Continue working on SAT, remove Cone and Cylinder shapes

CMakeLists.txt

@@ -67,23 +67,21 @@ SET (REACTPHYSICS3D_SOURCES
     "src/collision/narrowphase/CollisionDispatch.h"
     "src/collision/narrowphase/DefaultCollisionDispatch.h"
     "src/collision/narrowphase/DefaultCollisionDispatch.cpp"
-    "src/collision/narrowphase/EPA/EdgeEPA.h"
-    "src/collision/narrowphase/EPA/EdgeEPA.cpp"
-    "src/collision/narrowphase/EPA/EPAAlgorithm.h"
-    "src/collision/narrowphase/EPA/EPAAlgorithm.cpp"
-    "src/collision/narrowphase/EPA/TriangleEPA.h"
-    "src/collision/narrowphase/EPA/TriangleEPA.cpp"
-    "src/collision/narrowphase/EPA/TrianglesStore.h"
-    "src/collision/narrowphase/EPA/TrianglesStore.cpp"
     "src/collision/narrowphase/GJK/VoronoiSimplex.h"
     "src/collision/narrowphase/GJK/VoronoiSimplex.cpp"
     "src/collision/narrowphase/GJK/GJKAlgorithm.h"
     "src/collision/narrowphase/GJK/GJKAlgorithm.cpp"
+    "src/collision/narrowphase/SAT/SATAlgorithm.h"
+    "src/collision/narrowphase/SAT/SATAlgorithm.cpp"
     "src/collision/narrowphase/NarrowPhaseAlgorithm.h"
     "src/collision/narrowphase/SphereVsSphereAlgorithm.h"
     "src/collision/narrowphase/SphereVsSphereAlgorithm.cpp"
+    "src/collision/narrowphase/CapsuleVsCapsuleAlgorithm.h"
+    "src/collision/narrowphase/CapsuleVsCapsuleAlgorithm.cpp"
     "src/collision/narrowphase/ConcaveVsConvexAlgorithm.h"
     "src/collision/narrowphase/ConcaveVsConvexAlgorithm.cpp"
+    "src/collision/narrowphase/SphereVsConvexMeshAlgorithm.h"
+    "src/collision/narrowphase/SphereVsConvexMeshAlgorithm.cpp"
     "src/collision/shapes/AABB.h"
     "src/collision/shapes/AABB.cpp"
     "src/collision/shapes/ConvexShape.h"
@@ -96,12 +94,8 @@ SET (REACTPHYSICS3D_SOURCES
     "src/collision/shapes/CapsuleShape.cpp"
     "src/collision/shapes/CollisionShape.h"
     "src/collision/shapes/CollisionShape.cpp"
-    "src/collision/shapes/ConeShape.h"
-    "src/collision/shapes/ConeShape.cpp"
     "src/collision/shapes/ConvexMeshShape.h"
     "src/collision/shapes/ConvexMeshShape.cpp"
-    "src/collision/shapes/CylinderShape.h"
-    "src/collision/shapes/CylinderShape.cpp"
     "src/collision/shapes/SphereShape.h"
     "src/collision/shapes/SphereShape.cpp"
     "src/collision/shapes/TriangleShape.h"
@@ -118,6 +112,10 @@ SET (REACTPHYSICS3D_SOURCES
     "src/collision/TriangleVertexArray.cpp"
     "src/collision/TriangleMesh.h"
     "src/collision/TriangleMesh.cpp"
+    "src/collision/PolyhedronMesh.h"
+    "src/collision/PolyhedronMesh.cpp"
+    "src/collision/HalfEdgeStructure.h"
+    "src/collision/HalfEdgeStructure.cpp"
     "src/collision/CollisionDetection.h"
     "src/collision/CollisionDetection.cpp"
     "src/collision/NarrowPhaseInfo.h"

src/collision/CollisionDetection.cpp

@@ -300,9 +300,7 @@ void CollisionDetection::computeNarrowPhase() {
         // Select the narrow phase algorithm to use according to the two collision shapes
         const CollisionShapeType shape1Type = currentNarrowPhaseInfo->collisionShape1->getType();
         const CollisionShapeType shape2Type = currentNarrowPhaseInfo->collisionShape2->getType();
-        const int shape1Index = static_cast<int>(shape1Type);
-        const int shape2Index = static_cast<int>(shape2Type);
-        NarrowPhaseAlgorithm* narrowPhaseAlgorithm = mCollisionMatrix[shape1Index][shape2Index];
+        NarrowPhaseAlgorithm* narrowPhaseAlgorithm = selectNarrowPhaseAlgorithm(shape1Type, shape2Type);
 
         // If there is no collision algorithm between those two kinds of shapes, skip it
         if (narrowPhaseAlgorithm != nullptr) {
@@ -462,6 +460,17 @@ void CollisionDetection::broadPhaseNotifyOverlappingPair(ProxyShape* shape1, Pro
     if ((shape1->getCollideWithMaskBits() & shape2->getCollisionCategoryBits()) == 0 ||
         (shape1->getCollisionCategoryBits() & shape2->getCollideWithMaskBits()) == 0) return;
 
+    // Make sure the shape with the smallest collision shape type comes first
+    const uint shape1TypeIndex = static_cast<const uint>(shape1->getCollisionShape()->getType());
+    const uint shape2TypeIndex = static_cast<const uint>(shape2->getCollisionShape()->getType());
+    if (shape2TypeIndex > shape1TypeIndex) {
+
+        // Swap the two shapes
+        ProxyShape* temp = shape1;
+        shape1 = shape2;
+        shape2 = temp;
+    }
+
     // Compute the overlapping pair ID
     overlappingpairid pairID = OverlappingPair::computeID(shape1, shape2);
 
@@ -681,9 +690,7 @@ bool CollisionDetection::testOverlap(CollisionBody* body1, CollisionBody* body2)
                     if (!isColliding) {
 
                         // Select the narrow phase algorithm to use according to the two collision shapes
-                        const int shape1Index = static_cast<int>(shape1Type);
-                        const int shape2Index = static_cast<int>(shape2Type);
-                        NarrowPhaseAlgorithm* narrowPhaseAlgorithm = mCollisionMatrix[shape1Index][shape2Index];
+                        NarrowPhaseAlgorithm* narrowPhaseAlgorithm = selectNarrowPhaseAlgorithm(shape1Type, shape2Type);
 
                         // If there is a collision algorithm for those two kinds of shapes
                         if (narrowPhaseAlgorithm != nullptr) {
@@ -771,9 +778,7 @@ void CollisionDetection::testOverlap(CollisionBody* body, OverlapCallback* overl
                         if (!isColliding) {
 
                             // Select the narrow phase algorithm to use according to the two collision shapes
-                            const int shape1Index = static_cast<int>(shape1Type);
-                            const int shape2Index = static_cast<int>(shape2Type);
-                            NarrowPhaseAlgorithm* narrowPhaseAlgorithm = mCollisionMatrix[shape1Index][shape2Index];
+                            NarrowPhaseAlgorithm* narrowPhaseAlgorithm = selectNarrowPhaseAlgorithm(shape1Type, shape2Type);
 
                             // If there is a collision algorithm for those two kinds of shapes
                             if (narrowPhaseAlgorithm != nullptr) {
@@ -846,9 +851,7 @@ void CollisionDetection::testCollision(CollisionBody* body1, CollisionBody* body
                 while (narrowPhaseInfo != nullptr) {
 
                     // Select the narrow phase algorithm to use according to the two collision shapes
-                    const int shape1Index = static_cast<int>(shape1Type);
-                    const int shape2Index = static_cast<int>(shape2Type);
-                    NarrowPhaseAlgorithm* narrowPhaseAlgorithm = mCollisionMatrix[shape1Index][shape2Index];
+                    NarrowPhaseAlgorithm* narrowPhaseAlgorithm = selectNarrowPhaseAlgorithm(shape1Type, shape2Type);
 
                     // If there is a collision algorithm for those two kinds of shapes
                     if (narrowPhaseAlgorithm != nullptr) {
@@ -926,9 +929,7 @@ void CollisionDetection::testCollision(CollisionBody* body, CollisionCallback* c
                     while (narrowPhaseInfo != nullptr) {
 
                         // Select the narrow phase algorithm to use according to the two collision shapes
-                        const int shape1Index = static_cast<int>(shape1Type);
-                        const int shape2Index = static_cast<int>(shape2Type);
-                        NarrowPhaseAlgorithm* narrowPhaseAlgorithm = mCollisionMatrix[shape1Index][shape2Index];
+                        NarrowPhaseAlgorithm* narrowPhaseAlgorithm = selectNarrowPhaseAlgorithm(shape1Type, shape2Type);
 
                         // If there is a collision algorithm for those two kinds of shapes
                         if (narrowPhaseAlgorithm != nullptr) {
@@ -999,9 +1000,7 @@ void CollisionDetection::testCollision(CollisionCallback* callback) {
             while (narrowPhaseInfo != nullptr) {
 
                 // Select the narrow phase algorithm to use according to the two collision shapes
-                const int shape1Index = static_cast<int>(shape1Type);
-                const int shape2Index = static_cast<int>(shape2Type);
-                NarrowPhaseAlgorithm* narrowPhaseAlgorithm = mCollisionMatrix[shape1Index][shape2Index];
+                NarrowPhaseAlgorithm* narrowPhaseAlgorithm = selectNarrowPhaseAlgorithm(shape1Type, shape2Type);
 
                 // If there is a collision algorithm for those two kinds of shapes
                 if (narrowPhaseAlgorithm != nullptr) {

src/collision/CollisionDetection.h

@@ -124,6 +124,10 @@ class CollisionDetection {
         /// Fill-in the collision detection matrix
         void fillInCollisionMatrix();
 
+        /// Return the corresponding narrow-phase algorithm
+        NarrowPhaseAlgorithm* selectNarrowPhaseAlgorithm(const CollisionShapeType& shape1Type,
+                                                         const CollisionShapeType& shape2Type) const;
+
         /// Add all the contact manifold of colliding pairs to their bodies
         void addAllContactManifoldsToBodies();
 
@@ -153,10 +157,6 @@ class CollisionDetection {
         /// Set the collision dispatch configuration
         void setCollisionDispatch(CollisionDispatch* collisionDispatch);
 
-        /// Return the Narrow-phase collision detection algorithm to use between two types of shapes
-        NarrowPhaseAlgorithm* getCollisionAlgorithm(CollisionShapeType shape1Type,
-                                                    CollisionShapeType shape2Type) const;
-
         /// Add a proxy collision shape to the collision detection
         void addProxyCollisionShape(ProxyShape* proxyShape, const AABB& aabb);
 
@@ -231,12 +231,6 @@ class CollisionDetection {
         friend class ConvexMeshShape;
 };
 
-// Return the Narrow-phase collision detection algorithm to use between two types of shapes
-inline NarrowPhaseAlgorithm* CollisionDetection::getCollisionAlgorithm(CollisionShapeType shape1Type,
-                                                                       CollisionShapeType shape2Type) const {
-    return mCollisionMatrix[static_cast<int>(shape1Type)][static_cast<int>(shape2Type)];
-}
-
 // Set the collision dispatch configuration
 inline void CollisionDetection::setCollisionDispatch(CollisionDispatch* collisionDispatch) {
     mCollisionDispatch = collisionDispatch;
@@ -280,6 +274,18 @@ inline void CollisionDetection::updateProxyCollisionShape(ProxyShape* shape, con
     mBroadPhaseAlgorithm.updateProxyCollisionShape(shape, aabb, displacement);
 }
 
+// Return the corresponding narrow-phase algorithm
+inline NarrowPhaseAlgorithm* CollisionDetection::selectNarrowPhaseAlgorithm(const CollisionShapeType& shape1Type,
+                                                                            const CollisionShapeType& shape2Type) const {
+
+    const unsigned int shape1Index = static_cast<unsigned int>(shape1Type);
+    const unsigned int shape2Index = static_cast<unsigned int>(shape2Type);
+
+    assert(shape1Index <= shape2Index);
+
+    return mCollisionMatrix[shape1Index][shape2Index];
+}
+
 // Ray casting method
 inline void CollisionDetection::raycast(RaycastCallback* raycastCallback,
                                         const Ray& ray,

src/collision/HalfEdgeStructure.cpp

@@ -0,0 +1,116 @@
+/********************************************************************************
+* ReactPhysics3D physics library, http://www.reactphysics3d.com                 *
+* Copyright (c) 2010-2016 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 "HalfEdgeStructure.h"
+#include <map>
+
+using namespace reactphysics3d;
+
+// Initialize the structure
+void HalfEdgeStructure::init(std::vector<const Vector3> vertices, std::vector<std::vector<uint>> faces) {
+
+    using edgeKey = std::pair<uint, uint>;
+
+    std::map<edgeKey, Edge> edges;
+    std::map<edgeKey, edgeKey> nextEdges;
+    std::map<edgeKey, uint> mapEdgeToStartVertex;
+
+    // For each vertices
+    for (uint v=0; v<vertices.size(); v++) {
+        Vertex vertex(vertices[v]);
+        mVertices.push_back(vertex);
+    }
+
+    // For each face
+    for (uint f=0; f<faces.size(); f++) {
+
+        // Create a new face
+        Face face;
+        mFaces.push_back(face);
+
+        // Vertices of the current face
+        std::vector<uint>& faceVertices = faces[f];
+
+        std::vector<edgeKey> currentFaceEdges;
+
+        edgeKey firstEdgeKey;
+
+        // For each edge of the face
+        for (uint e=0; e < faceVertices.size(); e++) {
+            uint v1Index = faceVertices[e];
+            uint v2Index = faceVertices[e == (faceVertices.size() - 1) ? 0 : e + 1];
+
+            const edgeKey pairV1V2 = std::make_pair(v1Index, v2Index);
+
+            // Create a new half-edge
+            Edge edge;
+            edge.faceIndex = f;
+            edge.vertexIndex = v1Index;
+            if (e == 0) {
+                firstEdgeKey = pairV1V2;
+            }
+            else if (e >= 1) {
+                nextEdges.insert(currentFaceEdges[currentFaceEdges.size() - 1], pairV1V2);
+            }
+            if (e == (faceVertices.size() - 1)) {
+                nextEdges.insert(pairV1V2, firstEdgeKey);
+            }
+            edges.insert(pairV1V2, edge);
+
+            const edgeKey pairV2V1 = std::make_pair(v2Index, v1Index);
+
+            mapEdgeToStartVertex.insert(pairV1V2, v1Index);
+            mapEdgeToStartVertex.insert(pairV2V1, v2Index);
+
+            auto itEdge = edges.find(pairV2V1);
+            if (itEdge != edges.end()) {
+
+                const uint edgeIndex = mEdges.size();
+                mEdges.push_back(itEdge->second);
+                mEdges.push_back(edge);
+
+                itEdge->second.twinEdgeIndex = edgeIndex + 1;
+                itEdge->second.nextEdgeIndex = nextEdges[pairV2V1];
+
+                edge.twinEdgeIndex = edgeIndex;
+                edge.nextEdgeIndex = edges[nextEdges[pairV1V2]].;
+
+                mVertices[v1Index].edgeIndex = edgeIndex;
+                mVertices[v2Index].edgeIndex = edgeIndex + 1;
+
+                face.edgeIndex = edgeIndex + 1;
+            }
+
+            currentFaceEdges.push_back(pairV1V2);
+        }
+
+        // For each edge of the face
+        for (uint e=0; e < currentFaceEdges.size(); e++) {
+            Edge& edge = currentFaceEdges[e];
+            edge.nextEdgeIndex =
+        }
+    }
+}

src/collision/HalfEdgeStructure.h

@@ -0,0 +1,142 @@
+/********************************************************************************
+* ReactPhysics3D physics library, http://www.reactphysics3d.com                 *
+* Copyright (c) 2010-2016 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_HALF_EDGE_STRUCTURE_MESH_H
+#define REACTPHYSICS3D_HALF_EDGE_STRUCTURE_MESH_H
+
+// Libraries
+#include "mathematics/mathematics.h"
+#include <vector>
+
+namespace reactphysics3d {
+
+// Class HalfEdgeStructure
+/**
+ * This class describes a polyhedron mesh made of faces and vertices.
+ * The faces do not have to be triangle. Note that the half-edge structure
+ * is only valid if the mesh is closed (each edge has two adjacent faces).
+ */
+class HalfEdgeStructure {
+
+    public:
+
+        struct Edge {
+            uint vertexIndex;       // Index of the vertex at the end of the edge
+            uint twinEdgeIndex;     // Index of the twin edge
+            uint faceIndex;         // Adjacent face index of the edge
+            uint nextEdgeIndex;     // Index of the next edge
+        };
+
+        struct Face {
+            uint edgeIndex;         // Index of an half-edge of the face
+        };
+
+        struct Vertex {
+            const Vector3 point;    // Coordinates of the vertex
+            uint edgeIndex;         // Index of one edge emanting from this vertex
+
+            /// Constructor
+            Vertex(const Vector3& p) { point = p;}
+        };
+
+    private:
+
+        /// All the faces
+        std::vector<Face> mFaces;
+
+        /// All the vertices
+        std::vector<Vertex> mVertices;
+
+        /// All the half-edges
+        std::vector<Edge> mEdges;
+
+    public:
+
+        /// Constructor
+        HalfEdgeStructure() = default;
+
+        /// Destructor
+        ~HalfEdgeStructure() = default;
+
+        /// Initialize the structure
+        void init(std::vector<const Vector3> vertices, std::vector<std::vector<uint>> faces);
+
+        /// Return the number of faces
+        uint getNbFaces() const;
+
+        /// Return the number of edges
+        uint getNbEdges() const;
+
+        /// Return the number of vertices
+        uint getNbVertices() const;
+
+        /// Return a given face
+        Face getFace(uint index) const;
+
+        /// Return a given edge
+        Edge getHalfEdge(uint index) const;
+
+        /// Retunr a given vertex
+        Vertex getVertex(uint index) const;
+
+};
+
+// Return the number of faces
+inline uint HalfEdgeStructure::getNbFaces() const {
+    return mFaces.size();
+}
+
+// Return the number of edges
+inline uint HalfEdgeStructure::getNbEdges() const {
+    return mEdges.size();
+}
+
+// Return the number of vertices
+inline uint HalfEdgeStructure::getNbVertices() const {
+    return mVertices.size();
+}
+
+// Return a given face
+inline HalfEdgeStructure::Face HalfEdgeStructure::getFace(uint index) const {
+    assert(index < mFaces.size());
+    return mFaces[index];
+}
+
+// Return a given edge
+inline HalfEdgeStructure::Edge HalfEdgeStructure::getHalfEdge(uint index) const {
+    assert(index < mEdges.size());
+    return mEdges[index];
+}
+
+// Retunr a given vertex
+inline HalfEdgeStructure::Vertex HalfEdgeStructure::getVertex(uint index) const {
+    assert(index < mVertices.size());
+    return mVertices[index];
+}
+
+}
+
+#endif
+

src/collision/PolyhedronMesh.cpp

@@ -0,0 +1,62 @@
+/********************************************************************************
+* ReactPhysics3D physics library, http://www.reactphysics3d.com                 *
+* Copyright (c) 2010-2016 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 "PolyhedronMesh.h"
+
+using namespace reactphysics3d;
+
+
+// Constructor
+PolyhedronMesh::PolyhedronMesh() : mIsFinalized(false) {
+
+}
+
+// Add a vertex into the polyhedron.
+// This method returns the index of the vertex that you need to use
+// to add faces.
+uint PolyhedronMesh::addVertex(const Vector3& vertex) {
+    mVertices.push_back(vertex);
+    return mVertices.size() - 1;
+}
+
+// Add a face into the polyhedron.
+// A face is a list of vertices indices (returned by addVertex() method).
+// The order of the indices are important. You need to specify the vertices of
+// of the face sorted counter-clockwise as seen from the outside of the polyhedron.
+void PolyhedronMesh::addFace(std::vector<uint> faceVertices) {
+    mFaces.push_back(faceVertices);
+}
+
+// Call this method when you are done adding vertices and faces
+void PolyhedronMesh::finalize() {
+
+    if (mIsFinalized) return;
+
+    // Initialize the half-edge structure
+    mHalfEdgeStructure.init(mVertices, mFaces);
+
+    mIsFinalized = true;
+}

src/collision/PolyhedronMesh.h

@@ -0,0 +1,86 @@
+/********************************************************************************
+* ReactPhysics3D physics library, http://www.reactphysics3d.com                 *
+* Copyright (c) 2010-2016 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_POLYHEDRON_MESH_H
+#define REACTPHYSICS3D_POLYHEDRON_MESH_H
+
+// Libraries
+#include "mathematics/mathematics.h"
+#include "HalfEdgeStructure.h"
+#include <vector>
+
+namespace reactphysics3d {
+
+// Class PolyhedronMesh
+/**
+ * This class describes a polyhedron mesh made of faces and vertices.
+ * The faces do not have to be triangle
+ */
+class PolyhedronMesh {
+
+    private:
+
+        /// Half-edge structure of the mesh
+        HalfEdgeStructure mHalfEdgeStructure;
+
+        /// True if the half-edge structure has been generated
+        bool mIsFinalized;
+
+        /// All the vertices
+        std::vector<const Vector3> mVertices;
+
+        /// All the indexes of the face vertices
+        std::vector<std::vector<uint>> mFaces;
+
+    public:
+
+        /// Constructor
+        PolyhedronMesh();
+
+        /// Destructor
+        ~PolyhedronMesh() = default;
+
+        /// Add a vertex into the polyhedron
+        uint addVertex(const Vector3& vertex);
+
+        /// Add a face into the polyhedron
+        void addFace(std::vector<uint> faceVertices);
+
+        /// Call this method when you are done adding vertices and faces
+        void finalize();
+
+        /// Return the half-edge structure of the mesh
+        const HalfEdgeStructure& getHalfEdgeStructure() const;
+};
+
+// Return the half-edge structure of the mesh
+inline const HalfEdgeStructure& PolyhedronMesh::getHalfEdgeStructure() const {
+    return mHalfEdgeStructure;
+}
+
+}
+
+#endif
+

src/collision/TriangleMesh.h

@@ -38,7 +38,7 @@ namespace reactphysics3d {
  * This class represents a mesh made of triangles. A TriangleMesh contains
  * one or several parts. Each part is a set of triangles represented in a
  * TriangleVertexArray object describing all the triangles vertices of the part.
- * A TriangleMesh object is used to create a ConcaveMeshShape from a triangle
+ * A TriangleMesh object can be used to create a ConcaveMeshShape from a triangle
  * mesh for instance.
  */
 class TriangleMesh {

src/collision/narrowphase/CapsuleVsCapsuleAlgorithm.cpp

@@ -24,12 +24,14 @@
 ********************************************************************************/
 
 // Libraries
-#include "TrianglesStore.h"
+#include "CapsuleVsCapsuleAlgorithm.h"
+#include "collision/shapes/CapsuleShape.h"
 
-// We use the ReactPhysics3D namespace
+// We want to use the ReactPhysics3D namespace
 using namespace reactphysics3d;
 
-// Constructor
-TrianglesStore::TrianglesStore() : mNbTriangles(0) {
+bool CapsuleVsCapsuleAlgorithm::testCollision(const NarrowPhaseInfo* narrowPhaseInfo,
+                                            ContactPointInfo& contactPointInfo) {
+
 
 }

src/collision/narrowphase/CapsuleVsCapsuleAlgorithm.h

@@ -0,0 +1,71 @@
+/********************************************************************************
+* ReactPhysics3D physics library, http://www.reactphysics3d.com                 *
+* Copyright (c) 2010-2016 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_CAPSULE_VS_CAPSULE_ALGORITHM_H
+#define	REACTPHYSICS3D_CAPSULE_VS_CAPSULE_ALGORITHM_H
+
+// Libraries
+#include "body/Body.h"
+#include "constraint/ContactPoint.h"
+#include "NarrowPhaseAlgorithm.h"
+
+
+/// Namespace ReactPhysics3D
+namespace reactphysics3d {
+
+// Class CapsuleVsCapsuleAlgorithm
+/**
+ * This class is used to compute the narrow-phase collision detection
+ * between two capsule collision shapes.
+ */
+class CapsuleVsCapsuleAlgorithm : public NarrowPhaseAlgorithm {
+
+    protected :
+
+    public :
+
+        // -------------------- Methods -------------------- //
+
+        /// Constructor
+        CapsuleVsCapsuleAlgorithm() = default;
+
+        /// Destructor
+        virtual ~CapsuleVsCapsuleAlgorithm() override = default;
+
+        /// Deleted copy-constructor
+        CapsuleVsCapsuleAlgorithm(const CapsuleVsCapsuleAlgorithm& algorithm) = delete;
+
+        /// Deleted assignment operator
+        CapsuleVsCapsuleAlgorithm& operator=(const CapsuleVsCapsuleAlgorithm& algorithm) = delete;
+
+        /// Compute a contact info if the two bounding volume collide
+        virtual bool testCollision(const NarrowPhaseInfo* narrowPhaseInfo,
+                                   ContactPointInfo& contactPointInfo) override;
+};
+
+}
+
+#endif
+

src/collision/narrowphase/DefaultCollisionDispatch.cpp

@@ -33,18 +33,22 @@ using namespace reactphysics3d;
 // use between two types of collision shapes.
 NarrowPhaseAlgorithm* DefaultCollisionDispatch::selectAlgorithm(int type1, int type2) {
 
+
     CollisionShapeType shape1Type = static_cast<CollisionShapeType>(type1);
     CollisionShapeType shape2Type = static_cast<CollisionShapeType>(type2);
 
     // Convex vs Convex algorithm (GJK algorithm)
-    if (CollisionShape::isConvex(shape1Type) && CollisionShape::isConvex(shape2Type)) {
-        return &mGJKAlgorithm;
-    }
-    // Sphere vs Sphere algorithm
-    else if (shape1Type == CollisionShapeType::SPHERE && shape2Type == CollisionShapeType::SPHERE) {
-        return &mSphereVsSphereAlgorithm;
-    }
-    else {
+    if (type1 > type2) {
         return nullptr;
     }
+    // Sphere vs Sphere algorithm
+    if (shape1Type == CollisionShapeType::SPHERE && shape2Type == CollisionShapeType::SPHERE) {
+        return &mSphereVsSphereAlgorithm;
+    }
+    // Sphere vs Convex shapes (convex Mesh, BoxShape) algorithm
+    if (shape1Type == CollisionShapeType::SPHERE && CollisionShape::isConvex(shape2Type)) {
+        return &mSphereVsConvexMeshAlgorithm;
+    }
+
+    return nullptr;
 }

src/collision/narrowphase/DefaultCollisionDispatch.h

@@ -30,6 +30,7 @@
 #include "CollisionDispatch.h"
 #include "ConcaveVsConvexAlgorithm.h"
 #include "SphereVsSphereAlgorithm.h"
+#include "SphereVsConvexMeshAlgorithm.h"
 #include "GJK/GJKAlgorithm.h"
 
 namespace reactphysics3d {
@@ -47,6 +48,9 @@ class DefaultCollisionDispatch : public CollisionDispatch {
         /// Sphere vs Sphere collision algorithm
         SphereVsSphereAlgorithm mSphereVsSphereAlgorithm;
 
