meshPath);
 
         /// Destructor
         ~ConvexMesh();

testbed/common/Dumbbell.cpp

@@ -34,7 +34,7 @@ openglframework::VertexArrayObject Dumbbell::mVAO;
 int Dumbbell::totalNbDumbbells = 0;
 
 // Constructor
-Dumbbell::Dumbbell(rp3d::PhysicsCommon& physicsCommon, rp3d::DynamicsWorld* dynamicsWorld, const std::string& meshFolderPath)
+Dumbbell::Dumbbell(bool createRigidBody, rp3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld, const std::string& meshFolderPath)
          : PhysicsObject(physicsCommon, meshFolderPath + "dumbbell.obj") {
 
     // Identity scaling matrix
@@ -68,66 +68,28 @@ Dumbbell::Dumbbell(rp3d::PhysicsCommon& physicsCommon, rp3d::DynamicsWorld* dyna
     // Initial transform of the cylinder collision shape of the dumbell (in local-space)
     rp3d::Transform transformCylinderShape(rp3d::Vector3(0, 0, 0), rp3d::Quaternion::identity());
 
-    // Create a rigid body corresponding to the dumbbell in the dynamics world
-    rp3d::RigidBody* body = dynamicsWorld->createRigidBody(mPreviousTransform);
+    // Create a body corresponding to the dumbbell in the physics world
+    if (createRigidBody) {
 
-    // Add the three collision shapes to the body and specify the mass and transform of the shapes
-    mColliderSphere1 = body->addCollider(mSphereShape, transformSphereShape1, massSphere);
-    mColliderSphere2 = body->addCollider(mSphereShape, transformSphereShape2, massSphere);
-    mColliderCapsule = body->addCollider(mCapsuleShape, transformCylinderShape, massCylinder);
+        rp3d::RigidBody* body;
+        body = physicsWorld->createRigidBody(mPreviousTransform);
 
-    mBody = body;
+        // Add the three collision shapes to the body and specify the mass and transform of the shapes
+        mColliderSphere1 = body->addCollider(mSphereShape, transformSphereShape1, massSphere);
+        mColliderSphere2 = body->addCollider(mSphereShape, transformSphereShape2, massSphere);
+        mColliderCapsule = body->addCollider(mCapsuleShape, transformCylinderShape, massCylinder);
 
-    mTransformMatrix = mTransformMatrix * mScalingMatrix;
-
-    // Create the VBOs and VAO
-    if (totalNbDumbbells == 0) {
-        createVBOAndVAO();
+        mBody = body;
     }
+    else {
 
-    totalNbDumbbells++;
-}
+        mBody = physicsWorld->createCollisionBody(mPreviousTransform);
 
-// Constructor
-Dumbbell::Dumbbell(reactphysics3d::PhysicsCommon &physicsCommon, rp3d::CollisionWorld* world, const std::string& meshFolderPath)
-         : PhysicsObject(physicsCommon, meshFolderPath + "dumbbell.obj"){
-
-    // Identity scaling matrix
-    mScalingMatrix.setToIdentity();
-
-    mDistanceBetweenSphere = 8.0f;
-
-    // Create a sphere collision shape for the two ends of the dumbbell
-    // ReactPhysics3D will clone this object to create an internal one. Therefore,
-    // it is OK if this object is destroyed right after calling RigidBody::addCollisionShape()
-    const rp3d::decimal radiusSphere = rp3d::decimal(1.5);
-    mSphereShape = mPhysicsCommon.createSphereShape(radiusSphere);
-
-    // Create a cylinder collision shape for the middle of the dumbbell
-    // ReactPhysics3D will clone this object to create an internal one. Therefore,
-    // it is OK if this object is destroyed right after calling RigidBody::addCollisionShape()
-    const rp3d::decimal radiusCapsule = rp3d::decimal(0.5);
-    const rp3d::decimal heightCapsule = rp3d::decimal(7.0);
-    mCapsuleShape = mPhysicsCommon.createCapsuleShape(radiusCapsule, heightCapsule);
-
-    // Initial transform of the first sphere collision shape of the dumbbell (in local-space)
-    rp3d::Transform transformSphereShape1(rp3d::Vector3(0, mDistanceBetweenSphere / 2.0f, 0), rp3d::Quaternion::identity());
-
-    // Initial transform of the second sphere collision shape of the dumbell (in local-space)
-    rp3d::Transform transformSphereShape2(rp3d::Vector3(0, -mDistanceBetweenSphere / 2.0f, 0), rp3d::Quaternion::identity());
-
-    // Initial transform of the cylinder collision shape of the dumbell (in local-space)
-    rp3d::Transform transformCylinderShape(rp3d::Vector3(0, 0, 0), rp3d::Quaternion::identity());
-
-    mPreviousTransform = rp3d::Transform::identity();
-
-    // Create a rigid body corresponding to the dumbbell in the dynamics world
-    mBody = world->createCollisionBody(mPreviousTransform);
-
-    // Add the three collision shapes to the body and specify the mass and transform of the shapes
-    mColliderSphere1 = mBody->addCollider(mSphereShape, transformSphereShape1);
-    mColliderSphere2 = mBody->addCollider(mSphereShape, transformSphereShape2);
-    mColliderCapsule = mBody->addCollider(mCapsuleShape, transformCylinderShape);
+        // Add the three collision shapes to the body and specify the mass and transform of the shapes
+        mColliderSphere1 = mBody->addCollider(mSphereShape, transformSphereShape1);
+        mColliderSphere2 = mBody->addCollider(mSphereShape, transformSphereShape2);
+        mColliderCapsule = mBody->addCollider(mCapsuleShape, transformCylinderShape);
+    }
 
     mTransformMatrix = mTransformMatrix * mScalingMatrix;
 

testbed/common/Dumbbell.h

@@ -82,10 +82,8 @@ class Dumbbell : public PhysicsObject {
         // -------------------- Methods -------------------- //
 
         /// Constructor
-        Dumbbell(reactphysics3d::PhysicsCommon& physicsCommon, rp3d::DynamicsWorld* dynamicsWorld, const std::string& meshFolderPath);
-
-        /// Constructor
-        Dumbbell(reactphysics3d::PhysicsCommon& physicsCommon, rp3d::CollisionWorld* world, const std::string& meshFolderPath);
+        Dumbbell(bool createRigidBody, reactphysics3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld,
+                 const std::string& meshFolderPath);
 
         /// Destructor
         ~Dumbbell();

testbed/common/HeightField.cpp

@@ -28,7 +28,7 @@
 #include "PerlinNoise.h"
 
 // Constructor
-HeightField::HeightField(rp3d::PhysicsCommon& physicsCommon, rp3d::CollisionWorld* world)
+HeightField::HeightField(rp3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* world)
            : PhysicsObject(physicsCommon), mVBOVertices(GL_ARRAY_BUFFER),
              mVBONormals(GL_ARRAY_BUFFER), mVBOTextureCoords(GL_ARRAY_BUFFER),
              mVBOIndices(GL_ELEMENT_ARRAY_BUFFER) {
@@ -49,7 +49,7 @@ HeightField::HeightField(rp3d::PhysicsCommon& physicsCommon, rp3d::CollisionWorl
 
     mPreviousTransform = rp3d::Transform::identity();
 
-    // Create a rigid body corresponding to the sphere in the dynamics world
+    // Create a rigid body corresponding to the sphere in the physics world
     mBody = world->createCollisionBody(mPreviousTransform);
 
     // Add a collision shape to the body and specify the mass of the collision shape
@@ -62,7 +62,7 @@ HeightField::HeightField(rp3d::PhysicsCommon& physicsCommon, rp3d::CollisionWorl
 }
 
 // Constructor
-HeightField::HeightField(float mass, reactphysics3d::PhysicsCommon& physicsCommon, rp3d::DynamicsWorld* dynamicsWorld)
+HeightField::HeightField(float mass, reactphysics3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld)
            : PhysicsObject(physicsCommon), mVBOVertices(GL_ARRAY_BUFFER),
              mVBONormals(GL_ARRAY_BUFFER), mVBOTextureCoords(GL_ARRAY_BUFFER),
              mVBOIndices(GL_ELEMENT_ARRAY_BUFFER) {
@@ -83,8 +83,8 @@ HeightField::HeightField(float mass, reactphysics3d::PhysicsCommon& physicsCommo
 
     mPreviousTransform = rp3d::Transform::identity();
 
-    // Create a rigid body corresponding to the sphere in the dynamics world
-    rp3d::RigidBody* body = dynamicsWorld->createRigidBody(mPreviousTransform);
+    // Create a rigid body corresponding to the sphere in the physics world
+    rp3d::RigidBody* body = physicsWorld->createRigidBody(mPreviousTransform);
 
     // Add a collision shape to the body and specify the mass of the collision shape
     mCollider = body->addCollider(mHeightFieldShape, rp3d::Transform::identity(), mass);

testbed/common/HeightField.h

@@ -89,10 +89,10 @@ class HeightField : public PhysicsObject {
         // -------------------- Methods -------------------- //
 
         /// Constructor
-        HeightField(reactphysics3d::PhysicsCommon& physicsCommon, rp3d::CollisionWorld* world);
+        HeightField(reactphysics3d::PhysicsCommon& physicsCommon, reactphysics3d::PhysicsWorld* world);
 
         /// Constructor
-        HeightField(float mass, rp3d::PhysicsCommon& physicsCommon, rp3d::DynamicsWorld* dynamicsWorld);
+        HeightField(float mass, rp3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld);
 
         /// Destructor
         ~HeightField();

testbed/common/Sphere.cpp

@@ -34,7 +34,7 @@ openglframework::VertexArrayObject Sphere::mVAO;
 int Sphere::totalNbSpheres = 0;
 
 // Constructor
-Sphere::Sphere(float radius, rp3d::PhysicsCommon& physicsCommon, rp3d::CollisionWorld* world,
+Sphere::Sphere(float radius, rp3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* world,
                const std::string& meshFolderPath)
        : PhysicsObject(physicsCommon, meshFolderPath + "sphere.obj"), mRadius(radius) {
 
@@ -52,7 +52,7 @@ Sphere::Sphere(float radius, rp3d::PhysicsCommon& physicsCommon, rp3d::Collision
 
     mPreviousTransform = rp3d::Transform::identity();
 
-    // Create a rigid body corresponding to the sphere in the dynamics world
+    // Create a rigid body corresponding to the sphere in the physics world
     mBody = world->createCollisionBody(mPreviousTransform);
 
     // Add a collision shape to the body and specify the mass of the shape
@@ -69,7 +69,7 @@ Sphere::Sphere(float radius, rp3d::PhysicsCommon& physicsCommon, rp3d::Collision
 }
 
 // Constructor
-Sphere::Sphere(float radius, float mass,  rp3d::PhysicsCommon& physicsCommon,reactphysics3d::DynamicsWorld* world,
+Sphere::Sphere(float radius, float mass,  rp3d::PhysicsCommon& physicsCommon,reactphysics3d::PhysicsWorld* world,
                const std::string& meshFolderPath)
        : PhysicsObject(physicsCommon, meshFolderPath + "sphere.obj"), mRadius(radius) {
 
@@ -86,7 +86,7 @@ Sphere::Sphere(float radius, float mass,  rp3d::PhysicsCommon& physicsCommon,rea
 
     mPreviousTransform = rp3d::Transform::identity();
 
-    // Create a rigid body corresponding to the sphere in the dynamics world
+    // Create a rigid body corresponding to the sphere in the physics world
     rp3d::RigidBody* body = world->createRigidBody(mPreviousTransform);
 
