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Merge branch 'develop' of https://code.google.com/p/reactphysics3d into develop

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This commit is contained in:
Daniel Chappuis 2013-02-28 22:40:06 +01:00
commit db23fd0000
24 changed files with 80 additions and 96 deletions
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2
src/collision/ContactInfo.h
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@ -76,7 +76,7 @@ struct ContactInfo {
const Vector3& localPoint1, const Vector3& localPoint2);
};
} // End of the ReactPhysics3D namespace
}
#endif

4
src/collision/broadphase/NoBroadPhaseAlgorithm.h
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@ -82,9 +82,7 @@ class NoBroadPhaseAlgorithm : public BroadPhaseAlgorithm {
// Notify the broad-phase about a new object in the world
inline void NoBroadPhaseAlgorithm::addObject(CollisionBody* body, const AABB& aabb) {
std::cout << "New body in broadphase with id=" << body->getID() << std::endl;
// For each body that is already in the world
for (std::set<CollisionBody*>::iterator it = mBodies.begin(); it != mBodies.end(); ++it) {

20
src/collision/broadphase/PairManager.cpp
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@ -36,9 +36,9 @@ bodyindex PairManager::INVALID_INDEX = std::numeric_limits<reactphysics3d::bodyi
// Constructor of PairManager
PairManager::PairManager(CollisionDetection& collisionDetection)
: mCollisionDetection(collisionDetection) {
mHashTable = 0;
mOverlappingPairs = 0;
mOffsetNextPair = 0;
mHashTable = NULL;
mOverlappingPairs = NULL;
mOffsetNextPair = NULL;
mNbOverlappingPairs = 0;
mHashMask = 0;
mNbElementsHashTable = 0;
@ -123,7 +123,7 @@ bool PairManager::removePair(bodyindex id1, bodyindex id2) {
BodyPair* pair = findPairWithHashValue(id1, id2, hashValue);
// If we have not found the pair
if (!pair) {
if (pair == NULL) {
return false;
}
@ -236,8 +236,7 @@ BodyPair* PairManager::lookForAPair(bodyindex id1, bodyindex id2, luint hashValu
// If the pair has not been found in the overlapping pairs
if (offset == INVALID_INDEX) {
// Return null
return 0;
return NULL;
}
assert(offset < mNbOverlappingPairs);
@ -253,7 +252,7 @@ void PairManager::reallocatePairs() {
// Reallocate the hash table and initialize it
free(mHashTable);
mHashTable = (bodyindex*) malloc(mNbElementsHashTable * sizeof(bodyindex));
assert(mHashTable);
assert(mHashTable != NULL);
for (bodyindex i=0; i<mNbElementsHashTable; i++) {
mHashTable[i] = INVALID_INDEX;
}
@ -262,8 +261,8 @@ void PairManager::reallocatePairs() {
BodyPair* newOverlappingPairs = (BodyPair*) malloc(mNbElementsHashTable * sizeof(BodyPair));
bodyindex* newOffsetNextPair = (bodyindex*) malloc(mNbElementsHashTable * sizeof(bodyindex));
assert(newOverlappingPairs);
assert(newOffsetNextPair);
assert(newOverlappingPairs != NULL);
assert(newOffsetNextPair != NULL);
// If there is already some overlapping pairs
if (mNbOverlappingPairs) {
@ -286,5 +285,4 @@ void PairManager::reallocatePairs() {
// Replace by the new data
mOverlappingPairs = newOverlappingPairs;
mOffsetNextPair = newOffsetNextPair;
}
}

4
src/collision/broadphase/PairManager.h
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@ -260,7 +260,7 @@ inline int PairManager::computeHash32Bits(int key) const {
inline BodyPair* PairManager::findPair(bodyindex id1, bodyindex id2) const {
// Check if the hash table has been allocated yet
if (!mHashTable) return 0;
if (mHashTable == NULL) return NULL;
// Sort the IDs
sortIDs(id1, id2);
@ -279,7 +279,7 @@ inline BodyPair* PairManager::findPairWithHashValue(bodyindex id1, bodyindex id2
luint hashValue) const {
// Check if the hash table has been allocated yet
if (!mHashTable) return 0;
if (mHashTable == NULL) return NULL;
// Look for the pair in the set of overlapping pairs
return lookForAPair(id1, id2, hashValue);