+        /// Sphere vs Convex Mesh collision algorithm
+        SphereVsConvexMeshAlgorithm mSphereVsConvexMeshAlgorithm;
+
         /// GJK Algorithm
         GJKAlgorithm mGJKAlgorithm;
 

src/collision/narrowphase/EPA/EPAAlgorithm.cpp

@@ -1,436 +0,0 @@
-/********************************************************************************
-* ReactPhysics3D physics library, http://www.reactphysics3d.com                 *
-* Copyright (c) 2010-2016 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 "EPAAlgorithm.h"
-#include "engine/Profiler.h"
-#include "collision/narrowphase//GJK/GJKAlgorithm.h"
-#include "TrianglesStore.h"
-
-// We want to use the ReactPhysics3D namespace
-using namespace reactphysics3d;
-
-// Decide if the origin is in the tetrahedron.
-/// Return 0 if the origin is in the tetrahedron and return the number (1,2,3 or 4) of
-/// the vertex that is wrong if the origin is not in the tetrahedron
-int EPAAlgorithm::isOriginInTetrahedron(const Vector3& p1, const Vector3& p2,
-                                        const Vector3& p3, const Vector3& p4) const {
-
-    // Check vertex 1
-    Vector3 normal1 = (p2-p1).cross(p3-p1);
-    if ((normal1.dot(p1) > 0.0) == (normal1.dot(p4) > 0.0)) {
-        return 4;
-    }
-
-    // Check vertex 2
-    Vector3 normal2 = (p4-p2).cross(p3-p2);
-    if ((normal2.dot(p2) > 0.0) == (normal2.dot(p1) > 0.0)) {
-        return 1;
-    }
-
-    // Check vertex 3
-    Vector3 normal3 = (p4-p3).cross(p1-p3);
-    if ((normal3.dot(p3) > 0.0) == (normal3.dot(p2) > 0.0)) {
-        return 2;
-    }
-
-    // Check vertex 4
-    Vector3 normal4 = (p2-p4).cross(p1-p4);
-    if ((normal4.dot(p4) > 0.0) == (normal4.dot(p3) > 0.0)) {
-        return 3;
-    }
-
-    // The origin is in the tetrahedron, we return 0
-    return 0;
-}
-
-// Compute the penetration depth with the EPA algorithm.
-/// This method computes the penetration depth and contact points between two
-/// enlarged objects (with margin) where the original objects (without margin)
-/// intersect. An initial simplex that contains origin has been computed with
-/// GJK algorithm. The EPA Algorithm will extend this simplex polytope to find
-/// the correct penetration depth. This method returns true if the EPA penetration
-/// depth computation has succeeded and false it has failed.
-bool EPAAlgorithm::computePenetrationDepthAndContactPoints(const VoronoiSimplex& simplex,
-                                                           const NarrowPhaseInfo* narrowPhaseInfo,
-                                                           Vector3& v,
-                                                           ContactPointInfo& contactPointInfo) {
-
-    PROFILE("EPAAlgorithm::computePenetrationDepthAndContactPoints()");
-
-    decimal gjkPenDepthSquare = v.lengthSquare();
-
-    assert(narrowPhaseInfo->collisionShape1->isConvex());
-    assert(narrowPhaseInfo->collisionShape2->isConvex());
-
-    const ConvexShape* shape1 = static_cast<const ConvexShape*>(narrowPhaseInfo->collisionShape1);
-    const ConvexShape* shape2 = static_cast<const ConvexShape*>(narrowPhaseInfo->collisionShape2);
-
-    void** shape1CachedCollisionData = narrowPhaseInfo->cachedCollisionData1;
-    void** shape2CachedCollisionData = narrowPhaseInfo->cachedCollisionData2;
-
-    Vector3 suppPointsA[MAX_SUPPORT_POINTS];  // Support points of object A in local coordinates
-    Vector3 suppPointsB[MAX_SUPPORT_POINTS];  // Support points of object B in local coordinates
-    Vector3 points[MAX_SUPPORT_POINTS];       // Current points
-    TrianglesStore triangleStore;             // Store the triangles
-    TriangleEPA* triangleHeap[MAX_FACETS];    // Heap that contains the face
-                                              // candidate of the EPA algorithm
-
-    // Transform a point from local space of body 2 to local
-    // space of body 1 (the GJK algorithm is done in local space of body 1)
-    Transform body2Tobody1 = narrowPhaseInfo->shape1ToWorldTransform.getInverse() * narrowPhaseInfo->shape2ToWorldTransform;
-
-    // Matrix that transform a direction from local
-    // space of body 1 into local space of body 2
-    Quaternion rotateToBody2 = narrowPhaseInfo->shape2ToWorldTransform.getOrientation().getInverse() *
-                              narrowPhaseInfo->shape1ToWorldTransform.getOrientation();
-
-    // Get the simplex computed previously by the GJK algorithm
-    int nbVertices = simplex.getSimplex(suppPointsA, suppPointsB, points);
-
-    // Compute the tolerance
-    decimal tolerance = MACHINE_EPSILON * simplex.getMaxLengthSquareOfAPoint();
-
-    // Number of triangles in the polytope
-    unsigned int nbTriangles = 0;
-
-    // Clear the storing of triangles
-    triangleStore.clear();
-
-    // Select an action according to the number of points in the simplex
-    // computed with GJK algorithm in order to obtain an initial polytope for
-    // The EPA algorithm.
-    switch(nbVertices) {
-        case 1:
-            // Only one point in the simplex (which should be the origin).
-            // We have a touching contact with zero penetration depth.
-            // We drop that kind of contact. Therefore, we return false
-            return false;
-
-        case 2: {
-            // The simplex returned by GJK is a line segment d containing the origin.
-            // We add two additional support points to construct a hexahedron (two tetrahedron
-            // glued together with triangle faces. The idea is to compute three different vectors
-            // v1, v2 and v3 that are orthogonal to the segment d. The three vectors are relatively
-            // rotated of 120 degree around the d segment. The the three new points to
-            // construct the polytope are the three support points in those three directions
-            // v1, v2 and v3.
-
-            // Direction of the segment
-            Vector3 d = (points[1] - points[0]).getUnit();
-
-            // Choose the coordinate axis from the minimal absolute component of the vector d
-            int minAxis = d.getAbsoluteVector().getMinAxis();
-
-            // Compute sin(60)
-            const decimal sin60 = decimal(sqrt(3.0)) * decimal(0.5);
-
-            // Create a rotation quaternion to rotate the vector v1 to get the vectors
-            // v2 and v3
-            Quaternion rotationQuat(d.x * sin60, d.y * sin60, d.z * sin60, 0.5);
-
-            // Compute the vector v1, v2, v3
-            Vector3 v1 = d.cross(Vector3(minAxis == 0, minAxis == 1, minAxis == 2));
-            Vector3 v2 = rotationQuat * v1;
-            Vector3 v3 = rotationQuat * v2;
-
-            // Compute the support point in the direction of v1
-            suppPointsA[2] = shape1->getLocalSupportPointWithMargin(v1, shape1CachedCollisionData);
-            suppPointsB[2] = body2Tobody1 *
-                       shape2->getLocalSupportPointWithMargin(rotateToBody2 * (-v1), shape2CachedCollisionData);
-            points[2] = suppPointsA[2] - suppPointsB[2];
-
-            // Compute the support point in the direction of v2
-            suppPointsA[3] = shape1->getLocalSupportPointWithMargin(v2, shape1CachedCollisionData);
-            suppPointsB[3] = body2Tobody1 *
-                     shape2->getLocalSupportPointWithMargin(rotateToBody2 * (-v2), shape2CachedCollisionData);
-            points[3] = suppPointsA[3] - suppPointsB[3];
-
-            // Compute the support point in the direction of v3
-            suppPointsA[4] = shape1->getLocalSupportPointWithMargin(v3, shape1CachedCollisionData);
-            suppPointsB[4] = body2Tobody1 *
-                            shape2->getLocalSupportPointWithMargin(rotateToBody2 * (-v3), shape2CachedCollisionData);
-            points[4] = suppPointsA[4] - suppPointsB[4];
-
-            // Now we have an hexahedron (two tetrahedron glued together). We can simply keep the
-            // tetrahedron that contains the origin in order that the initial polytope of the
-            // EPA algorithm is a tetrahedron, which is simpler to deal with.
-
-            // If the origin is in the tetrahedron of points 0, 2, 3, 4
-            if (isOriginInTetrahedron(points[0], points[2], points[3], points[4]) == 0) {
-                // We use the point 4 instead of point 1 for the initial tetrahedron
-                suppPointsA[1] = suppPointsA[4];
-                suppPointsB[1] = suppPointsB[4];
-                points[1] = points[4];
-            }
-            // If the origin is in the tetrahedron of points 1, 2, 3, 4
-            else if (isOriginInTetrahedron(points[1], points[2], points[3], points[4]) == 0) {
-                // We use the point 4 instead of point 0 for the initial tetrahedron
-                suppPointsA[0] = suppPointsA[4];
-                suppPointsB[0] = suppPointsB[4];
-                points[0] = points[4];
-            }
-            else {
-                // The origin is not in the initial polytope
-                return false;
-            }
-
-            // The polytope contains now 4 vertices
-            nbVertices = 4;
-        }
-        case 4: {
-            // The simplex computed by the GJK algorithm is a tetrahedron. Here we check
-            // if this tetrahedron contains the origin. If it is the case, we keep it and
-            // otherwise we remove the wrong vertex of the tetrahedron and go in the case
-            // where the GJK algorithm compute a simplex of three vertices.
-
-            // Check if the tetrahedron contains the origin (or wich is the wrong vertex otherwise)
-            int badVertex = isOriginInTetrahedron(points[0], points[1], points[2], points[3]);
-
-            // If the origin is in the tetrahedron
-            if (badVertex == 0) {
-                // The tetrahedron is a correct initial polytope for the EPA algorithm.
-                // Therefore, we construct the tetrahedron.
-
-                // Comstruct the 4 triangle faces of the tetrahedron
-                TriangleEPA* face0 = triangleStore.newTriangle(points, 0, 1, 2);
-                TriangleEPA* face1 = triangleStore.newTriangle(points, 0, 3, 1);
-                TriangleEPA* face2 = triangleStore.newTriangle(points, 0, 2, 3);
-                TriangleEPA* face3 = triangleStore.newTriangle(points, 1, 3, 2);
-
-                // If the constructed tetrahedron is not correct
-                if (!((face0 != nullptr) && (face1 != nullptr) && (face2 != nullptr) && (face3 != nullptr)
-                   && face0->getDistSquare() > 0.0 && face1->getDistSquare() > 0.0
-                   && face2->getDistSquare() > 0.0 && face3->getDistSquare() > 0.0)) {
-                    return false;
-                }
-
-                // Associate the edges of neighbouring triangle faces
-                link(EdgeEPA(face0, 0), EdgeEPA(face1, 2));
-                link(EdgeEPA(face0, 1), EdgeEPA(face3, 2));
-                link(EdgeEPA(face0, 2), EdgeEPA(face2, 0));
-                link(EdgeEPA(face1, 0), EdgeEPA(face2, 2));
-                link(EdgeEPA(face1, 1), EdgeEPA(face3, 0));
-                link(EdgeEPA(face2, 1), EdgeEPA(face3, 1));
-
-                // Add the triangle faces in the candidate heap
-                addFaceCandidate(face0, triangleHeap, nbTriangles, DECIMAL_LARGEST);
-                addFaceCandidate(face1, triangleHeap, nbTriangles, DECIMAL_LARGEST);
-                addFaceCandidate(face2, triangleHeap, nbTriangles, DECIMAL_LARGEST);
-                addFaceCandidate(face3, triangleHeap, nbTriangles, DECIMAL_LARGEST);
-
-                break;
-            }
-
-            // The tetrahedron contains a wrong vertex (the origin is not inside the tetrahedron)
-            // Remove the wrong vertex and continue to the next case with the
-            // three remaining vertices
-            if (badVertex < 4) {
-
-                suppPointsA[badVertex-1] = suppPointsA[3];
-                suppPointsB[badVertex-1] = suppPointsB[3];
-                points[badVertex-1] = points[3];
-            }
-
-            // We have removed the wrong vertex
-            nbVertices = 3;
-        }
-        case 3: {
-            // The GJK algorithm returned a triangle that contains the origin.
-            // We need two new vertices to create two tetrahedron. The two new
-            // vertices are the support points in the "n" and "-n" direction
-            // where "n" is the normal of the triangle. Then, we use only the
-            // tetrahedron that contains the origin.
-
-            // Compute the normal of the triangle
-            Vector3 v1 = points[1] - points[0];
-            Vector3 v2 = points[2] - points[0];
-            Vector3 n = v1.cross(v2);
-
-            // Compute the two new vertices to obtain a hexahedron
-            suppPointsA[3] = shape1->getLocalSupportPointWithMargin(n, shape1CachedCollisionData);
-            suppPointsB[3] = body2Tobody1 *
-                     shape2->getLocalSupportPointWithMargin(rotateToBody2 * (-n), shape2CachedCollisionData);
-            points[3] = suppPointsA[3] - suppPointsB[3];
-            suppPointsA[4] = shape1->getLocalSupportPointWithMargin(-n, shape1CachedCollisionData);
-            suppPointsB[4] = body2Tobody1 *
-                     shape2->getLocalSupportPointWithMargin(rotateToBody2 * n, shape2CachedCollisionData);
-            points[4] = suppPointsA[4] - suppPointsB[4];
-
-            TriangleEPA* face0 = nullptr;
-            TriangleEPA* face1 = nullptr;
-            TriangleEPA* face2 = nullptr;
-            TriangleEPA* face3 = nullptr;
-
-            // If the origin is in the first tetrahedron
-            if (isOriginInTetrahedron(points[0], points[1],
-                                      points[2], points[3]) == 0) {
-                // The tetrahedron is a correct initial polytope for the EPA algorithm.
-                // Therefore, we construct the tetrahedron.
-
-                // Comstruct the 4 triangle faces of the tetrahedron
-                face0 = triangleStore.newTriangle(points, 0, 1, 2);
-                face1 = triangleStore.newTriangle(points, 0, 3, 1);
-                face2 = triangleStore.newTriangle(points, 0, 2, 3);
-                face3 = triangleStore.newTriangle(points, 1, 3, 2);
-            }
-            else if (isOriginInTetrahedron(points[0], points[1],
-                                           points[2], points[4]) == 0) {
-
-                // The tetrahedron is a correct initial polytope for the EPA algorithm.
-                // Therefore, we construct the tetrahedron.
-
-                // Comstruct the 4 triangle faces of the tetrahedron
-                face0 = triangleStore.newTriangle(points, 0, 1, 2);
-                face1 = triangleStore.newTriangle(points, 0, 4, 1);
-                face2 = triangleStore.newTriangle(points, 0, 2, 4);
-                face3 = triangleStore.newTriangle(points, 1, 4, 2);
-            }
-            else {
-                return false;
-            }
-
-            // If the constructed tetrahedron is not correct
-            if (!((face0 != nullptr) && (face1 != nullptr) && (face2 != nullptr) && (face3 != nullptr)
-               && face0->getDistSquare() > 0.0 && face1->getDistSquare() > 0.0
-               && face2->getDistSquare() > 0.0 && face3->getDistSquare() > 0.0)) {
-                return false;
-            }
-
-            // Associate the edges of neighbouring triangle faces
-            link(EdgeEPA(face0, 0), EdgeEPA(face1, 2));
-            link(EdgeEPA(face0, 1), EdgeEPA(face3, 2));
-            link(EdgeEPA(face0, 2), EdgeEPA(face2, 0));
-            link(EdgeEPA(face1, 0), EdgeEPA(face2, 2));
-            link(EdgeEPA(face1, 1), EdgeEPA(face3, 0));
-            link(EdgeEPA(face2, 1), EdgeEPA(face3, 1));
-
-            // Add the triangle faces in the candidate heap
-            addFaceCandidate(face0, triangleHeap, nbTriangles, DECIMAL_LARGEST);
-            addFaceCandidate(face1, triangleHeap, nbTriangles, DECIMAL_LARGEST);
-            addFaceCandidate(face2, triangleHeap, nbTriangles, DECIMAL_LARGEST);
-            addFaceCandidate(face3, triangleHeap, nbTriangles, DECIMAL_LARGEST);
-
-            nbVertices = 4;
-
-        }
-        break;
-    }
-
-    // At this point, we have a polytope that contains the origin. Therefore, we
-    // can run the EPA algorithm.
-
-    if (nbTriangles == 0) {
-        return false;
-    }
-
-    TriangleEPA* triangle = 0;
-    decimal upperBoundSquarePenDepth = DECIMAL_LARGEST;
-
-    do {
-        triangle = triangleHeap[0];
-
-        // Get the next candidate face (the face closest to the origin)
-        std::pop_heap(&triangleHeap[0], &triangleHeap[nbTriangles], mTriangleComparison);
-        nbTriangles--;
-
-        // If the candidate face in the heap is not obsolete
-        if (!triangle->getIsObsolete()) {
-
-            // If we have reached the maximum number of support points
-            if (nbVertices == MAX_SUPPORT_POINTS) {
-                assert(false);
-                break;
-            }
-
-            // Compute the support point of the Minkowski
-            // difference (A-B) in the closest point direction
-            suppPointsA[nbVertices] = shape1->getLocalSupportPointWithMargin(
-                                        triangle->getClosestPoint(), shape1CachedCollisionData);
-            suppPointsB[nbVertices] = body2Tobody1 *
-                               shape2->getLocalSupportPointWithMargin(rotateToBody2 *
-                                                                (-triangle->getClosestPoint()), shape2CachedCollisionData);
-            points[nbVertices] = suppPointsA[nbVertices] - suppPointsB[nbVertices];
-
-            int indexNewVertex = nbVertices;
-            nbVertices++;
-
-            // Update the upper bound of the penetration depth
-            decimal wDotv = points[indexNewVertex].dot(triangle->getClosestPoint());
-
-            decimal wDotVSquare = wDotv * wDotv / triangle->getDistSquare();
-            if (wDotVSquare < upperBoundSquarePenDepth) {
-                upperBoundSquarePenDepth = wDotVSquare;
-            }
-
-            // Compute the error
-            decimal error = wDotv - triangle->getDistSquare();
-            if (error <= std::max(tolerance, REL_ERROR_SQUARE * wDotv) ||
-                points[indexNewVertex] == points[(*triangle)[0]] ||
-                points[indexNewVertex] == points[(*triangle)[1]] ||
-                points[indexNewVertex] == points[(*triangle)[2]]) {
-                break;
-            }
-
-            // Now, we compute the silhouette cast by the new vertex. The current triangle
-            // face will not be in the convex hull. We start the local recursive silhouette
-            // algorithm from the current triangle face.
-            int i = triangleStore.getNbTriangles();
-            if (!triangle->computeSilhouette(points, indexNewVertex, triangleStore)) {
-                break;
-            }
-
-            // Add all the new triangle faces computed with the silhouette algorithm
-            // to the candidates list of faces of the current polytope
-            while(i != triangleStore.getNbTriangles()) {
-                TriangleEPA* newTriangle = &triangleStore[i];
-                addFaceCandidate(newTriangle, triangleHeap, nbTriangles, upperBoundSquarePenDepth);
-                i++;
-            }
-        }
-    } while(nbTriangles > 0 && triangleHeap[0]->getDistSquare() <= upperBoundSquarePenDepth);
-
-    // Compute the contact info
-    v = narrowPhaseInfo->shape1ToWorldTransform.getOrientation() * triangle->getClosestPoint();
-    Vector3 pALocal = triangle->computeClosestPointOfObject(suppPointsA);
-    Vector3 pBLocal = body2Tobody1.getInverse() * triangle->computeClosestPointOfObject(suppPointsB);
-    Vector3 normal = v.getUnit();
-    decimal penetrationDepth = v.length();
-
-    // If the length of the normal vector is too small, skip this contact point
-    if (normal.lengthSquare() < MACHINE_EPSILON) {
-        return false;
-    }
-
-    if (penetrationDepth * penetrationDepth > gjkPenDepthSquare && penetrationDepth > 0) {
-
-        // Create the contact info object
-        contactPointInfo.init(normal, penetrationDepth, pALocal, pBLocal);
-
-        return true;
-    }
-
-    return false;
-}

src/collision/narrowphase/EPA/EPAAlgorithm.h

@@ -1,147 +0,0 @@
-/********************************************************************************
-* ReactPhysics3D physics library, http://www.reactphysics3d.com                 *
-* Copyright (c) 2010-2016 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_EPA_ALGORITHM_H
-#define REACTPHYSICS3D_EPA_ALGORITHM_H
-
-// Libraries
-#include "collision/narrowphase/GJK/VoronoiSimplex.h"
-#include "collision/shapes/CollisionShape.h"
-#include "collision/NarrowPhaseInfo.h"
-#include "constraint/ContactPoint.h"
-#include "collision/narrowphase/NarrowPhaseAlgorithm.h"
-#include "mathematics/mathematics.h"
-#include "TriangleEPA.h"
-#include "memory/PoolAllocator.h"
-#include <algorithm>
-
-/// ReactPhysics3D namespace
-namespace reactphysics3d {
-
-// ---------- Constants ---------- //
-
-/// Maximum number of support points of the polytope
-constexpr unsigned int MAX_SUPPORT_POINTS = 100;
-
-/// Maximum number of facets of the polytope
-constexpr unsigned int MAX_FACETS = 200;
-
-
-// Class TriangleComparison
-/**
- * This class allows the comparison of two triangles in the heap
- * The comparison between two triangles is made using their square distance to the closest
- * point to the origin. The goal is that in the heap, the first triangle is the one with the
- * smallest square distance.
- */
-class TriangleComparison {
-
-    public:
-
-        /// Comparison operator
-        bool operator()(const TriangleEPA* face1, const TriangleEPA* face2) {
-            return (face1->getDistSquare() > face2->getDistSquare());
-        }
-};
-
-
-// Class EPAAlgorithm
-/**
- * This class is the implementation of the Expanding Polytope Algorithm (EPA).
- * The EPA algorithm computes the penetration depth and contact points between
- * two enlarged objects (with margin) where the original objects (without margin)
- * intersect. The penetration depth of a pair of intersecting objects A and B is
- * the length of a point on the boundary of the Minkowski sum (A-B) closest to the
- * origin. The goal of the EPA algorithm is to start with an initial simplex polytope
- * that contains the origin and expend it in order to find the point on the boundary
- * of (A-B) that is closest to the origin. An initial simplex that contains origin
- * has been computed wit GJK algorithm. The EPA Algorithm will extend this simplex
- * polytope to find the correct penetration depth. The implementation of the EPA
- * algorithm is based on the book "Collision Detection in 3D Environments".
- */
-class EPAAlgorithm {
-
-    private:
-
-        // -------------------- Attributes -------------------- //
-
-        /// Triangle comparison operator
-        TriangleComparison mTriangleComparison;
-        
-        // -------------------- Methods -------------------- //
-
-        /// Add a triangle face in the candidate triangle heap
-        void addFaceCandidate(TriangleEPA* triangle, TriangleEPA** heap, uint& nbTriangles,
-                              decimal upperBoundSquarePenDepth);
-
-        /// Decide if the origin is in the tetrahedron.
-        int isOriginInTetrahedron(const Vector3& p1, const Vector3& p2,
-                                  const Vector3& p3, const Vector3& p4) const;
-
-    public:
-
-        // -------------------- Methods -------------------- //
-
-        /// Constructor
-        EPAAlgorithm() = default;
-
-        /// Destructor
-        ~EPAAlgorithm() = default;
-
-        /// Deleted copy-constructor
-        EPAAlgorithm(const EPAAlgorithm& algorithm) = delete;
-
-        /// Deleted assignment operator
-        EPAAlgorithm& operator=(const EPAAlgorithm& algorithm) = delete;
-
-        /// Compute the penetration depth with EPA algorithm.
-        bool computePenetrationDepthAndContactPoints(const VoronoiSimplex& simplex,
-                                                     const NarrowPhaseInfo* narrowPhaseInfo,
-                                                     Vector3& v,
-                                                     ContactPointInfo &contactPointInfo);
-};
-
-// Add a triangle face in the candidate triangle heap in the EPA algorithm
-inline void EPAAlgorithm::addFaceCandidate(TriangleEPA* triangle, TriangleEPA** heap,
-                                           uint& nbTriangles, decimal upperBoundSquarePenDepth) {
-    
-    // If the closest point of the affine hull of triangle
-    // points is internal to the triangle and if the distance
-    // of the closest point from the origin is at most the
-    // penetration depth upper bound
-    if (triangle->isClosestPointInternalToTriangle() &&
-        triangle->getDistSquare() <= upperBoundSquarePenDepth) {
-
-        // Add the triangle face to the list of candidates
-        heap[nbTriangles] = triangle;
-        nbTriangles++;
-        std::push_heap(&heap[0], &heap[nbTriangles], mTriangleComparison);
-    }
-}
-
-}
-
-#endif
-

src/collision/narrowphase/EPA/EdgeEPA.cpp

@@ -1,125 +0,0 @@
-/********************************************************************************
-* ReactPhysics3D physics library, http://www.reactphysics3d.com                 *
-* Copyright (c) 2010-2016 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 "EdgeEPA.h"
-#include "TriangleEPA.h"
-#include "TrianglesStore.h"
-#include <cassert>
-
-// We want to use the ReactPhysics3D namespace
-using namespace reactphysics3d;
-
-// Constructor
-EdgeEPA::EdgeEPA(TriangleEPA* ownerTriangle, int index)
-        : mOwnerTriangle(ownerTriangle), mIndex(index) {
-    assert(index >= 0 && index < 3);
-}
-
-// Copy-constructor
-EdgeEPA::EdgeEPA(const EdgeEPA& edge) {
-    mOwnerTriangle = edge.mOwnerTriangle;
-    mIndex = edge.mIndex;
-}
-
-// Return the index of the source vertex of the edge (vertex starting the edge)
-uint EdgeEPA::getSourceVertexIndex() const {
-    return (*mOwnerTriangle)[mIndex];
-}
-
-// Return the index of the target vertex of the edge (vertex ending the edge)
-uint EdgeEPA::getTargetVertexIndex() const {
-    return (*mOwnerTriangle)[indexOfNextCounterClockwiseEdge(mIndex)];
-}
-
-// Execute the recursive silhouette algorithm from this edge
-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,
-                                                              getTargetVertexIndex(),
-                                                              getSourceVertexIndex());
-
-            // If the triangle has been created
-            if (triangle != nullptr) {
-                halfLink(EdgeEPA(triangle, 1), *this);
-                return true;
-            }
-
-            return false;
-        }
-        else {
-
-            // The current triangle is visible and therefore obsolete
-            mOwnerTriangle->setIsObsolete(true);
-
-            int backup = triangleStore.getNbTriangles();
-
-            if(!mOwnerTriangle->getAdjacentEdge(indexOfNextCounterClockwiseEdge(
-                                                this->mIndex)).computeSilhouette(vertices,
-                                                                                 indexNewVertex,
-                                                                                 triangleStore)) {
-                mOwnerTriangle->setIsObsolete(false);
-
-                TriangleEPA* triangle = triangleStore.newTriangle(vertices, indexNewVertex,
-                                                                  getTargetVertexIndex(),
-                                                                  getSourceVertexIndex());
-
-                // If the triangle has been created
-                if (triangle != nullptr) {
-                    halfLink(EdgeEPA(triangle, 1), *this);
-                    return true;
-                }
-
-                return false;
-            }
-            else if (!mOwnerTriangle->getAdjacentEdge(indexOfPreviousCounterClockwiseEdge(
-                                                  this->mIndex)).computeSilhouette(vertices,
-                                                                                   indexNewVertex,
-                                                                                   triangleStore)) {
-                mOwnerTriangle->setIsObsolete(false);
-
-                triangleStore.setNbTriangles(backup);
-
-                TriangleEPA* triangle = triangleStore.newTriangle(vertices, indexNewVertex,
-                                                                  getTargetVertexIndex(),
-                                                                  getSourceVertexIndex());
-
-                if (triangle != nullptr) {
-                    halfLink(EdgeEPA(triangle, 1), *this);
-                    return true;
-                }
-
-                return false;
-            }
-        }
-    }
-
-    return true;
-}