     // Add a collision shape to the body and specify the mass of the shape

testbed/common/Sphere.h

@@ -79,13 +79,13 @@ class Sphere : public PhysicsObject {
         // -------------------- Methods -------------------- //
 
         /// Constructor
-        Sphere(float radius, rp3d::PhysicsCommon& physicsCommon, rp3d::CollisionWorld* world, const std::string& meshFolderPath);
+        Sphere(float radius, rp3d::PhysicsCommon& physicsCommon, reactphysics3d::PhysicsWorld* world, const std::string& meshFolderPath);
 
         /// Constructor
-        Sphere(float radius, float mass, reactphysics3d::PhysicsCommon &physicsCommon, rp3d::DynamicsWorld* dynamicsWorld, const std::string& meshFolderPath);
+        Sphere(float radius, float mass, reactphysics3d::PhysicsCommon &physicsCommon, rp3d::PhysicsWorld* physicsWorld, const std::string& meshFolderPath);
 
         /// Destructor
-        ~Sphere();
+        virtual ~Sphere() override;
 
         /// Render the sphere at the correct position and with the correct orientation
         void virtual render(openglframework::Shader& shader, const openglframework::Matrix4& worldToCameraMatrix) override;

testbed/scenes/collisiondetection/CollisionDetectionScene.cpp

@@ -48,15 +48,15 @@ CollisionDetectionScene::CollisionDetectionScene(const std::string& name, Engine
     // Set the center of the scene
     setScenePosition(center, SCENE_RADIUS);
 
-    rp3d::WorldSettings worldSettings;
+    rp3d::PhysicsWorld::WorldSettings worldSettings;
     worldSettings.worldName = name;
 
-    // Create the dynamics world for the physics simulation
-    mPhysicsWorld = mPhysicsCommon.createCollisionWorld(worldSettings);
+    // Create the physics world for the physics simulation
+    mPhysicsWorld = mPhysicsCommon.createPhysicsWorld(worldSettings);
 
     // ---------- Sphere 1 ---------- //
 
-    // Create a sphere and a corresponding collision body in the dynamics world
+    // Create a sphere and a corresponding collision body in the physics world
     mSphere1 = new Sphere(4, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
     mAllShapes.push_back(mSphere1);
 
@@ -68,7 +68,7 @@ CollisionDetectionScene::CollisionDetectionScene(const std::string& name, Engine
 
     // ---------- Sphere 2 ---------- //
 
-    // Create a sphere and a corresponding collision body in the dynamics world
+    // Create a sphere and a corresponding collision body in the physics world
     mSphere2 = new Sphere(2, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
     mAllShapes.push_back(mSphere2);
 
@@ -80,8 +80,8 @@ CollisionDetectionScene::CollisionDetectionScene(const std::string& name, Engine
 
     // ---------- Capsule 1 ---------- //
 
-    // Create a cylinder and a corresponding collision body in the dynamics world
-    mCapsule1 = new Capsule(CAPSULE_RADIUS, CAPSULE_HEIGHT, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
+    // Create a cylinder and a corresponding collision body in the physics world
+    mCapsule1 = new Capsule(false, CAPSULE_RADIUS, CAPSULE_HEIGHT, 1.0, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
     mAllShapes.push_back(mCapsule1);
 
     // Set the color
@@ -91,8 +91,8 @@ CollisionDetectionScene::CollisionDetectionScene(const std::string& name, Engine
 
     // ---------- Capsule 2 ---------- //
 
-    // Create a cylinder and a corresponding collision body in the dynamics world
-    mCapsule2 = new Capsule(CAPSULE_RADIUS, CAPSULE_HEIGHT, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
+    // Create a cylinder and a corresponding collision body in the physics world
+    mCapsule2 = new Capsule(false, CAPSULE_RADIUS, CAPSULE_HEIGHT, 1.0, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
     mAllShapes.push_back(mCapsule2);
 
     // Set the color
@@ -102,7 +102,7 @@ CollisionDetectionScene::CollisionDetectionScene(const std::string& name, Engine
 
     // ---------- Concave Mesh ---------- //
 
-    // Create a convex mesh and a corresponding collision body in the dynamics world
+    // Create a convex mesh and a corresponding collision body in the physics world
     mConcaveMesh = new ConcaveMesh(mPhysicsCommon, mPhysicsWorld, mMeshFolderPath + "city.obj");
     mAllShapes.push_back(mConcaveMesh);
 
@@ -113,7 +113,7 @@ CollisionDetectionScene::CollisionDetectionScene(const std::string& name, Engine
 
     // ---------- Box 1 ---------- //
 
-    // Create a cylinder and a corresponding collision body in the dynamics world
+    // Create a cylinder and a corresponding collision body in the physics world
     mBox1 = new Box(BOX_SIZE, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
     mAllShapes.push_back(mBox1);
 
@@ -124,7 +124,7 @@ CollisionDetectionScene::CollisionDetectionScene(const std::string& name, Engine
 
     // ---------- Box 2 ---------- //
 
-    // Create a cylinder and a corresponding collision body in the dynamics world
+    // Create a cylinder and a corresponding collision body in the physics world
     mBox2 = new Box(openglframework::Vector3(3, 2, 5), mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
     mAllShapes.push_back(mBox2);
 
@@ -135,7 +135,7 @@ CollisionDetectionScene::CollisionDetectionScene(const std::string& name, Engine
 
     // ---------- Convex Mesh ---------- //
 
-    // Create a convex mesh and a corresponding collision body in the dynamics world
+    // Create a convex mesh and a corresponding collision body in the physics world
     mConvexMesh = new ConvexMesh(mPhysicsCommon, mPhysicsWorld, mMeshFolderPath + "convexmesh.obj");
     mAllShapes.push_back(mConvexMesh);
 
@@ -146,7 +146,7 @@ CollisionDetectionScene::CollisionDetectionScene(const std::string& name, Engine
 
     // ---------- Heightfield ---------- //
 
-    // Create a convex mesh and a corresponding collision body in the dynamics world
+    // Create a convex mesh and a corresponding collision body in the physics world
     mHeightField = new HeightField(mPhysicsCommon, mPhysicsWorld);
 
     // Set the color
@@ -176,7 +176,7 @@ void CollisionDetectionScene::reset() {
 // Destructor
 CollisionDetectionScene::~CollisionDetectionScene() {
 
-    // Destroy the box rigid body from the dynamics world
+    // Destroy the box rigid body from the physics world
     //mPhysicsWorld->destroyCollisionBody(mBox->getCollisionBody());
     //delete mBox;
 
@@ -211,8 +211,8 @@ CollisionDetectionScene::~CollisionDetectionScene() {
     // Destroy the static data for the visual contact points
     VisualContactPoint::destroyStaticData();
 
-    // Destroy the collision world
-    mPhysicsCommon.destroyCollisionWorld(mPhysicsWorld);
+    // Destroy the physics world
+    mPhysicsCommon.destroyPhysicsWorld(mPhysicsWorld);
 }
 
 // Take a step for the simulation

testbed/scenes/collisionshapes/CollisionShapesScene.cpp

@@ -32,7 +32,7 @@ using namespace collisionshapesscene;
 
 // Constructor
 CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettings& settings)
-       : SceneDemo(name, settings, SCENE_RADIUS) {
+       : SceneDemo(name, settings, true, SCENE_RADIUS) {
 
     std::string meshFolderPath("meshes/");
 
@@ -42,21 +42,21 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin
     // Set the center of the scene
     setScenePosition(center, SCENE_RADIUS);
 
-    // Gravity vector in the dynamics world
+    // Gravity vector in the physics world
     rp3d::Vector3 gravity(0, -9.81f, 0);
 
-    rp3d::WorldSettings worldSettings;
+    rp3d::PhysicsWorld::WorldSettings worldSettings;
     worldSettings.worldName = name;
 
-    // Create the dynamics world for the physics simulation
-    rp3d::DynamicsWorld* dynamicsWorld = mPhysicsCommon.createDynamicsWorld(gravity, worldSettings);
-    dynamicsWorld->setEventListener(this);
-    mPhysicsWorld = dynamicsWorld;
+    // Create the physics world for the physics simulation
+    rp3d::PhysicsWorld* physicsWorld = mPhysicsCommon.createPhysicsWorld(worldSettings);
+    physicsWorld->setEventListener(this);
+    mPhysicsWorld = physicsWorld;
 
     for (int i=0; i<NB_COMPOUND_SHAPES; i++) {
 
-        // Create a convex mesh and a corresponding rigid in the dynamics world
-        Dumbbell* dumbbell = new Dumbbell(mPhysicsCommon, getDynamicsWorld(), meshFolderPath);
+        // Create a convex mesh and a corresponding rigid in the physics world
+        Dumbbell* dumbbell = new Dumbbell(true, mPhysicsCommon, mPhysicsWorld, meshFolderPath);
 
         // Set the box color
         dumbbell->setColor(mObjectColorDemo);
@@ -74,8 +74,8 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin
     // Create all the boxes of the scene
     for (int i=0; i<NB_BOXES; i++) {
 
-        // Create a sphere and a corresponding rigid in the dynamics world
-        Box* box = new Box(BOX_SIZE, BOX_MASS, mPhysicsCommon, getDynamicsWorld(), mMeshFolderPath);
+        // Create a sphere and a corresponding rigid in the physics world
+        Box* box = new Box(BOX_SIZE, BOX_MASS, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
 
         // Set the box color
         box->setColor(mObjectColorDemo);
@@ -93,8 +93,8 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin
     // Create all the spheres of the scene
     for (int i=0; i<NB_SPHERES; i++) {
 
-        // Create a sphere and a corresponding rigid in the dynamics world
-        Sphere* sphere = new Sphere(SPHERE_RADIUS, BOX_MASS, mPhysicsCommon, getDynamicsWorld(), meshFolderPath);
+        // Create a sphere and a corresponding rigid in the physics world
+        Sphere* sphere = new Sphere(SPHERE_RADIUS, BOX_MASS, mPhysicsCommon, mPhysicsWorld, meshFolderPath);
 
         // Add some rolling resistance
         sphere->getRigidBody()->getMaterial().setRollingResistance(rp3d::decimal(0.08));
@@ -115,9 +115,9 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin
     // Create all the capsules of the scene
     for (int i=0; i<NB_CAPSULES; i++) {
 
-        // Create a cylinder and a corresponding rigid in the dynamics world
-        Capsule* capsule = new Capsule(CAPSULE_RADIUS, CAPSULE_HEIGHT, CAPSULE_MASS,
-                                       mPhysicsCommon, getDynamicsWorld(), meshFolderPath);
+        // Create a cylinder and a corresponding rigid in the physics world
+        Capsule* capsule = new Capsule(true, CAPSULE_RADIUS, CAPSULE_HEIGHT, CAPSULE_MASS,
+                                       mPhysicsCommon, mPhysicsWorld, meshFolderPath);
 
         capsule->getRigidBody()->getMaterial().setRollingResistance(rp3d::decimal(0.08f));
 
@@ -137,8 +137,8 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin
     // Create all the convex meshes of the scene
     for (int i=0; i<NB_MESHES; i++) {
 
-        // Create a convex mesh and a corresponding rigid in the dynamics world
-        ConvexMesh* mesh = new ConvexMesh(MESH_MASS, mPhysicsCommon, getDynamicsWorld(), meshFolderPath + "convexmesh.obj");
+        // Create a convex mesh and a corresponding rigid in the physics world
+        ConvexMesh* mesh = new ConvexMesh(MESH_MASS, mPhysicsCommon, mPhysicsWorld, meshFolderPath + "convexmesh.obj");
 
         // Set the box color
         mesh->setColor(mObjectColorDemo);
@@ -155,7 +155,7 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin
 