16
src/collision/broadphase/SweepAndPruneAlgorithm.cpp
View File

@ -47,10 +47,10 @@ AABBInt::AABBInt(const AABB& aabb) {
// Constructor
SweepAndPruneAlgorithm::SweepAndPruneAlgorithm(CollisionDetection& collisionDetection)
:BroadPhaseAlgorithm(collisionDetection) {
mBoxes = 0;
mEndPoints[0] = 0;
mEndPoints[1] = 0;
mEndPoints[2] = 0;
mBoxes = NULL;
mEndPoints[0] = NULL;
mEndPoints[1] = NULL;
mEndPoints[2] = NULL;
mNbBoxes = 0;
mNbMaxBoxes = 0;
}
@ -399,10 +399,10 @@ void SweepAndPruneAlgorithm::resizeArrays() {
EndPoint* newEndPointsYArray = new EndPoint[newNbEndPoints];
EndPoint* newEndPointsZArray = new EndPoint[newNbEndPoints];
assert(newBoxesArray);
assert(newEndPointsXArray);
assert(newEndPointsYArray);
assert(newEndPointsZArray);
assert(newBoxesArray != NULL);
assert(newEndPointsXArray != NULL);
assert(newEndPointsYArray != NULL);
assert(newEndPointsZArray != NULL);
// If the arrays were not empty before
if (mNbBoxes > 0) {

10
src/collision/narrowphase/EPA/EPAAlgorithm.cpp
View File

@ -225,9 +225,9 @@ bool EPAAlgorithm::computePenetrationDepthAndContactPoints(const Simplex& simple
TriangleEPA* face3 = triangleStore.newTriangle(points, 1, 3, 2);
// If the constructed tetrahedron is not correct
if (!(face0 && face1 && face2 && face3 && face0->getDistSquare() > 0.0 &&
face1->getDistSquare() > 0.0 && face2->getDistSquare() > 0.0 &&
face3->getDistSquare() > 0.0)) {
if (!((face0 != NULL) && (face1 != NULL) && (face2 != NULL) && (face3 != NULL)
&& face0->getDistSquare() > 0.0 && face1->getDistSquare() > 0.0
&& face2->getDistSquare() > 0.0 && face3->getDistSquare() > 0.0)) {
return false;
}
@ -250,6 +250,7 @@ bool EPAAlgorithm::computePenetrationDepthAndContactPoints(const Simplex& simple
// If the tetrahedron contains a wrong vertex (the origin is not inside the tetrahedron)
if (badVertex < 4) {
// Replace the wrong vertex with the point 5 (if it exists)
suppPointsA[badVertex-1] = suppPointsA[4];
suppPointsB[badVertex-1] = suppPointsB[4];
@ -290,7 +291,8 @@ bool EPAAlgorithm::computePenetrationDepthAndContactPoints(const Simplex& simple
TriangleEPA* face5 = triangleStore.newTriangle(points, 1, 0, 4);
// If the polytope hasn't been correctly constructed
if (!(face0 && face1 && face2 && face3 && face4 && face5 &&
if (!((face0 != NULL) && (face1 != NULL) && (face2 != NULL) && (face3 != NULL)
&& (face4 != NULL) && (face5 != NULL) &&
face0->getDistSquare() > 0.0 && face1->getDistSquare() > 0.0 &&
face2->getDistSquare() > 0.0 && face3->getDistSquare() > 0.0 &&
face4->getDistSquare() > 0.0 && face5->getDistSquare() > 0.0)) {