src/collision/narrowphase/EPA/TriangleEPA.cpp

@@ -1,145 +0,0 @@
-/********************************************************************************
-* ReactPhysics3D physics library, http://www.reactphysics3d.com                 *
-* Copyright (c) 2010-2016 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 "TriangleEPA.h"
-#include "EdgeEPA.h"
-#include "TrianglesStore.h"
-
-// We use the ReactPhysics3D namespace
-using namespace reactphysics3d;
-
-// Constructor
-TriangleEPA::TriangleEPA(uint indexVertex1, uint indexVertex2, uint indexVertex3)
-            : mIsObsolete(false) {
-    mIndicesVertices[0] = indexVertex1;
-    mIndicesVertices[1] = indexVertex2;
-    mIndicesVertices[2] = indexVertex3;
-}
-
-// Compute the point v closest to the origin of this triangle
-bool TriangleEPA::computeClosestPoint(const Vector3* vertices) {
-    const Vector3& p0 = vertices[mIndicesVertices[0]];
-
-    Vector3 v1 = vertices[mIndicesVertices[1]] - p0;
-    Vector3 v2 = vertices[mIndicesVertices[2]] - p0;
-    decimal v1Dotv1 = v1.dot(v1);
-    decimal v1Dotv2 = v1.dot(v2);
-    decimal v2Dotv2 = v2.dot(v2);
-    decimal p0Dotv1 = p0.dot(v1);
-    decimal p0Dotv2 = p0.dot(v2);
-
-    // Compute determinant
-    mDet = v1Dotv1 * v2Dotv2 - v1Dotv2 * v1Dotv2;
-
-    // Compute lambda values
-    mLambda1 = p0Dotv2 * v1Dotv2 - p0Dotv1 * v2Dotv2;
-    mLambda2 = p0Dotv1 * v1Dotv2 - p0Dotv2 * v1Dotv1;
-
-    // If the determinant is positive
-    if (mDet > 0.0) {
-        // Compute the closest point v
-        mClosestPoint = p0 + decimal(1.0) / mDet * (mLambda1 * v1 + mLambda2 * v2);
-
-        // Compute the square distance of closest point to the origin
-        mDistSquare = mClosestPoint.dot(mClosestPoint);
-
-        return true;
-    }
-
-    return false;
-}
-
-/// Link an edge with another one. It means that the current edge of a triangle will
-/// be associated with the edge of another triangle in order that both triangles
-/// are neighbour along both edges).
-bool reactphysics3d::link(const EdgeEPA& edge0, const EdgeEPA& edge1) {
-    bool isPossible = (edge0.getSourceVertexIndex() == edge1.getTargetVertexIndex() &&
-                       edge0.getTargetVertexIndex() == edge1.getSourceVertexIndex());
-
-    if (isPossible) {
-        edge0.getOwnerTriangle()->mAdjacentEdges[edge0.getIndex()] = edge1;
-        edge1.getOwnerTriangle()->mAdjacentEdges[edge1.getIndex()] = edge0;
-    }
-
-    return isPossible;
-}
-
-/// Make an half link of an edge with another one from another triangle. An half-link
-/// between an edge "edge0" and an edge "edge1" represents the fact that "edge1" is an
-/// adjacent edge of "edge0" but not the opposite. The opposite edge connection will
-/// be made later.
-void reactphysics3d::halfLink(const EdgeEPA& edge0, const EdgeEPA& edge1) {
-    assert(edge0.getSourceVertexIndex() == edge1.getTargetVertexIndex() &&
-           edge0.getTargetVertexIndex() == edge1.getSourceVertexIndex());
-
-    // Link
-    edge0.getOwnerTriangle()->mAdjacentEdges[edge0.getIndex()] = edge1;
-}
-
-// Execute the recursive silhouette algorithm from this triangle face.
-/// The parameter "vertices" is an array that contains the vertices of the current polytope and the
-/// parameter "indexNewVertex" is the index of the new vertex in this array. The goal of the
-/// silhouette algorithm is to add the new vertex in the polytope by keeping it convex. Therefore,
-/// the triangle faces that are visible from the new vertex must be removed from the polytope and we
-/// need to add triangle faces where each face contains the new vertex and an edge of the silhouette.
-/// The silhouette is the connected set of edges that are part of the border between faces that
-/// are seen and faces that are not seen from the new vertex. This method starts from the nearest
-/// face from the new vertex, computes the silhouette and create the new faces from the new vertex in
-/// order that we always have a convex polytope. The faces visible from the new vertex are set
-/// obselete and will not be considered as being a candidate face in the future.
-bool TriangleEPA::computeSilhouette(const Vector3* vertices, uint indexNewVertex,
-                                    TrianglesStore& triangleStore) {
-    
-    uint first = triangleStore.getNbTriangles();
-
-    // Mark the current triangle as obsolete because it
-    setIsObsolete(true);
-
-    // Execute recursively the silhouette algorithm for the adjacent edges of neighboring
-    // triangles of the current triangle
-    bool result = mAdjacentEdges[0].computeSilhouette(vertices, indexNewVertex, triangleStore) &&
-                  mAdjacentEdges[1].computeSilhouette(vertices, indexNewVertex, triangleStore) &&
-                  mAdjacentEdges[2].computeSilhouette(vertices, indexNewVertex, triangleStore);
-
-    if (result) {
-        int i,j;
-
-        // For each triangle face that contains the new vertex and an edge of the silhouette
-        for (i=first, j=triangleStore.getNbTriangles()-1;
-             i != triangleStore.getNbTriangles(); j = i++) {
-            TriangleEPA* triangle = &triangleStore[i];
-            halfLink(triangle->getAdjacentEdge(1), EdgeEPA(triangle, 1));
-
-            if (!link(EdgeEPA(triangle, 0), EdgeEPA(&triangleStore[j], 2))) {
-                return false;
-            }
-        }
-
-    }
-
-    return result;
-}

src/collision/narrowphase/EPA/TriangleEPA.h

@@ -1,197 +0,0 @@
-/********************************************************************************
-* ReactPhysics3D physics library, http://www.reactphysics3d.com                 *
-* Copyright (c) 2010-2016 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_TRIANGLE_EPA_H
-#define REACTPHYSICS3D_TRIANGLE_EPA_H
-
-// Libraries
-#include "mathematics/mathematics.h"
-#include "configuration.h"
-#include "EdgeEPA.h"
-#include <cassert>
-
-/// ReactPhysics3D namespace
-namespace reactphysics3d {
-
-// Prototypes
-bool link(const EdgeEPA& edge0, const EdgeEPA& edge1);
-void halfLink(const EdgeEPA& edge0, const EdgeEPA& edge1);
-
-
-// Class TriangleEPA
-/**
- * This class represents a triangle face of the current polytope in the EPA algorithm.
- */
-class TriangleEPA {
-
-    private:
-
-        // -------------------- Attributes -------------------- //
-
-        /// Indices of the vertices y_i of the triangle
-        uint mIndicesVertices[3];
-
-        /// Three adjacent edges of the triangle (edges of other triangles)
-        EdgeEPA mAdjacentEdges[3];
-
-        /// True if the triangle face is visible from the new support point
-        bool mIsObsolete;
-
-        /// Determinant
-        decimal mDet;
-
-        /// Point v closest to the origin on the affine hull of the triangle
-        Vector3 mClosestPoint;
-
-        /// Lambda1 value such that v = lambda0 * y_0 + lambda1 * y_1 + lambda2 * y_2
-        decimal mLambda1;
-
-        /// Lambda1 value such that v = lambda0 * y_0 + lambda1 * y_1 + lambda2 * y_2
-        decimal mLambda2;
-
-        /// Square distance of the point closest point v to the origin
-        decimal mDistSquare;
-
-    public:
-
-        // -------------------- Methods -------------------- //
-
-        /// Constructor
-        TriangleEPA() = default;
-
-        /// Constructor
-        TriangleEPA(uint v1, uint v2, uint v3);
-
-        /// Destructor
-        ~TriangleEPA() = default;
-
-        /// Deleted copy-constructor
-        TriangleEPA(const TriangleEPA& triangle) = delete;
-
-        /// Deleted assignment operator
-        TriangleEPA& operator=(const TriangleEPA& triangle) = delete;
-
-        /// Return an adjacent edge of the triangle
-        EdgeEPA& getAdjacentEdge(int index);
-
-        /// Set an adjacent edge of the triangle
-        void setAdjacentEdge(int index, EdgeEPA& edge);
-
-        /// Return the square distance of the closest point to origin
-        decimal getDistSquare() const;
-
-        /// Set the isObsolete value
-        void setIsObsolete(bool isObsolete);
-
-        /// Return true if the triangle face is obsolete
-        bool getIsObsolete() const;
-
-        /// Return the point closest to the origin
-        const Vector3& getClosestPoint() const;
-
-        // Return true if the closest point on affine hull is inside the triangle
-        bool isClosestPointInternalToTriangle() const;
-
-        /// Return true if the triangle is visible from a given vertex
-        bool isVisibleFromVertex(const Vector3* vertices, uint index) const;
-
-        /// Compute the point v closest to the origin of this triangle
-        bool computeClosestPoint(const Vector3* vertices);
-
-        /// Compute the point of an object closest to the origin
-        Vector3 computeClosestPointOfObject(const Vector3* supportPointsOfObject) const;
-
-        /// Execute the recursive silhouette algorithm from this triangle face.
-        bool computeSilhouette(const Vector3* vertices, uint index, TrianglesStore& triangleStore);
-
-        /// Access operator
-        uint operator[](int i) const;
-
-        /// Associate two edges
-        friend bool link(const EdgeEPA& edge0, const EdgeEPA& edge1);
-
-        /// Make a half-link between two edges
-        friend void halfLink(const EdgeEPA& edge0, const EdgeEPA& edge1);
-};
-
-// Return an edge of the triangle
-inline EdgeEPA& TriangleEPA::getAdjacentEdge(int index) {
-    assert(index >= 0 && index < 3);
-    return mAdjacentEdges[index];
-}
-
-// Set an adjacent edge of the triangle
-inline void TriangleEPA::setAdjacentEdge(int index, EdgeEPA& edge) {
-    assert(index >=0 && index < 3);
-    mAdjacentEdges[index] = edge;
-}
-
-// Return the square distance  of the closest point to origin
-inline decimal TriangleEPA::getDistSquare() const {
-    return mDistSquare;
-}
-
-// Set the isObsolete value
-inline void TriangleEPA::setIsObsolete(bool isObsolete) {
-    mIsObsolete = isObsolete;
-}
-
-// Return true if the triangle face is obsolete
-inline bool TriangleEPA::getIsObsolete() const {
-    return mIsObsolete;
-}
-
-// Return the point closest to the origin
-inline const Vector3& TriangleEPA::getClosestPoint() const {
-    return mClosestPoint;
-}
-
-// Return true if the closest point on affine hull is inside the triangle
-inline bool TriangleEPA::isClosestPointInternalToTriangle() const {
-    return (mLambda1 >= 0.0 && mLambda2 >= 0.0 && (mLambda1 + mLambda2) <= mDet);
-}
-
-// Return true if the triangle is visible from a given vertex
-inline bool TriangleEPA::isVisibleFromVertex(const Vector3* vertices, uint index) const {
-    Vector3 closestToVert = vertices[index] - mClosestPoint;
-    return (mClosestPoint.dot(closestToVert) > 0.0);
-}
-
-// Compute the point of an object closest to the origin
-inline Vector3 TriangleEPA::computeClosestPointOfObject(const Vector3* supportPointsOfObject) const{
-    const Vector3& p0 = supportPointsOfObject[mIndicesVertices[0]];
-    return p0 + decimal(1.0)/mDet * (mLambda1 * (supportPointsOfObject[mIndicesVertices[1]] - p0) +
-                           mLambda2 * (supportPointsOfObject[mIndicesVertices[2]] - p0));
-}
-
-// Access operator
-inline uint TriangleEPA::operator[](int i) const {
-    assert(i >= 0 && i <3);
-    return mIndicesVertices[i];
-}
-
-}
-
-#endif

src/collision/narrowphase/EPA/TrianglesStore.h

@@ -1,139 +0,0 @@
-/********************************************************************************
-* ReactPhysics3D physics library, http://www.reactphysics3d.com                 *
-* Copyright (c) 2010-2016 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_TRIANGLES_STORE_H
-#define REACTPHYSICS3D_TRIANGLES_STORE_H
-
-#include "TriangleEPA.h"
-
-
-// Libraries
-#include <cassert>
-
-/// ReactPhysics3D namespace
-namespace reactphysics3d {
-
-// Constants
-constexpr unsigned int MAX_TRIANGLES = 200;     // Maximum number of triangles
-
-// Class TriangleStore
-/**
- * This class stores several triangles of the polytope in the EPA algorithm.
- */
-class TrianglesStore {
-
-    private:
-
-        // -------------------- Attributes -------------------- //
-
-        /// Triangles
-        TriangleEPA mTriangles[MAX_TRIANGLES];
-
-        /// Number of triangles
-        int mNbTriangles;        
-        
-    public:
-
-        // -------------------- Methods -------------------- //
-
-        /// Constructor
-        TrianglesStore();
-
-        /// Destructor
-        ~TrianglesStore() = default;
-
-        /// Deleted copy-constructor
-        TrianglesStore(const TrianglesStore& triangleStore) = delete;
-
-        /// Deleted assignment operator
-        TrianglesStore& operator=(const TrianglesStore& triangleStore) = delete;
-
-        /// Clear all the storage
-        void clear();
-
-        /// Return the number of triangles
-        int getNbTriangles() const;
-
-        /// Set the number of triangles
-        void setNbTriangles(int backup);
-
-        /// Return the last triangle
-        TriangleEPA& last();
-
-        /// Create a new triangle
-        TriangleEPA* newTriangle(const Vector3* vertices, uint v0, uint v1, uint v2);
-
-        /// Access operator
-        TriangleEPA& operator[](int i);
-};
-
-// Clear all the storage
-inline void TrianglesStore::clear() {
-    mNbTriangles = 0;
-}
-
-// Return the number of triangles
-inline int TrianglesStore::getNbTriangles() const {
-    return mNbTriangles;
-}
-
-
-inline void TrianglesStore::setNbTriangles(int backup) {
-    mNbTriangles = backup;
-}
-
-// Return the last triangle
-inline TriangleEPA& TrianglesStore::last() {
-    assert(mNbTriangles > 0);
-    return mTriangles[mNbTriangles - 1];
-}
-
-// Create a new triangle
-inline TriangleEPA* TrianglesStore::newTriangle(const Vector3* vertices,
-                                                uint v0,uint v1, uint v2) {
-    TriangleEPA* newTriangle = nullptr;
-
-    // If we have not reached the maximum number of triangles
-    if (mNbTriangles != MAX_TRIANGLES) {
-        newTriangle = &mTriangles[mNbTriangles++];
-        new (newTriangle) TriangleEPA(v0, v1, v2);
-        if (!newTriangle->computeClosestPoint(vertices)) {
-            mNbTriangles--;
-            newTriangle = nullptr;
-        }
-    }
-
-    // Return the new triangle
-    return newTriangle;
-}
-
-// Access operator
-inline TriangleEPA& TrianglesStore::operator[](int i) {
-    return mTriangles[i];
-}
-
-}
-
-#endif

src/collision/narrowphase/GJK/GJKAlgorithm.cpp

@@ -45,7 +45,7 @@ using namespace reactphysics3d;
 /// algorithm on the enlarged object to obtain a simplex polytope that contains the
 /// origin, they we give that simplex polytope to the EPA algorithm which will compute
 /// the correct penetration depth and contact points between the enlarged objects.
-bool GJKAlgorithm::testCollision(const NarrowPhaseInfo* narrowPhaseInfo,
+GJKAlgorithm::GJKResult GJKAlgorithm::testCollision(const NarrowPhaseInfo* narrowPhaseInfo,
                                  ContactPointInfo& contactPointInfo) {
 
     PROFILE("GJKAlgorithm::testCollision()");
@@ -101,8 +101,7 @@ bool GJKAlgorithm::testCollision(const NarrowPhaseInfo* narrowPhaseInfo,
               
         // Compute the support points for original objects (without margins) A and B
         suppA = shape1->getLocalSupportPointWithoutMargin(-v, shape1CachedCollisionData);
-        suppB = body2Tobody1 *
-                     shape2->getLocalSupportPointWithoutMargin(rotateToBody2 * v, shape2CachedCollisionData);
+        suppB = body2Tobody1 * shape2->getLocalSupportPointWithoutMargin(rotateToBody2 * v, shape2CachedCollisionData);
 
         // Compute the support point for the Minkowski difference A-B
         w = suppA - suppB;
@@ -116,7 +115,7 @@ bool GJKAlgorithm::testCollision(const NarrowPhaseInfo* narrowPhaseInfo,
             narrowPhaseInfo->overlappingPair->setCachedSeparatingAxis(v);
             
             // No intersection, we return
-            return false;
+            return GJKResult::SEPARATED;
         }
 
         // If the objects intersect only in the margins
@@ -135,7 +134,8 @@ bool GJKAlgorithm::testCollision(const NarrowPhaseInfo* narrowPhaseInfo,
 
             // Contact point has been found
             contactFound = true;
-            break;
+
+            return GJKResult::INTERPENETRATE;
         }
 
         // Compute the point of the simplex closest to the origin
@@ -144,13 +144,14 @@ bool GJKAlgorithm::testCollision(const NarrowPhaseInfo* narrowPhaseInfo,
 
             // Contact point has been found
             contactFound = true;
-            break;
+
+            return GJKResult::INTERPENETRATE;
         }
 
         // Closest point is almost the origin, go to EPA algorithm
         // Vector v to small to continue computing support points
         if (v.lengthSquare() < MACHINE_EPSILON) {
-            break;
+            return GJKResult::INTERPENETRATE;
         }
 
         // Store and update the squared distance of the closest point
@@ -173,20 +174,6 @@ bool GJKAlgorithm::testCollision(const NarrowPhaseInfo* narrowPhaseInfo,
     } while((isPolytopeShape && !simplex.isFull()) || (!isPolytopeShape && !simplex.isFull() &&
             distSquare > MACHINE_EPSILON * simplex.getMaxLengthSquareOfAPoint()));
 
-    // If no contact has been found (penetration case)
-    if (!contactFound) {
-
-        // The objects (without margins) intersect. Therefore, we run the GJK algorithm
-        // again but on the enlarged objects to compute a simplex polytope that contains
-        // the origin. Then, we give that simplex polytope to the EPA algorithm to compute
-        // the correct penetration depth and contact points between the enlarged objects.
-        if(computePenetrationDepthForEnlargedObjects(narrowPhaseInfo, contactPointInfo, v)) {
-
-            // A contact has been found with EPA algorithm, we return true
-            return true;
-        }
-    }
-
     if (contactFound && distSquare > MACHINE_EPSILON) {
 
         // Compute the closet points of both objects (without the margins)
@@ -205,103 +192,21 @@ bool GJKAlgorithm::testCollision(const NarrowPhaseInfo* narrowPhaseInfo,
 
         // If the penetration depth is negative (due too numerical errors), there is no contact
         if (penetrationDepth <= decimal(0.0)) {
-            return false;
+            return GJKResult::INTERPENETRATE;
         }
 
         // Do not generate a contact point with zero normal length
         if (normal.lengthSquare() < MACHINE_EPSILON) {
-            return false;
+            return GJKResult::INTERPENETRATE;
         }
 
         // Create the contact info object
         contactPointInfo.init(normal, penetrationDepth, pA, pB);
 
-        return true;
+        return GJKResult::COLLIDE_IN_MARGIN;
     }
 
-    return false;
-}
-
-/// This method runs the GJK algorithm on the two enlarged objects (with margin)
-/// to compute a simplex polytope that contains the origin. The two objects are
-/// assumed to intersect in the original objects (without margin). Therefore such
-/// a polytope must exist. Then, we give that polytope to the EPA algorithm to
-/// compute the correct penetration depth and contact points of the enlarged objects.
-bool GJKAlgorithm::computePenetrationDepthForEnlargedObjects(const NarrowPhaseInfo* narrowPhaseInfo,
-                                                             ContactPointInfo& contactPointInfo,
-                                                             Vector3& v) {
-    PROFILE("GJKAlgorithm::computePenetrationDepthForEnlargedObjects()");
-
-    VoronoiSimplex simplex;
-    Vector3 suppA;
-    Vector3 suppB;
-    Vector3 w;
-    decimal vDotw;
-    decimal distSquare = DECIMAL_LARGEST;
-    decimal prevDistSquare;
-
-    assert(narrowPhaseInfo->collisionShape1->isConvex());
-    assert(narrowPhaseInfo->collisionShape2->isConvex());
-
-    const ConvexShape* shape1 = static_cast<const ConvexShape*>(narrowPhaseInfo->collisionShape1);
-    const ConvexShape* shape2 = static_cast<const ConvexShape*>(narrowPhaseInfo->collisionShape2);
-
-    bool isPolytopeShape = shape1->isPolyhedron() && shape2->isPolyhedron();
-
-    void** shape1CachedCollisionData = narrowPhaseInfo->cachedCollisionData1;
-    void** shape2CachedCollisionData = narrowPhaseInfo->cachedCollisionData2;
-
-    // Transform a point from local space of body 2 to local space
-    // of body 1 (the GJK algorithm is done in local space of body 1)
-    Transform body2ToBody1 = narrowPhaseInfo->shape1ToWorldTransform.getInverse() * narrowPhaseInfo->shape2ToWorldTransform;
-
-    // Matrix that transform a direction from local space of body 1 into local space of body 2
-    Matrix3x3 rotateToBody2 = narrowPhaseInfo->shape2ToWorldTransform.getOrientation().getMatrix().getTranspose() *
-                              narrowPhaseInfo->shape1ToWorldTransform.getOrientation().getMatrix();
-    
-    do {
-        // Compute the support points for the enlarged object A and B
-        suppA = shape1->getLocalSupportPointWithMargin(-v, shape1CachedCollisionData);
-        suppB = body2ToBody1 * shape2->getLocalSupportPointWithMargin(rotateToBody2 * v, shape2CachedCollisionData);
-
-        // Compute the support point for the Minkowski difference A-B
-        w = suppA - suppB;
-
-        vDotw = v.dot(w);
-
-        // If the enlarge objects do not intersect
-        if (vDotw > decimal(0.0)) {
-
-            // No intersection, we return
-            return false;
-        }
-
-        // Add the new support point to the simplex
-        simplex.addPoint(w, suppA, suppB);
-
-        if (simplex.isAffinelyDependent()) {
-            return false;
-        }
-
-        if (!simplex.computeClosestPoint(v)) {
-            return false;
-        }
-
-        // Store and update the square distance
-        prevDistSquare = distSquare;
-        distSquare = v.lengthSquare();
-
-        if (prevDistSquare - distSquare <= MACHINE_EPSILON * prevDistSquare) {
-            return false;
-        }
-
-    } while((!simplex.isFull() && isPolytopeShape) || (!isPolytopeShape && !simplex.isFull() &&
-            distSquare > MACHINE_EPSILON * simplex.getMaxLengthSquareOfAPoint()));
-
-    // Give the simplex computed with GJK algorithm to the EPA algorithm
-    // which will compute the correct penetration depth and contact points
-    // between the two enlarged objects
-    return mAlgoEPA.computePenetrationDepthAndContactPoints(simplex, narrowPhaseInfo, v, contactPointInfo);
+    return GJKResult::SEPARATED;
 }
 
 // Use the GJK Algorithm to find if a point is inside a convex collision shape

src/collision/narrowphase/GJK/GJKAlgorithm.h

@@ -27,11 +27,9 @@
 #define REACTPHYSICS3D_GJK_ALGORITHM_H
 
 // Libraries
-#include "collision/narrowphase/NarrowPhaseAlgorithm.h"
 #include "constraint/ContactPoint.h"
 #include "collision/shapes/ConvexShape.h"
-#include "collision/narrowphase/EPA/EPAAlgorithm.h"
-
+#include "VoronoiSimplex.h"
 
 /// ReactPhysics3D namespace
 namespace reactphysics3d {
@@ -57,24 +55,22 @@ constexpr int MAX_ITERATIONS_GJK_RAYCAST = 32;
  * Polytope Algorithm) to compute the correct penetration depth between the
  * enlarged objects.
  */
-class GJKAlgorithm : public NarrowPhaseAlgorithm {
+class GJKAlgorithm {
 
     private :
 
         // -------------------- Attributes -------------------- //
 
-        /// EPA Algorithm
-        EPAAlgorithm mAlgoEPA;
-
         // -------------------- Methods -------------------- //
 
-        /// Compute the penetration depth for enlarged objects.
-        bool computePenetrationDepthForEnlargedObjects(const NarrowPhaseInfo* narrowPhaseInfo,
-                                                       ContactPointInfo& contactPointInfo,
-                                                       Vector3& v);
-
     public :
 
+        enum class GJKResult {
+            SEPARATED,              // The two shapes are separated outside the margin
+            COLLIDE_IN_MARGIN,      // The two shapes overlap only in the margin (shallow penetration)
+            INTERPENETRATE          // The two shapes overlap event without the margin (deep penetration)
+        };
+
         // -------------------- Methods -------------------- //
 
         /// Constructor
@@ -90,14 +86,16 @@ class GJKAlgorithm : public NarrowPhaseAlgorithm {
         GJKAlgorithm& operator=(const GJKAlgorithm& algorithm) = delete;
 
         /// Compute a contact info if the two bounding volumes collide.
-        virtual bool testCollision(const NarrowPhaseInfo* narrowPhaseInfo,
-                                   ContactPointInfo& contactPointInfo) override;
+        GJKResult testCollision(const NarrowPhaseInfo* narrowPhaseInfo,
+                                        ContactPointInfo& contactPointInfo);
 
         /// Use the GJK Algorithm to find if a point is inside a convex collision shape
         bool testPointInside(const Vector3& localPoint, ProxyShape* proxyShape);
 
         /// Ray casting algorithm agains a convex collision shape using the GJK Algorithm
         bool raycast(const Ray& ray, ProxyShape* proxyShape, RaycastInfo& raycastInfo);
+
+
 };
 
 }

src/collision/narrowphase/SAT/SATAlgorithm.cpp

@@ -0,0 +1,43 @@
+/********************************************************************************
+* ReactPhysics3D physics library, http://www.reactphysics3d.com                 *
+* Copyright (c) 2010-2016 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 "SATAlgorithm.h"
+#include "constraint/ContactPoint.h"
+#include "configuration.h"
+#include "engine/Profiler.h"
+#include <algorithm>
+#include <cmath>
+#include <cfloat>
+#include <cassert>
+
+// We want to use the ReactPhysics3D namespace
+using namespace reactphysics3d;
+
+bool SATAlgorithm::testCollision(const NarrowPhaseInfo* narrowPhaseInfo,
+                                 ContactPointInfo& contactPointInfo) {
+
+
+}

src/collision/narrowphase/SAT/SATAlgorithm.h

@@ -23,100 +23,45 @@
 *                                                                               *
 ********************************************************************************/
 
-#ifndef REACTPHYSICS3D_EDGE_EPA_H
-#define REACTPHYSICS3D_EDGE_EPA_H
-
+#ifndef REACTPHYSICS3D_SAT_ALGORITHM_H
+#define REACTPHYSICS3D_SAT_ALGORITHM_H
 
 // Libraries
-#include "mathematics/mathematics.h"
+#include "constraint/ContactPoint.h"
 
 /// ReactPhysics3D namespace
 namespace reactphysics3d {
 
-// Class declarations
-class TriangleEPA;
-class TrianglesStore;
-
-// Class EdgeEPA
-/**
- * This class represents an edge of the current polytope in the EPA algorithm.
- */
-class EdgeEPA {
+// Class SATAlgorithm
+class SATAlgorithm {
 
     private :
 
         // -------------------- Attributes -------------------- //
 
-        /// Pointer to the triangle that contains this edge
-        TriangleEPA* mOwnerTriangle;
-
-        /// Index of the edge in the triangle (between 0 and 2).
-        /// The edge with index i connect triangle vertices i and (i+1 % 3)
-        int mIndex;
+        // -------------------- Methods -------------------- //
 
     public :
 