     // ---------- Create the floor ---------
 
-    mFloor = new Box(FLOOR_SIZE, FLOOR_MASS, mPhysicsCommon, getDynamicsWorld(), mMeshFolderPath);
+    mFloor = new Box(FLOOR_SIZE, FLOOR_MASS, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
 	mPhysicsObjects.push_back(mFloor);
 
     // Set the box color
@@ -170,15 +170,15 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin
     material.setBounciness(rp3d::decimal(0.2));
 
     // Get the physics engine parameters
-    mEngineSettings.isGravityEnabled = getDynamicsWorld()->isGravityEnabled();
-    rp3d::Vector3 gravityVector = getDynamicsWorld()->getGravity();
+    mEngineSettings.isGravityEnabled = mPhysicsWorld->isGravityEnabled();
+    rp3d::Vector3 gravityVector = mPhysicsWorld->getGravity();
     mEngineSettings.gravity = openglframework::Vector3(gravityVector.x, gravityVector.y, gravityVector.z);
-    mEngineSettings.isSleepingEnabled = getDynamicsWorld()->isSleepingEnabled();
-    mEngineSettings.sleepLinearVelocity = getDynamicsWorld()->getSleepLinearVelocity();
-    mEngineSettings.sleepAngularVelocity = getDynamicsWorld()->getSleepAngularVelocity();
-    mEngineSettings.nbPositionSolverIterations = getDynamicsWorld()->getNbIterationsPositionSolver();
-    mEngineSettings.nbVelocitySolverIterations = getDynamicsWorld()->getNbIterationsVelocitySolver();
-    mEngineSettings.timeBeforeSleep = getDynamicsWorld()->getTimeBeforeSleep();
+    mEngineSettings.isSleepingEnabled = mPhysicsWorld->isSleepingEnabled();
+    mEngineSettings.sleepLinearVelocity = mPhysicsWorld->getSleepLinearVelocity();
+    mEngineSettings.sleepAngularVelocity = mPhysicsWorld->getSleepAngularVelocity();
+    mEngineSettings.nbPositionSolverIterations = mPhysicsWorld->getNbIterationsPositionSolver();
+    mEngineSettings.nbVelocitySolverIterations = mPhysicsWorld->getNbIterationsVelocitySolver();
+    mEngineSettings.timeBeforeSleep = mPhysicsWorld->getTimeBeforeSleep();
 }
 
 // Destructor
@@ -187,15 +187,15 @@ CollisionShapesScene::~CollisionShapesScene() {
     // Destroy all the physics objects of the scene
     for (std::vector<PhysicsObject*>::iterator it = mPhysicsObjects.begin(); it != mPhysicsObjects.end(); ++it) {
 
-        // Destroy the corresponding rigid body from the dynamics world
-        getDynamicsWorld()->destroyRigidBody((*it)->getRigidBody());
+        // Destroy the corresponding rigid body from the physics world
+        mPhysicsWorld->destroyRigidBody((*it)->getRigidBody());
 
         // Destroy the object
         delete (*it);
     }
 
-    // Destroy the dynamics world
-    mPhysicsCommon.destroyDynamicsWorld(static_cast<rp3d::DynamicsWorld*>(mPhysicsWorld));
+    // Destroy the physics world
+    mPhysicsCommon.destroyPhysicsWorld(static_cast<rp3d::PhysicsWorld*>(mPhysicsWorld));
 }
 
 /// Reset the scene

testbed/scenes/concavemesh/ConcaveMeshScene.cpp

@@ -32,7 +32,7 @@ using namespace trianglemeshscene;
 
 // Constructor
 ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& settings)
-      : SceneDemo(name, settings, SCENE_RADIUS) {
+      : SceneDemo(name, settings, true, SCENE_RADIUS) {
 
     std::string meshFolderPath("meshes/");
 
@@ -42,22 +42,22 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett
     // Set the center of the scene
     setScenePosition(center, SCENE_RADIUS);
 
-    // Gravity vector in the dynamics world
+    // Gravity vector in the physics world
     rp3d::Vector3 gravity(0, rp3d::decimal(-9.81), 0);
 
-    rp3d::WorldSettings worldSettings;
+    rp3d::PhysicsWorld::WorldSettings worldSettings;
     worldSettings.worldName = name;
 
-    // Create the dynamics world for the physics simulation
-    rp3d::DynamicsWorld* dynamicsWorld = mPhysicsCommon.createDynamicsWorld(gravity, worldSettings);
-    dynamicsWorld->setEventListener(this);
-    mPhysicsWorld = dynamicsWorld;
+    // Create the physics world for the physics simulation
+    rp3d::PhysicsWorld* physicsWorld = mPhysicsCommon.createPhysicsWorld(worldSettings);
+    physicsWorld->setEventListener(this);
+    mPhysicsWorld = physicsWorld;
 
     // ---------- Create the boxes ----------- //
     for (int i = 0; i<NB_COMPOUND_SHAPES; i++) {
 
-        // Create a convex mesh and a corresponding rigid in the dynamics world
-        Dumbbell* dumbbell = new Dumbbell(mPhysicsCommon, getDynamicsWorld(), meshFolderPath);
+        // Create a convex mesh and a corresponding rigid in the physics world
+        Dumbbell* dumbbell = new Dumbbell(true, mPhysicsCommon, mPhysicsWorld, meshFolderPath);
 
         // Set the box color
         dumbbell->setColor(mObjectColorDemo);
@@ -75,8 +75,8 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett
     // Create all the boxes of the scene
     for (int i = 0; i<NB_BOXES; i++) {
 
-        // Create a sphere and a corresponding rigid in the dynamics world
-        Box* box = new Box(BOX_SIZE, BOX_MASS, mPhysicsCommon, getDynamicsWorld(), mMeshFolderPath);
+        // Create a sphere and a corresponding rigid in the physics world
+        Box* box = new Box(BOX_SIZE, BOX_MASS, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
 
         // Set the box color
         box->setColor(mObjectColorDemo);
@@ -94,8 +94,8 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett
     // Create all the spheres of the scene
     for (int i = 0; i<NB_SPHERES; i++) {
 
-        // Create a sphere and a corresponding rigid in the dynamics world
-        Sphere* sphere = new Sphere(SPHERE_RADIUS, BOX_MASS, mPhysicsCommon, getDynamicsWorld(), meshFolderPath);
+        // Create a sphere and a corresponding rigid in the physics world
+        Sphere* sphere = new Sphere(SPHERE_RADIUS, BOX_MASS, mPhysicsCommon, mPhysicsWorld, meshFolderPath);
 
         // Add some rolling resistance
         sphere->getRigidBody()->getMaterial().setRollingResistance(rp3d::decimal(0.08));
@@ -116,9 +116,9 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett
     // Create all the capsules of the scene
     for (int i = 0; i<NB_CAPSULES; i++) {
 
-        // Create a cylinder and a corresponding rigid in the dynamics world
-        Capsule* capsule = new Capsule(CAPSULE_RADIUS, CAPSULE_HEIGHT, CAPSULE_MASS,
-                                       mPhysicsCommon, getDynamicsWorld(), meshFolderPath);
+        // Create a cylinder and a corresponding rigid in the physics world
+        Capsule* capsule = new Capsule(true, CAPSULE_RADIUS, CAPSULE_HEIGHT, CAPSULE_MASS,
+                                       mPhysicsCommon, mPhysicsWorld, meshFolderPath);
 
         capsule->getRigidBody()->getMaterial().setRollingResistance(rp3d::decimal(0.08));
 
@@ -138,8 +138,8 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett
     // Create all the convex meshes of the scene
     for (int i = 0; i<NB_MESHES; i++) {
 
-        // Create a convex mesh and a corresponding rigid in the dynamics world
-        ConvexMesh* mesh = new ConvexMesh(MESH_MASS, mPhysicsCommon, getDynamicsWorld(), meshFolderPath + "convexmesh.obj");
+        // Create a convex mesh and a corresponding rigid in the physics world
+        ConvexMesh* mesh = new ConvexMesh(MESH_MASS, mPhysicsCommon, mPhysicsWorld, meshFolderPath + "convexmesh.obj");
 
         // Set the box color
         mesh->setColor(mObjectColorDemo);
@@ -159,8 +159,8 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett
     // Position
     rp3d::decimal mass = 1.0;
 
-    // Create a convex mesh and a corresponding rigid in the dynamics world
-    mConcaveMesh = new ConcaveMesh(mass, mPhysicsCommon, getDynamicsWorld(), meshFolderPath + "city.obj");
+    // Create a convex mesh and a corresponding rigid in the physics world
+    mConcaveMesh = new ConcaveMesh(mass, mPhysicsCommon, mPhysicsWorld, meshFolderPath + "city.obj");
 
     // Set the mesh as beeing static
     mConcaveMesh->getRigidBody()->setType(rp3d::BodyType::STATIC);
@@ -177,15 +177,15 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett
     material.setFrictionCoefficient(rp3d::decimal(0.1));
 
     // Get the physics engine parameters
-    mEngineSettings.isGravityEnabled = getDynamicsWorld()->isGravityEnabled();
-    rp3d::Vector3 gravityVector = getDynamicsWorld()->getGravity();
+    mEngineSettings.isGravityEnabled = mPhysicsWorld->isGravityEnabled();
+    rp3d::Vector3 gravityVector = mPhysicsWorld->getGravity();
     mEngineSettings.gravity = openglframework::Vector3(gravityVector.x, gravityVector.y, gravityVector.z);
-    mEngineSettings.isSleepingEnabled = getDynamicsWorld()->isSleepingEnabled();
-    mEngineSettings.sleepLinearVelocity = getDynamicsWorld()->getSleepLinearVelocity();
-    mEngineSettings.sleepAngularVelocity = getDynamicsWorld()->getSleepAngularVelocity();
-    mEngineSettings.nbPositionSolverIterations = getDynamicsWorld()->getNbIterationsPositionSolver();
-    mEngineSettings.nbVelocitySolverIterations = getDynamicsWorld()->getNbIterationsVelocitySolver();
-    mEngineSettings.timeBeforeSleep = getDynamicsWorld()->getTimeBeforeSleep();
+    mEngineSettings.isSleepingEnabled = mPhysicsWorld->isSleepingEnabled();
+    mEngineSettings.sleepLinearVelocity = mPhysicsWorld->getSleepLinearVelocity();
+    mEngineSettings.sleepAngularVelocity = mPhysicsWorld->getSleepAngularVelocity();
+    mEngineSettings.nbPositionSolverIterations = mPhysicsWorld->getNbIterationsPositionSolver();
+    mEngineSettings.nbVelocitySolverIterations = mPhysicsWorld->getNbIterationsVelocitySolver();
+    mEngineSettings.timeBeforeSleep = mPhysicsWorld->getTimeBeforeSleep();
 }
 
 // Destructor
@@ -194,15 +194,15 @@ ConcaveMeshScene::~ConcaveMeshScene() {
     // Destroy all the physics objects of the scene
     for (std::vector<PhysicsObject*>::iterator it = mPhysicsObjects.begin(); it != mPhysicsObjects.end(); ++it) {
 
-        // Destroy the corresponding rigid body from the dynamics world
-        getDynamicsWorld()->destroyRigidBody((*it)->getRigidBody());
+        // Destroy the corresponding rigid body from the physics world
+        mPhysicsWorld->destroyRigidBody((*it)->getRigidBody());
 
         // Destroy the object
         delete (*it);
     }
 
-    // Destroy the dynamics world
-    mPhysicsCommon.destroyDynamicsWorld(getDynamicsWorld());
+    // Destroy the physics world
+    mPhysicsCommon.destroyPhysicsWorld(mPhysicsWorld);
 }
 