8
src/collision/narrowphase/EPA/EdgeEPA.cpp
View File

@ -70,6 +70,7 @@ bool EdgeEPA::computeSilhouette(const Vector3* vertices, uint indexNewVertex,
TrianglesStore& triangleStore) {
// If the edge has not already been visited
if (!mOwnerTriangle->getIsObsolete()) {
// If the triangle of this edge is not visible from the given point
if (!mOwnerTriangle->isVisibleFromVertex(vertices, indexNewVertex)) {
TriangleEPA* triangle = triangleStore.newTriangle(vertices, indexNewVertex,
@ -77,7 +78,7 @@ bool EdgeEPA::computeSilhouette(const Vector3* vertices, uint indexNewVertex,
getSourceVertexIndex());
// If the triangle has been created
if (triangle) {
if (triangle != NULL) {
halfLink(EdgeEPA(triangle, 1), *this);
return true;
}
@ -85,6 +86,7 @@ bool EdgeEPA::computeSilhouette(const Vector3* vertices, uint indexNewVertex,
return false;
}
else {
// The current triangle is visible and therefore obsolete
mOwnerTriangle->setIsObsolete(true);
@ -101,7 +103,7 @@ bool EdgeEPA::computeSilhouette(const Vector3* vertices, uint indexNewVertex,
getSourceVertexIndex());
// If the triangle has been created
if (triangle) {
if (triangle != NULL) {
halfLink(EdgeEPA(triangle, 1), *this);
return true;
}
@ -120,7 +122,7 @@ bool EdgeEPA::computeSilhouette(const Vector3* vertices, uint indexNewVertex,
getTargetVertexIndex(),
getSourceVertexIndex());
if (triangle) {
if (triangle != NULL) {
halfLink(EdgeEPA(triangle, 1), *this);
return true;
}

4
src/collision/narrowphase/EPA/TrianglesStore.h
View File

@ -118,7 +118,7 @@ inline TriangleEPA& TrianglesStore::last() {
// Create a new triangle
inline TriangleEPA* TrianglesStore::newTriangle(const Vector3* vertices,
uint v0,uint v1, uint v2) {
TriangleEPA* newTriangle = 0;
TriangleEPA* newTriangle = NULL;
// If we have not reached the maximum number of triangles
if (mNbTriangles != MAX_TRIANGLES) {
@ -126,7 +126,7 @@ inline TriangleEPA* TrianglesStore::newTriangle(const Vector3* vertices,
new (newTriangle) TriangleEPA(v0, v1, v2);
if (!newTriangle->computeClosestPoint(vertices)) {
mNbTriangles--;
newTriangle = 0;
newTriangle = NULL;
}
}

4
src/collision/narrowphase/GJK/GJKAlgorithm.cpp
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@ -117,6 +117,7 @@ bool GJKAlgorithm::testCollision(const CollisionShape* collisionShape1,
// If the objects intersect only in the margins
if (simplex.isPointInSimplex(w) || distSquare - vDotw <= distSquare * REL_ERROR_SQUARE) {
// Compute the closet points of both objects (without the margins)
simplex.computeClosestPointsOfAandB(pA, pB);
@ -148,6 +149,7 @@ bool GJKAlgorithm::testCollision(const CollisionShape* collisionShape1,
// If the simplex is affinely dependent
if (simplex.isAffinelyDependent()) {
// Compute the closet points of both objects (without the margins)
simplex.computeClosestPointsOfAandB(pA, pB);
@ -177,6 +179,7 @@ bool GJKAlgorithm::testCollision(const CollisionShape* collisionShape1,
// Compute the point of the simplex closest to the origin
// If the computation of the closest point fail
if (!simplex.computeClosestPoint(v)) {
// Compute the closet points of both objects (without the margins)
simplex.computeClosestPointsOfAandB(pA, pB);
@ -290,6 +293,7 @@ bool GJKAlgorithm::computePenetrationDepthForEnlargedObjects(const CollisionShap
// If the enlarge objects do not intersect
if (vDotw > 0.0) {
// No intersection, we return false
return false;
}

2
src/collision/narrowphase/GJK/Simplex.cpp
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@ -120,8 +120,10 @@ unsigned int Simplex::getSimplex(Vector3* suppPointsA, Vector3* suppPointsB,
// For each four point in the possible simplex
for (i=0, bit=0x1; i<4; i++, bit <<=1) {
// If the current point is in the simplex
if (overlap(mBitsCurrentSimplex, bit)) {
// Store the points
suppPointsA[nbVertices] = this->mSuppPointsA[nbVertices];
suppPointsB[nbVertices] = this->mSuppPointsB[nbVertices];

2
src/collision/narrowphase/NarrowPhaseAlgorithm.cpp
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@ -31,7 +31,7 @@ using namespace reactphysics3d;
// Constructor
NarrowPhaseAlgorithm::NarrowPhaseAlgorithm(MemoryPool<ContactInfo>& memoryPool)
:mMemoryPoolContactInfos(memoryPool), mCurrentOverlappingPair(0) {
:mMemoryPoolContactInfos(memoryPool), mCurrentOverlappingPair(NULL) {
}