         // -------------------- Methods -------------------- //
 
         /// Constructor
-        EdgeEPA() = default;
-
-        /// Constructor
-        EdgeEPA(TriangleEPA* ownerTriangle, int index);
-
-        /// Copy-constructor
-        EdgeEPA(const EdgeEPA& edge);
+        SATAlgorithm() = default;
 
         /// Destructor
-        ~EdgeEPA() = default;
+        ~SATAlgorithm() = default;
 
-        /// Return the pointer to the owner triangle
-        TriangleEPA* getOwnerTriangle() const;
+        /// Deleted copy-constructor
+        SATAlgorithm(const SATAlgorithm& algorithm) = delete;
 
-        /// Return the index of the edge in the triangle
-        int getIndex() const;
+        /// Deleted assignment operator
+        SATAlgorithm& operator=(const SATAlgorithm& algorithm) = delete;
 
-        /// Return index of the source vertex of the edge
-        uint getSourceVertexIndex() const;
-
-        /// Return the index of the target vertex of the edge
-        uint getTargetVertexIndex() const;
-
-        /// Execute the recursive silhouette algorithm from this edge
-        bool computeSilhouette(const Vector3* vertices, uint index, TrianglesStore& triangleStore);
-
-        /// Assignment operator
-        EdgeEPA& operator=(const EdgeEPA& edge);
+        /// Compute a contact info if the two bounding volumes collide.
+        bool testCollision(const NarrowPhaseInfo* narrowPhaseInfo,
+                                ContactPointInfo& contactPointInfo);
 };
 
-// Return the pointer to the owner triangle
-inline TriangleEPA* EdgeEPA::getOwnerTriangle() const {
-    return mOwnerTriangle;
-}
-
-// Return the edge index
-inline int EdgeEPA::getIndex() const {
-    return mIndex;
-}
-
-// Assignment operator
-inline EdgeEPA& EdgeEPA::operator=(const EdgeEPA& edge) {
-    mOwnerTriangle = edge.mOwnerTriangle;
-    mIndex = edge.mIndex;
-    return *this;
-}
-
-// Return the index of the next counter-clockwise edge of the ownver triangle
-inline int indexOfNextCounterClockwiseEdge(int i) {
-    return (i + 1) % 3;
-}
-
-// Return the index of the previous counter-clockwise edge of the ownver triangle
-inline int indexOfPreviousCounterClockwiseEdge(int i) {
-    return (i + 2) % 3;
-}
-
 }
 
 #endif
-

src/collision/narrowphase/SphereVsConvexMeshAlgorithm.cpp

@@ -0,0 +1,62 @@
+/********************************************************************************
+* ReactPhysics3D physics library, http://www.reactphysics3d.com                 *
+* Copyright (c) 2010-2016 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 "SphereVsConvexMeshAlgorithm.h"
+#include "SAT/SATAlgorithm.h"
+#include "collision/shapes/SphereShape.h"
+#include "collision/shapes/ConvexMeshShape.h"
+
+// We want to use the ReactPhysics3D namespace
+using namespace reactphysics3d;
+
+bool SphereVsConvexMeshAlgorithm::testCollision(const NarrowPhaseInfo* narrowPhaseInfo,
+                                            ContactPointInfo& contactPointInfo) {
+
+    // Get the local-space to world-space transforms
+    const Transform& transform1 = narrowPhaseInfo->shape1ToWorldTransform;
+    const Transform& transform2 = narrowPhaseInfo->shape2ToWorldTransform;
+
+    // First, we run the GJK algorithm
+    GJKAlgorithm gjkAlgorithm;
+    GJKAlgorithm::GJKResult result = gjkAlgorithm.testCollision(narrowPhaseInfo, contactPointInfo);
+
+    // If we have found a contact point inside the margins (shallow penetration)
+    if (result == GJKAlgorithm::GJKResult::COLLIDE_IN_MARGIN) {
+
+        // Return true
+        return true;
+    }
+
+    // If we have overlap even without the margins (deep penetration)
+    if (result == GJKAlgorithm::GJKResult::INTERPENETRATE) {
+
+        // Run the SAT algorithm to find the separating axis and compute contact point
+        SATAlgorithm satAlgorithm;
+        return satAlgorithm.testCollision(narrowPhaseInfo, contactPointInfo);
+    }
+
+    return false;
+}

src/collision/narrowphase/SphereVsConvexMeshAlgorithm.h

@@ -0,0 +1,71 @@
+/********************************************************************************
+* ReactPhysics3D physics library, http://www.reactphysics3d.com                 *
+* Copyright (c) 2010-2016 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_SPHERE_VS_CONVEX_MESH_ALGORITHM_H
+#define	REACTPHYSICS3D_SPHERE_VS_CONVEX_MESH_ALGORITHM_H
+
+// Libraries
+#include "body/Body.h"
+#include "constraint/ContactPoint.h"
+#include "NarrowPhaseAlgorithm.h"
+
+
+/// Namespace ReactPhysics3D
+namespace reactphysics3d {
+
+// Class SphereVsConvexMeshAlgorithm
+/**
+ * This class is used to compute the narrow-phase collision detection
+ * between a sphere and a convex mesh.
+ */
+class SphereVsConvexMeshAlgorithm : public NarrowPhaseAlgorithm {
+
+    protected :
+
+    public :
+
+        // -------------------- Methods -------------------- //
+
+        /// Constructor
+        SphereVsConvexMeshAlgorithm() = default;
+
+        /// Destructor
+        virtual ~SphereVsConvexMeshAlgorithm() override = default;
+
+        /// Deleted copy-constructor
+        SphereVsConvexMeshAlgorithm(const SphereVsConvexMeshAlgorithm& algorithm) = delete;
+
+        /// Deleted assignment operator
+        SphereVsConvexMeshAlgorithm& operator=(const SphereVsConvexMeshAlgorithm& algorithm) = delete;
+
+        /// Compute a contact info if the two bounding volume collide
+        virtual bool testCollision(const NarrowPhaseInfo* narrowPhaseInfo,
+                                   ContactPointInfo& contactPointInfo) override;
+};
+
+}
+
+#endif
+

src/collision/shapes/CollisionShape.h

@@ -40,8 +40,7 @@
 namespace reactphysics3d {
     
 /// Type of the collision shape
-enum class CollisionShapeType {TRIANGLE, BOX, SPHERE, CONE, CYLINDER,
-                         CAPSULE, CONVEX_MESH, CONCAVE_MESH, HEIGHTFIELD};
+enum class CollisionShapeType {TRIANGLE, BOX, SPHERE, CAPSULE, CONVEX_MESH, CONCAVE_MESH, HEIGHTFIELD};
 const int NB_COLLISION_SHAPE_TYPES = 9;
 
 // Declarations

src/collision/shapes/ConeShape.cpp

@@ -1,209 +0,0 @@
-/********************************************************************************
-* ReactPhysics3D physics library, http://www.reactphysics3d.com                 *
-* Copyright (c) 2010-2016 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 <complex>
-#include "configuration.h"
-#include "ConeShape.h"
-#include "collision/ProxyShape.h"
-
-using namespace reactphysics3d;
-
-// Constructor
-/**
- * @param radius Radius of the cone (in meters)
- * @param height Height of the cone (in meters)
- * @param margin Collision margin (in meters) around the collision shape
- */
-ConeShape::ConeShape(decimal radius, decimal height, decimal margin)
-          : ConvexShape(CollisionShapeType::CONE, margin), mRadius(radius), mHalfHeight(height * decimal(0.5)) {
-    assert(mRadius > decimal(0.0));
-    assert(mHalfHeight > decimal(0.0));
-    
-    // Compute the sine of the semi-angle at the apex point
-    mSinTheta = mRadius / (sqrt(mRadius * mRadius + height * height));
-}
-
-// Return a local support point in a given direction without the object margin
-Vector3 ConeShape::getLocalSupportPointWithoutMargin(const Vector3& direction,
-                                                     void** cachedCollisionData) const {
-
-    const Vector3& v = direction;
-    decimal sinThetaTimesLengthV = mSinTheta * v.length();
-    Vector3 supportPoint;
-
-    if (v.y > sinThetaTimesLengthV) {
-        supportPoint = Vector3(0.0, mHalfHeight, 0.0);
-    }
-    else {
-        decimal projectedLength = sqrt(v.x * v.x + v.z * v.z);
-        if (projectedLength > MACHINE_EPSILON) {
-            decimal d = mRadius / projectedLength;
-            supportPoint = Vector3(v.x * d, -mHalfHeight, v.z * d);
-        }
-        else {
-            supportPoint = Vector3(0.0, -mHalfHeight, 0.0);
-        }
-    }
-
-    return supportPoint;
-}
-
-// Raycast method with feedback information
-// This implementation is based on the technique described by David Eberly in the article
-// "Intersection of a Line and a Cone" that can be found at
-// http://www.geometrictools.com/Documentation/IntersectionLineCone.pdf
-bool ConeShape::raycast(const Ray& ray, RaycastInfo& raycastInfo, ProxyShape* proxyShape) const {
-
-    const Vector3 r = ray.point2 - ray.point1;
-
-    const decimal epsilon = decimal(0.00001);
-    Vector3 V(0, mHalfHeight, 0);
-    Vector3 centerBase(0, -mHalfHeight, 0);
-    Vector3 axis(0, decimal(-1.0), 0);
-    decimal heightSquare = decimal(4.0) * mHalfHeight * mHalfHeight;
-    decimal cosThetaSquare = heightSquare / (heightSquare + mRadius * mRadius);
-    decimal factor = decimal(1.0) - cosThetaSquare;
-    Vector3 delta = ray.point1 - V;
-    decimal c0 = -cosThetaSquare * delta.x * delta.x  + factor * delta.y * delta.y -
-                  cosThetaSquare * delta.z * delta.z;
-    decimal c1 = -cosThetaSquare * delta.x * r.x + factor * delta.y * r.y - cosThetaSquare * delta.z * r.z;
-    decimal c2 = -cosThetaSquare * r.x * r.x  + factor * r.y * r.y - cosThetaSquare * r.z * r.z;
-    decimal tHit[] = {decimal(-1.0), decimal(-1.0), decimal(-1.0)};
-    Vector3 localHitPoint[3];
-    Vector3 localNormal[3];
-
-    // If c2 is different from zero
-    if (std::abs(c2) > MACHINE_EPSILON) {
-        decimal gamma = c1 * c1 - c0 * c2;
-
-        // If there is no real roots in the quadratic equation
-        if (gamma < decimal(0.0)) {
-            return false;
-        }
-        else if (gamma > decimal(0.0)) {    // The equation has two real roots
-
-            // Compute two intersections
-            decimal sqrRoot = std::sqrt(gamma);
-            tHit[0] = (-c1 - sqrRoot) / c2;
-            tHit[1] = (-c1 + sqrRoot) / c2;
-        }
-        else {  // If the equation has a single real root
-
-            // Compute the intersection
-            tHit[0] = -c1 / c2;
-        }
-    }
-    else {  // If c2 == 0
-
-        // If c2 = 0 and c1 != 0
-        if (std::abs(c1) > MACHINE_EPSILON) {
-            tHit[0] = -c0 / (decimal(2.0) * c1);
-        }
-        else {  // If c2 = c1 = 0
-
-            // If c0 is different from zero, no solution and if c0 = 0, we have a
-            // degenerate case, the whole ray is contained in the cone side
-            // but we return no hit in this case
-            return false;
-        }
-    }
-
-    // If the origin of the ray is inside the cone, we return no hit
-    if (testPointInside(ray.point1, nullptr)) return false;
-
-    localHitPoint[0] = ray.point1 + tHit[0] * r;
-    localHitPoint[1] = ray.point1 + tHit[1] * r;
-
-    // Only keep hit points in one side of the double cone (the cone we are interested in)
-    if (axis.dot(localHitPoint[0] - V) < decimal(0.0)) {
-        tHit[0] = decimal(-1.0);
-    }
-    if (axis.dot(localHitPoint[1] - V) < decimal(0.0)) {
-        tHit[1] = decimal(-1.0);
-    }
-
-    // Only keep hit points that are within the correct height of the cone
-    if (localHitPoint[0].y < decimal(-mHalfHeight)) {
-        tHit[0] = decimal(-1.0);
-    }
-    if (localHitPoint[1].y < decimal(-mHalfHeight)) {
-        tHit[1] = decimal(-1.0);
-    }
-
-    // If the ray is in direction of the base plane of the cone
-    if (r.y > epsilon) {
-
-        // Compute the intersection with the base plane of the cone
-        tHit[2] = (-ray.point1.y - mHalfHeight) / (r.y);
-
-        // Only keep this intersection if it is inside the cone radius
-        localHitPoint[2] = ray.point1 + tHit[2] * r;
-
-        if ((localHitPoint[2] - centerBase).lengthSquare() > mRadius * mRadius) {
-            tHit[2] = decimal(-1.0);
-        }
-
-        // Compute the normal direction
-        localNormal[2] = axis;
-    }
-
-    // Find the smallest positive t value
-    int hitIndex = -1;
-    decimal t = DECIMAL_LARGEST;
-    for (int i=0; i<3; i++) {
-        if (tHit[i] < decimal(0.0)) continue;
-        if (tHit[i] < t) {
-            hitIndex = i;
-            t = tHit[hitIndex];
-        }
-    }
-
-    if (hitIndex < 0) return false;
-    if (t > ray.maxFraction) return false;
-
-    // Compute the normal direction for hit against side of the cone
-    if (hitIndex != 2) {
-        decimal h = decimal(2.0) * mHalfHeight;
-        decimal value1 = (localHitPoint[hitIndex].x * localHitPoint[hitIndex].x +
-                          localHitPoint[hitIndex].z * localHitPoint[hitIndex].z);
-        decimal rOverH = mRadius / h;
-        decimal value2 = decimal(1.0) + rOverH * rOverH;
-        decimal factor = decimal(1.0) / std::sqrt(value1 * value2);
-        decimal x = localHitPoint[hitIndex].x * factor;
-        decimal z = localHitPoint[hitIndex].z * factor;
-        localNormal[hitIndex].x = x;
-        localNormal[hitIndex].y = std::sqrt(x * x + z * z) * rOverH;
-        localNormal[hitIndex].z = z;
-    }
-
-    raycastInfo.body = proxyShape->getBody();
-    raycastInfo.proxyShape = proxyShape;
-    raycastInfo.hitFraction = t;
-    raycastInfo.worldPoint = localHitPoint[hitIndex];
-    raycastInfo.worldNormal = localNormal[hitIndex];
-
-    return true;
-}

src/collision/shapes/ConeShape.h

@@ -1,194 +0,0 @@
-/********************************************************************************
-* ReactPhysics3D physics library, http://www.reactphysics3d.com                 *
-* Copyright (c) 2010-2016 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_CONE_SHAPE_H
-#define REACTPHYSICS3D_CONE_SHAPE_H
-
-// Libraries
-#include "ConvexShape.h"
-#include "body/CollisionBody.h"
-#include "mathematics/mathematics.h"
-
-/// ReactPhysics3D namespace
-namespace reactphysics3d {
-
-// Class ConeShape
-/**
- * This class represents a cone collision shape centered at the
- * origin and alligned with the Y axis. The cone is defined
- * by its height and by the radius of its base. The center of the
- * cone is at the half of the height. The "transform" of the
- * corresponding rigid body gives an orientation and a position
- * to the cone. This collision shape uses an extra margin distance around
- * it for collision detection purpose. The default margin is 4cm (if your
- * units are meters, which is recommended). In case, you want to simulate small
- * objects (smaller than the margin distance), you might want to reduce the margin
- * by specifying your own margin distance using the "margin" parameter in the
- * constructor of the cone shape. Otherwise, it is recommended to use the
- * default margin distance by not using the "margin" parameter in the constructor.
- */
-class ConeShape : public ConvexShape {
-
-    protected :
-
-        // -------------------- Attributes -------------------- //
-
-        /// Radius of the base
-        decimal mRadius;
-
-        /// Half height of the cone
-        decimal mHalfHeight;
-
-        /// sine of the semi angle at the apex point
-        decimal mSinTheta;
-
-        // -------------------- Methods -------------------- //
-
-        /// Return a local support point in a given direction without the object margin
-        virtual Vector3 getLocalSupportPointWithoutMargin(const Vector3& direction,
-                                                          void** cachedCollisionData) const override;
-
-        /// Return true if a point is inside the collision shape
-        virtual bool testPointInside(const Vector3& localPoint, ProxyShape* proxyShape) const override;
-
-        /// Raycast method with feedback information
-        virtual bool raycast(const Ray& ray, RaycastInfo& raycastInfo, ProxyShape* proxyShape) const override;
-
-        /// Return the number of bytes used by the collision shape
-         virtual size_t getSizeInBytes() const override;
-        
-    public :
-
-        // -------------------- Methods -------------------- //
-
-        /// Constructor
-        ConeShape(decimal mRadius, decimal height, decimal margin = OBJECT_MARGIN);
-
-        /// Destructor
-        virtual ~ConeShape() override = default;
-
-        /// Deleted copy-constructor
-        ConeShape(const ConeShape& shape) = delete;
-
-        /// Deleted assignment operator
-        ConeShape& operator=(const ConeShape& shape) = delete;
-
-        /// Return the radius
-        decimal getRadius() const;
-
-        /// Return the height
-        decimal getHeight() const;
-
-        /// Set the scaling vector of the collision shape
-        virtual void setLocalScaling(const Vector3& scaling) override;
-
-        /// Return the local bounds of the shape in x, y and z directions
-        virtual void getLocalBounds(Vector3& min, Vector3& max) const override;
-
-        /// Return true if the collision shape is a polyhedron
-        virtual bool isPolyhedron() const override;
-
-        /// Return the local inertia tensor of the collision shape
-        virtual void computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass) const override;
-};
-
-// Return the radius
-/**
- * @return Radius of the cone (in meters)
- */
-inline decimal ConeShape::getRadius() const {
-    return mRadius;
-}
-
-// Return the height
-/**
- * @return Height of the cone (in meters)
- */
-inline decimal ConeShape::getHeight() const {
-    return decimal(2.0) * mHalfHeight;
-}
-
-// Set the scaling vector of the collision shape
-inline void ConeShape::setLocalScaling(const Vector3& scaling) {
-
-    mHalfHeight = (mHalfHeight / mScaling.y) * scaling.y;
-    mRadius = (mRadius / mScaling.x) * scaling.x;
-
-    CollisionShape::setLocalScaling(scaling);
-}
-
-// Return the number of bytes used by the collision shape
-inline size_t ConeShape::getSizeInBytes() const {
-    return sizeof(ConeShape);
-}
-
-// Return the local bounds of the shape in x, y and z directions
-/**
- * @param min The minimum bounds of the shape in local-space coordinates
- * @param max The maximum bounds of the shape in local-space coordinates
- */
-inline void ConeShape::getLocalBounds(Vector3& min, Vector3& max) const {
-
-    // Maximum bounds
-    max.x = mRadius + mMargin;
-    max.y = mHalfHeight + mMargin;
-    max.z = max.x;
-
-    // Minimum bounds
-    min.x = -max.x;
-    min.y = -max.y;
-    min.z = min.x;
-}
-
-// Return true if the collision shape is a polyhedron
-inline bool ConeShape::isPolyhedron() const {
-    return false;
-}
-
-// Return the local inertia tensor of the collision shape
-/**
- * @param[out] tensor The 3x3 inertia tensor matrix of the shape in local-space
- *                    coordinates
- * @param mass Mass to use to compute the inertia tensor of the collision shape
- */
-inline void ConeShape::computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass) const {
-    decimal rSquare = mRadius * mRadius;
-    decimal diagXZ = decimal(0.15) * mass * (rSquare + mHalfHeight);
-    tensor.setAllValues(diagXZ, 0.0, 0.0,
-                        0.0, decimal(0.3) * mass * rSquare,
-                        0.0, 0.0, 0.0, diagXZ);
-}
-
-// Return true if a point is inside the collision shape
-inline bool ConeShape::testPointInside(const Vector3& localPoint, ProxyShape* proxyShape) const {
-    const decimal radiusHeight = mRadius * (-localPoint.y + mHalfHeight) /
-                                          (mHalfHeight * decimal(2.0));
-    return (localPoint.y < mHalfHeight && localPoint.y > -mHalfHeight) &&
-           (localPoint.x * localPoint.x + localPoint.z * localPoint.z < radiusHeight *radiusHeight);
-}
-
-}
-
-#endif

src/collision/shapes/CylinderShape.cpp

@@ -1,231 +0,0 @@
-/********************************************************************************
-* ReactPhysics3D physics library, http://www.reactphysics3d.com                 *
-* Copyright (c) 2010-2016 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 "CylinderShape.h"
-#include "collision/ProxyShape.h"
-#include "configuration.h"
-
-using namespace reactphysics3d;
-
-// Constructor
-/**
- * @param radius Radius of the cylinder (in meters)
- * @param height Height of the cylinder (in meters)
- * @param margin Collision margin (in meters) around the collision shape
- */
-CylinderShape::CylinderShape(decimal radius, decimal height, decimal margin)
-              : ConvexShape(CollisionShapeType::CYLINDER, margin), mRadius(radius),
-                mHalfHeight(height/decimal(2.0)) {
-    assert(radius > decimal(0.0));
-    assert(height > decimal(0.0));
-}
-
-// Return a local support point in a given direction without the object margin
-Vector3 CylinderShape::getLocalSupportPointWithoutMargin(const Vector3& direction,
-                                                         void** cachedCollisionData) const {
-
-    Vector3 supportPoint(0.0, 0.0, 0.0);
-    decimal uDotv = direction.y;
-    Vector3 w(direction.x, 0.0, direction.z);
-    decimal lengthW = std::sqrt(direction.x * direction.x + direction.z * direction.z);
-
-    if (lengthW > MACHINE_EPSILON) {
-        if (uDotv < 0.0) supportPoint.y = -mHalfHeight;
-        else supportPoint.y = mHalfHeight;
-        supportPoint += (mRadius / lengthW) * w;
-    }
-    else {
-         if (uDotv < 0.0) supportPoint.y = -mHalfHeight;
-         else supportPoint.y = mHalfHeight;
-    }
-
-    return supportPoint;
-}
-
-// Raycast method with feedback information
-/// Algorithm based on the one described at page 194 in Real-ime Collision Detection by
-/// Morgan Kaufmann.
-bool CylinderShape::raycast(const Ray& ray, RaycastInfo& raycastInfo, ProxyShape* proxyShape) const {
-
-    const Vector3 n = ray.point2 - ray.point1;
-
-    const decimal epsilon = decimal(0.01);
-    Vector3 p(decimal(0), -mHalfHeight, decimal(0));
-    Vector3 q(decimal(0), mHalfHeight, decimal(0));
-    Vector3 d = q - p;
-    Vector3 m = ray.point1 - p;
-    decimal t;
-
-    decimal mDotD = m.dot(d);
-    decimal nDotD = n.dot(d);
-    decimal dDotD = d.dot(d);
-
-    // Test if the segment is outside the cylinder
-    if (mDotD < decimal(0.0) && mDotD + nDotD < decimal(0.0)) return false;
-    if (mDotD > dDotD && mDotD + nDotD > dDotD) return false;
-
-    decimal nDotN = n.dot(n);
-    decimal mDotN = m.dot(n);
-
-    decimal a = dDotD * nDotN - nDotD * nDotD;
-    decimal k = m.dot(m) - mRadius * mRadius;
-    decimal c = dDotD * k - mDotD * mDotD;
-
-    // If the ray is parallel to the cylinder axis
-    if (std::abs(a) < epsilon) {
-
-        // If the origin is outside the surface of the cylinder, we return no hit
-        if (c > decimal(0.0)) return false;
-
-        // Here we know that the segment intersect an endcap of the cylinder
-
-        // If the ray intersects with the "p" endcap of the cylinder
-        if (mDotD < decimal(0.0)) {
-
-            t = -mDotN / nDotN;
-
-            // If the intersection is behind the origin of the ray or beyond the maximum
-            // raycasting distance, we return no hit
-            if (t < decimal(0.0) || t > ray.maxFraction) return false;
-
-            // Compute the hit information
-            Vector3 localHitPoint = ray.point1 + t * n;
-            raycastInfo.body = proxyShape->getBody();
-            raycastInfo.proxyShape = proxyShape;
-            raycastInfo.hitFraction = t;
-            raycastInfo.worldPoint = localHitPoint;
-            Vector3 normalDirection(0, decimal(-1), 0);
-            raycastInfo.worldNormal = normalDirection;
-
-            return true;
-        }
-        else if (mDotD > dDotD) {   // If the ray intersects with the "q" endcap of the cylinder
-
-            t = (nDotD - mDotN) / nDotN;
-
-            // If the intersection is behind the origin of the ray or beyond the maximum
-            // raycasting distance, we return no hit
-            if (t < decimal(0.0) || t > ray.maxFraction) return false;
-
-            // Compute the hit information
-            Vector3 localHitPoint = ray.point1 + t * n;
-            raycastInfo.body = proxyShape->getBody();
-            raycastInfo.proxyShape = proxyShape;
-            raycastInfo.hitFraction = t;
-            raycastInfo.worldPoint = localHitPoint;
-            Vector3 normalDirection(0, decimal(1.0), 0);
-            raycastInfo.worldNormal = normalDirection;
-
-            return true;
-        }
-        else {  // If the origin is inside the cylinder, we return no hit
-            return false;
-        }
-    }
-    decimal b = dDotD * mDotN - nDotD * mDotD;
-    decimal discriminant = b * b - a * c;
-
-    // If the discriminant is negative, no real roots and therfore, no hit
-    if (discriminant < decimal(0.0)) return false;
-
-    // Compute the smallest root (first intersection along the ray)
-    decimal t0 = t = (-b - std::sqrt(discriminant)) / a;
-
-    // If the intersection is outside the cylinder on "p" endcap side
-    decimal value = mDotD + t * nDotD;
-    if (value < decimal(0.0)) {
-
-        // If the ray is pointing away from the "p" endcap, we return no hit
-        if (nDotD <= decimal(0.0)) return false;
-
-        // Compute the intersection against the "p" endcap (intersection agains whole plane)
-        t = -mDotD / nDotD;
-
-        // Keep the intersection if the it is inside the cylinder radius
-        if (k + t * (decimal(2.0) * mDotN + t) > decimal(0.0)) return false;
-
-        // If the intersection is behind the origin of the ray or beyond the maximum
-        // raycasting distance, we return no hit
-        if (t < decimal(0.0) || t > ray.maxFraction) return false;
-
-        // Compute the hit information
-        Vector3 localHitPoint = ray.point1 + t * n;
-        raycastInfo.body = proxyShape->getBody();
-        raycastInfo.proxyShape = proxyShape;
-        raycastInfo.hitFraction = t;
-        raycastInfo.worldPoint = localHitPoint;
-        Vector3 normalDirection(0, decimal(-1.0), 0);
-        raycastInfo.worldNormal = normalDirection;
-
-        return true;
-    }
-    else if (value > dDotD) {   // If the intersection is outside the cylinder on the "q" side
-
-        // If the ray is pointing away from the "q" endcap, we return no hit
-        if (nDotD >= decimal(0.0)) return false;
-
-        // Compute the intersection against the "q" endcap (intersection against whole plane)
-        t = (dDotD - mDotD) / nDotD;
-
-        // Keep the intersection if it is inside the cylinder radius
-        if (k + dDotD - decimal(2.0) * mDotD + t * (decimal(2.0) * (mDotN - nDotD) + t) >
-            decimal(0.0)) return false;
-
-        // If the intersection is behind the origin of the ray or beyond the maximum
-        // raycasting distance, we return no hit
-        if (t < decimal(0.0) || t > ray.maxFraction) return false;
-
-        // Compute the hit information
-        Vector3 localHitPoint = ray.point1 + t * n;
-        raycastInfo.body = proxyShape->getBody();
-        raycastInfo.proxyShape = proxyShape;
-        raycastInfo.hitFraction = t;
-        raycastInfo.worldPoint = localHitPoint;
-        Vector3 normalDirection(0, decimal(1.0), 0);
-        raycastInfo.worldNormal = normalDirection;
-
-        return true;
-    }
-
-    t = t0;
-
-    // If the intersection is behind the origin of the ray or beyond the maximum
-    // raycasting distance, we return no hit
-    if (t < decimal(0.0) || t > ray.maxFraction) return false;
-
-    // Compute the hit information
-    Vector3 localHitPoint = ray.point1 + t * n;
-    raycastInfo.body = proxyShape->getBody();
-    raycastInfo.proxyShape = proxyShape;
-    raycastInfo.hitFraction = t;
-    raycastInfo.worldPoint = localHitPoint;
-    Vector3 v = localHitPoint - p;
-    Vector3 w = (v.dot(d) / d.lengthSquare()) * d;
-    Vector3 normalDirection = (localHitPoint - (p + w));
-    raycastInfo.worldNormal = normalDirection;
-
-    return true;
-}