 // Reset the scene

testbed/scenes/cubes/CubesScene.cpp

@@ -32,7 +32,7 @@ using namespace cubesscene;
 
 // Constructor
 CubesScene::CubesScene(const std::string& name, EngineSettings& settings)
-      : SceneDemo(name, settings, SCENE_RADIUS) {
+      : SceneDemo(name, settings, true, SCENE_RADIUS) {
 
     // Compute the radius and the center of the scene
     openglframework::Vector3 center(0, 5, 0);
@@ -40,22 +40,22 @@ CubesScene::CubesScene(const std::string& name, EngineSettings& settings)
     // Set the center of the scene
     setScenePosition(center, SCENE_RADIUS);
 
-    // Gravity vector in the dynamics world
+    // Gravity vector in the physics world
     rp3d::Vector3 gravity(0, rp3d::decimal(-9.81), 0);
 
-    rp3d::WorldSettings worldSettings;
+    rp3d::PhysicsWorld::WorldSettings worldSettings;
     worldSettings.worldName = name;
 
-    // Create the dynamics world for the physics simulation
-    rp3d::DynamicsWorld* dynamicsWorld = mPhysicsCommon.createDynamicsWorld(gravity, worldSettings);
-    dynamicsWorld->setEventListener(this);
-    mPhysicsWorld = dynamicsWorld;
+    // Create the physics world for the physics simulation
+    rp3d::PhysicsWorld* physicsWorld = mPhysicsCommon.createPhysicsWorld(worldSettings);
+    physicsWorld->setEventListener(this);
+    mPhysicsWorld = physicsWorld;
 
     // Create all the cubes of the scene
     for (int i=0; i<NB_CUBES; i++) {
 
-        // Create a cube and a corresponding rigid in the dynamics world
-        Box* cube = new Box(BOX_SIZE, BOX_MASS, mPhysicsCommon, getDynamicsWorld(), mMeshFolderPath);
+        // Create a cube and a corresponding rigid in the physics world
+        Box* cube = new Box(BOX_SIZE, BOX_MASS, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
 
         // Set the box color
         cube->setColor(mObjectColorDemo);
@@ -73,7 +73,7 @@ CubesScene::CubesScene(const std::string& name, EngineSettings& settings)
 	// ------------------------- FLOOR ----------------------- //
 
     // Create the floor
-    mFloor = new Box(FLOOR_SIZE, FLOOR_MASS, mPhysicsCommon, getDynamicsWorld(), mMeshFolderPath);
+    mFloor = new Box(FLOOR_SIZE, FLOOR_MASS, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
     mFloor->setColor(mFloorColorDemo);
     mFloor->setSleepingColor(mFloorColorDemo);
 
@@ -82,15 +82,15 @@ CubesScene::CubesScene(const std::string& name, EngineSettings& settings)
 	mPhysicsObjects.push_back(mFloor);
 
     // Get the physics engine parameters
-    mEngineSettings.isGravityEnabled = getDynamicsWorld()->isGravityEnabled();
-    rp3d::Vector3 gravityVector = getDynamicsWorld()->getGravity();
+    mEngineSettings.isGravityEnabled = mPhysicsWorld->isGravityEnabled();
+    rp3d::Vector3 gravityVector = mPhysicsWorld->getGravity();
     mEngineSettings.gravity = openglframework::Vector3(gravityVector.x, gravityVector.y, gravityVector.z);
-    mEngineSettings.isSleepingEnabled = getDynamicsWorld()->isSleepingEnabled();
-    mEngineSettings.sleepLinearVelocity = getDynamicsWorld()->getSleepLinearVelocity();
-    mEngineSettings.sleepAngularVelocity = getDynamicsWorld()->getSleepAngularVelocity();
-    mEngineSettings.nbPositionSolverIterations = getDynamicsWorld()->getNbIterationsPositionSolver();
-    mEngineSettings.nbVelocitySolverIterations = getDynamicsWorld()->getNbIterationsVelocitySolver();
-    mEngineSettings.timeBeforeSleep = getDynamicsWorld()->getTimeBeforeSleep();
+    mEngineSettings.isSleepingEnabled = mPhysicsWorld->isSleepingEnabled();
+    mEngineSettings.sleepLinearVelocity = mPhysicsWorld->getSleepLinearVelocity();
+    mEngineSettings.sleepAngularVelocity = mPhysicsWorld->getSleepAngularVelocity();
+    mEngineSettings.nbPositionSolverIterations = mPhysicsWorld->getNbIterationsPositionSolver();
+    mEngineSettings.nbVelocitySolverIterations = mPhysicsWorld->getNbIterationsVelocitySolver();
+    mEngineSettings.timeBeforeSleep = mPhysicsWorld->getTimeBeforeSleep();
 }
 
 // Destructor
@@ -99,21 +99,21 @@ CubesScene::~CubesScene() {
     // Destroy all the cubes of the scene
     for (std::vector<Box*>::iterator it = mBoxes.begin(); it != mBoxes.end(); ++it) {
 
-        // Destroy the corresponding rigid body from the dynamics world
-        getDynamicsWorld()->destroyRigidBody((*it)->getRigidBody());
+        // Destroy the corresponding rigid body from the physics world
+        mPhysicsWorld->destroyRigidBody((*it)->getRigidBody());
 
         // Destroy the cube
         delete (*it);
     }
 
     // Destroy the rigid body of the floor
-    getDynamicsWorld()->destroyRigidBody(mFloor->getRigidBody());
+    mPhysicsWorld->destroyRigidBody(mFloor->getRigidBody());
 
     // Destroy the floor
     delete mFloor;
 
-    // Destroy the dynamics world
-    mPhysicsCommon.destroyDynamicsWorld(getDynamicsWorld());
+    // Destroy the physics world
+    mPhysicsCommon.destroyPhysicsWorld(mPhysicsWorld);
 }
 
 // Reset the scene

testbed/scenes/cubestack/CubeStackScene.cpp

@@ -32,7 +32,7 @@ using namespace cubestackscene;
 
 // Constructor
 CubeStackScene::CubeStackScene(const std::string& name, EngineSettings& settings)
-      : SceneDemo(name, settings, SCENE_RADIUS) {
+      : SceneDemo(name, settings, true, SCENE_RADIUS) {
 
     // Compute the radius and the center of the scene
     openglframework::Vector3 center(0, 5, 0);
@@ -40,24 +40,24 @@ CubeStackScene::CubeStackScene(const std::string& name, EngineSettings& settings
     // Set the center of the scene
     setScenePosition(center, SCENE_RADIUS);
 
-    // Gravity vector in the dynamics world
+    // Gravity vector in the physics world
     rp3d::Vector3 gravity(0, rp3d::decimal(-9.81), 0);
 
-    rp3d::WorldSettings worldSettings;
+    rp3d::PhysicsWorld::WorldSettings worldSettings;
     worldSettings.worldName = name;
 
-    // Create the dynamics world for the physics simulation
-    rp3d::DynamicsWorld* dynamicsWorld = mPhysicsCommon.createDynamicsWorld(gravity, worldSettings);
-    dynamicsWorld->setEventListener(this);
-    mPhysicsWorld = dynamicsWorld;
+    // Create the physics world for the physics simulation
+    rp3d::PhysicsWorld* physicsWorld = mPhysicsCommon.createPhysicsWorld(worldSettings);
+    physicsWorld->setEventListener(this);
+    mPhysicsWorld = physicsWorld;
 
     // Create all the cubes of the scene
     for (int i=1; i<=NB_FLOORS; i++) {
 
         for (int j=0; j<i; j++) {
 
-            // Create a cube and a corresponding rigid in the dynamics world
-            Box* cube = new Box(BOX_SIZE, BOX_MASS, mPhysicsCommon, getDynamicsWorld(), mMeshFolderPath);
+            // Create a cube and a corresponding rigid in the physics world
+            Box* cube = new Box(BOX_SIZE, BOX_MASS, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
 
             // Set the box color
             cube->setColor(mObjectColorDemo);
@@ -76,7 +76,7 @@ CubeStackScene::CubeStackScene(const std::string& name, EngineSettings& settings
     // ------------------------- FLOOR ----------------------- //
 
     // Create the floor
-    mFloor = new Box(FLOOR_SIZE, FLOOR_MASS, mPhysicsCommon, getDynamicsWorld(), mMeshFolderPath);
+    mFloor = new Box(FLOOR_SIZE, FLOOR_MASS, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
     mFloor->setColor(mFloorColorDemo);
     mFloor->setSleepingColor(mFloorColorDemo);
 
@@ -85,15 +85,15 @@ CubeStackScene::CubeStackScene(const std::string& name, EngineSettings& settings
     mPhysicsObjects.push_back(mFloor);
 
     // Get the physics engine parameters
-    mEngineSettings.isGravityEnabled = getDynamicsWorld()->isGravityEnabled();
-    rp3d::Vector3 gravityVector = getDynamicsWorld()->getGravity();
+    mEngineSettings.isGravityEnabled = mPhysicsWorld->isGravityEnabled();
+    rp3d::Vector3 gravityVector = mPhysicsWorld->getGravity();
     mEngineSettings.gravity = openglframework::Vector3(gravityVector.x, gravityVector.y, gravityVector.z);
-    mEngineSettings.isSleepingEnabled = getDynamicsWorld()->isSleepingEnabled();
-    mEngineSettings.sleepLinearVelocity = getDynamicsWorld()->getSleepLinearVelocity();
-    mEngineSettings.sleepAngularVelocity = getDynamicsWorld()->getSleepAngularVelocity();
-    mEngineSettings.nbPositionSolverIterations = getDynamicsWorld()->getNbIterationsPositionSolver();
-    mEngineSettings.nbVelocitySolverIterations = getDynamicsWorld()->getNbIterationsVelocitySolver();
-    mEngineSettings.timeBeforeSleep = getDynamicsWorld()->getTimeBeforeSleep();
+    mEngineSettings.isSleepingEnabled = mPhysicsWorld->isSleepingEnabled();
+    mEngineSettings.sleepLinearVelocity = mPhysicsWorld->getSleepLinearVelocity();
+    mEngineSettings.sleepAngularVelocity = mPhysicsWorld->getSleepAngularVelocity();
+    mEngineSettings.nbPositionSolverIterations = mPhysicsWorld->getNbIterationsPositionSolver();
+    mEngineSettings.nbVelocitySolverIterations = mPhysicsWorld->getNbIterationsVelocitySolver();
+    mEngineSettings.timeBeforeSleep = mPhysicsWorld->getTimeBeforeSleep();
 }
 
 // Destructor
@@ -102,21 +102,21 @@ CubeStackScene::~CubeStackScene() {
     // Destroy all the cubes of the scene
     for (std::vector<Box*>::iterator it = mBoxes.begin(); it != mBoxes.end(); ++it) {
 
-        // Destroy the corresponding rigid body from the dynamics world
-        getDynamicsWorld()->destroyRigidBody((*it)->getRigidBody());
+        // Destroy the corresponding rigid body from the physics world
+        mPhysicsWorld->destroyRigidBody((*it)->getRigidBody());
 
         // Destroy the cube
         delete (*it);
     }
 
     // Destroy the rigid body of the floor
-    getDynamicsWorld()->destroyRigidBody(mFloor->getRigidBody());
+    mPhysicsWorld->destroyRigidBody(mFloor->getRigidBody());
 
     // Destroy the floor
     delete mFloor;
 
-    // Destroy the dynamics world
-    mPhysicsCommon.destroyDynamicsWorld(getDynamicsWorld());
+    // Destroy the physics world
+    mPhysicsCommon.destroyPhysicsWorld(mPhysicsWorld);
 }
 