4
src/collision/shapes/AABB.cpp
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@ -45,7 +45,7 @@ using namespace reactphysics3d;
using namespace std;
// Constructor
AABB::AABB() : mBodyPointer(0) {
AABB::AABB() : mBodyPointer(NULL) {
}
@ -56,7 +56,7 @@ AABB::AABB(const Vector3& minCoordinates, const Vector3& maxCoordinates, Body* m
}
// Constructor
AABB::AABB(const Transform& transform, const Vector3& extents) : mBodyPointer(0) {
AABB::AABB(const Transform& transform, const Vector3& extents) : mBodyPointer(NULL) {
update(transform, extents);
}

2
src/collision/shapes/AABB.h
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@ -158,6 +158,6 @@ inline void AABB::update(const Transform& newTransform, const Vector3& extents)
mMaxCoordinates = newTransform.getPosition() + worldExtents;
}
}; // End of the ReactPhysics3D namespace
}
#endif

6
src/collision/shapes/BoxShape.h
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@ -112,10 +112,10 @@ inline Vector3 BoxShape::getLocalSupportPoint(const Vector3& direction, decimal
assert(margin >= 0.0);
return Vector3(direction.x < 0.0 ? -mExtent.x - margin : mExtent.x + margin,
direction.y < 0.0 ? -mExtent.y - margin : mExtent.y + margin,
direction.z < 0.0 ? -mExtent.z - margin : mExtent.z + margin);
direction.y < 0.0 ? -mExtent.y - margin : mExtent.y + margin,
direction.z < 0.0 ? -mExtent.z - margin : mExtent.z + margin);
}
}; // End of the ReactPhysics3D namespace
}
#endif

2
src/collision/shapes/ConeShape.h
View File

@ -143,6 +143,6 @@ inline void ConeShape::computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass
0.0, 0.0, 0.0, diagXZ);
}
}; // End of the ReactPhysics3D namespace
}
#endif

2
src/collision/shapes/CylinderShape.h
View File

@ -133,7 +133,7 @@ inline void CylinderShape::computeLocalInertiaTensor(Matrix3x3& tensor, decimal
0.0, 0.0, diag);
}
}; // End of the ReactPhysics3D namespace
}
#endif

2
src/collision/shapes/SphereShape.h
View File

@ -127,6 +127,6 @@ inline void SphereShape::computeLocalInertiaTensor(Matrix3x3& tensor, decimal ma
0.0, 0.0, diag);
}
}; // End of the ReactPhysics3D namespace
}
#endif

4
src/constraint/Constraint.h
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@ -148,8 +148,6 @@ inline void Constraint::setCachedLambda(int index, decimal lambda) {
mCachedLambdas[index] = lambda;
}
} // End of the ReactPhysics3D namespace
}
#endif

2
src/engine/CollisionWorld.cpp
View File

@ -78,6 +78,8 @@ CollisionBody* CollisionWorld::createCollisionBody(const Transform& transform,
CollisionBody* collisionBody = new (mMemoryPoolCollisionBodies.allocateObject())
CollisionBody(transform, collisionShape, bodyID);
assert(collisionBody != NULL);
// Add the collision body to the world
mBodies.insert(collisionBody);

1
src/engine/ContactManifold.cpp
View File

@ -149,6 +149,7 @@ int ContactManifold::getIndexOfDeepestPenetration(ContactPoint* newContact) cons
// For each contact in the cache
for (uint i=0; i<mNbContactPoints; i++) {
// If the current contact has a larger penetration depth
if (mContactPoints[i]->getPenetrationDepth() > maxPenetrationDepth) {
maxPenetrationDepth = mContactPoints[i]->getPenetrationDepth();