src/collision/shapes/CylinderShape.h

@@ -1,190 +0,0 @@
-/********************************************************************************
-* ReactPhysics3D physics library, http://www.reactphysics3d.com                 *
-* Copyright (c) 2010-2016 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_CYLINDER_SHAPE_H
-#define REACTPHYSICS3D_CYLINDER_SHAPE_H
-
-// Libraries
-#include "ConvexShape.h"
-#include "body/CollisionBody.h"
-#include "mathematics/mathematics.h"
-
-
-/// ReactPhysics3D namespace
-namespace reactphysics3d {
-
-// Class CylinderShape
-/**
- * This class represents a cylinder collision shape around the Y axis
- * and centered at the origin. The cylinder is defined by its height
- * and the radius of its base. The "transform" of the corresponding
- * rigid body gives an orientation and a position to the cylinder.
- * This collision shape uses an extra margin distance around it for collision
- * detection purpose. The default margin is 4cm (if your units are meters,
- * which is recommended). In case, you want to simulate small objects
- * (smaller than the margin distance), you might want to reduce the margin by
- * specifying your own margin distance using the "margin" parameter in the
- * constructor of the cylinder shape. Otherwise, it is recommended to use the
- * default margin distance by not using the "margin" parameter in the constructor.
- */
-class CylinderShape : public ConvexShape {
-
-    protected :
-
-        // -------------------- Attributes -------------------- //
-
-        /// Radius of the base
-        decimal mRadius;
-
-        /// Half height of the cylinder
-        decimal mHalfHeight;
-
-        // -------------------- Methods -------------------- //
-
-        /// Return a local support point in a given direction without the object margin
-        virtual Vector3 getLocalSupportPointWithoutMargin(const Vector3& direction,
-                                                          void** cachedCollisionData) const override;
-
-        /// Return true if a point is inside the collision shape
-        virtual bool testPointInside(const Vector3& localPoint, ProxyShape* proxyShape) const override;
-
-        /// Raycast method with feedback information
-        virtual bool raycast(const Ray& ray, RaycastInfo& raycastInfo, ProxyShape* proxyShape) const override ;
-
-        /// Return the number of bytes used by the collision shape
-        virtual size_t getSizeInBytes() const override;
-
-    public :
-
-        // -------------------- Methods -------------------- //
-
-        /// Constructor
-        CylinderShape(decimal radius, decimal height, decimal margin = OBJECT_MARGIN);
-
-        /// Destructor
-        virtual ~CylinderShape() override = default;
-
-        /// Deleted copy-constructor
-        CylinderShape(const CylinderShape& shape) = delete;
-
-        /// Deleted assignment operator
-        CylinderShape& operator=(const CylinderShape& shape) = delete;
-
-        /// Return the radius
-        decimal getRadius() const;
-
-        /// Return the height
-        decimal getHeight() const;
-
-        /// Return true if the collision shape is a polyhedron
-        virtual bool isPolyhedron() const override;
-
-        /// Set the scaling vector of the collision shape
-        virtual void setLocalScaling(const Vector3& scaling) override;
-
-        /// Return the local bounds of the shape in x, y and z directions
-        virtual void getLocalBounds(Vector3& min, Vector3& max) const override;
-
-        /// Return the local inertia tensor of the collision shape
-        virtual void computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass) const override;
-};
-
-// Return the radius
-/**
- * @return Radius of the cylinder (in meters)
- */
-inline decimal CylinderShape::getRadius() const {
-    return mRadius;
-}
-
-// Return the height
-/**
- * @return Height of the cylinder (in meters)
- */
-inline decimal CylinderShape::getHeight() const {
-    return mHalfHeight + mHalfHeight;
-}
-
-// Return true if the collision shape is a polyhedron
-inline bool CylinderShape::isPolyhedron() const {
-    return false;
-}
-
-// Set the scaling vector of the collision shape
-inline void CylinderShape::setLocalScaling(const Vector3& scaling) {
-
-    mHalfHeight = (mHalfHeight / mScaling.y) * scaling.y;
-    mRadius = (mRadius / mScaling.x) * scaling.x;
-
-    CollisionShape::setLocalScaling(scaling);
-}
-
-// Return the number of bytes used by the collision shape
-inline size_t CylinderShape::getSizeInBytes() const {
-    return sizeof(CylinderShape);
-}
-
-// Return the local bounds of the shape in x, y and z directions
-/**
- * @param min The minimum bounds of the shape in local-space coordinates
- * @param max The maximum bounds of the shape in local-space coordinates
- */
-inline void CylinderShape::getLocalBounds(Vector3& min, Vector3& max) const {
-
-    // Maximum bounds
-    max.x = mRadius + mMargin;
-    max.y = mHalfHeight + mMargin;
-    max.z = max.x;
-
-    // Minimum bounds
-    min.x = -max.x;
-    min.y = -max.y;
-    min.z = min.x;
-}
-
-// Return the local inertia tensor of the cylinder
-/**
- * @param[out] tensor The 3x3 inertia tensor matrix of the shape in local-space
- *                    coordinates
- * @param mass Mass to use to compute the inertia tensor of the collision shape
- */
-inline void CylinderShape::computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass) const {
-    decimal height = decimal(2.0) * mHalfHeight;
-    decimal diag = (decimal(1.0) / decimal(12.0)) * mass * (3 * mRadius * mRadius + height * height);
-    tensor.setAllValues(diag, 0.0, 0.0, 0.0,
-                        decimal(0.5) * mass * mRadius * mRadius, 0.0,
-                        0.0, 0.0, diag);
-}
-
-// Return true if a point is inside the collision shape
-inline bool CylinderShape::testPointInside(const Vector3& localPoint, ProxyShape* proxyShape) const{
-    return ((localPoint.x * localPoint.x + localPoint.z * localPoint.z) < mRadius * mRadius &&
-            localPoint.y < mHalfHeight && localPoint.y > -mHalfHeight);
-}
-
-}
-
-#endif
-

src/engine/OverlappingPair.cpp

@@ -24,15 +24,17 @@
 ********************************************************************************/
 
 // Libraries
+#include <cassert>
 #include "OverlappingPair.h"
 
 using namespace reactphysics3d;
 
-
 // Constructor
 OverlappingPair::OverlappingPair(ProxyShape* shape1, ProxyShape* shape2,
                                  int nbMaxContactManifolds, PoolAllocator& memoryAllocator)
                 : mContactManifoldSet(shape1, shape2, memoryAllocator, nbMaxContactManifolds),
                   mCachedSeparatingAxis(0.0, 1.0, 0.0) {
     
+    assert(static_cast<uint>(shape1->getCollisionShape()->getType()) <=
+                             static_cast<uint>(shape2->getCollisionShape()->getType()));
 }                               

src/mathematics/Quaternion.h

@@ -199,7 +199,7 @@ inline Vector3 Quaternion::getVectorV() const {
 
 // Return the length of the quaternion (inline)
 inline decimal Quaternion::length() const {
-    return sqrt(x*x + y*y + z*z + w*w);
+    return std::sqrt(x*x + y*y + z*z + w*w);
 }
 
 // Return the square of the length of the quaternion

src/reactphysics3d.h

@@ -46,8 +46,6 @@
 #include "collision/shapes/CollisionShape.h"
 #include "collision/shapes/BoxShape.h"
 #include "collision/shapes/SphereShape.h"
-#include "collision/shapes/ConeShape.h"
-#include "collision/shapes/CylinderShape.h"
 #include "collision/shapes/CapsuleShape.h"
 #include "collision/shapes/ConvexMeshShape.h"
 #include "collision/shapes/ConcaveMeshShape.h"

test/tests/collision/TestCollisionWorld.h

@@ -48,8 +48,6 @@ class WorldCollisionCallback : public CollisionCallback
     public:
 
         bool boxCollideWithSphere1;
-        bool boxCollideWithCylinder;
-        bool sphere1CollideWithCylinder;
         bool sphere1CollideWithSphere2;
 
         CollisionBody* boxBody;
@@ -65,8 +63,6 @@ class WorldCollisionCallback : public CollisionCallback
         void reset()
         {
             boxCollideWithSphere1 = false;
-            boxCollideWithCylinder = false;
-            sphere1CollideWithCylinder = false;
             sphere1CollideWithSphere2 = false;
         }
 
@@ -76,12 +72,6 @@ class WorldCollisionCallback : public CollisionCallback
             if (isContactBetweenBodies(boxBody, sphere1Body, collisionCallbackInfo)) {
                 boxCollideWithSphere1 = true;
             }
-            else if (isContactBetweenBodies(boxBody, cylinderBody, collisionCallbackInfo)) {
-                boxCollideWithCylinder = true;
-            }
-            else if (isContactBetweenBodies(sphere1Body, cylinderBody, collisionCallbackInfo)) {
-                sphere1CollideWithCylinder = true;
-            }
             else if (isContactBetweenBodies(sphere1Body, sphere2Body, collisionCallbackInfo)) {
                 sphere1CollideWithSphere2 = true;
             }
@@ -118,7 +108,6 @@ class TestCollisionWorld : public Test {
         // Collision shapes
         BoxShape* mBoxShape;
         SphereShape* mSphereShape;
-        CylinderShape* mCylinderShape;
 
         // Proxy shapes
         ProxyShape* mBoxProxyShape;
@@ -154,11 +143,6 @@ class TestCollisionWorld : public Test {
             mSphere2Body = mWorld->createCollisionBody(sphere2Transform);
             mSphere2ProxyShape = mSphere2Body->addCollisionShape(mSphereShape, Transform::identity());
 
-            Transform cylinderTransform(Vector3(10, -5, 0), Quaternion::identity());
-            mCylinderBody = mWorld->createCollisionBody(cylinderTransform);
-            mCylinderShape = new CylinderShape(2, 5);
-            mCylinderProxyShape = mCylinderBody->addCollisionShape(mCylinderShape, Transform::identity());
-
             // Assign collision categories to proxy shapes
             mBoxProxyShape->setCollisionCategoryBits(CATEGORY_1);
             mSphere1ProxyShape->setCollisionCategoryBits(CATEGORY_1);
@@ -175,7 +159,6 @@ class TestCollisionWorld : public Test {
         ~TestCollisionWorld() {
             delete mBoxShape;
             delete mSphereShape;
-            delete mCylinderShape;
         }
 
         /// Run the tests
@@ -189,8 +172,6 @@ class TestCollisionWorld : public Test {
             mCollisionCallback.reset();
             mWorld->testCollision(&mCollisionCallback);
             test(mCollisionCallback.boxCollideWithSphere1);
-            test(mCollisionCallback.boxCollideWithCylinder);
-            test(!mCollisionCallback.sphere1CollideWithCylinder);
             test(!mCollisionCallback.sphere1CollideWithSphere2);
 
             test(mWorld->testAABBOverlap(mBoxBody, mSphere1Body));
@@ -206,22 +187,16 @@ class TestCollisionWorld : public Test {
             mCollisionCallback.reset();
             mWorld->testCollision(mCylinderBody, &mCollisionCallback);
             test(!mCollisionCallback.boxCollideWithSphere1);
-            test(mCollisionCallback.boxCollideWithCylinder);
-            test(!mCollisionCallback.sphere1CollideWithCylinder);
             test(!mCollisionCallback.sphere1CollideWithSphere2);
 
             mCollisionCallback.reset();
             mWorld->testCollision(mBoxBody, mSphere1Body, &mCollisionCallback);
             test(mCollisionCallback.boxCollideWithSphere1);
-            test(!mCollisionCallback.boxCollideWithCylinder);
-            test(!mCollisionCallback.sphere1CollideWithCylinder);
             test(!mCollisionCallback.sphere1CollideWithSphere2);
 
             mCollisionCallback.reset();
             mWorld->testCollision(mBoxBody, mCylinderBody, &mCollisionCallback);
             test(!mCollisionCallback.boxCollideWithSphere1);
-            test(mCollisionCallback.boxCollideWithCylinder);
-            test(!mCollisionCallback.sphere1CollideWithCylinder);
             test(!mCollisionCallback.sphere1CollideWithSphere2);
 
             // Move sphere 1 to collide with sphere 2
@@ -230,22 +205,16 @@ class TestCollisionWorld : public Test {
             mCollisionCallback.reset();
             mWorld->testCollision(&mCollisionCallback);
             test(!mCollisionCallback.boxCollideWithSphere1);
-            test(mCollisionCallback.boxCollideWithCylinder);
-            test(!mCollisionCallback.sphere1CollideWithCylinder);
             test(mCollisionCallback.sphere1CollideWithSphere2);
 
             mCollisionCallback.reset();
             mWorld->testCollision(mBoxBody, mSphere1Body, &mCollisionCallback);
             test(!mCollisionCallback.boxCollideWithSphere1);
-            test(!mCollisionCallback.boxCollideWithCylinder);
-            test(!mCollisionCallback.sphere1CollideWithCylinder);
             test(!mCollisionCallback.sphere1CollideWithSphere2);
 
             mCollisionCallback.reset();
             mWorld->testCollision(mBoxBody, mCylinderBody, &mCollisionCallback);
             test(!mCollisionCallback.boxCollideWithSphere1);
-            test(mCollisionCallback.boxCollideWithCylinder);
-            test(!mCollisionCallback.sphere1CollideWithCylinder);
             test(!mCollisionCallback.sphere1CollideWithSphere2);
 
             // Move sphere 1 to collide with box
@@ -260,8 +229,6 @@ class TestCollisionWorld : public Test {
             mSphere2Body->setIsActive(false);
             mWorld->testCollision(&mCollisionCallback);
             test(!mCollisionCallback.boxCollideWithSphere1);
-            test(!mCollisionCallback.boxCollideWithCylinder);
-            test(!mCollisionCallback.sphere1CollideWithCylinder);
             test(!mCollisionCallback.sphere1CollideWithSphere2);
 
             test(!mWorld->testAABBOverlap(mBoxBody, mSphere1Body));
@@ -289,8 +256,6 @@ class TestCollisionWorld : public Test {
             mCollisionCallback.reset();
             mWorld->testCollision(&mCollisionCallback);
             test(mCollisionCallback.boxCollideWithSphere1);
-            test(mCollisionCallback.boxCollideWithCylinder);
-            test(!mCollisionCallback.sphere1CollideWithCylinder);
             test(!mCollisionCallback.sphere1CollideWithSphere2);
 
             // Move sphere 1 to collide with sphere 2
@@ -299,8 +264,6 @@ class TestCollisionWorld : public Test {
             mCollisionCallback.reset();
             mWorld->testCollision(&mCollisionCallback);
             test(!mCollisionCallback.boxCollideWithSphere1);
-            test(mCollisionCallback.boxCollideWithCylinder);
-            test(!mCollisionCallback.sphere1CollideWithCylinder);
             test(mCollisionCallback.sphere1CollideWithSphere2);
 
             mBoxProxyShape->setCollideWithMaskBits(CATEGORY_2);
@@ -311,8 +274,6 @@ class TestCollisionWorld : public Test {
             mCollisionCallback.reset();
             mWorld->testCollision(&mCollisionCallback);
             test(!mCollisionCallback.boxCollideWithSphere1);
-            test(!mCollisionCallback.boxCollideWithCylinder);
-            test(!mCollisionCallback.sphere1CollideWithCylinder);
             test(!mCollisionCallback.sphere1CollideWithSphere2);
 
             // Move sphere 1 to collide with box

test/tests/collision/TestPointInside.h

@@ -31,9 +31,7 @@
 #include "collision/shapes/BoxShape.h"
 #include "collision/shapes/SphereShape.h"
 #include "collision/shapes/CapsuleShape.h"
-#include "collision/shapes/ConeShape.h"
 #include "collision/shapes/ConvexMeshShape.h"
-#include "collision/shapes/CylinderShape.h"
 
 /// Reactphysics3D namespace
 namespace reactphysics3d {
@@ -65,10 +63,8 @@ class TestPointInside : public Test {
         BoxShape* mBoxShape;
         SphereShape* mSphereShape;
         CapsuleShape* mCapsuleShape;
-        ConeShape* mConeShape;
         ConvexMeshShape* mConvexMeshShape;
         ConvexMeshShape* mConvexMeshShapeBodyEdgesInfo;
-        CylinderShape* mCylinderShape;
 
         // Transform
         Transform mBodyTransform;
@@ -128,9 +124,6 @@ class TestPointInside : public Test {
             mCapsuleShape = new CapsuleShape(2, 10);
             mCapsuleProxyShape = mCapsuleBody->addCollisionShape(mCapsuleShape, mShapeTransform);
 
-            mConeShape = new ConeShape(2, 6, 0);
-            mConeProxyShape = mConeBody->addCollisionShape(mConeShape, mShapeTransform);
-
             mConvexMeshShape = new ConvexMeshShape(0.0);             // Box of dimension (2, 3, 4)
             mConvexMeshShape->addVertex(Vector3(-2, -3, -4));
             mConvexMeshShape->addVertex(Vector3(2, -3, -4));
@@ -168,15 +161,12 @@ class TestPointInside : public Test {
                                                                      mConvexMeshShapeBodyEdgesInfo,
                                                                      mShapeTransform);
 
-            mCylinderShape = new CylinderShape(3, 8, 0);
-            mCylinderProxyShape = mCylinderBody->addCollisionShape(mCylinderShape, mShapeTransform);
-
-            // Compound shape is a cylinder and a sphere
+            // Compound shape is a capsule and a sphere
             Vector3 positionShape2(Vector3(4, 2, -3));
             Quaternion orientationShape2(-3 *PI / 8, 1.5 * PI/ 3, PI / 13);
             Transform shapeTransform2(positionShape2, orientationShape2);
             mLocalShape2ToWorld = mBodyTransform * shapeTransform2;
-            mCompoundBody->addCollisionShape(mCylinderShape, mShapeTransform);
+            mCompoundBody->addCollisionShape(mCapsuleShape, mShapeTransform);
             mCompoundBody->addCollisionShape(mSphereShape, shapeTransform2);
         }
 
@@ -185,10 +175,8 @@ class TestPointInside : public Test {
             delete mBoxShape;
             delete mSphereShape;
             delete mCapsuleShape;
-            delete mConeShape;
             delete mConvexMeshShape;
             delete mConvexMeshShapeBodyEdgesInfo;
-            delete mCylinderShape;
         }
 
         /// Run the tests
@@ -196,9 +184,7 @@ class TestPointInside : public Test {
             testBox();
             testSphere();
             testCapsule();
-            testCone();
             testConvexMesh();
-            testCylinder();
             testCompound();
         }
 
@@ -407,83 +393,6 @@ class TestPointInside : public Test {
             test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(1.5, -5, -1.7)));
         }
 
-        /// Test the ProxyConeShape::testPointInside() and
-        /// CollisionBody::testPointInside() methods
-        void testCone() {
-
-            // Tests with CollisionBody
-            test(mConeBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0)));
-            test(mConeBody->testPointInside(mLocalShapeToWorld * Vector3(0.9, 0, 0)));
-            test(mConeBody->testPointInside(mLocalShapeToWorld * Vector3(-0.9, 0, 0)));
-            test(mConeBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0.9)));
-            test(mConeBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -0.9)));
-            test(mConeBody->testPointInside(mLocalShapeToWorld * Vector3(0.6, 0, -0.7)));
-            test(mConeBody->testPointInside(mLocalShapeToWorld * Vector3(0.6, 0, 0.7)));
-            test(mConeBody->testPointInside(mLocalShapeToWorld * Vector3(-0.6, 0, -0.7)));
-            test(mConeBody->testPointInside(mLocalShapeToWorld * Vector3(-0.6, 0, 0.7)));
-            test(mConeBody->testPointInside(mLocalShapeToWorld * Vector3(0, 2.9, 0)));
-            test(mConeBody->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, 0)));
-            test(mConeBody->testPointInside(mLocalShapeToWorld * Vector3(1.96, -2.9, 0)));
-            test(mConeBody->testPointInside(mLocalShapeToWorld * Vector3(-1.96, -2.9, 0)));
-            test(mConeBody->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, 1.96)));
-            test(mConeBody->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, -1.96)));
-            test(mConeBody->testPointInside(mLocalShapeToWorld * Vector3(1.3, -2.9, -1.4)));
-            test(mConeBody->testPointInside(mLocalShapeToWorld * Vector3(-1.3, -2.9, 1.4)));
-
-            test(!mConeBody->testPointInside(mLocalShapeToWorld * Vector3(1.1, 0, 0)));
-            test(!mConeBody->testPointInside(mLocalShapeToWorld * Vector3(-1.1, 0, 0)));
-            test(!mConeBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 1.1)));
-            test(!mConeBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -1.1)));
-            test(!mConeBody->testPointInside(mLocalShapeToWorld * Vector3(0.8, 0, -0.8)));
-            test(!mConeBody->testPointInside(mLocalShapeToWorld * Vector3(0.8, 0, 0.8)));
-            test(!mConeBody->testPointInside(mLocalShapeToWorld * Vector3(-0.8, 0, -0.8)));
-            test(!mConeBody->testPointInside(mLocalShapeToWorld * Vector3(-0.8, 0, 0.8)));
-            test(!mConeBody->testPointInside(mLocalShapeToWorld * Vector3(0, 3.1, 0)));
-            test(!mConeBody->testPointInside(mLocalShapeToWorld * Vector3(0, -3.1, 0)));
-            test(!mConeBody->testPointInside(mLocalShapeToWorld * Vector3(1.97, -2.9, 0)));
-            test(!mConeBody->testPointInside(mLocalShapeToWorld * Vector3(-1.97, -2.9, 0)));
-            test(!mConeBody->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, 1.97)));
-            test(!mConeBody->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, -1.97)));
-            test(!mConeBody->testPointInside(mLocalShapeToWorld * Vector3(1.5, -2.9, -1.5)));
-            test(!mConeBody->testPointInside(mLocalShapeToWorld * Vector3(-1.5, -2.9, 1.5)));
-
-            // Tests with ProxyConeShape
-            test(mConeProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0)));
-            test(mConeProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0.9, 0, 0)));
-            test(mConeProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-0.9, 0, 0)));
-            test(mConeProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0.9)));
-            test(mConeProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -0.9)));
-            test(mConeProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0.6, 0, -0.7)));
-            test(mConeProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0.6, 0, 0.7)));
-            test(mConeProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-0.6, 0, -0.7)));
-            test(mConeProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-0.6, 0, 0.7)));
-            test(mConeProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 2.9, 0)));
-            test(mConeProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, 0)));
-            test(mConeProxyShape->testPointInside(mLocalShapeToWorld * Vector3(1.96, -2.9, 0)));
-            test(mConeProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1.96, -2.9, 0)));
-            test(mConeProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, 1.96)));
-            test(mConeProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, -1.96)));
-            test(mConeProxyShape->testPointInside(mLocalShapeToWorld * Vector3(1.3, -2.9, -1.4)));
-            test(mConeProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1.3, -2.9, 1.4)));
-
-            test(!mConeProxyShape->testPointInside(mLocalShapeToWorld * Vector3(1.1, 0, 0)));
-            test(!mConeProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1.1, 0, 0)));
-            test(!mConeProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 1.1)));
-            test(!mConeProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -1.1)));
-            test(!mConeProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0.8, 0, -0.8)));
-            test(!mConeProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0.8, 0, 0.8)));
-            test(!mConeProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-0.8, 0, -0.8)));
-            test(!mConeProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-0.8, 0, 0.8)));
-            test(!mConeProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 3.1, 0)));
-            test(!mConeProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, -3.1, 0)));
-            test(!mConeProxyShape->testPointInside(mLocalShapeToWorld * Vector3(1.97, -2.9, 0)));
-            test(!mConeProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1.97, -2.9, 0)));
-            test(!mConeProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, 1.97)));
-            test(!mConeProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, -1.97)));
-            test(!mConeProxyShape->testPointInside(mLocalShapeToWorld * Vector3(1.5, -2.9, -1.5)));
-            test(!mConeProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1.5, -2.9, 1.5)));
-        }
-
         /// Test the ProxyConvexMeshShape::testPointInside() and
         /// CollisionBody::testPointInside() methods
         void testConvexMesh() {
@@ -597,127 +506,11 @@ class TestPointInside : public Test {
             test(!mConvexMeshProxyShapeEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 4.5)));
         }
 