 // Reset the scene

testbed/scenes/heightfield/HeightFieldScene.cpp

@@ -32,7 +32,7 @@ using namespace heightfieldscene;
 
 // Constructor
 HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& settings)
-                 : SceneDemo(name, settings, SCENE_RADIUS) {
+                 : SceneDemo(name, settings, true, SCENE_RADIUS) {
 
 	std::string meshFolderPath("meshes/");
 
@@ -42,21 +42,21 @@ HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& sett
     // Set the center of the scene
     setScenePosition(center, SCENE_RADIUS);
 
-    // Gravity vector in the dynamics world
+    // Gravity vector in the physics world
     rp3d::Vector3 gravity(0, rp3d::decimal(-9.81), 0);
 
-    rp3d::WorldSettings worldSettings;
+    rp3d::PhysicsWorld::WorldSettings worldSettings;
     worldSettings.worldName = name;
 
-    // Create the dynamics world for the physics simulation
-    rp3d::DynamicsWorld* dynamicsWorld = mPhysicsCommon.createDynamicsWorld(gravity, worldSettings);
-    dynamicsWorld->setEventListener(this);
-    mPhysicsWorld = dynamicsWorld;
+    // Create the physics world for the physics simulation
+    rp3d::PhysicsWorld* physicsWorld = mPhysicsCommon.createPhysicsWorld(worldSettings);
+    physicsWorld->setEventListener(this);
+    mPhysicsWorld = physicsWorld;
 
 	for (int i = 0; i<NB_COMPOUND_SHAPES; i++) {
 
-		// Create a convex mesh and a corresponding rigid in the dynamics world
-        Dumbbell* dumbbell = new Dumbbell(mPhysicsCommon, getDynamicsWorld(), meshFolderPath);
+        // Create a convex mesh and a corresponding rigid in the physics world
+        Dumbbell* dumbbell = new Dumbbell(true, mPhysicsCommon, mPhysicsWorld, meshFolderPath);
 
 		// Set the box color
 		dumbbell->setColor(mObjectColorDemo);
@@ -74,8 +74,8 @@ HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& sett
 	// Create all the boxes of the scene
 	for (int i = 0; i<NB_BOXES; i++) {
 
-		// Create a sphere and a corresponding rigid in the dynamics world
-        Box* box = new Box(BOX_SIZE, BOX_MASS, mPhysicsCommon, getDynamicsWorld(), mMeshFolderPath);
+        // Create a sphere and a corresponding rigid in the physics world
+        Box* box = new Box(BOX_SIZE, BOX_MASS, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
 
 		// Set the box color
 		box->setColor(mObjectColorDemo);
@@ -93,8 +93,8 @@ HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& sett
 	// Create all the spheres of the scene
 	for (int i = 0; i<NB_SPHERES; i++) {
 
-		// Create a sphere and a corresponding rigid in the dynamics world
-        Sphere* sphere = new Sphere(SPHERE_RADIUS, BOX_MASS, mPhysicsCommon, getDynamicsWorld(), meshFolderPath);
+        // Create a sphere and a corresponding rigid in the physics world
+        Sphere* sphere = new Sphere(SPHERE_RADIUS, BOX_MASS, mPhysicsCommon, mPhysicsWorld, meshFolderPath);
 
 		// Add some rolling resistance
         sphere->getRigidBody()->getMaterial().setRollingResistance(0.08f);
@@ -115,9 +115,9 @@ HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& sett
 	// Create all the capsules of the scene
 	for (int i = 0; i<NB_CAPSULES; i++) {
 
-		// Create a cylinder and a corresponding rigid in the dynamics world
-        Capsule* capsule = new Capsule(CAPSULE_RADIUS, CAPSULE_HEIGHT, CAPSULE_MASS,
-                                       mPhysicsCommon, getDynamicsWorld(), meshFolderPath);
+        // Create a cylinder and a corresponding rigid in the physics world
+        Capsule* capsule = new Capsule(true, CAPSULE_RADIUS, CAPSULE_HEIGHT, CAPSULE_MASS,
+                                       mPhysicsCommon, mPhysicsWorld, meshFolderPath);
 
         capsule->getRigidBody()->getMaterial().setRollingResistance(0.08f);
 
@@ -137,8 +137,8 @@ HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& sett
 	// Create all the convex meshes of the scene
 	for (int i = 0; i<NB_MESHES; i++) {
 
-		// Create a convex mesh and a corresponding rigid in the dynamics world
-        ConvexMesh* mesh = new ConvexMesh(MESH_MASS, mPhysicsCommon, getDynamicsWorld(), meshFolderPath + "convexmesh.obj");
+        // Create a convex mesh and a corresponding rigid in the physics world
+        ConvexMesh* mesh = new ConvexMesh(MESH_MASS, mPhysicsCommon, mPhysicsWorld, meshFolderPath + "convexmesh.obj");
 
 		// Set the box color
 		mesh->setColor(mObjectColorDemo);
@@ -158,8 +158,8 @@ HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& sett
     // Position
     rp3d::decimal mass = 1.0;
 
-    // Create a convex mesh and a corresponding rigid in the dynamics world
-    mHeightField = new HeightField(mass, mPhysicsCommon, getDynamicsWorld());
+    // Create a convex mesh and a corresponding rigid in the physics world
+    mHeightField = new HeightField(mass, mPhysicsCommon, mPhysicsWorld);
 
     // Set the mesh as beeing static
     mHeightField->getRigidBody()->setType(rp3d::BodyType::STATIC);
@@ -176,15 +176,15 @@ HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& sett
     material.setFrictionCoefficient(0.1f);
 
     // Get the physics engine parameters
-    mEngineSettings.isGravityEnabled = getDynamicsWorld()->isGravityEnabled();
-    rp3d::Vector3 gravityVector = getDynamicsWorld()->getGravity();
+    mEngineSettings.isGravityEnabled = mPhysicsWorld->isGravityEnabled();
+    rp3d::Vector3 gravityVector = mPhysicsWorld->getGravity();
     mEngineSettings.gravity = openglframework::Vector3(gravityVector.x, gravityVector.y, gravityVector.z);
-    mEngineSettings.isSleepingEnabled = getDynamicsWorld()->isSleepingEnabled();
-    mEngineSettings.sleepLinearVelocity = getDynamicsWorld()->getSleepLinearVelocity();
-    mEngineSettings.sleepAngularVelocity = getDynamicsWorld()->getSleepAngularVelocity();
-    mEngineSettings.nbPositionSolverIterations = getDynamicsWorld()->getNbIterationsPositionSolver();
-    mEngineSettings.nbVelocitySolverIterations = getDynamicsWorld()->getNbIterationsVelocitySolver();
-    mEngineSettings.timeBeforeSleep = getDynamicsWorld()->getTimeBeforeSleep();
+    mEngineSettings.isSleepingEnabled = mPhysicsWorld->isSleepingEnabled();
+    mEngineSettings.sleepLinearVelocity = mPhysicsWorld->getSleepLinearVelocity();
+    mEngineSettings.sleepAngularVelocity = mPhysicsWorld->getSleepAngularVelocity();
+    mEngineSettings.nbPositionSolverIterations = mPhysicsWorld->getNbIterationsPositionSolver();
+    mEngineSettings.nbVelocitySolverIterations = mPhysicsWorld->getNbIterationsVelocitySolver();
+    mEngineSettings.timeBeforeSleep = mPhysicsWorld->getTimeBeforeSleep();
 }
 
 // Destructor
@@ -193,15 +193,15 @@ HeightFieldScene::~HeightFieldScene() {
 	// Destroy all the physics objects of the scene
 	for (std::vector<PhysicsObject*>::iterator it = mPhysicsObjects.begin(); it != mPhysicsObjects.end(); ++it) {
 
-		// Destroy the corresponding rigid body from the dynamics world
-        getDynamicsWorld()->destroyRigidBody((*it)->getRigidBody());
+        // Destroy the corresponding rigid body from the physics world
+        mPhysicsWorld->destroyRigidBody((*it)->getRigidBody());
 
 		// Destroy the object
 		delete (*it);
 	}
 
-    // Destroy the dynamics world
-    mPhysicsCommon.destroyDynamicsWorld(getDynamicsWorld());
+    // Destroy the physics world
+    mPhysicsCommon.destroyPhysicsWorld(mPhysicsWorld);
 }
 
 // Reset the scene

testbed/scenes/joints/JointsScene.cpp

@@ -33,7 +33,7 @@ using namespace jointsscene;
 
 // Constructor
 JointsScene::JointsScene(const std::string& name, EngineSettings& settings)
-      : SceneDemo(name, settings, SCENE_RADIUS) {
+      : SceneDemo(name, settings, true, SCENE_RADIUS) {
 
     // Compute the radius and the center of the scene
     openglframework::Vector3 center(0, 5, 0);
@@ -41,16 +41,16 @@ JointsScene::JointsScene(const std::string& name, EngineSettings& settings)
     // Set the center of the scene
     setScenePosition(center, SCENE_RADIUS);
 
-    // Gravity vector in the dynamics world
+    // Gravity vector in the physics world
     rp3d::Vector3 gravity(0, rp3d::decimal(-9.81), 0);
 
-    rp3d::WorldSettings worldSettings;
+    rp3d::PhysicsWorld::WorldSettings worldSettings;
     worldSettings.worldName = name;
 
-    // Create the dynamics world for the physics simulation
-    rp3d::DynamicsWorld* dynamicsWorld = mPhysicsCommon.createDynamicsWorld(gravity, worldSettings);
-    dynamicsWorld->setEventListener(this);
-    mPhysicsWorld = dynamicsWorld;
+    // Create the physics world for the physics simulation
+    rp3d::PhysicsWorld* physicsWorld = mPhysicsCommon.createPhysicsWorld(worldSettings);
+    physicsWorld->setEventListener(this);
+    mPhysicsWorld = physicsWorld;
 
     // Create the Ball-and-Socket joint
     createBallAndSocketJoints();
@@ -68,37 +68,37 @@ JointsScene::JointsScene(const std::string& name, EngineSettings& settings)
     createFloor();
 
     // Get the physics engine parameters
-    mEngineSettings.isGravityEnabled = getDynamicsWorld()->isGravityEnabled();
-    rp3d::Vector3 gravityVector = getDynamicsWorld()->getGravity();
+    mEngineSettings.isGravityEnabled = mPhysicsWorld->isGravityEnabled();
+    rp3d::Vector3 gravityVector = mPhysicsWorld->getGravity();
     mEngineSettings.gravity = openglframework::Vector3(gravityVector.x, gravityVector.y, gravityVector.z);
-    mEngineSettings.isSleepingEnabled = getDynamicsWorld()->isSleepingEnabled();
-    mEngineSettings.sleepLinearVelocity = getDynamicsWorld()->getSleepLinearVelocity();
-    mEngineSettings.sleepAngularVelocity = getDynamicsWorld()->getSleepAngularVelocity();
-    mEngineSettings.nbPositionSolverIterations = getDynamicsWorld()->getNbIterationsPositionSolver();
-    mEngineSettings.nbVelocitySolverIterations = getDynamicsWorld()->getNbIterationsVelocitySolver();
-    mEngineSettings.timeBeforeSleep = getDynamicsWorld()->getTimeBeforeSleep();
+    mEngineSettings.isSleepingEnabled = mPhysicsWorld->isSleepingEnabled();
+    mEngineSettings.sleepLinearVelocity = mPhysicsWorld->getSleepLinearVelocity();
+    mEngineSettings.sleepAngularVelocity = mPhysicsWorld->getSleepAngularVelocity();
+    mEngineSettings.nbPositionSolverIterations = mPhysicsWorld->getNbIterationsPositionSolver();
+    mEngineSettings.nbVelocitySolverIterations = mPhysicsWorld->getNbIterationsVelocitySolver();
+    mEngineSettings.timeBeforeSleep = mPhysicsWorld->getTimeBeforeSleep();
 }
 