30
src/engine/DynamicsWorld.cpp
View File

@ -111,7 +111,7 @@ void DynamicsWorld::updateRigidBodiesPositionAndOrientation() {
for (set<RigidBody*>::iterator it=getRigidBodiesBeginIterator(); it != getRigidBodiesEndIterator(); ++it) {
RigidBody* rigidBody = *it;
assert(rigidBody);
assert(rigidBody != NULL);
// If the body is allowed to move
if (rigidBody->getIsMotionEnabled()) {
@ -214,10 +214,11 @@ void DynamicsWorld::applyGravity() {
for (set<RigidBody*>::iterator it=getRigidBodiesBeginIterator(); it != getRigidBodiesEndIterator(); ++it) {
RigidBody* rigidBody = dynamic_cast<RigidBody*>(*it);
assert(rigidBody);
assert(rigidBody != NULL);
// If the gravity force is on
if(mIsGravityOn) {
// Apply the current gravity force to the body
rigidBody->setExternalForce(rigidBody->getMass() * mGravity);
}
@ -237,6 +238,7 @@ RigidBody* DynamicsWorld::createRigidBody(const Transform& transform, decimal ma
// Create the rigid body
RigidBody* rigidBody = new (mMemoryPoolRigidBodies.allocateObject()) RigidBody(transform, mass, inertiaTensorLocal, collisionShape, bodyID);
assert(rigidBody != NULL);
// Add the rigid body to the physics world
mBodies.insert(rigidBody);
@ -282,8 +284,8 @@ void DynamicsWorld::notifyAddedOverlappingPair(const BroadPhasePair* addedPair)
// Add the pair into the set of overlapping pairs (if not there yet)
OverlappingPair* newPair = new (mMemoryPoolOverlappingPairs.allocateObject()) OverlappingPair(addedPair->body1, addedPair->body2, mMemoryPoolContacts);
assert(newPair != NULL);
std::pair<map<std::pair<bodyindex, bodyindex>, OverlappingPair*>::iterator, bool> check = mOverlappingPairs.insert(make_pair(indexPair, newPair));
assert(check.second);
}
// Notify the world about a removed broad-phase overlapping pair
@ -304,35 +306,21 @@ void DynamicsWorld::notifyNewContact(const BroadPhasePair* broadPhasePair, const
RigidBody* const rigidBody1 = dynamic_cast<RigidBody* const>(broadPhasePair->body1);
RigidBody* const rigidBody2 = dynamic_cast<RigidBody* const>(broadPhasePair->body2);
assert(rigidBody1);
assert(rigidBody2);
assert(rigidBody1 != NULL);
assert(rigidBody2 != NULL);
// Create a new contact
ContactPoint* contact = new (mMemoryPoolContacts.allocateObject()) ContactPoint(rigidBody1, rigidBody2, contactInfo);
assert(contact);
assert(contact != NULL);
// Get the corresponding overlapping pair
pair<bodyindex, bodyindex> indexPair = broadPhasePair->getBodiesIndexPair();
OverlappingPair* overlappingPair = mOverlappingPairs[indexPair];
assert(overlappingPair);
assert(overlappingPair != NULL);
// Add the contact to the contact cache of the corresponding overlapping pair
overlappingPair->addContact(contact);
// TODO : Remove this
/*
// Create a contact manifold with the contact points of the two bodies
ContactManifold contactManifold;
contactManifold.nbContacts = 0;
// Add all the contacts in the contact cache of the two bodies
// to the set of constraints in the physics world
for (uint i=0; i<overlappingPair->getNbContacts(); i++) {
contactManifold.contacts[i] = overlappingPair->getContact(i);
contactManifold.nbContacts++;
}
*/
// Add the contact manifold to the world
mContactManifolds.push_back(overlappingPair->getContactManifold());
}

4
src/engine/DynamicsWorld.h
View File

@ -219,8 +219,6 @@ public :
std::set<RigidBody*>::iterator getRigidBodiesEndIterator();
};
// --- Inline functions --- //
// Start the physics simulation
inline void DynamicsWorld::start() {
mTimer.start();
@ -283,7 +281,7 @@ inline void DynamicsWorld::addConstraint(Constraint* constraint) {
inline void DynamicsWorld::removeConstraint(Constraint* constraint) {
std::vector<Constraint*>::iterator it;
assert(constraint);
assert(constraint != NULL);
it = std::find(mConstraints.begin(), mConstraints.end(), constraint);
assert(*it == constraint);
delete *it;