-        /// Test the ProxyCylinderShape::testPointInside() and
-        /// CollisionBody::testPointInside() methods
-        void testCylinder() {
-
-            // Tests with CollisionBody
-            test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0)));
-            test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(0, 3.9, 0)));
-            test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(0, -3.9, 0)));
-            test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(2.9, 0, 0)));
-            test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(-2.9, 0, 0)));
-            test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 2.9)));
-            test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -2.9)));
-            test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(1.7, 0, 1.7)));
-            test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(1.7, 0, -1.7)));
-            test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(-1.7, 0, -1.7)));
-            test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(-1.7, 0, 1.7)));
-            test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(2.9, 3.9, 0)));
-            test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(-2.9, 3.9, 0)));
-            test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(0, 3.9, 2.9)));
-            test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(0, 3.9, -2.9)));
-            test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(1.7, 3.9, 1.7)));
-            test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(1.7, 3.9, -1.7)));
-            test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(-1.7, 3.9, -1.7)));
-            test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(-1.7, 3.9, 1.7)));
-            test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(2.9, -3.9, 0)));
-            test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(-2.9, -3.9, 0)));
-            test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(0, -3.9, 2.9)));
-            test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(0, -3.9, -2.9)));
-            test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(1.7, -3.9, 1.7)));
-            test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(1.7, -3.9, -1.7)));
-            test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(-1.7, -3.9, -1.7)));
-            test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(-1.7, -3.9, 1.7)));
-
-            test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(0, 4.1, 0)));
-            test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(0, -4.1, 0)));
-            test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(3.1, 0, 0)));
-            test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(-3.1, 0, 0)));
-            test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 3.1)));
-            test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -3.1)));
-            test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(2.2, 0, 2.2)));
-            test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(2.2, 0, -2.2)));
-            test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(-2.2, 0, -2.2)));
-            test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(-1.3, 0, 2.8)));
-            test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(3.1, 3.9, 0)));
-            test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(-3.1, 3.9, 0)));
-            test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(0, 3.9, 3.1)));
-            test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(0, 3.9, -3.1)));
-            test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(2.2, 3.9, 2.2)));
-            test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(2.2, 3.9, -2.2)));
-            test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(-2.2, 3.9, -2.2)));
-            test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(-2.2, 3.9, 2.2)));
-            test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(3.1, -3.9, 0)));
-            test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(-3.1, -3.9, 0)));
-            test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(0, -3.9, 3.1)));
-            test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(0, -3.9, -3.1)));
-            test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(2.2, -3.9, 2.2)));
-            test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(2.2, -3.9, -2.2)));
-            test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(-2.2, -3.9, -2.2)));
-            test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(-2.2, -3.9, 2.2)));
-
-            // Tests with ProxyCylinderShape
-            test(mCylinderProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0)));
-            test(mCylinderProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 3.9, 0)));
-            test(mCylinderProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, -3.9, 0)));
-            test(mCylinderProxyShape->testPointInside(mLocalShapeToWorld * Vector3(2.9, 0, 0)));
-            test(mCylinderProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-2.9, 0, 0)));
-            test(mCylinderProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 2.9)));
-            test(mCylinderProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -2.9)));
-            test(mCylinderProxyShape->testPointInside(mLocalShapeToWorld * Vector3(1.7, 0, 1.7)));
-            test(mCylinderProxyShape->testPointInside(mLocalShapeToWorld * Vector3(1.7, 0, -1.7)));
-            test(mCylinderProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1.7, 0, -1.7)));
-            test(mCylinderProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1.7, 0, 1.7)));
-            test(mCylinderProxyShape->testPointInside(mLocalShapeToWorld * Vector3(2.9, 3.9, 0)));
-            test(mCylinderProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-2.9, 3.9, 0)));
-            test(mCylinderProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 3.9, 2.9)));
-            test(mCylinderProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 3.9, -2.9)));
-            test(mCylinderProxyShape->testPointInside(mLocalShapeToWorld * Vector3(1.7, 3.9, 1.7)));
-            test(mCylinderProxyShape->testPointInside(mLocalShapeToWorld * Vector3(1.7, 3.9, -1.7)));
-            test(mCylinderProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1.7, 3.9, -1.7)));
-            test(mCylinderProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1.7, 3.9, 1.7)));
-            test(mCylinderProxyShape->testPointInside(mLocalShapeToWorld * Vector3(2.9, -3.9, 0)));
-            test(mCylinderProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-2.9, -3.9, 0)));
-            test(mCylinderProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, -3.9, 2.9)));
-            test(mCylinderProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, -3.9, -2.9)));
-            test(mCylinderProxyShape->testPointInside(mLocalShapeToWorld * Vector3(1.7, -3.9, 1.7)));
-            test(mCylinderProxyShape->testPointInside(mLocalShapeToWorld * Vector3(1.7, -3.9, -1.7)));
-            test(mCylinderProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1.7, -3.9, -1.7)));
-            test(mCylinderProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1.7, -3.9, 1.7)));
-
-            test(!mCylinderProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 4.1, 0)));
-            test(!mCylinderProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, -4.1, 0)));
-            test(!mCylinderProxyShape->testPointInside(mLocalShapeToWorld * Vector3(3.1, 0, 0)));
-            test(!mCylinderProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-3.1, 0, 0)));
-            test(!mCylinderProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 3.1)));
-            test(!mCylinderProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -3.1)));
-            test(!mCylinderProxyShape->testPointInside(mLocalShapeToWorld * Vector3(2.2, 0, 2.2)));
-            test(!mCylinderProxyShape->testPointInside(mLocalShapeToWorld * Vector3(2.2, 0, -2.2)));
-            test(!mCylinderProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-2.2, 0, -2.2)));
-            test(!mCylinderProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1.3, 0, 2.8)));
-            test(!mCylinderProxyShape->testPointInside(mLocalShapeToWorld * Vector3(3.1, 3.9, 0)));
-            test(!mCylinderProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-3.1, 3.9, 0)));
-            test(!mCylinderProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 3.9, 3.1)));
-            test(!mCylinderProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 3.9, -3.1)));
-            test(!mCylinderProxyShape->testPointInside(mLocalShapeToWorld * Vector3(2.2, 3.9, 2.2)));
-            test(!mCylinderProxyShape->testPointInside(mLocalShapeToWorld * Vector3(2.2, 3.9, -2.2)));
-            test(!mCylinderProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-2.2, 3.9, -2.2)));
-            test(!mCylinderProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-2.2, 3.9, 2.2)));
-            test(!mCylinderProxyShape->testPointInside(mLocalShapeToWorld * Vector3(3.1, -3.9, 0)));
-            test(!mCylinderProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-3.1, -3.9, 0)));
-            test(!mCylinderProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, -3.9, 3.1)));
-            test(!mCylinderProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, -3.9, -3.1)));
-            test(!mCylinderProxyShape->testPointInside(mLocalShapeToWorld * Vector3(2.2, -3.9, 2.2)));
-            test(!mCylinderProxyShape->testPointInside(mLocalShapeToWorld * Vector3(2.2, -3.9, -2.2)));
-            test(!mCylinderProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-2.2, -3.9, -2.2)));
-            test(!mCylinderProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-2.2, -3.9, 2.2)));
-        }
-
         /// Test the CollisionBody::testPointInside() method
         void testCompound() {
 
-            // Points on the cylinder
+            // Points on the capsule
+            // TODO : Previous it was a cylinder (not a capsule). Maybe those tests are wrong now
             test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0)));
             test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(0, 3.9, 0)));
             test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(0, -3.9, 0)));

test/tests/collision/TestRaycast.h

@@ -33,9 +33,7 @@
 #include "collision/shapes/BoxShape.h"
 #include "collision/shapes/SphereShape.h"
 #include "collision/shapes/CapsuleShape.h"
-#include "collision/shapes/ConeShape.h"
 #include "collision/shapes/ConvexMeshShape.h"
-#include "collision/shapes/CylinderShape.h"
 #include "collision/shapes/TriangleShape.h"
 #include "collision/shapes/ConcaveMeshShape.h"
 #include "collision/shapes/HeightFieldShape.h"
@@ -130,10 +128,8 @@ class TestRaycast : public Test {
         BoxShape* mBoxShape;
         SphereShape* mSphereShape;
         CapsuleShape* mCapsuleShape;
-        ConeShape* mConeShape;
         ConvexMeshShape* mConvexMeshShape;
         ConvexMeshShape* mConvexMeshShapeEdgesInfo;
-        CylinderShape* mCylinderShape;
         TriangleShape* mTriangleShape;
         ConcaveShape* mConcaveMeshShape;
         HeightFieldShape* mHeightFieldShape;
@@ -214,9 +210,6 @@ class TestRaycast : public Test {
             mCapsuleShape = new CapsuleShape(2, 5);
             mCapsuleProxyShape = mCapsuleBody->addCollisionShape(mCapsuleShape, mShapeTransform);
 
-            mConeShape = new ConeShape(2, 6, 0);
-            mConeProxyShape = mConeBody->addCollisionShape(mConeShape, mShapeTransform);
-
             // Box of dimension (2, 3, 4)
             mConvexMeshShape = new ConvexMeshShape(0.0);
             mConvexMeshShape->addVertex(Vector3(-2, -3, -4));
@@ -255,15 +248,12 @@ class TestRaycast : public Test {
                                                                      mConvexMeshShapeEdgesInfo,
                                                                      mShapeTransform);
 
-            mCylinderShape = new CylinderShape(2, 5, 0);
-            mCylinderProxyShape = mCylinderBody->addCollisionShape(mCylinderShape, mShapeTransform);
-
             // Compound shape is a cylinder and a sphere
             Vector3 positionShape2(Vector3(4, 2, -3));
             Quaternion orientationShape2(-3 *PI / 8, 1.5 * PI/ 3, PI / 13);
             Transform shapeTransform2(positionShape2, orientationShape2);
             mLocalShape2ToWorld = mBodyTransform * shapeTransform2;
-            mCompoundCylinderProxyShape = mCompoundBody->addCollisionShape(mCylinderShape, mShapeTransform);
+            mCompoundCylinderProxyShape = mCompoundBody->addCollisionShape(mCapsuleShape, mShapeTransform);
             mCompoundSphereProxyShape = mCompoundBody->addCollisionShape(mSphereShape, shapeTransform2);
 
             // Concave Mesh shape
@@ -328,10 +318,8 @@ class TestRaycast : public Test {
             delete mBoxShape;
             delete mSphereShape;
             delete mCapsuleShape;
-            delete mConeShape;
             delete mConvexMeshShape;
             delete mConvexMeshShapeEdgesInfo;
-            delete mCylinderShape;
             delete mTriangleShape;
             delete mConcaveMeshShape;
             delete mHeightFieldShape;
@@ -344,9 +332,7 @@ class TestRaycast : public Test {
             testBox();
             testSphere();
             testCapsule();
-            testCone();
             testConvexMesh();
-            testCylinder();
             testCompound();
             testTriangle();
             testConcaveMesh();
@@ -1313,253 +1299,6 @@ class TestRaycast : public Test {
             mWorld->raycast(Ray(ray6Back.point1, ray6Back.point2, decimal(0.8)), &mCallback);
         }
 
-        /// Test the ProxyConeShape::raycast(), CollisionBody::raycast() and
-        /// CollisionWorld::raycast() methods.
-        void testCone() {
-
-            // ----- Test feedback data ----- //
-            Vector3 point1A = mLocalShapeToWorld * Vector3(0 , 0, 3);
-            Vector3 point1B = mLocalShapeToWorld * Vector3(0, 0, -7);
-            Ray ray(point1A, point1B);
-            Vector3 hitPoint = mLocalShapeToWorld * Vector3(0, 0, 1);
-
-            Vector3 point2A = mLocalShapeToWorld * Vector3(1 , -5, 0);
-            Vector3 point2B = mLocalShapeToWorld * Vector3(1, 5, 0);
-            Ray rayBottom(point2A, point2B);
-            Vector3 hitPoint2 = mLocalShapeToWorld * Vector3(1, -3, 0);
-
-            mCallback.shapeToTest = mConeProxyShape;
-
-            // CollisionWorld::raycast()
-            mCallback.reset();
-            mWorld->raycast(ray, &mCallback);
-            test(mCallback.isHit);
-            test(mCallback.raycastInfo.body == mConeBody);
-            test(mCallback.raycastInfo.proxyShape == mConeProxyShape);
-            test(approxEqual(mCallback.raycastInfo.hitFraction, decimal(0.2), epsilon));
-            test(approxEqual(mCallback.raycastInfo.worldPoint.x, hitPoint.x, epsilon));
-            test(approxEqual(mCallback.raycastInfo.worldPoint.y, hitPoint.y, epsilon));
-            test(approxEqual(mCallback.raycastInfo.worldPoint.z, hitPoint.z, epsilon));
-
-            // Correct category filter mask
-            mCallback.reset();
-            mWorld->raycast(ray, &mCallback, CATEGORY2);
-            test(mCallback.isHit);
-
-            // Wrong category filter mask
-            mCallback.reset();
-            mWorld->raycast(ray, &mCallback, CATEGORY1);
-            test(!mCallback.isHit);
-
-            // CollisionBody::raycast()
-            RaycastInfo raycastInfo2;
-            test(mConeBody->raycast(ray, raycastInfo2));
-            test(raycastInfo2.body == mConeBody);
-            test(raycastInfo2.proxyShape == mConeProxyShape);
-            test(approxEqual(raycastInfo2.hitFraction, decimal(0.2), epsilon));
-            test(approxEqual(raycastInfo2.worldPoint.x, hitPoint.x, epsilon));
-            test(approxEqual(raycastInfo2.worldPoint.y, hitPoint.y, epsilon));
-            test(approxEqual(raycastInfo2.worldPoint.z, hitPoint.z, epsilon));
-
-            // ProxyCollisionShape::raycast()
-            RaycastInfo raycastInfo3;
-            test(mConeProxyShape->raycast(ray, raycastInfo3));
-            test(raycastInfo3.body == mConeBody);
-            test(raycastInfo3.proxyShape == mConeProxyShape);
-            test(approxEqual(raycastInfo3.hitFraction, decimal(0.2), epsilon));
-            test(approxEqual(raycastInfo3.worldPoint.x, hitPoint.x, epsilon));
-            test(approxEqual(raycastInfo3.worldPoint.y, hitPoint.y, epsilon));
-            test(approxEqual(raycastInfo3.worldPoint.z, hitPoint.z, epsilon));
-
-            mCallback.reset();
-            mWorld->raycast(rayBottom, &mCallback);
-            test(mCallback.isHit);
-            test(mCallback.raycastInfo.body == mConeBody);
-            test(mCallback.raycastInfo.proxyShape == mConeProxyShape);
-            test(approxEqual(mCallback.raycastInfo.hitFraction, decimal(0.2), epsilon));
-            test(approxEqual(mCallback.raycastInfo.worldPoint.x, hitPoint2.x, epsilon));
-            test(approxEqual(mCallback.raycastInfo.worldPoint.y, hitPoint2.y, epsilon));
-            test(approxEqual(mCallback.raycastInfo.worldPoint.z, hitPoint2.z, epsilon));
-
-            // CollisionBody::raycast()
-            RaycastInfo raycastInfo5;
-            test(mConeBody->raycast(rayBottom, raycastInfo5));
-            test(raycastInfo5.body == mConeBody);
-            test(raycastInfo5.proxyShape == mConeProxyShape);
-            test(approxEqual(raycastInfo5.hitFraction, decimal(0.2), epsilon));
-            test(approxEqual(raycastInfo5.worldPoint.x, hitPoint2.x, epsilon));
-            test(approxEqual(raycastInfo5.worldPoint.y, hitPoint2.y, epsilon));
-            test(approxEqual(raycastInfo5.worldPoint.z, hitPoint2.z, epsilon));
-
-            // ProxyCollisionShape::raycast()
-            RaycastInfo raycastInfo6;
-            test(mConeProxyShape->raycast(rayBottom, raycastInfo6));
-            test(raycastInfo6.body == mConeBody);
-            test(raycastInfo6.proxyShape == mConeProxyShape);
-            test(approxEqual(raycastInfo6.hitFraction, decimal(0.2), epsilon));
-            test(approxEqual(raycastInfo6.worldPoint.x, hitPoint2.x, epsilon));
-            test(approxEqual(raycastInfo6.worldPoint.y, hitPoint2.y, epsilon));
-            test(approxEqual(raycastInfo6.worldPoint.z, hitPoint2.z, epsilon));
-
-            Ray ray1(mLocalShapeToWorld * Vector3(0, 0, 0), mLocalShapeToWorld * Vector3(5, 7, -1));
-            Ray ray2(mLocalShapeToWorld * Vector3(5, 11, 7), mLocalShapeToWorld * Vector3(17, 29, 28));
-            Ray ray3(mLocalShapeToWorld * Vector3(-1, -2, 1), mLocalShapeToWorld * Vector3(-13, -2, 22));
-            Ray ray4(mLocalShapeToWorld * Vector3(10, 10, 10), mLocalShapeToWorld * Vector3(22, 28, 31));
-            Ray ray5(mLocalShapeToWorld * Vector3(4, 1, -1), mLocalShapeToWorld * Vector3(-26, 1, -1));
-            Ray ray6(mLocalShapeToWorld * Vector3(3, 4, 1), mLocalShapeToWorld * Vector3(3, -16, 1));
-            Ray ray7(mLocalShapeToWorld * Vector3(1, -4, 3), mLocalShapeToWorld * Vector3(1, -4, -17));
-            Ray ray8(mLocalShapeToWorld * Vector3(-4, 4, 0), mLocalShapeToWorld * Vector3(26, 4, 0));
-            Ray ray9(mLocalShapeToWorld * Vector3(0, -4, -7), mLocalShapeToWorld * Vector3(0, 46, -7));
-            Ray ray10(mLocalShapeToWorld * Vector3(-3, -2, -6), mLocalShapeToWorld * Vector3(-3, -2, 74));
-            Ray ray11(mLocalShapeToWorld * Vector3(3, -1, 0.5), mLocalShapeToWorld * Vector3(-27, -1, 0.5));
-            Ray ray12(mLocalShapeToWorld * Vector3(1, 4, -1), mLocalShapeToWorld * Vector3(1, -26, -1));
-            Ray ray13(mLocalShapeToWorld * Vector3(-1, -2, 3), mLocalShapeToWorld * Vector3(-1, -2, -27));
-            Ray ray14(mLocalShapeToWorld * Vector3(-2, 0, 0.8), mLocalShapeToWorld * Vector3(30, 0, 0.8));
-            Ray ray15(mLocalShapeToWorld * Vector3(0, -4, 1), mLocalShapeToWorld * Vector3(0, 30, 1));
-            Ray ray16(mLocalShapeToWorld * Vector3(-0.9, 0, -4), mLocalShapeToWorld * Vector3(-0.9, 0, 30));
-
-            // ----- Test raycast miss ----- //
-            test(!mConeBody->raycast(ray1, raycastInfo3));
-            test(!mConeProxyShape->raycast(ray1, raycastInfo3));
-            mCallback.reset();
-            mWorld->raycast(ray1, &mCallback);
-            test(!mCallback.isHit);
-            mCallback.reset();
-            mWorld->raycast(Ray(ray1.point1, ray1.point2, decimal(0.01)), &mCallback);
-            test(!mCallback.isHit);
-            mCallback.reset();
-            mWorld->raycast(Ray(ray1.point1, ray1.point2, decimal(100.0)), &mCallback);
-            test(!mCallback.isHit);
-
-            test(!mConeBody->raycast(ray2, raycastInfo3));
-            test(!mConeProxyShape->raycast(ray2, raycastInfo3));
-            mCallback.reset();
-            mWorld->raycast(ray2, &mCallback);
-            test(!mCallback.isHit);
-
-            test(!mConeBody->raycast(ray3, raycastInfo3));
-            test(!mConeProxyShape->raycast(ray3, raycastInfo3));
-            mCallback.reset();
-            mWorld->raycast(ray3, &mCallback);
-            test(!mCallback.isHit);
-
-            test(!mConeBody->raycast(ray4, raycastInfo3));
-            test(!mConeProxyShape->raycast(ray4, raycastInfo3));
-            mCallback.reset();
-            mWorld->raycast(ray4, &mCallback);
-            test(!mCallback.isHit);
-
-            test(!mConeBody->raycast(ray5, raycastInfo3));
-            test(!mConeProxyShape->raycast(ray5, raycastInfo3));
-            mCallback.reset();
-            mWorld->raycast(ray5, &mCallback);
-            test(!mCallback.isHit);
-
-            test(!mConeBody->raycast(ray6, raycastInfo3));
-            test(!mConeProxyShape->raycast(ray6, raycastInfo3));
-            mCallback.reset();
-            mWorld->raycast(ray6, &mCallback);
-            test(!mCallback.isHit);
-
-            test(!mConeBody->raycast(ray7, raycastInfo3));
-            test(!mConeProxyShape->raycast(ray7, raycastInfo3));
-            mCallback.reset();
-            mWorld->raycast(ray7, &mCallback);
-            test(!mCallback.isHit);
-
-            test(!mConeBody->raycast(ray8, raycastInfo3));
-            test(!mConeProxyShape->raycast(ray8, raycastInfo3));
-            mCallback.reset();
-            mWorld->raycast(ray8, &mCallback);
-            test(!mCallback.isHit);
-
-            test(!mConeBody->raycast(ray9, raycastInfo3));
-            test(!mConeProxyShape->raycast(ray9, raycastInfo3));
-            mCallback.reset();
-            mWorld->raycast(ray9, &mCallback);
-            test(!mCallback.isHit);
-
-            test(!mConeBody->raycast(ray10, raycastInfo3));
-            test(!mConeProxyShape->raycast(ray10, raycastInfo3));
-            mCallback.reset();
-            mWorld->raycast(ray10, &mCallback);
-            test(!mCallback.isHit);
-
-            mCallback.reset();
-            mWorld->raycast(Ray(ray11.point1, ray11.point2, decimal(0.01)), &mCallback);
-            test(!mCallback.isHit);
-            mCallback.reset();
-            mWorld->raycast(Ray(ray12.point1, ray12.point2, decimal(0.01)), &mCallback);
-            test(!mCallback.isHit);
-            mCallback.reset();
-            mWorld->raycast(Ray(ray13.point1, ray13.point2, decimal(0.01)), &mCallback);
-            test(!mCallback.isHit);
-            mCallback.reset();
-            mWorld->raycast(Ray(ray14.point1, ray14.point2, decimal(0.01)), &mCallback);
-            test(!mCallback.isHit);
-            mCallback.reset();
-            mWorld->raycast(Ray(ray15.point1, ray15.point2, decimal(0.01)), &mCallback);
-            test(!mCallback.isHit);
-            mCallback.reset();
-            mWorld->raycast(Ray(ray16.point1, ray16.point2, decimal(0.01)), &mCallback);
-            test(!mCallback.isHit);
-
-            // ----- Test raycast hits ----- //
-            test(mConeBody->raycast(ray11, raycastInfo3));
-            test(mConeProxyShape->raycast(ray11, raycastInfo3));
-            mCallback.reset();
-            mWorld->raycast(ray11, &mCallback);
-            test(mCallback.isHit);
-            mCallback.reset();
-            mWorld->raycast(Ray(ray11.point1, ray11.point2, decimal(0.8)), &mCallback);
-            test(mCallback.isHit);
-
-            test(mConeBody->raycast(ray12, raycastInfo3));
-            test(mConeProxyShape->raycast(ray12, raycastInfo3));
-            mCallback.reset();
-            mWorld->raycast(ray12, &mCallback);
-            test(mCallback.isHit);
-            mCallback.reset();
-            mWorld->raycast(Ray(ray12.point1, ray12.point2, decimal(0.8)), &mCallback);
-            test(mCallback.isHit);
-
-            test(mConeBody->raycast(ray13, raycastInfo3));
-            test(mConeProxyShape->raycast(ray13, raycastInfo3));
-            mCallback.reset();
-            mWorld->raycast(ray13, &mCallback);
-            test(mCallback.isHit);
-            mCallback.reset();
-            mWorld->raycast(Ray(ray13.point1, ray13.point2, decimal(0.8)), &mCallback);
-            test(mCallback.isHit);
-
-            test(mConeBody->raycast(ray14, raycastInfo3));
-            test(mConeProxyShape->raycast(ray14, raycastInfo3));
-            mCallback.reset();
-            mWorld->raycast(ray14, &mCallback);
-            test(mCallback.isHit);
-            mCallback.reset();
-            mWorld->raycast(Ray(ray14.point1, ray14.point2, decimal(0.8)), &mCallback);
-            test(mCallback.isHit);
-
-            test(mConeBody->raycast(ray15, raycastInfo3));
-            test(mConeProxyShape->raycast(ray15, raycastInfo3));
-            mCallback.reset();
-            mWorld->raycast(ray15, &mCallback);
-            test(mCallback.isHit);
-            mCallback.reset();
-            mWorld->raycast(Ray(ray15.point1, ray15.point2, decimal(0.8)), &mCallback);
-            test(mCallback.isHit);
-
-            test(mConeBody->raycast(ray16, raycastInfo3));
-            test(mConeProxyShape->raycast(ray16, raycastInfo3));
-            mCallback.reset();
-            mWorld->raycast(ray16, &mCallback);
-            test(mCallback.isHit);
-            mCallback.reset();
-            mWorld->raycast(Ray(ray16.point1, ray16.point2, decimal(0.8)), &mCallback);
-            test(mCallback.isHit);
-        }
-
         /// Test the ProxyConvexMeshShape::raycast(), CollisionBody::raycast() and
         /// CollisionWorld::raycast() methods.
         void testConvexMesh() {
@@ -1824,248 +1563,6 @@ class TestRaycast : public Test {
             test(mCallback.isHit);
         }
 