 // Destructor
 JointsScene::~JointsScene() {
 
     // Destroy the joints
-    getDynamicsWorld()->destroyJoint(mSliderJoint);
-    getDynamicsWorld()->destroyJoint(mPropellerHingeJoint);
-    getDynamicsWorld()->destroyJoint(mFixedJoint1);
-    getDynamicsWorld()->destroyJoint(mFixedJoint2);
+    mPhysicsWorld->destroyJoint(mSliderJoint);
+    mPhysicsWorld->destroyJoint(mPropellerHingeJoint);
+    mPhysicsWorld->destroyJoint(mFixedJoint1);
+    mPhysicsWorld->destroyJoint(mFixedJoint2);
     for (int i=0; i<NB_BALLSOCKETJOINT_BOXES-1; i++) {
-        getDynamicsWorld()->destroyJoint(mBallAndSocketJoints[i]);
+        mPhysicsWorld->destroyJoint(mBallAndSocketJoints[i]);
     }
 
     // Destroy all the rigid bodies of the scene
-    getDynamicsWorld()->destroyRigidBody(mSliderJointBottomBox->getRigidBody());
-    getDynamicsWorld()->destroyRigidBody(mSliderJointTopBox->getRigidBody());
-    getDynamicsWorld()->destroyRigidBody(mPropellerBox->getRigidBody());
-    getDynamicsWorld()->destroyRigidBody(mFixedJointBox1->getRigidBody());
-    getDynamicsWorld()->destroyRigidBody(mFixedJointBox2->getRigidBody());
+    mPhysicsWorld->destroyRigidBody(mSliderJointBottomBox->getRigidBody());
+    mPhysicsWorld->destroyRigidBody(mSliderJointTopBox->getRigidBody());
+    mPhysicsWorld->destroyRigidBody(mPropellerBox->getRigidBody());
+    mPhysicsWorld->destroyRigidBody(mFixedJointBox1->getRigidBody());
+    mPhysicsWorld->destroyRigidBody(mFixedJointBox2->getRigidBody());
     for (int i=0; i<NB_BALLSOCKETJOINT_BOXES; i++) {
-        getDynamicsWorld()->destroyRigidBody(mBallAndSocketJointChainBoxes[i]->getRigidBody());
+        mPhysicsWorld->destroyRigidBody(mBallAndSocketJointChainBoxes[i]->getRigidBody());
     }
 
     delete mSliderJointBottomBox;
@@ -111,11 +111,11 @@ JointsScene::~JointsScene() {
     }
 
     // Destroy the floor
-    getDynamicsWorld()->destroyRigidBody(mFloor->getRigidBody());
+    mPhysicsWorld->destroyRigidBody(mFloor->getRigidBody());
     delete mFloor;
 
-    // Destroy the dynamics world
-    mPhysicsCommon.destroyDynamicsWorld(getDynamicsWorld());
+    // Destroy the physics world
+    mPhysicsCommon.destroyPhysicsWorld(mPhysicsWorld);
 }
 
 // Update the physics world (take a simulation step)
@@ -143,7 +143,7 @@ void JointsScene::reset() {
         rp3d::Quaternion initOrientation = rp3d::Quaternion::identity();
         rp3d::Transform transform(initPosition, initOrientation);
 
-        // Create a box and a corresponding rigid in the dynamics world
+        // Create a box and a corresponding rigid in the physics world
         mBallAndSocketJointChainBoxes[i]->setTransform(transform);
 
         positionBox.y -= boxDimension.y + 0.5f;
@@ -157,7 +157,7 @@ void JointsScene::reset() {
     rp3d::Quaternion initOrientation = rp3d::Quaternion::identity();
     rp3d::Transform transformBottomBox(initPosition, initOrientation);
 
-    // Create a box and a corresponding rigid in the dynamics world
+    // Create a box and a corresponding rigid in the physics world
     mSliderJointBottomBox->setTransform(transformBottomBox);
 
     // Position of the box
@@ -166,7 +166,7 @@ void JointsScene::reset() {
     initOrientation = rp3d::Quaternion::identity();
     rp3d::Transform transformTopBox(initPosition, initOrientation);
 
-    // Create a box and a corresponding rigid in the dynamics world
+    // Create a box and a corresponding rigid in the physics world
     mSliderJointTopBox->setTransform(transformTopBox);
 
     // --------------- Propeller Hinge joint --------------- //
@@ -177,7 +177,7 @@ void JointsScene::reset() {
     initOrientation = rp3d::Quaternion::identity();
     rp3d::Transform transformHingeBox(initPosition, initOrientation);
 
-    // Create a box and a corresponding rigid in the dynamics world
+    // Create a box and a corresponding rigid in the physics world
     mPropellerBox->setTransform(transformHingeBox);
 
     // --------------- Fixed joint --------------- //
@@ -188,7 +188,7 @@ void JointsScene::reset() {
     initOrientation = rp3d::Quaternion::identity();
     rp3d::Transform transformFixedBox1(initPosition, initOrientation);
 
-    // Create a box and a corresponding rigid in the dynamics world
+    // Create a box and a corresponding rigid in the physics world
     mFixedJointBox1->setTransform(transformFixedBox1);
 
     // Position of the box
@@ -197,7 +197,7 @@ void JointsScene::reset() {
     initOrientation = rp3d::Quaternion::identity();
     rp3d::Transform transformFixedBox2(initPosition, initOrientation);
 
-    // Create a box and a corresponding rigid in the dynamics world
+    // Create a box and a corresponding rigid in the physics world
     mFixedJointBox2->setTransform(transformFixedBox2);
 }
 
@@ -212,9 +212,9 @@ void JointsScene::createBallAndSocketJoints() {
 
     for (int i=0; i<NB_BALLSOCKETJOINT_BOXES; i++) {
 
-        // Create a box and a corresponding rigid in the dynamics world
+        // Create a box and a corresponding rigid in the physics world
         mBallAndSocketJointChainBoxes[i] = new Box(boxDimension, boxMass,
-                                                   mPhysicsCommon, getDynamicsWorld(), mMeshFolderPath);
+                                                   mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
         mBallAndSocketJointChainBoxes[i]->setTransform(rp3d::Transform(positionBox, rp3d::Quaternion::identity()));
 
         // Set the box color
@@ -250,9 +250,9 @@ void JointsScene::createBallAndSocketJoints() {
         const rp3d::Vector3 anchorPointWorldSpace = 0.5 * (body1Position + body2Position);
         rp3d::BallAndSocketJointInfo jointInfo(body1, body2, anchorPointWorldSpace);
 
-        // Create the joint in the dynamics world
+        // Create the joint in the physics world
         mBallAndSocketJoints[i] = dynamic_cast<rp3d::BallAndSocketJoint*>(
-                    getDynamicsWorld()->createJoint(jointInfo));
+                    mPhysicsWorld->createJoint(jointInfo));
     }
 }
 
@@ -264,9 +264,9 @@ void JointsScene::createSliderJoint() {
     // Position of the box
     rp3d::Vector3 positionBox1(0, 2.1f, 0);
 
-    // Create a box and a corresponding rigid in the dynamics world
+    // Create a box and a corresponding rigid in the physics world
     openglframework::Vector3 box1Dimension(2, 4, 2);
-    mSliderJointBottomBox = new Box(box1Dimension , BOX_MASS, mPhysicsCommon, getDynamicsWorld(), mMeshFolderPath);
+    mSliderJointBottomBox = new Box(box1Dimension , BOX_MASS, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
     mSliderJointBottomBox->setTransform(rp3d::Transform(positionBox1, rp3d::Quaternion::identity()));
 
     // Set the box color
@@ -286,9 +286,9 @@ void JointsScene::createSliderJoint() {
     // Position of the box
     rp3d::Vector3 positionBox2(0, 4.2f, 0);
 
-    // Create a box and a corresponding rigid in the dynamics world
+    // Create a box and a corresponding rigid in the physics world
     openglframework::Vector3 box2Dimension(1.5f, 4, 1.5f);
-    mSliderJointTopBox = new Box(box2Dimension, BOX_MASS, mPhysicsCommon, getDynamicsWorld(), mMeshFolderPath);
+    mSliderJointTopBox = new Box(box2Dimension, BOX_MASS, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
     mSliderJointTopBox->setTransform(rp3d::Transform(positionBox2, rp3d::Quaternion::identity()));
 
     // Set the box color
@@ -316,8 +316,8 @@ void JointsScene::createSliderJoint() {
     jointInfo.maxMotorForce = 10000.0;
     jointInfo.isCollisionEnabled = false;
 
-    // Create the joint in the dynamics world
-    mSliderJoint = dynamic_cast<rp3d::SliderJoint*>(getDynamicsWorld()->createJoint(jointInfo));
+    // Create the joint in the physics world
+    mSliderJoint = dynamic_cast<rp3d::SliderJoint*>(mPhysicsWorld->createJoint(jointInfo));
 }
 
 /// Create the boxes and joint for the Hinge joint example
@@ -328,9 +328,9 @@ void JointsScene::createPropellerHingeJoint() {
     // Position of the box
     rp3d::Vector3 positionBox1(0, 7, 0);
 
-    // Create a box and a corresponding rigid in the dynamics world
+    // Create a box and a corresponding rigid in the physics world
     openglframework::Vector3 boxDimension(10, 1, 1);
-    mPropellerBox = new Box(boxDimension, BOX_MASS, mPhysicsCommon, getDynamicsWorld(), mMeshFolderPath);
+    mPropellerBox = new Box(boxDimension, BOX_MASS, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
     mPropellerBox->setTransform(rp3d::Transform(positionBox1, rp3d::Quaternion::identity()));
 
     // Set the box color
@@ -357,8 +357,8 @@ void JointsScene::createPropellerHingeJoint() {
     jointInfo.maxMotorTorque = rp3d::decimal(60.0);
     jointInfo.isCollisionEnabled = false;
 
-    // Create the joint in the dynamics world
-    mPropellerHingeJoint = dynamic_cast<rp3d::HingeJoint*>(getDynamicsWorld()->createJoint(jointInfo));
+    // Create the joint in the physics world
+    mPropellerHingeJoint = dynamic_cast<rp3d::HingeJoint*>(mPhysicsWorld->createJoint(jointInfo));
 }
 
 /// Create the boxes and joints for the fixed joints
@@ -369,9 +369,9 @@ void JointsScene::createFixedJoints() {
     // Position of the box
     rp3d::Vector3 positionBox1(5, 7, 0);
 
-    // Create a box and a corresponding rigid in the dynamics world
+    // Create a box and a corresponding rigid in the physics world
     openglframework::Vector3 boxDimension(1.5, 1.5, 1.5);
-    mFixedJointBox1 = new Box(boxDimension, BOX_MASS, mPhysicsCommon, getDynamicsWorld(), mMeshFolderPath);
+    mFixedJointBox1 = new Box(boxDimension, BOX_MASS, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
     mFixedJointBox1->setTransform(rp3d::Transform(positionBox1, rp3d::Quaternion::identity()));
 
     // Set the box color
@@ -388,8 +388,8 @@ void JointsScene::createFixedJoints() {
     // Position of the box
     rp3d::Vector3 positionBox2(-5, 7, 0);
 