23
src/engine/OverlappingPair.h
View File

@ -97,14 +97,10 @@ class OverlappingPair {
void setCachedSeparatingAxis(const Vector3& axis);
// Return the number of contacts in the cache
uint getNbContacts() const;
uint getNbContactPoints() const;
// Return the contact manifold
ContactManifold* getContactManifold();
// Return a contact of the cache
// TODO : Maybe remove this method
ContactPoint* getContact(uint index) const;
};
// Return the pointer to first body
@ -120,26 +116,26 @@ inline CollisionBody* const OverlappingPair::getBody2() const {
// Add a contact to the contact manifold
inline void OverlappingPair::addContact(ContactPoint* contact) {
mContactManifold.addContactPoint(contact);
}
}
// Update the contact manifold
inline void OverlappingPair::update() {
mContactManifold.update(mBody1->getTransform(), mBody2->getTransform());
}
}
// Return the cached separating axis
inline Vector3 OverlappingPair::getCachedSeparatingAxis() const {
return mCachedSeparatingAxis;
}
}
// Set the cached separating axis
inline void OverlappingPair::setCachedSeparatingAxis(const Vector3& axis) {
mCachedSeparatingAxis = axis;
}
}
// Return the number of contacts in the cache
inline uint OverlappingPair::getNbContacts() const {
// Return the number of contact points in the contact manifold
inline uint OverlappingPair::getNbContactPoints() const {
return mContactManifold.getNbContactPoints();
}
@ -148,11 +144,6 @@ inline ContactManifold* OverlappingPair::getContactManifold() {
return &mContactManifold;
}
// Return a contact of the cache
inline ContactPoint* OverlappingPair::getContact(uint index) const {
return mContactManifold.getContactPoint(index);
}
} // End of the ReactPhysics3D namespace
#endif

18
src/memory/MemoryPool.h
View File

@ -131,9 +131,9 @@ template<class T> const uint MemoryPool<T>::NB_OBJECTS_FIRST_BLOCK = 100;
template<class T>
MemoryPool<T>::MemoryPool(uint capacity) throw(std::bad_alloc)
: mCurrentNbObjects(0), mCapacity(capacity) {
mPBlocks = 0;
mPAllocatedUnits = 0;
mPFreeUnits = 0;
mPBlocks = NULL;
mPAllocatedUnits = NULL;
mPFreeUnits = NULL;
mNbObjectsNextBlock = (capacity == 0) ? NB_OBJECTS_FIRST_BLOCK : capacity;
// Allocate the first memory block if the capacity is
@ -172,12 +172,12 @@ void* MemoryPool<T>::allocateObject() {
}
assert(mCurrentNbObjects < mCapacity);
assert(mPFreeUnits);
assert(mPFreeUnits != NULL);
MemoryUnit* currentUnit = mPFreeUnits;
mPFreeUnits = currentUnit->pNext;
if (mPFreeUnits) {
mPFreeUnits->pPrevious = 0;
mPFreeUnits->pPrevious = NULL;
}
currentUnit->pNext = mPAllocatedUnits;
@ -206,7 +206,7 @@ void MemoryPool<T>::freeObject(void* pObjectToFree) {
MemoryUnit* currentUnit = (MemoryUnit*)((char*)pObjectToFree - sizeof(MemoryUnit));
mPAllocatedUnits = currentUnit->pNext;
if (mPAllocatedUnits) {
mPAllocatedUnits->pPrevious = 0;
mPAllocatedUnits->pPrevious = NULL;
}
currentUnit->pNext = mPFreeUnits;
@ -232,8 +232,8 @@ void MemoryPool<T>::allocateMemory() {
// Allocate a new memory block
mPBlocks = malloc(sizeBlock);
// Check that the allocation didn't fail
if (!mPBlocks) throw std::bad_alloc();
// Check that the allocation did not fail
if (mPBlocks == NULL) throw std::bad_alloc();
MemoryBlock* block = (MemoryBlock*) mPBlocks;
block->pNext = tempBlocks;
@ -245,7 +245,7 @@ void MemoryPool<T>::allocateMemory() {
MemoryUnit* currentUnit = (MemoryUnit*)( (char*)mPBlocks + i *
(sizeof(T) + sizeof(MemoryUnit)) );
currentUnit->pPrevious = 0;
currentUnit->pPrevious = NULL;
currentUnit->pNext = mPFreeUnits;
if (mPFreeUnits) {