-        /// Test the ProxyCylinderShape::raycast(), CollisionBody::raycast() and
-        /// CollisionWorld::raycast() methods.
-        void testCylinder() {
-
-            // ----- Test feedback data ----- //
-            Vector3 point1A = mLocalShapeToWorld * Vector3(4 , 1, 0);
-            Vector3 point1B = mLocalShapeToWorld * Vector3(-6, 1, 0);
-            Ray ray(point1A, point1B);
-            Vector3 hitPoint = mLocalShapeToWorld * Vector3(2, 1, 0);
-
-            Vector3 point2A = mLocalShapeToWorld * Vector3(0 , 4.5, 0);
-            Vector3 point2B = mLocalShapeToWorld * Vector3(0, -5.5, 0);
-            Ray rayTop(point2A, point2B);
-            Vector3 hitPointTop = mLocalShapeToWorld * Vector3(0, decimal(2.5), 0);
-
-            Vector3 point3A = mLocalShapeToWorld * Vector3(0 , -4.5, 0);
-            Vector3 point3B = mLocalShapeToWorld * Vector3(0, 5.5, 0);
-            Ray rayBottom(point3A, point3B);
-            Vector3 hitPointBottom = mLocalShapeToWorld * Vector3(0, decimal(-2.5), 0);
-
-            mCallback.shapeToTest = mCylinderProxyShape;
-
-            // CollisionWorld::raycast()
-            mCallback.reset();
-            mWorld->raycast(ray, &mCallback);
-            test(mCallback.isHit);
-            test(mCallback.raycastInfo.body == mCylinderBody);
-            test(mCallback.raycastInfo.proxyShape == mCylinderProxyShape);
-            test(approxEqual(mCallback.raycastInfo.hitFraction, decimal(0.2), epsilon));
-            test(approxEqual(mCallback.raycastInfo.worldPoint.x, hitPoint.x, epsilon));
-            test(approxEqual(mCallback.raycastInfo.worldPoint.y, hitPoint.y, epsilon));
-            test(approxEqual(mCallback.raycastInfo.worldPoint.z, hitPoint.z, epsilon));
-
-            // Correct category filter mask
-            mCallback.reset();
-            mWorld->raycast(ray, &mCallback, CATEGORY2);
-            test(mCallback.isHit);
-
-            // Wrong category filter mask
-            mCallback.reset();
-            mWorld->raycast(ray, &mCallback, CATEGORY1);
-            test(!mCallback.isHit);
-
-            // CollisionBody::raycast()
-            RaycastInfo raycastInfo2;
-            test(mCylinderBody->raycast(ray, raycastInfo2));
-            test(raycastInfo2.body == mCylinderBody);
-            test(raycastInfo2.proxyShape == mCylinderProxyShape);
-            test(approxEqual(raycastInfo2.hitFraction, decimal(0.2), epsilon));
-            test(approxEqual(raycastInfo2.worldPoint.x, hitPoint.x, epsilon));
-            test(approxEqual(raycastInfo2.worldPoint.y, hitPoint.y, epsilon));
-            test(approxEqual(raycastInfo2.worldPoint.z, hitPoint.z, epsilon));
-
-            // ProxyCollisionShape::raycast()
-            RaycastInfo raycastInfo3;
-            test(mCylinderProxyShape->raycast(ray, raycastInfo3));
-            test(raycastInfo3.body == mCylinderBody);
-            test(raycastInfo3.proxyShape == mCylinderProxyShape);
-            test(approxEqual(raycastInfo3.hitFraction, decimal(0.2), epsilon));
-            test(approxEqual(raycastInfo3.worldPoint.x, hitPoint.x, epsilon));
-            test(approxEqual(raycastInfo3.worldPoint.y, hitPoint.y, epsilon));
-            test(approxEqual(raycastInfo3.worldPoint.z, hitPoint.z, epsilon));
-
-            // ProxyCollisionShape::raycast()
-            RaycastInfo raycastInfo5;
-            test(mCylinderProxyShape->raycast(rayTop, raycastInfo5));
-            test(raycastInfo5.body == mCylinderBody);
-            test(raycastInfo5.proxyShape == mCylinderProxyShape);
-            test(approxEqual(raycastInfo5.hitFraction, decimal(0.2), epsilon));
-            test(approxEqual(raycastInfo5.worldPoint.x, hitPointTop.x, epsilon));
-            test(approxEqual(raycastInfo5.worldPoint.y, hitPointTop.y, epsilon));
-            test(approxEqual(raycastInfo5.worldPoint.z, hitPointTop.z, epsilon));
-
-            // ProxyCollisionShape::raycast()
-            RaycastInfo raycastInfo6;
-            test(mCylinderProxyShape->raycast(rayBottom, raycastInfo6));
-            test(raycastInfo6.body == mCylinderBody);
-            test(raycastInfo6.proxyShape == mCylinderProxyShape);
-            test(approxEqual(raycastInfo6.hitFraction, decimal(0.2), epsilon));
-            test(approxEqual(raycastInfo6.worldPoint.x, hitPointBottom.x, epsilon));
-            test(approxEqual(raycastInfo6.worldPoint.y, hitPointBottom.y, epsilon));
-            test(approxEqual(raycastInfo6.worldPoint.z, hitPointBottom.z, epsilon));
-
-            Ray ray1(mLocalShapeToWorld * Vector3(0, 0, 0), mLocalShapeToWorld * Vector3(5, 7, -1));
-            Ray ray2(mLocalShapeToWorld * Vector3(5, 11, 7), mLocalShapeToWorld * Vector3(17, 20, 28));
-            Ray ray3(mLocalShapeToWorld * Vector3(1, 3, -1), mLocalShapeToWorld * Vector3(-11,3, 20));
-            Ray ray4(mLocalShapeToWorld * Vector3(10, 10, 10), mLocalShapeToWorld * Vector3(22, 28, 31));
-            Ray ray5(mLocalShapeToWorld * Vector3(4, 1, -5), mLocalShapeToWorld * Vector3(-30, 1, -5));
-            Ray ray6(mLocalShapeToWorld * Vector3(4, 9, 1), mLocalShapeToWorld * Vector3(4, -30, 1));
-            Ray ray7(mLocalShapeToWorld * Vector3(1, -9, 5), mLocalShapeToWorld * Vector3(1, -9, -30));
-            Ray ray8(mLocalShapeToWorld * Vector3(-4, 9, 0), mLocalShapeToWorld * Vector3(30, 9, 0));
-            Ray ray9(mLocalShapeToWorld * Vector3(0, -9, -4), mLocalShapeToWorld * Vector3(0, 30, -4));
-            Ray ray10(mLocalShapeToWorld * Vector3(-4, 0, -6), mLocalShapeToWorld * Vector3(-4, 0, 30));
-            Ray ray11(mLocalShapeToWorld * Vector3(4, 1, 1.5), mLocalShapeToWorld * Vector3(-30, 1, 1.5));
-            Ray ray12(mLocalShapeToWorld * Vector3(1, 9, -1), mLocalShapeToWorld * Vector3(1, -30, -1));
-            Ray ray13(mLocalShapeToWorld * Vector3(-1, 2, 3), mLocalShapeToWorld * Vector3(-1, 2, -30));
-            Ray ray14(mLocalShapeToWorld * Vector3(-3, 2, -1.7), mLocalShapeToWorld * Vector3(30, 2, -1.7));
-            Ray ray15(mLocalShapeToWorld * Vector3(0, -9, 1), mLocalShapeToWorld * Vector3(0, 30, 1));
-            Ray ray16(mLocalShapeToWorld * Vector3(-1, 2, -7), mLocalShapeToWorld * Vector3(-1, 2, 30));
-
-            // ----- Test raycast miss ----- //
-            test(!mCylinderBody->raycast(ray1, raycastInfo3));
-            test(!mCylinderProxyShape->raycast(ray1, raycastInfo3));
-            mCallback.reset();
-            mWorld->raycast(ray1, &mCallback);
-            test(!mCallback.isHit);
-            mCallback.reset();
-            mWorld->raycast(Ray(ray1.point1, ray1.point2, decimal(0.01)), &mCallback);
-            test(!mCallback.isHit);
-            mCallback.reset();
-            mWorld->raycast(Ray(ray1.point1, ray1.point2, decimal(100.0)), &mCallback);
-            test(!mCallback.isHit);
-
-            test(!mCylinderBody->raycast(ray2, raycastInfo3));
-            test(!mCylinderProxyShape->raycast(ray2, raycastInfo3));
-            mCallback.reset();
-            mWorld->raycast(ray2, &mCallback);
-            test(!mCallback.isHit);
-
-            test(!mCylinderBody->raycast(ray3, raycastInfo3));
-            test(!mCylinderProxyShape->raycast(ray3, raycastInfo3));
-            mCallback.reset();
-            mWorld->raycast(ray3, &mCallback);
-            test(!mCallback.isHit);
-
-            test(!mCylinderBody->raycast(ray4, raycastInfo3));
-            test(!mCylinderProxyShape->raycast(ray4, raycastInfo3));
-            mCallback.reset();
-            mWorld->raycast(ray4, &mCallback);
-            test(!mCallback.isHit);
-
-            test(!mCylinderBody->raycast(ray5, raycastInfo3));
-            test(!mCylinderProxyShape->raycast(ray5, raycastInfo3));
-            mCallback.reset();
-            mWorld->raycast(ray5, &mCallback);
-            test(!mCallback.isHit);
-
-            test(!mCylinderBody->raycast(ray6, raycastInfo3));
-            test(!mCylinderProxyShape->raycast(ray6, raycastInfo3));
-            mCallback.reset();
-            mWorld->raycast(ray6, &mCallback);
-            test(!mCallback.isHit);
-
-            test(!mCylinderBody->raycast(ray7, raycastInfo3));
-            test(!mCylinderProxyShape->raycast(ray7, raycastInfo3));
-            mCallback.reset();
-            mWorld->raycast(ray7, &mCallback);
-            test(!mCallback.isHit);
-
-            test(!mCylinderBody->raycast(ray8, raycastInfo3));
-            test(!mCylinderProxyShape->raycast(ray8, raycastInfo3));
-            mCallback.reset();
-            mWorld->raycast(ray8, &mCallback);
-            test(!mCallback.isHit);
-
-            test(!mCylinderBody->raycast(ray9, raycastInfo3));
-            test(!mCylinderProxyShape->raycast(ray9, raycastInfo3));
-            mCallback.reset();
-            mWorld->raycast(ray9, &mCallback);
-            test(!mCallback.isHit);
-
-            test(!mCylinderBody->raycast(ray10, raycastInfo3));
-            test(!mCylinderProxyShape->raycast(ray10, raycastInfo3));
-            mCallback.reset();
-            mWorld->raycast(ray10, &mCallback);
-            test(!mCallback.isHit);
-
-            mCallback.reset();
-            mWorld->raycast(Ray(ray11.point1, ray11.point2, decimal(0.01)), &mCallback);
-            test(!mCallback.isHit);
-            mCallback.reset();
-            mWorld->raycast(Ray(ray12.point1, ray12.point2, decimal(0.01)), &mCallback);
-            test(!mCallback.isHit);
-            mCallback.reset();
-            mWorld->raycast(Ray(ray13.point1, ray13.point2, decimal(0.01)), &mCallback);
-            test(!mCallback.isHit);
-            mCallback.reset();
-            mWorld->raycast(Ray(ray14.point1, ray14.point2, decimal(0.01)), &mCallback);
-            test(!mCallback.isHit);
-            mCallback.reset();
-            mWorld->raycast(Ray(ray15.point1, ray15.point2, decimal(0.01)), &mCallback);
-            test(!mCallback.isHit);
-            mCallback.reset();
-            mWorld->raycast(Ray(ray16.point1, ray16.point2, decimal(0.01)), &mCallback);
-            test(!mCallback.isHit);
-
-            // ----- Test raycast hits ----- //
-            test(mCylinderBody->raycast(ray11, raycastInfo3));
-            test(mCylinderProxyShape->raycast(ray11, raycastInfo3));
-            mCallback.reset();
-            mWorld->raycast(ray11, &mCallback);
-            test(mCallback.isHit);
-            mCallback.reset();
-            mWorld->raycast(Ray(ray11.point1, ray11.point2, decimal(0.8)), &mCallback);
-            test(mCallback.isHit);
-
-            test(mCylinderBody->raycast(ray12, raycastInfo3));
-            test(mCylinderProxyShape->raycast(ray12, raycastInfo3));
-            mCallback.reset();
-            mWorld->raycast(ray12, &mCallback);
-            test(mCallback.isHit);
-            mCallback.reset();
-            mWorld->raycast(Ray(ray12.point1, ray12.point2, decimal(0.8)), &mCallback);
-            test(mCallback.isHit);
-
-            test(mCylinderBody->raycast(ray13, raycastInfo3));
-            test(mCylinderProxyShape->raycast(ray13, raycastInfo3));
-            mCallback.reset();
-            mWorld->raycast(ray13, &mCallback);
-            test(mCallback.isHit);
-            mCallback.reset();
-            mWorld->raycast(Ray(ray13.point1, ray13.point2, decimal(0.8)), &mCallback);
-            test(mCallback.isHit);
-
-            test(mCylinderBody->raycast(ray14, raycastInfo3));
-            test(mCylinderProxyShape->raycast(ray14, raycastInfo3));
-            mCallback.reset();
-            mWorld->raycast(ray14, &mCallback);
-            test(mCallback.isHit);
-            mCallback.reset();
-            mWorld->raycast(Ray(ray14.point1, ray14.point2, decimal(0.8)), &mCallback);
-            test(mCallback.isHit);
-
-            test(mCylinderBody->raycast(ray15, raycastInfo3));
-            test(mCylinderProxyShape->raycast(ray15, raycastInfo3));
-            mCallback.reset();
-            mWorld->raycast(ray15, &mCallback);
-            test(mCallback.isHit);
-            mCallback.reset();
-            mWorld->raycast(Ray(ray15.point1, ray15.point2, decimal(0.8)), &mCallback);
-            test(mCallback.isHit);
-
-            test(mCylinderBody->raycast(ray16, raycastInfo3));
-            test(mCylinderProxyShape->raycast(ray16, raycastInfo3));
-            mCallback.reset();
-            mWorld->raycast(ray16, &mCallback);
-            test(mCallback.isHit);
-            mCallback.reset();
-            mWorld->raycast(Ray(ray16.point1, ray16.point2, decimal(0.8)), &mCallback);
-            test(mCallback.isHit);
-        }
-
         /// Test the CollisionBody::raycast() and
         /// CollisionWorld::raycast() methods.
         void testCompound() {
@@ -2141,7 +1638,8 @@ class TestRaycast : public Test {
             mWorld->raycast(Ray(ray6.point1, ray6.point2, decimal(0.8)), &mCallback);
             test(mCallback.isHit);
 
-            // Raycast hit agains the cylinder shape
+            // Raycast hit agains the capsule shape
+            // TODO : Previous it was a cylinder, now it is a capsule shape, maybe those tests are wrong now
             Ray ray11(mLocalShapeToWorld * Vector3(4, 1, 1.5), mLocalShapeToWorld * Vector3(-30, 1.5, 2));
             Ray ray12(mLocalShapeToWorld * Vector3(1.5, 9, -1), mLocalShapeToWorld * Vector3(1.5, -30, -1));
             Ray ray13(mLocalShapeToWorld * Vector3(-1, 2, 3), mLocalShapeToWorld * Vector3(-1, 2, -30));

testbed/CMakeLists.txt

@@ -74,8 +74,6 @@ SET(TESTBED_SOURCES
 SET(COMMON_SOURCES
     common/Box.h
     common/Box.cpp
-    common/Cone.h
-    common/Cone.cpp
     common/Sphere.h
     common/Sphere.cpp
     common/Line.h
@@ -86,8 +84,6 @@ SET(COMMON_SOURCES
     common/ConvexMesh.cpp
     common/ConcaveMesh.h
     common/ConcaveMesh.cpp
-    common/Cylinder.h
-    common/Cylinder.cpp
     common/Dumbbell.h
     common/Dumbbell.cpp
     common/HeightField.h

testbed/common/Cone.cpp

@@ -1,272 +0,0 @@
-/********************************************************************************
-* ReactPhysics3D physics library, http://www.reactphysics3d.com                 *
-* Copyright (c) 2010-2016 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 "Cone.h"
-
-openglframework::VertexBufferObject Cone::mVBOVertices(GL_ARRAY_BUFFER);
-openglframework::VertexBufferObject Cone::mVBONormals(GL_ARRAY_BUFFER);
-openglframework::VertexBufferObject Cone::mVBOTextureCoords(GL_ARRAY_BUFFER);
-openglframework::VertexBufferObject Cone::mVBOIndices(GL_ELEMENT_ARRAY_BUFFER);
-openglframework::VertexArrayObject Cone::mVAO;
-int Cone::totalNbCones = 0;
-
-// Constructor
-Cone::Cone(float radius, float height, const openglframework::Vector3 &position,
-           reactphysics3d::CollisionWorld* world,
-           const std::string& meshFolderPath)
-     : PhysicsObject(meshFolderPath + "cone.obj"), mRadius(radius), mHeight(height) {
-
-    // Compute the scaling matrix
-    mScalingMatrix = openglframework::Matrix4(mRadius, 0, 0, 0,
-                                              0, mHeight, 0, 0,
-                                              0, 0, mRadius, 0,
-                                              0, 0, 0, 1);
-
-    // Initialize the position where the cone will be rendered
-    translateWorld(position);
-
-    // Create the collision shape for the rigid body (cone shape) and do
-    // not forget to delete it at the end
-    mConeShape = new rp3d::ConeShape(mRadius, mHeight);
-
-    // Initial position and orientation of the rigid body
-    rp3d::Vector3 initPosition(position.x, position.y, position.z);
-    rp3d::Quaternion initOrientation = rp3d::Quaternion::identity();
-    rp3d::Transform transform(initPosition, initOrientation);
-
-    mPreviousTransform = transform;
-
-    // Create a rigid body corresponding to the cone in the dynamics world
-    mBody = world->createCollisionBody(transform);
-
-    // Add a collision shape to the body and specify the mass of the shape
-    mProxyShape = mBody->addCollisionShape(mConeShape, rp3d::Transform::identity());
-
-    mTransformMatrix = mTransformMatrix * mScalingMatrix;
-
-    // Create the VBOs and VAO
-    if (totalNbCones == 0) {
-        createVBOAndVAO();
-    }
-
-    totalNbCones++;
-}
-
-// Constructor
-Cone::Cone(float radius, float height, const openglframework::Vector3 &position,
-           float mass, reactphysics3d::DynamicsWorld* dynamicsWorld,
-           const std::string& meshFolderPath)
-     : PhysicsObject(meshFolderPath + "cone.obj"), mRadius(radius), mHeight(height) {
-
-    // Compute the scaling matrix
-    mScalingMatrix = openglframework::Matrix4(mRadius, 0, 0, 0,
-                                              0, mHeight, 0, 0,
-                                              0, 0, mRadius, 0,
-                                              0, 0, 0, 1);
-
-    // Initialize the position where the cone will be rendered
-    translateWorld(position);
-
-    // Create the collision shape for the rigid body (cone shape) and do not
-    // forget to delete it at the end
-    mConeShape = new rp3d::ConeShape(mRadius, mHeight);
-
-    // Initial position and orientation of the rigid body
-    rp3d::Vector3 initPosition(position.x, position.y, position.z);
-    rp3d::Quaternion initOrientation = rp3d::Quaternion::identity();
-    rp3d::Transform transform(initPosition, initOrientation);
-
-    // Create a rigid body corresponding to the cone in the dynamics world
-    rp3d::RigidBody* body = dynamicsWorld->createRigidBody(transform);
-
-    // Add a collision shape to the body and specify the mass of the shape
-    mProxyShape = body->addCollisionShape(mConeShape, rp3d::Transform::identity(), mass);
-
-    mBody = body;
-
-    mTransformMatrix = mTransformMatrix * mScalingMatrix;
-
-    // Create the VBOs and VAO
-    if (totalNbCones == 0) {
-        createVBOAndVAO();
-    }
-
-    totalNbCones++;
-}
-
-// Destructor
-Cone::~Cone() {
-
-    if (totalNbCones == 1) {
-        // Destroy the mesh
-        destroy();
-
-        // Destroy the VBOs and VAO
-        mVBOIndices.destroy();
-        mVBOVertices.destroy();
-        mVBONormals.destroy();
-        mVBOTextureCoords.destroy();
-        mVAO.destroy();
-    }
-    delete mConeShape;
-    totalNbCones--;
-}
-
-// Render the cone at the correct position and with the correct orientation
-void Cone::render(openglframework::Shader& shader,
-                  const openglframework::Matrix4& worldToCameraMatrix, bool wireframe) {
-
-    if (wireframe) {
-        glPolygonMode(GL_FRONT_AND_BACK, GL_LINE);
-    }
-
-    // Bind the shader
-    shader.bind();
-
-    // Set the model to camera matrix
-    shader.setMatrix4x4Uniform("localToWorldMatrix", mTransformMatrix);
-    shader.setMatrix4x4Uniform("worldToCameraMatrix", worldToCameraMatrix);
-
-    // Set the normal matrix (inverse transpose of the 3x3 upper-left sub matrix of the
-    // model-view matrix)
-    const openglframework::Matrix4 localToCameraMatrix = worldToCameraMatrix * mTransformMatrix;
-    const openglframework::Matrix3 normalMatrix =
-                       localToCameraMatrix.getUpperLeft3x3Matrix().getInverse().getTranspose();
-    shader.setMatrix3x3Uniform("normalMatrix", normalMatrix, false);
-
-    // Set the vertex color
-    openglframework::Color currentColor = mBody->isSleeping() ? mSleepingColor : mColor;
-    openglframework::Vector4 color(currentColor.r, currentColor.g, currentColor.b, currentColor.a);
-    shader.setVector4Uniform("vertexColor", color, false);
-
-    // Bind the VAO
-    mVAO.bind();
-
-    mVBOVertices.bind();
-
-    // Get the location of shader attribute variables
-    GLint vertexPositionLoc = shader.getAttribLocation("vertexPosition");
-    GLint vertexNormalLoc = shader.getAttribLocation("vertexNormal", false);
-
-    glEnableVertexAttribArray(vertexPositionLoc);
-    glVertexAttribPointer(vertexPositionLoc, 3, GL_FLOAT, GL_FALSE, 0, (char*)nullptr);
-
-    mVBONormals.bind();
-
-    if (vertexNormalLoc != -1) glVertexAttribPointer(vertexNormalLoc, 3, GL_FLOAT, GL_FALSE, 0, (char*)nullptr);
-    if (vertexNormalLoc != -1) glEnableVertexAttribArray(vertexNormalLoc);
-
-    // For each part of the mesh
-    for (unsigned int i=0; i<getNbParts(); i++) {
-        glDrawElements(GL_TRIANGLES, getNbFaces(i) * 3, GL_UNSIGNED_INT, (char*)nullptr);
-    }
-
-    glDisableVertexAttribArray(vertexPositionLoc);
-    if (vertexNormalLoc != -1) glDisableVertexAttribArray(vertexNormalLoc);
-
-    mVBONormals.unbind();
-    mVBOVertices.unbind();
-
-    // Unbind the VAO
-    mVAO.unbind();
-
-    // Unbind the shader
-    shader.unbind();
-
-    if (wireframe) {
-        glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
-    }
-}
-
-// Create the Vertex Buffer Objects used to render with OpenGL.
-/// We create two VBOs (one for vertices and one for indices)
-void Cone::createVBOAndVAO() {
-
-    // Create the VBO for the vertices data
-    mVBOVertices.create();
-    mVBOVertices.bind();
-    size_t sizeVertices = mVertices.size() * sizeof(openglframework::Vector3);
-    mVBOVertices.copyDataIntoVBO(sizeVertices, getVerticesPointer(), GL_STATIC_DRAW);
-    mVBOVertices.unbind();
-
-    // Create the VBO for the normals data
-    mVBONormals.create();
-    mVBONormals.bind();
-    size_t sizeNormals = mNormals.size() * sizeof(openglframework::Vector3);
-    mVBONormals.copyDataIntoVBO(sizeNormals, getNormalsPointer(), GL_STATIC_DRAW);
-    mVBONormals.unbind();
-
-    if (hasTexture()) {
-        // Create the VBO for the texture co data
-        mVBOTextureCoords.create();
-        mVBOTextureCoords.bind();
-        size_t sizeTextureCoords = mUVs.size() * sizeof(openglframework::Vector2);
-        mVBOTextureCoords.copyDataIntoVBO(sizeTextureCoords, getUVTextureCoordinatesPointer(), GL_STATIC_DRAW);
-        mVBOTextureCoords.unbind();
-    }
-
-    // Create th VBO for the indices data
-    mVBOIndices.create();
-    mVBOIndices.bind();
-    size_t sizeIndices = mIndices[0].size() * sizeof(unsigned int);
-    mVBOIndices.copyDataIntoVBO(sizeIndices, getIndicesPointer(), GL_STATIC_DRAW);
-    mVBOIndices.unbind();
-
-    // Create the VAO for both VBOs
-    mVAO.create();
-    mVAO.bind();
-
-    // Bind the VBO of vertices
-    mVBOVertices.bind();
-
-    // Bind the VBO of normals
-    mVBONormals.bind();
-
-    if (hasTexture()) {
-        // Bind the VBO of texture coords
-        mVBOTextureCoords.bind();
-    }
-
-    // Bind the VBO of indices
-    mVBOIndices.bind();
-
-    // Unbind the VAO
-    mVAO.unbind();
-}
-
-// Set the scaling of the object
-void Cone::setScaling(const openglframework::Vector3& scaling) {
-
-    // Scale the collision shape
-    mProxyShape->setLocalScaling(rp3d::Vector3(scaling.x, scaling.y, scaling.z));
-
-    // Scale the graphics object
-    mScalingMatrix = openglframework::Matrix4(mRadius * scaling.x, 0, 0, 0,
-                                              0, mHeight * scaling.y, 0, 0,
-                                              0, 0, mRadius * scaling.z, 0,
-                                              0, 0, 0, 1);
-}
-

testbed/common/Cone.h

@@ -1,110 +0,0 @@
-/********************************************************************************
-* ReactPhysics3D physics library, http://www.reactphysics3d.com                 *
-* Copyright (c) 2010-2016 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 CONE_H
-#define CONE_H
-
-// Libraries
-#include "openglframework.h"
-#include "reactphysics3d.h"
-#include "PhysicsObject.h"
-
-// Class Cone
-class Cone : public PhysicsObject {
-
-    private :
-
-        // -------------------- Attributes -------------------- //
-
-        /// Radius of the cone
-        float mRadius;
-
-        /// Height of the cone
-        float mHeight;
-
-        /// Collision shape
-        rp3d::ConeShape* mConeShape;
-        rp3d::ProxyShape* mProxyShape;
-
-        /// Scaling matrix (applied to a sphere to obtain the correct cone dimensions)
-        openglframework::Matrix4 mScalingMatrix;
-
-        /// Previous transform (for interpolation)
-        rp3d::Transform mPreviousTransform;
-
-        /// Vertex Buffer Object for the vertices data
-        static openglframework::VertexBufferObject mVBOVertices;
-
-        /// Vertex Buffer Object for the normals data
-        static openglframework::VertexBufferObject mVBONormals;
-
-        /// Vertex Buffer Object for the texture coords
-        static openglframework::VertexBufferObject mVBOTextureCoords;
-
-        /// Vertex Buffer Object for the indices
-        static openglframework::VertexBufferObject mVBOIndices;
-
-        /// Vertex Array Object for the vertex data
-        static openglframework::VertexArrayObject mVAO;
-
-        // Total number of cones created
-        static int totalNbCones;
-
-        // -------------------- Methods -------------------- //
-
-        // Create the Vertex Buffer Objects used to render with OpenGL.
-        void createVBOAndVAO();
-
-    public :
-
-        // -------------------- Methods -------------------- //
-
-        /// Constructor
-        Cone(float radius, float height, const openglframework::Vector3& position,
-             rp3d::CollisionWorld* world, const std::string& meshFolderPath);
-
-        /// Constructor
-        Cone(float radius, float height, const openglframework::Vector3& position,
-             float mass, rp3d::DynamicsWorld* dynamicsWorld, const std::string& meshFolderPath);
-
-        /// Destructor
-        ~Cone();
-
-        /// Render the cone at the correct position and with the correct orientation
-        void render(openglframework::Shader& shader,
-                    const openglframework::Matrix4& worldToCameraMatrix, bool wireframe);
-
-        /// Update the transform matrix of the object
-        virtual void updateTransform(float interpolationFactor) override;
-
-        /// Set the scaling of the object
-        void setScaling(const openglframework::Vector3& scaling);
-};
-
-inline void Cone::updateTransform(float interpolationFactor) {
-    mTransformMatrix = computeTransform(interpolationFactor, mScalingMatrix);
-}
-
-#endif