-    // Create a box and a corresponding rigid in the dynamics world
-    mFixedJointBox2 = new Box(boxDimension, BOX_MASS, mPhysicsCommon, getDynamicsWorld(), mMeshFolderPath);
+    // Create a box and a corresponding rigid in the physics world
+    mFixedJointBox2 = new Box(boxDimension, BOX_MASS, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
     mFixedJointBox2->setTransform(rp3d::Transform(positionBox2, rp3d::Quaternion::identity()));
 
     // Set the box color
@@ -410,8 +410,8 @@ void JointsScene::createFixedJoints() {
     rp3d::FixedJointInfo jointInfo1(body1, propellerBody, anchorPointWorldSpace1);
     jointInfo1.isCollisionEnabled = false;
 
-    // Create the joint in the dynamics world
-    mFixedJoint1 = dynamic_cast<rp3d::FixedJoint*>(getDynamicsWorld()->createJoint(jointInfo1));
+    // Create the joint in the physics world
+    mFixedJoint1 = dynamic_cast<rp3d::FixedJoint*>(mPhysicsWorld->createJoint(jointInfo1));
 
     // --------------- Create the second fixed joint --------------- //
 
@@ -421,8 +421,8 @@ void JointsScene::createFixedJoints() {
     rp3d::FixedJointInfo jointInfo2(body2, propellerBody, anchorPointWorldSpace2);
     jointInfo2.isCollisionEnabled = false;
 
-    // Create the joint in the dynamics world
-    mFixedJoint2 = dynamic_cast<rp3d::FixedJoint*>(getDynamicsWorld()->createJoint(jointInfo2));
+    // Create the joint in the physics world
+    mFixedJoint2 = dynamic_cast<rp3d::FixedJoint*>(mPhysicsWorld->createJoint(jointInfo2));
 }
 
 // Create the floor
@@ -430,7 +430,7 @@ void JointsScene::createFloor() {
 
     // Create the floor
     rp3d::Vector3 floorPosition(0, 0, 0);
-    mFloor = new Box(FLOOR_SIZE, FLOOR_MASS, mPhysicsCommon, getDynamicsWorld(), mMeshFolderPath);
+    mFloor = new Box(FLOOR_SIZE, FLOOR_MASS, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
 
     // Set the box color
     mFloor->setColor(mFloorColorDemo);

testbed/scenes/pile/PileScene.cpp

@@ -32,7 +32,7 @@ using namespace pilescene;
 
 // Constructor
 PileScene::PileScene(const std::string& name, EngineSettings& settings)
-       : SceneDemo(name, settings, SCENE_RADIUS) {
+       : SceneDemo(name, settings, true, SCENE_RADIUS) {
 
     std::string meshFolderPath("meshes/");
 
@@ -42,19 +42,19 @@ PileScene::PileScene(const std::string& name, EngineSettings& settings)
     // Set the center of the scene
     setScenePosition(center, SCENE_RADIUS);
 
-    // Gravity vector in the dynamics world
+    // Gravity vector in the physics world
     rp3d::Vector3 gravity(0, -9.81f, 0);
 
-    rp3d::WorldSettings worldSettings;
+    rp3d::PhysicsWorld::WorldSettings worldSettings;
     worldSettings.worldName = name;
 
-    // Create the dynamics world for the physics simulation
-    mPhysicsWorld = mPhysicsCommon.createDynamicsWorld(gravity, worldSettings);
+    // Create the physics world for the physics simulation
+    mPhysicsWorld = mPhysicsCommon.createPhysicsWorld(worldSettings);
 
     for (int i=0; i<NB_COMPOUND_SHAPES; i++) {
 
-        // Create a convex mesh and a corresponding rigid in the dynamics world
-        Dumbbell* dumbbell = new Dumbbell(mPhysicsCommon, getDynamicsWorld(), meshFolderPath);
+        // Create a convex mesh and a corresponding rigid in the physics world
+        Dumbbell* dumbbell = new Dumbbell(true, mPhysicsCommon, mPhysicsWorld, meshFolderPath);
 
         // Set the box color
         dumbbell->setColor(mObjectColorDemo);
@@ -72,8 +72,8 @@ PileScene::PileScene(const std::string& name, EngineSettings& settings)
     // Create all the boxes of the scene
     for (int i=0; i<NB_BOXES; i++) {
 
-        // Create a sphere and a corresponding rigid in the dynamics world
-        Box* box = new Box(BOX_SIZE, BOX_MASS, mPhysicsCommon, getDynamicsWorld(), mMeshFolderPath);
+        // Create a sphere and a corresponding rigid in the physics world
+        Box* box = new Box(BOX_SIZE, BOX_MASS, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
 
         // Set the box color
         box->setColor(mObjectColorDemo);
@@ -91,8 +91,8 @@ PileScene::PileScene(const std::string& name, EngineSettings& settings)
     // Create all the spheres of the scene
     for (int i=0; i<NB_SPHERES; i++) {
 
-        // Create a sphere and a corresponding rigid in the dynamics world
-        Sphere* sphere = new Sphere(SPHERE_RADIUS, BOX_MASS, mPhysicsCommon, getDynamicsWorld(), meshFolderPath);
+        // Create a sphere and a corresponding rigid in the physics world
+        Sphere* sphere = new Sphere(SPHERE_RADIUS, BOX_MASS, mPhysicsCommon, mPhysicsWorld, meshFolderPath);
 
         // Add some rolling resistance
         sphere->getRigidBody()->getMaterial().setRollingResistance(rp3d::decimal(0.08));
@@ -113,9 +113,9 @@ PileScene::PileScene(const std::string& name, EngineSettings& settings)
     // Create all the capsules of the scene
     for (int i=0; i<NB_CAPSULES; i++) {
 
-        // Create a cylinder and a corresponding rigid in the dynamics world
-        Capsule* capsule = new Capsule(CAPSULE_RADIUS, CAPSULE_HEIGHT, CAPSULE_MASS,
-                                       mPhysicsCommon, getDynamicsWorld(), meshFolderPath);
+        // Create a cylinder and a corresponding rigid in the physics world
+        Capsule* capsule = new Capsule(true, CAPSULE_RADIUS, CAPSULE_HEIGHT, CAPSULE_MASS,
+                                       mPhysicsCommon, mPhysicsWorld, meshFolderPath);
 
         capsule->getRigidBody()->getMaterial().setRollingResistance(rp3d::decimal(0.08f));
 
@@ -135,8 +135,8 @@ PileScene::PileScene(const std::string& name, EngineSettings& settings)
     // Create all the convex meshes of the scene
     for (int i=0; i<NB_MESHES; i++) {
 
-        // Create a convex mesh and a corresponding rigid in the dynamics world
-        ConvexMesh* mesh = new ConvexMesh(MESH_MASS, mPhysicsCommon, getDynamicsWorld(), meshFolderPath + "convexmesh.obj");
+        // Create a convex mesh and a corresponding rigid in the physics world
+        ConvexMesh* mesh = new ConvexMesh(MESH_MASS, mPhysicsCommon, mPhysicsWorld, meshFolderPath + "convexmesh.obj");
 
         // Set the box color
         mesh->setColor(mObjectColorDemo);
@@ -156,8 +156,8 @@ PileScene::PileScene(const std::string& name, EngineSettings& settings)
     // Position
     rp3d::decimal mass = 1.0;
 
-    // Create a convex mesh and a corresponding rigid in the dynamics world
-    mSandbox = new ConcaveMesh(mass, mPhysicsCommon, getDynamicsWorld(), meshFolderPath + "sandbox.obj");
+    // Create a convex mesh and a corresponding rigid in the physics world
+    mSandbox = new ConcaveMesh(mass, mPhysicsCommon, mPhysicsWorld, meshFolderPath + "sandbox.obj");
 
     // Set the mesh as beeing static
     mSandbox->getRigidBody()->setType(rp3d::BodyType::STATIC);
@@ -174,15 +174,15 @@ PileScene::PileScene(const std::string& name, EngineSettings& settings)
     material.setFrictionCoefficient(rp3d::decimal(0.1));
 
     // Get the physics engine parameters
-    mEngineSettings.isGravityEnabled = getDynamicsWorld()->isGravityEnabled();
-    rp3d::Vector3 gravityVector = getDynamicsWorld()->getGravity();
+    mEngineSettings.isGravityEnabled = mPhysicsWorld->isGravityEnabled();
+    rp3d::Vector3 gravityVector = mPhysicsWorld->getGravity();
     mEngineSettings.gravity = openglframework::Vector3(gravityVector.x, gravityVector.y, gravityVector.z);
-    mEngineSettings.isSleepingEnabled = getDynamicsWorld()->isSleepingEnabled();
-    mEngineSettings.sleepLinearVelocity = getDynamicsWorld()->getSleepLinearVelocity();
-    mEngineSettings.sleepAngularVelocity = getDynamicsWorld()->getSleepAngularVelocity();
-    mEngineSettings.nbPositionSolverIterations = getDynamicsWorld()->getNbIterationsPositionSolver();
-    mEngineSettings.nbVelocitySolverIterations = getDynamicsWorld()->getNbIterationsVelocitySolver();
-    mEngineSettings.timeBeforeSleep = getDynamicsWorld()->getTimeBeforeSleep();
+    mEngineSettings.isSleepingEnabled = mPhysicsWorld->isSleepingEnabled();
+    mEngineSettings.sleepLinearVelocity = mPhysicsWorld->getSleepLinearVelocity();
+    mEngineSettings.sleepAngularVelocity = mPhysicsWorld->getSleepAngularVelocity();
+    mEngineSettings.nbPositionSolverIterations = mPhysicsWorld->getNbIterationsPositionSolver();
+    mEngineSettings.nbVelocitySolverIterations = mPhysicsWorld->getNbIterationsVelocitySolver();
+    mEngineSettings.timeBeforeSleep = mPhysicsWorld->getTimeBeforeSleep();
 }
 
 // Destructor
@@ -191,15 +191,15 @@ PileScene::~PileScene() {
     // Destroy all the physics objects of the scene
     for (std::vector<PhysicsObject*>::iterator it = mPhysicsObjects.begin(); it != mPhysicsObjects.end(); ++it) {
 
-        // Destroy the corresponding rigid body from the dynamics world
-        getDynamicsWorld()->destroyRigidBody((*it)->getRigidBody());
+        // Destroy the corresponding rigid body from the physics world
+        mPhysicsWorld->destroyRigidBody((*it)->getRigidBody());
 
         // Destroy the object
         delete (*it);
     }
 
-    // Destroy the dynamics world
-    mPhysicsCommon.destroyDynamicsWorld(getDynamicsWorld());
+    // Destroy the physics world
+    mPhysicsCommon.destroyPhysicsWorld(mPhysicsWorld);
 }
 
 /// Reset the scene

testbed/scenes/raycast/RaycastScene.cpp

@@ -44,16 +44,16 @@ RaycastScene::RaycastScene(const std::string& name, EngineSettings& settings)
     // Set the center of the scene
     setScenePosition(center, SCENE_RADIUS);
 
-    rp3d::WorldSettings worldSettings;
+    rp3d::PhysicsWorld::WorldSettings worldSettings;
     worldSettings.worldName = name;
 
-    // Create the dynamics world for the physics simulation
-    mPhysicsWorld = mPhysicsCommon.createCollisionWorld(worldSettings);
+    // Create the physics world for the physics simulation
+    mPhysicsWorld = mPhysicsCommon.createPhysicsWorld(worldSettings);
 
     // ---------- Dumbbell ---------- //
 
-    // Create a convex mesh and a corresponding collision body in the dynamics world
-    mDumbbell = new Dumbbell(mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
+    // Create a convex mesh and a corresponding collision body in the physics world
+    mDumbbell = new Dumbbell(false, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
 
     // Set the box color
     mDumbbell->setColor(mObjectColorDemo);
@@ -62,7 +62,7 @@ RaycastScene::RaycastScene(const std::string& name, EngineSettings& settings)
 
     // ---------- Box ---------- //
 
-    // Create a box and a corresponding collision body in the dynamics world
+    // Create a box and a corresponding collision body in the physics world
     mBox = new Box(BOX_SIZE, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
     mBox->getCollisionBody()->setIsActive(false);
 
@@ -73,7 +73,7 @@ RaycastScene::RaycastScene(const std::string& name, EngineSettings& settings)
 
     // ---------- Sphere ---------- //
 
-    // Create a sphere and a corresponding collision body in the dynamics world
+    // Create a sphere and a corresponding collision body in the physics world
     mSphere = new Sphere(SPHERE_RADIUS, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
 
     // Set the color
@@ -84,8 +84,8 @@ RaycastScene::RaycastScene(const std::string& name, EngineSettings& settings)
     // ---------- Capsule ---------- //
     openglframework::Vector3 position6(0, 0, 0);
 
-    // Create a cylinder and a corresponding collision body in the dynamics world
-    mCapsule = new Capsule(CAPSULE_RADIUS, CAPSULE_HEIGHT, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
+    // Create a cylinder and a corresponding collision body in the physics world
+    mCapsule = new Capsule(false, CAPSULE_RADIUS, CAPSULE_HEIGHT, 1.0, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
 
     // Set the color
     mCapsule->setColor(mObjectColorDemo);
@@ -94,7 +94,7 @@ RaycastScene::RaycastScene(const std::string& name, EngineSettings& settings)
 
     // ---------- Convex Mesh ---------- //
 
-    // Create a convex mesh and a corresponding collision body in the dynamics world
+    // Create a convex mesh and a corresponding collision body in the physics world
     mConvexMesh = new ConvexMesh(mPhysicsCommon, mPhysicsWorld, mMeshFolderPath + "convexmesh.obj");
 
     // Set the color
@@ -104,7 +104,7 @@ RaycastScene::RaycastScene(const std::string& name, EngineSettings& settings)
 
     // ---------- Concave Mesh ---------- //
 
-    // Create a convex mesh and a corresponding collision body in the dynamics world
+    // Create a convex mesh and a corresponding collision body in the physics world
     mConcaveMesh = new ConcaveMesh(mPhysicsCommon, mPhysicsWorld, mMeshFolderPath + "city.obj");
 
     // Set the color
@@ -114,7 +114,7 @@ RaycastScene::RaycastScene(const std::string& name, EngineSettings& settings)
 
     // ---------- Heightfield ---------- //
 
-    // Create a convex mesh and a corresponding collision body in the dynamics world
+    // Create a convex mesh and a corresponding collision body in the physics world
     mHeightField = new HeightField(mPhysicsCommon, mPhysicsWorld);
 
     // Set the color
@@ -207,7 +207,7 @@ void RaycastScene::reset() {
 // Destructor
 RaycastScene::~RaycastScene() {
 
-    // Destroy the box rigid body from the dynamics world
+    // Destroy the box rigid body from the physics world
     mPhysicsWorld->destroyCollisionBody(mBox->getCollisionBody());
     delete mBox;
 
@@ -215,31 +215,31 @@ RaycastScene::~RaycastScene() {
     mPhysicsWorld->destroyCollisionBody(mSphere->getCollisionBody());
     delete mSphere;
 
-    // Destroy the corresponding rigid body from the dynamics world
+    // Destroy the corresponding rigid body from the physics world
     mPhysicsWorld->destroyCollisionBody(mCapsule->getCollisionBody());
 
     // Destroy the sphere
     delete mCapsule;
 
-    // Destroy the corresponding rigid body from the dynamics world
+    // Destroy the corresponding rigid body from the physics world
     mPhysicsWorld->destroyCollisionBody(mConvexMesh->getCollisionBody());
 
     // Destroy the convex mesh
     delete mConvexMesh;
 
-    // Destroy the corresponding rigid body from the dynamics world
+    // Destroy the corresponding rigid body from the physics world
     mPhysicsWorld->destroyCollisionBody(mDumbbell->getCollisionBody());
 
     // Destroy the dumbbell
     delete mDumbbell;
 
-    // Destroy the corresponding rigid body from the dynamics world
+    // Destroy the corresponding rigid body from the physics world
     mPhysicsWorld->destroyCollisionBody(mConcaveMesh->getCollisionBody());
 
     // Destroy the convex mesh
     delete mConcaveMesh;
 
-    // Destroy the corresponding rigid body from the dynamics world
+    // Destroy the corresponding rigid body from the physics world
     mPhysicsWorld->destroyCollisionBody(mHeightField->getCollisionBody());
 
     // Destroy the convex mesh
@@ -251,7 +251,7 @@ RaycastScene::~RaycastScene() {
     VisualContactPoint::destroyStaticData();
 
     // Destroy the collision world
-    mPhysicsCommon.destroyCollisionWorld(mPhysicsWorld);
+    mPhysicsCommon.destroyPhysicsWorld(mPhysicsWorld);
 
     // Destroy the lines
     for (std::vector<Line*>::iterator it = mLines.begin(); it != mLines.end();

testbed/src/Scene.h

@@ -72,7 +72,7 @@ struct EngineSettings {
 
            EngineSettings defaultSettings;
 
-           rp3d::WorldSettings worldSettings;
+           rp3d::PhysicsWorld::WorldSettings worldSettings;
            defaultSettings.timeStep = 1.0f / 60.0f;
            defaultSettings.nbVelocitySolverIterations = worldSettings.defaultVelocitySolverNbIterations;
            defaultSettings.nbPositionSolverIterations = worldSettings.defaultPositionSolverNbIterations;

testbed/src/SceneDemo.cpp

@@ -39,14 +39,14 @@ openglframework::Color SceneDemo::mSleepingColorDemo = Color(1.0f, 0.25f, 0.25f,
 openglframework::Color SceneDemo::mSelectedObjectColorDemo = Color(0.09f, 0.59f, 0.88f, 1.0f);
 
 // Constructor
-SceneDemo::SceneDemo(const std::string& name, EngineSettings& settings, float sceneRadius, bool isShadowMappingEnabled)
+SceneDemo::SceneDemo(const std::string& name, EngineSettings& settings, bool isPhysicsWorldSimulated, float sceneRadius, bool isShadowMappingEnabled)
           : Scene(name, settings, isShadowMappingEnabled), mIsShadowMappingInitialized(false),
                      mDepthShader("shaders/depth.vert", "shaders/depth.frag"),
                      mPhongShader("shaders/phong.vert", "shaders/phong.frag"),
 					 mColorShader("shaders/color.vert", "shaders/color.frag"),
                      mQuadShader("shaders/quad.vert", "shaders/quad.frag"),
                      mVBOQuad(GL_ARRAY_BUFFER), mMeshFolderPath("meshes/"),
-                     mPhysicsWorld(nullptr) {
+                     mPhysicsWorld(nullptr), mIsPhysicsWorldSimulated(isPhysicsWorldSimulated) {
 
     shadowMapTextureLevel++;
 
@@ -143,10 +143,10 @@ void SceneDemo::updatePhysics() {
     // Clear contacts points
     mContactPoints.clear();
 
-    if (getDynamicsWorld() != nullptr) {
+    if (mIsPhysicsWorldSimulated) {
 
         // Take a simulation step
-        getDynamicsWorld()->update(mEngineSettings.timeStep);
+        mPhysicsWorld->update(mEngineSettings.timeStep);
     }
 }
 
@@ -474,18 +474,18 @@ void SceneDemo::removeAllVisualContactPoints() {
 // Update the engine settings
 void SceneDemo::updateEngineSettings() {
 
-    if (getDynamicsWorld() != nullptr) {
+    if (mIsPhysicsWorldSimulated) {
 
         // Update the physics engine parameters
-        getDynamicsWorld()->setIsGratityEnabled(mEngineSettings.isGravityEnabled);
+        mPhysicsWorld->setIsGratityEnabled(mEngineSettings.isGravityEnabled);
         rp3d::Vector3 gravity(mEngineSettings.gravity.x, mEngineSettings.gravity.y,
                          mEngineSettings.gravity.z);
-        getDynamicsWorld()->setGravity(gravity);
-        getDynamicsWorld()->enableSleeping(mEngineSettings.isSleepingEnabled);
-        getDynamicsWorld()->setSleepLinearVelocity(mEngineSettings.sleepLinearVelocity);
-        getDynamicsWorld()->setSleepAngularVelocity(mEngineSettings.sleepAngularVelocity);
-        getDynamicsWorld()->setNbIterationsPositionSolver(mEngineSettings.nbPositionSolverIterations);
-        getDynamicsWorld()->setNbIterationsVelocitySolver(mEngineSettings.nbVelocitySolverIterations);
-        getDynamicsWorld()->setTimeBeforeSleep(mEngineSettings.timeBeforeSleep);
+        mPhysicsWorld->setGravity(gravity);
+        mPhysicsWorld->enableSleeping(mEngineSettings.isSleepingEnabled);
+        mPhysicsWorld->setSleepLinearVelocity(mEngineSettings.sleepLinearVelocity);
+        mPhysicsWorld->setSleepAngularVelocity(mEngineSettings.sleepAngularVelocity);
+        mPhysicsWorld->setNbIterationsPositionSolver(mEngineSettings.nbPositionSolverIterations);
+        mPhysicsWorld->setNbIterationsVelocitySolver(mEngineSettings.nbVelocitySolverIterations);
+        mPhysicsWorld->setTimeBeforeSleep(mEngineSettings.timeBeforeSleep);
     }
 }

testbed/src/SceneDemo.h

@@ -106,7 +106,10 @@ class SceneDemo : public Scene {
 
 		std::vector<PhysicsObject*> mPhysicsObjects;
 
-        rp3d::CollisionWorld* mPhysicsWorld;
+        rp3d::PhysicsWorld* mPhysicsWorld;
+
+        /// True if we need to step the physics simulation each frame
+        bool mIsPhysicsWorldSimulated;
 
         // -------------------- Methods -------------------- //
 
@@ -132,18 +135,12 @@ class SceneDemo : public Scene {
         /// Remove all contact points
         void removeAllVisualContactPoints();
 
-        /// Return a reference to the dynamics world
-        rp3d::DynamicsWorld* getDynamicsWorld();
-
-        /// Return a reference to the dynamics world
-        const rp3d::DynamicsWorld* getDynamicsWorld() const;
-
     public:
 
         // -------------------- Methods -------------------- //
 
         /// Constructor
-        SceneDemo(const std::string& name, EngineSettings& settings, float sceneRadius, bool isShadowMappingEnabled = true);
+        SceneDemo(const std::string& name, EngineSettings& settings, bool isPhysicsWorldSimulated, float sceneRadius, bool isShadowMappingEnabled = true);
 
         /// Destructor
         virtual ~SceneDemo() override;
@@ -178,14 +175,4 @@ inline void SceneDemo::setIsShadowMappingEnabled(bool isShadowMappingEnabled) {
     }
 }
 
-// Return a reference to the dynamics world
-inline rp3d::DynamicsWorld* SceneDemo::getDynamicsWorld() {
-    return dynamic_cast<rp3d::DynamicsWorld*>(mPhysicsWorld);
-}
-
-// Return a reference to the dynamics world
-inline const rp3d::DynamicsWorld* SceneDemo::getDynamicsWorld() const {
-    return dynamic_cast<rp3d::DynamicsWorld*>(mPhysicsWorld);
-}
-
 #endif