testbed/common/Cylinder.cpp

@@ -1,272 +0,0 @@
-/********************************************************************************
-* ReactPhysics3D physics library, http://www.reactphysics3d.com                 *
-* Copyright (c) 2010-2016 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 "Cylinder.h"
-
-openglframework::VertexBufferObject Cylinder::mVBOVertices(GL_ARRAY_BUFFER);
-openglframework::VertexBufferObject Cylinder::mVBONormals(GL_ARRAY_BUFFER);
-openglframework::VertexBufferObject Cylinder::mVBOTextureCoords(GL_ARRAY_BUFFER);
-openglframework::VertexBufferObject Cylinder::mVBOIndices(GL_ELEMENT_ARRAY_BUFFER);
-openglframework::VertexArrayObject Cylinder::mVAO;
-int Cylinder::totalNbCylinders = 0;
-
-// Constructor
-Cylinder::Cylinder(float radius, float height, const openglframework::Vector3& position,
-                   reactphysics3d::CollisionWorld* world,
-                   const std::string& meshFolderPath)
-     : PhysicsObject(meshFolderPath + "cylinder.obj"), mRadius(radius), mHeight(height) {
-
-    // Compute the scaling matrix
-    mScalingMatrix = openglframework::Matrix4(mRadius, 0, 0, 0,
-                                              0, mHeight, 0, 0,
-                                              0, 0, mRadius, 0,
-                                              0, 0, 0, 1);
-
-    // Initialize the position where the cylinder will be rendered
-    translateWorld(position);
-
-    // Create the collision shape for the rigid body (cylinder shape) and do not
-    // forget to delete it at the end
-    mCylinderShape = new rp3d::CylinderShape(mRadius, mHeight);
-
-    // Initial position and orientation of the rigid body
-    rp3d::Vector3 initPosition(position.x, position.y, position.z);
-    rp3d::Quaternion initOrientation = rp3d::Quaternion::identity();
-    rp3d::Transform transform(initPosition, initOrientation);
-
-    mPreviousTransform = transform;
-
-    // Create a rigid body corresponding to the cylinder in the dynamics world
-    mBody = world->createCollisionBody(transform);
-
-    // Add a collision shape to the body and specify the mass of the shape
-    mProxyShape = mBody->addCollisionShape(mCylinderShape, rp3d::Transform::identity());
-
-    mTransformMatrix = mTransformMatrix * mScalingMatrix;
-
-    // Create the VBOs and VAO
-    if (totalNbCylinders == 0) {
-        createVBOAndVAO();
-    }
-
-    totalNbCylinders++;
-}
-
-// Constructor
-Cylinder::Cylinder(float radius, float height, const openglframework::Vector3& position,
-           float mass, reactphysics3d::DynamicsWorld* dynamicsWorld,
-                   const std::string& meshFolderPath)
-     : PhysicsObject(meshFolderPath + "cylinder.obj"), mRadius(radius), mHeight(height) {
-
-    // Compute the scaling matrix
-    mScalingMatrix = openglframework::Matrix4(mRadius, 0, 0, 0,
-                                              0, mHeight, 0, 0,
-                                              0, 0, mRadius, 0,
-                                              0, 0, 0, 1);
-
-    // Initialize the position where the cylinder will be rendered
-    translateWorld(position);
-
-    // Create the collision shape for the rigid body (cylinder shape) and do
-    // not forget to delete it at the end
-    mCylinderShape = new rp3d::CylinderShape(mRadius, mHeight);
-
-    // Initial position and orientation of the rigid body
-    rp3d::Vector3 initPosition(position.x, position.y, position.z);
-    rp3d::Quaternion initOrientation = rp3d::Quaternion::identity();
-    rp3d::Transform transform(initPosition, initOrientation);
-
-    // Create a rigid body corresponding to the cylinder in the dynamics world
-    rp3d::RigidBody* body = dynamicsWorld->createRigidBody(transform);
-
-    // Add a collision shape to the body and specify the mass of the shape
-    mProxyShape = body->addCollisionShape(mCylinderShape, rp3d::Transform::identity(), mass);
-
-    mTransformMatrix = mTransformMatrix * mScalingMatrix;
-
-    mBody = body;
-
-    // Create the VBOs and VAO
-    if (totalNbCylinders == 0) {
-        createVBOAndVAO();
-    }
-
-    totalNbCylinders++;
-}
-
-// Destructor
-Cylinder::~Cylinder() {
-
-    if (totalNbCylinders == 1) {
-
-        // Destroy the mesh
-        destroy();
-
-        // Destroy the VBOs and VAO
-        mVBOIndices.destroy();
-        mVBOVertices.destroy();
-        mVBONormals.destroy();
-        mVBOTextureCoords.destroy();
-        mVAO.destroy();
-    }
-    delete mCylinderShape;
-    totalNbCylinders--;
-}
-
-// Render the cylinder at the correct position and with the correct orientation
-void Cylinder::render(openglframework::Shader& shader,
-                      const openglframework::Matrix4& worldToCameraMatrix, bool wireframe) {
-
-    if (wireframe) {
-        glPolygonMode(GL_FRONT_AND_BACK, GL_LINE);
-    }
-
-    // Bind the shader
-    shader.bind();
-
-    // Set the model to camera matrix
-    shader.setMatrix4x4Uniform("localToWorldMatrix", mTransformMatrix);
-    shader.setMatrix4x4Uniform("worldToCameraMatrix", worldToCameraMatrix);
-
-    // Set the normal matrix (inverse transpose of the 3x3 upper-left sub matrix of the
-    // model-view matrix)
-    const openglframework::Matrix4 localToCameraMatrix = worldToCameraMatrix * mTransformMatrix;
-    const openglframework::Matrix3 normalMatrix =
-                       localToCameraMatrix.getUpperLeft3x3Matrix().getInverse().getTranspose();
-    shader.setMatrix3x3Uniform("normalMatrix", normalMatrix, false);
-
-    // Set the vertex color
-    openglframework::Color currentColor = mBody->isSleeping() ? mSleepingColor : mColor;
-    openglframework::Vector4 color(currentColor.r, currentColor.g, currentColor.b, currentColor.a);
-    shader.setVector4Uniform("vertexColor", color, false);
-
-    // Bind the VAO
-    mVAO.bind();
-
-    mVBOVertices.bind();
-
-    // Get the location of shader attribute variables
-    GLint vertexPositionLoc = shader.getAttribLocation("vertexPosition");
-    GLint vertexNormalLoc = shader.getAttribLocation("vertexNormal", false);
-
-    glEnableVertexAttribArray(vertexPositionLoc);
-    glVertexAttribPointer(vertexPositionLoc, 3, GL_FLOAT, GL_FALSE, 0, (char*)nullptr);
-
-    mVBONormals.bind();
-
-    if (vertexNormalLoc != -1) glVertexAttribPointer(vertexNormalLoc, 3, GL_FLOAT, GL_FALSE, 0, (char*)nullptr);
-    if (vertexNormalLoc != -1) glEnableVertexAttribArray(vertexNormalLoc);
-
-    // For each part of the mesh
-    for (unsigned int i=0; i<getNbParts(); i++) {
-        glDrawElements(GL_TRIANGLES, getNbFaces(i) * 3, GL_UNSIGNED_INT, (char*)nullptr);
-    }
-
-    glDisableVertexAttribArray(vertexPositionLoc);
-    if (vertexNormalLoc != -1) glDisableVertexAttribArray(vertexNormalLoc);
-
-    mVBONormals.unbind();
-    mVBOVertices.unbind();
-
-    // Unbind the VAO
-    mVAO.unbind();
-
-    // Unbind the shader
-    shader.unbind();
-
-    if (wireframe) {
-        glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
-    }
-}
-
-// Create the Vertex Buffer Objects used to render with OpenGL.
-/// We create two VBOs (one for vertices and one for indices)
-void Cylinder::createVBOAndVAO() {
-
-    // Create the VBO for the vertices data
-    mVBOVertices.create();
-    mVBOVertices.bind();
-    size_t sizeVertices = mVertices.size() * sizeof(openglframework::Vector3);
-    mVBOVertices.copyDataIntoVBO(sizeVertices, getVerticesPointer(), GL_STATIC_DRAW);
-    mVBOVertices.unbind();
-
-    // Create the VBO for the normals data
-    mVBONormals.create();
-    mVBONormals.bind();
-    size_t sizeNormals = mNormals.size() * sizeof(openglframework::Vector3);
-    mVBONormals.copyDataIntoVBO(sizeNormals, getNormalsPointer(), GL_STATIC_DRAW);
-    mVBONormals.unbind();
-
-    if (hasTexture()) {
-        // Create the VBO for the texture co data
-        mVBOTextureCoords.create();
-        mVBOTextureCoords.bind();
-        size_t sizeTextureCoords = mUVs.size() * sizeof(openglframework::Vector2);
-        mVBOTextureCoords.copyDataIntoVBO(sizeTextureCoords, getUVTextureCoordinatesPointer(), GL_STATIC_DRAW);
-        mVBOTextureCoords.unbind();
-    }
-
-    // Create th VBO for the indices data
-    mVBOIndices.create();
-    mVBOIndices.bind();
-    size_t sizeIndices = mIndices[0].size() * sizeof(unsigned int);
-    mVBOIndices.copyDataIntoVBO(sizeIndices, getIndicesPointer(), GL_STATIC_DRAW);
-    mVBOIndices.unbind();
-
-    // Create the VAO for both VBOs
-    mVAO.create();
-    mVAO.bind();
-
-    // Bind the VBO of vertices
-    mVBOVertices.bind();
-
-    // Bind the VBO of normals
-    mVBONormals.bind();
-
-    if (hasTexture()) {
-        // Bind the VBO of texture coords
-        mVBOTextureCoords.bind();
-    }
-
-    // Bind the VBO of indices
-    mVBOIndices.bind();
-
-    // Unbind the VAO
-    mVAO.unbind();
-}
-
-// Set the scaling of the object
-void Cylinder::setScaling(const openglframework::Vector3& scaling) {
-
-    // Scale the collision shape
-    mProxyShape->setLocalScaling(rp3d::Vector3(scaling.x, scaling.y, scaling.z));
-
-    // Scale the graphics object
-    mScalingMatrix = openglframework::Matrix4(mRadius * scaling.x, 0, 0, 0,
-                                              0, mHeight * scaling.y, 0, 0,
-                                              0, 0, mRadius * scaling.z, 0,
-                                              0, 0, 0, 1);
-}

testbed/common/Cylinder.h

@@ -1,111 +0,0 @@
-/********************************************************************************
-* ReactPhysics3D physics library, http://www.reactphysics3d.com                 *
-* Copyright (c) 2010-2016 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 CYLINDER_H
-#define CYLINDER_H
-
-// Libraries
-#include "openglframework.h"
-#include "reactphysics3d.h"
-#include "PhysicsObject.h"
-
-// Class Cylinder
-class Cylinder : public PhysicsObject {
-
-    private :
-
-        // -------------------- Attributes -------------------- //
-
-        /// Radius of the cylinder
-        float mRadius;
-
-        /// Height of the cylinder
-        float mHeight;
-
-        /// Scaling matrix (applied to a sphere to obtain the correct cylinder dimensions)
-        openglframework::Matrix4 mScalingMatrix;
-
-        /// Previous transform (for interpolation)
-        rp3d::Transform mPreviousTransform;
-
-        /// Collision shape
-        rp3d::CylinderShape* mCylinderShape;
-        rp3d::ProxyShape* mProxyShape;
-
-        /// Vertex Buffer Object for the vertices data
-        static openglframework::VertexBufferObject mVBOVertices;
-
-        /// Vertex Buffer Object for the normals data
-        static openglframework::VertexBufferObject mVBONormals;
-
-        /// Vertex Buffer Object for the texture coords
-        static openglframework::VertexBufferObject mVBOTextureCoords;
-
-        /// Vertex Buffer Object for the indices
-        static openglframework::VertexBufferObject mVBOIndices;
-
-        /// Vertex Array Object for the vertex data
-        static openglframework::VertexArrayObject mVAO;
-
-        // Total number of capsules created
-        static int totalNbCylinders;
-
-        // -------------------- Methods -------------------- //
-
-        // Create the Vertex Buffer Objects used to render with OpenGL.
-        void createVBOAndVAO();
-
-    public :
-
-        // -------------------- Methods -------------------- //
-
-        /// Constructor
-        Cylinder(float radius, float height, const openglframework::Vector3& position,
-                 rp3d::CollisionWorld* world, const std::string &meshFolderPath);
-
-        /// Constructor
-        Cylinder(float radius, float height, const openglframework::Vector3& position,
-                 float mass, rp3d::DynamicsWorld* dynamicsWorld, const std::string &meshFolderPath);
-
-        /// Destructor
-        ~Cylinder();
-
-        /// Render the cylinder at the correct position and with the correct orientation
-        void render(openglframework::Shader& shader,
-                    const openglframework::Matrix4& worldToCameraMatrix, bool wireframe);
-
-        /// Update the transform matrix of the object
-        virtual void updateTransform(float interpolationFactor) override;
-
-        /// Set the scaling of the object
-        void setScaling(const openglframework::Vector3& scaling);
-};
-
-// Update the transform matrix of the object
-inline void Cylinder::updateTransform(float interpolationFactor) {
-    mTransformMatrix = computeTransform(interpolationFactor, mScalingMatrix);
-}
-
-#endif

testbed/common/Dumbbell.cpp

@@ -53,13 +53,13 @@ Dumbbell::Dumbbell(const openglframework::Vector3 &position,
     const rp3d::decimal massSphere = rp3d::decimal(2.0);
     mSphereShape = new rp3d::SphereShape(radiusSphere);
 
-    // Create a cylinder collision shape for the middle of the dumbbell
+    // Create a capsule 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 radiusCylinder = rp3d::decimal(0.5);
-    const rp3d::decimal heightCylinder = rp3d::decimal(8.0);
+    const rp3d::decimal radiusCapsule = rp3d::decimal(0.5);
+    const rp3d::decimal heightCapsule = rp3d::decimal(7.0);
     const rp3d::decimal massCylinder = rp3d::decimal(1.0);
-    mCylinderShape = new rp3d::CylinderShape(radiusCylinder, heightCylinder);
+    mCapsuleShape = new rp3d::CapsuleShape(radiusCapsule, heightCapsule);
 
     // Initial position and orientation of the rigid body
     rp3d::Vector3 initPosition(position.x, position.y, position.z);
@@ -84,7 +84,7 @@ Dumbbell::Dumbbell(const openglframework::Vector3 &position,
     // Add the three collision shapes to the body and specify the mass and transform of the shapes
     mProxyShapeSphere1 = body->addCollisionShape(mSphereShape, transformSphereShape1, massSphere);
     mProxyShapeSphere2 = body->addCollisionShape(mSphereShape, transformSphereShape2, massSphere);
-    mProxyShapeCylinder = body->addCollisionShape(mCylinderShape, transformCylinderShape, massCylinder);
+    mProxyShapeCapsule = body->addCollisionShape(mCapsuleShape, transformCylinderShape, massCylinder);
 
     mBody = body;
 
@@ -120,9 +120,9 @@ Dumbbell::Dumbbell(const openglframework::Vector3 &position,
     // 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 radiusCylinder = rp3d::decimal(0.5);
-    const rp3d::decimal heightCylinder = rp3d::decimal(8.0);
-    mCylinderShape = new rp3d::CylinderShape(radiusCylinder, heightCylinder);
+    const rp3d::decimal radiusCapsule = rp3d::decimal(0.5);
+    const rp3d::decimal heightCapsule = rp3d::decimal(7.0);
+    mCapsuleShape = new rp3d::CapsuleShape(radiusCapsule, heightCapsule);
 
     // Initial position and orientation of the rigid body
     rp3d::Vector3 initPosition(position.x, position.y, position.z);
@@ -145,7 +145,7 @@ Dumbbell::Dumbbell(const openglframework::Vector3 &position,
     // Add the three collision shapes to the body and specify the mass and transform of the shapes
     mProxyShapeSphere1 = mBody->addCollisionShape(mSphereShape, transformSphereShape1);
     mProxyShapeSphere2 = mBody->addCollisionShape(mSphereShape, transformSphereShape2);
-    mProxyShapeCylinder = mBody->addCollisionShape(mCylinderShape, transformCylinderShape);
+    mProxyShapeCapsule = mBody->addCollisionShape(mCapsuleShape, transformCylinderShape);
 
     mTransformMatrix = mTransformMatrix * mScalingMatrix;
 
@@ -173,7 +173,7 @@ Dumbbell::~Dumbbell() {
         mVAO.destroy();
     }
     delete mSphereShape;
-    delete mCylinderShape;
+    delete mCapsuleShape;
     totalNbDumbbells--;
 }
 
@@ -304,7 +304,7 @@ void Dumbbell::setScaling(const openglframework::Vector3& scaling) {
 
     // Scale the collision shape
     rp3d::Vector3 newScaling(scaling.x, scaling.y, scaling.z);
-    mProxyShapeCylinder->setLocalScaling(newScaling);
+    mProxyShapeCapsule->setLocalScaling(newScaling);
     mProxyShapeSphere1->setLocalScaling(newScaling);
     mProxyShapeSphere2->setLocalScaling(newScaling);
 

testbed/common/Dumbbell.h

@@ -31,7 +31,7 @@
 #include "reactphysics3d.h"
 #include "PhysicsObject.h"
 
-// Class Sphere
+// Class Dumbbell
 class Dumbbell : public PhysicsObject {
 
     private :
@@ -42,9 +42,9 @@ class Dumbbell : public PhysicsObject {
         float mDistanceBetweenSphere;
 
         /// Collision shapes
-        rp3d::CylinderShape* mCylinderShape;
+        rp3d::CapsuleShape* mCapsuleShape;
         rp3d::SphereShape* mSphereShape;
-        rp3d::ProxyShape* mProxyShapeCylinder;
+        rp3d::ProxyShape* mProxyShapeCapsule;
         rp3d::ProxyShape* mProxyShapeSphere1;
         rp3d::ProxyShape* mProxyShapeSphere2;
 

testbed/scenes/collisiondetection/CollisionDetectionScene.h

@@ -33,8 +33,6 @@
 #include "SceneDemo.h"
 #include "Sphere.h"
 #include "Box.h"
-#include "Cone.h"
-#include "Cylinder.h"
 #include "Capsule.h"
 #include "Line.h"
 #include "ConvexMesh.h"

testbed/scenes/collisionshapes/CollisionShapesScene.cpp

@@ -125,62 +125,6 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name)
         mSpheres.push_back(sphere);
     }
 
-    // Create all the cones of the scene
-    for (int i=0; i<NB_CONES; i++) {
-
-        // Position
-        float angle = i * 50.0f;
-        openglframework::Vector3 position(radius * cos(angle),
-                                          35 + i * (CONE_HEIGHT + 0.3f),
-                                          radius * sin(angle));
-
-        // Create a cone and a corresponding rigid in the dynamics world
-        Cone* cone = new Cone(CONE_RADIUS, CONE_HEIGHT, position, CONE_MASS, mDynamicsWorld,
-                              meshFolderPath);
-
-        // Add some rolling resistance
-        cone->getRigidBody()->getMaterial().setRollingResistance(0.08);
-
-        // Set the box color
-        cone->setColor(mDemoColors[i % mNbDemoColors]);
-        cone->setSleepingColor(mRedColorDemo);
-
-        // Change the material properties of the rigid body
-        rp3d::Material& material = cone->getRigidBody()->getMaterial();
-        material.setBounciness(rp3d::decimal(0.2));
-
-        // Add the cone the list of sphere in the scene
-        mCones.push_back(cone);
-    }
-
-    // Create all the cylinders of the scene
-    for (int i=0; i<NB_CYLINDERS; i++) {
-
-        // Position
-        float angle = i * 35.0f;
-        openglframework::Vector3 position(radius * cos(angle),
-                                          25 + i * (CYLINDER_HEIGHT + 0.3f),
-                                          radius * sin(angle));
-
-        // Create a cylinder and a corresponding rigid in the dynamics world
-        Cylinder* cylinder = new Cylinder(CYLINDER_RADIUS, CYLINDER_HEIGHT, position ,
-                                          CYLINDER_MASS, mDynamicsWorld, meshFolderPath);
-
-        // Add some rolling resistance
-        cylinder->getRigidBody()->getMaterial().setRollingResistance(0.08);
-
-        // Set the box color
-        cylinder->setColor(mDemoColors[i % mNbDemoColors]);
-        cylinder->setSleepingColor(mRedColorDemo);
-
-        // Change the material properties of the rigid body
-        rp3d::Material& material = cylinder->getRigidBody()->getMaterial();
-        material.setBounciness(rp3d::decimal(0.2));
-
-        // Add the cylinder the list of sphere in the scene
-        mCylinders.push_back(cylinder);
-    }
-
     // Create all the capsules of the scene
     for (int i=0; i<NB_CAPSULES; i++) {
 
@@ -306,26 +250,6 @@ CollisionShapesScene::~CollisionShapesScene() {
         delete (*it);
     }
 
-    // Destroy all the cones of the scene
-    for (std::vector<Cone*>::iterator it = mCones.begin(); it != mCones.end(); ++it) {
-
-        // Destroy the corresponding rigid body from the dynamics world
-        mDynamicsWorld->destroyRigidBody((*it)->getRigidBody());
-
-        // Destroy the sphere
-        delete (*it);
-    }
-
-    // Destroy all the cylinders of the scene
-    for (std::vector<Cylinder*>::iterator it = mCylinders.begin(); it != mCylinders.end(); ++it) {
-
-        // Destroy the corresponding rigid body from the dynamics world
-        mDynamicsWorld->destroyRigidBody((*it)->getRigidBody());
-
-        // Destroy the sphere
-        delete (*it);
-    }
-
     // Destroy all the capsules of the scene
     for (std::vector<Capsule*>::iterator it = mCapsules.begin(); it != mCapsules.end(); ++it) {
 
@@ -410,20 +334,6 @@ void CollisionShapesScene::update() {
         (*it)->updateTransform(mInterpolationFactor);
     }
 
-    // Update the position and orientation of the cones
-    for (std::vector<Cone*>::iterator it = mCones.begin(); it != mCones.end(); ++it) {
-
-        // Update the transform used for the rendering
-        (*it)->updateTransform(mInterpolationFactor);
-    }
-
-    // Update the position and orientation of the cylinders
-    for (std::vector<Cylinder*>::iterator it = mCylinders.begin(); it != mCylinders.end(); ++it) {
-
-        // Update the transform used for the rendering
-        (*it)->updateTransform(mInterpolationFactor);
-    }
-
     // Update the position and orientation of the capsules
     for (std::vector<Capsule*>::iterator it = mCapsules.begin(); it != mCapsules.end(); ++it) {
 
@@ -469,16 +379,6 @@ void CollisionShapesScene::renderSinglePass(openglframework::Shader& shader,
         (*it)->render(shader, worldToCameraMatrix, mIsWireframeEnabled);
     }
 
-    // Render all the cones of the scene
-    for (std::vector<Cone*>::iterator it = mCones.begin(); it != mCones.end(); ++it) {
-        (*it)->render(shader, worldToCameraMatrix, mIsWireframeEnabled);
-    }
-
-    // Render all the cylinders of the scene
-    for (std::vector<Cylinder*>::iterator it = mCylinders.begin(); it != mCylinders.end(); ++it) {
-        (*it)->render(shader, worldToCameraMatrix, mIsWireframeEnabled);
-    }
-
     // Render all the capsules of the scene
     for (std::vector<Capsule*>::iterator it = mCapsules.begin(); it != mCapsules.end(); ++it) {
         (*it)->render(shader, worldToCameraMatrix, mIsWireframeEnabled);
@@ -563,42 +463,6 @@ void CollisionShapesScene::reset() {
         mSpheres[i]->setTransform(transform);
     }
 
-    // Create all the cones of the scene
-    for (int i=0; i<NB_CONES; i++) {
-
-        // Position
-        float angle = i * 50.0f;
-        openglframework::Vector3 position(radius * cos(angle),
-                                          35 + i * (CONE_HEIGHT + 0.3f),
-                                          radius * sin(angle));
-
-        // Initial position and orientation of the rigid body
-        rp3d::Vector3 initPosition(position.x, position.y, position.z);
-        rp3d::Quaternion initOrientation = rp3d::Quaternion::identity();
-        rp3d::Transform transform(initPosition, initOrientation);
-
-        // Reset the transform
-        mCones[i]->setTransform(transform);
-    }
-
-    // Create all the cylinders of the scene
-    for (int i=0; i<NB_CYLINDERS; i++) {
-
-        // Position
-        float angle = i * 35.0f;
-        openglframework::Vector3 position(radius * cos(angle),
-                                          25 + i * (CYLINDER_HEIGHT + 0.3f),
-                                          radius * sin(angle));
-
-        // Initial position and orientation of the rigid body
-        rp3d::Vector3 initPosition(position.x, position.y, position.z);
-        rp3d::Quaternion initOrientation = rp3d::Quaternion::identity();
-        rp3d::Transform transform(initPosition, initOrientation);
-
-        // Reset the transform
-        mCylinders[i]->setTransform(transform);
-    }
-
     // Create all the capsules of the scene
     for (int i=0; i<NB_CAPSULES; i++) {
 

testbed/scenes/collisionshapes/CollisionShapesScene.h

@@ -32,8 +32,6 @@
 #include "SceneDemo.h"
 #include "Sphere.h"
 #include "Box.h"
-#include "Cone.h"
-#include "Cylinder.h"
 #include "Capsule.h"
 #include "ConvexMesh.h"
 #include "ConcaveMesh.h"
@@ -46,8 +44,6 @@ namespace collisionshapesscene {
 const float SCENE_RADIUS = 30.0f;
 const int NB_BOXES = 5;
 const int NB_SPHERES = 5;
-const int NB_CONES = 5;
-const int NB_CYLINDERS = 5;
 const int NB_CAPSULES = 5;
 const int NB_MESHES = 3;
 const int NB_COMPOUND_SHAPES = 3;
@@ -80,10 +76,6 @@ class CollisionShapesScene : public SceneDemo {
 
         std::vector<Sphere*> mSpheres;
 
-        std::vector<Cone*> mCones;
-
-        std::vector<Cylinder*> mCylinders;
-
         std::vector<Capsule*> mCapsules;
 
         /// All the convex meshes of the scene

testbed/scenes/raycast/RaycastScene.cpp

@@ -79,28 +79,6 @@ RaycastScene::RaycastScene(const std::string& name)
     mSphere->setColor(mGreyColorDemo);
     mSphere->setSleepingColor(mRedColorDemo);
 
-    // ---------- Cone ---------- //
-    openglframework::Vector3 position4(0, 0, 0);
-
-    // Create a cone and a corresponding collision body in the dynamics world
-    mCone = new Cone(CONE_RADIUS, CONE_HEIGHT, position4, mCollisionWorld,
-                     mMeshFolderPath);
-
-    // Set the color
-    mCone->setColor(mGreyColorDemo);
-    mCone->setSleepingColor(mRedColorDemo);
-
-    // ---------- Cylinder ---------- //
-    openglframework::Vector3 position5(0, 0, 0);
-
-    // Create a cylinder and a corresponding collision body in the dynamics world
-    mCylinder = new Cylinder(CYLINDER_RADIUS, CYLINDER_HEIGHT, position5,
-                             mCollisionWorld, mMeshFolderPath);
-
-    // Set the color
-    mCylinder->setColor(mGreyColorDemo);
-    mCylinder->setSleepingColor(mRedColorDemo);
-
     // ---------- Capsule ---------- //
     openglframework::Vector3 position6(0, 0, 0);
 
@@ -188,8 +166,6 @@ void RaycastScene::changeBody() {
 
     mSphere->getCollisionBody()->setIsActive(false);
     mBox->getCollisionBody()->setIsActive(false);
-    mCone->getCollisionBody()->setIsActive(false);
-    mCylinder->getCollisionBody()->setIsActive(false);
     mCapsule->getCollisionBody()->setIsActive(false);
     mConvexMesh->getCollisionBody()->setIsActive(false);
     mDumbbell->getCollisionBody()->setIsActive(false);
@@ -201,19 +177,15 @@ void RaycastScene::changeBody() {
                 break;
         case 1: mBox->getCollisionBody()->setIsActive(true);
                 break;
-        case 2: mCone->getCollisionBody()->setIsActive(true);
+        case 2: mCapsule->getCollisionBody()->setIsActive(true);
                 break;
-        case 3: mCylinder->getCollisionBody()->setIsActive(true);
+        case 3: mConvexMesh->getCollisionBody()->setIsActive(true);
                 break;
-        case 4: mCapsule->getCollisionBody()->setIsActive(true);
+        case 4: mDumbbell->getCollisionBody()->setIsActive(true);
                 break;
-        case 5: mConvexMesh->getCollisionBody()->setIsActive(true);
+        case 5: mConcaveMesh->getCollisionBody()->setIsActive(true);
                 break;
-        case 6: mDumbbell->getCollisionBody()->setIsActive(true);
-                break;
-        case 7: mConcaveMesh->getCollisionBody()->setIsActive(true);
-                break;
-        case 8: mHeightField->getCollisionBody()->setIsActive(true);
+        case 6: mHeightField->getCollisionBody()->setIsActive(true);
                 break;
 
     }
@@ -238,16 +210,6 @@ RaycastScene::~RaycastScene() {
     mCollisionWorld->destroyCollisionBody(mSphere->getCollisionBody());
     delete mSphere;
 
-    // Destroy the corresponding rigid body from the dynamics world
-    mCollisionWorld->destroyCollisionBody(mCone->getCollisionBody());
-    delete mCone;
-
-    // Destroy the corresponding rigid body from the dynamics world
-    mCollisionWorld->destroyCollisionBody(mCylinder->getCollisionBody());
-
-    // Destroy the sphere
-    delete mCylinder;
-
     // Destroy the corresponding rigid body from the dynamics world
     mCollisionWorld->destroyCollisionBody(mCapsule->getCollisionBody());
 
@@ -378,8 +340,6 @@ void RaycastScene::renderSinglePass(openglframework::Shader& shader,
     // Render the shapes
     if (mBox->getCollisionBody()->isActive()) mBox->render(shader, worldToCameraMatrix, mIsWireframeEnabled);
     if (mSphere->getCollisionBody()->isActive()) mSphere->render(shader, worldToCameraMatrix, mIsWireframeEnabled);
-    if (mCone->getCollisionBody()->isActive()) mCone->render(shader, worldToCameraMatrix, mIsWireframeEnabled);
-    if (mCylinder->getCollisionBody()->isActive()) mCylinder->render(shader, worldToCameraMatrix, mIsWireframeEnabled);
     if (mCapsule->getCollisionBody()->isActive()) mCapsule->render(shader, worldToCameraMatrix, mIsWireframeEnabled);
     if (mConvexMesh->getCollisionBody()->isActive()) mConvexMesh->render(shader, worldToCameraMatrix, mIsWireframeEnabled);
     if (mDumbbell->getCollisionBody()->isActive()) mDumbbell->render(shader, worldToCameraMatrix, mIsWireframeEnabled);

testbed/scenes/raycast/RaycastScene.h

@@ -34,8 +34,6 @@
 #include "SceneDemo.h"
 #include "Sphere.h"
 #include "Box.h"
-#include "Cone.h"
-#include "Cylinder.h"
 #include "Capsule.h"
 #include "Line.h"
 #include "ConvexMesh.h"
@@ -141,8 +139,6 @@ class RaycastScene : public SceneDemo {
         /// All objects on the scene
         Box* mBox;
         Sphere* mSphere;
-        Cone* mCone;
-        Cylinder* mCylinder;
         Capsule* mCapsule;
         ConvexMesh* mConvexMesh;
         Dumbbell* mDumbbell;