Remove method to get last frame info from NarrowPhaseInfoBatch class

src/collision/CollisionDetection.cpp

@@ -248,7 +248,7 @@ void CollisionDetection::computeNarrowPhase() {
         // If there is no collision algorithm between those two kinds of shapes, skip it
         if (narrowPhaseAlgorithm != nullptr) {
 
-            LastFrameCollisionInfo* lastCollisionFrameInfo = mNarrowPhaseInfoBatch.getLastFrameCollisionInfo(batchIndex);
+            LastFrameCollisionInfo* lastCollisionFrameInfo = mNarrowPhaseInfoBatch.lastFrameCollisionInfos[batchIndex];
 
             // Use the narrow-phase collision detection algorithm to check
             // if there really is a collision. If a collision occurs, the

src/collision/NarrowPhaseInfoBatch.cpp

@@ -35,7 +35,7 @@ using namespace reactphysics3d;
 NarrowPhaseInfoBatch::NarrowPhaseInfoBatch(MemoryAllocator& allocator)
       : mMemoryAllocator(allocator), overlappingPairs(allocator), collisionShapes1(allocator), collisionShapes2(allocator),
         shape1ToWorldTransforms(allocator), shape2ToWorldTransforms(allocator),
-        isColliding(allocator), contactPoints(allocator), collisionShapeAllocators(allocator) {
+        isColliding(allocator), contactPoints(allocator), collisionShapeAllocators(allocator), lastFrameCollisionInfos(allocator) {
 
 }
 
@@ -60,6 +60,8 @@ void NarrowPhaseInfoBatch::addNarrowPhaseInfo(OverlappingPair* pair, CollisionSh
 
     // Add a collision info for the two collision shapes into the overlapping pair (if not present yet)
     pair->addLastFrameInfoIfNecessary(shape1->getId(), shape2->getId());
+
+    lastFrameCollisionInfos.add(pair->getLastFrameCollisionInfo(shape1->getId(), shape2->getId()));
 }
 
 // Add a new contact point
@@ -125,6 +127,7 @@ void NarrowPhaseInfoBatch::clear() {
     shape1ToWorldTransforms.clear();
     shape2ToWorldTransforms.clear();
     collisionShapeAllocators.clear();
+    lastFrameCollisionInfos.clear();
     isColliding.clear();
     contactPoints.clear();
 }

src/collision/NarrowPhaseInfoBatch.h

@@ -78,6 +78,9 @@ struct NarrowPhaseInfoBatch {
         /// Memory allocators for the collision shape (Used to release TriangleShape memory in destructor)
         List<MemoryAllocator*> collisionShapeAllocators;
 
+        /// Collision infos of the previous frame
+        List<LastFrameCollisionInfo*> lastFrameCollisionInfos;
+
         /// Constructor
         NarrowPhaseInfoBatch(MemoryAllocator& allocator);
 
@@ -101,9 +104,6 @@ struct NarrowPhaseInfoBatch {
 
         /// Clear all the objects in the batch
         void clear();
-
-        /// Get the last collision frame info for temporal coherence
-        LastFrameCollisionInfo* getLastFrameCollisionInfo(uint index) const;
 };
 
 /// Return the number of objects in the batch
@@ -111,11 +111,6 @@ inline uint NarrowPhaseInfoBatch::getNbObjects() const {
     return overlappingPairs.size();
 }
 
-// Get the last collision frame info for temporal coherence
-inline LastFrameCollisionInfo* NarrowPhaseInfoBatch::getLastFrameCollisionInfo(uint index) const {
-    return overlappingPairs[index]->getLastFrameCollisionInfo(collisionShapes1[index]->getId(), collisionShapes2[index]->getId());
-}
-
 }
 
 #endif

src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.cpp

@@ -64,7 +64,7 @@ void CapsuleVsConvexPolyhedronAlgorithm::testCollision(NarrowPhaseInfoBatch& nar
     for (uint batchIndex = batchStartIndex; batchIndex < batchStartIndex + batchNbItems; batchIndex++) {
 
         // Get the last frame collision info
-        LastFrameCollisionInfo* lastFrameCollisionInfo = narrowPhaseInfoBatch.getLastFrameCollisionInfo(batchIndex);
+        LastFrameCollisionInfo* lastFrameCollisionInfo = narrowPhaseInfoBatch.lastFrameCollisionInfos[batchIndex];
 
         lastFrameCollisionInfo->wasUsingGJK = true;
         lastFrameCollisionInfo->wasUsingSAT = false;

src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.cpp

@@ -54,7 +54,7 @@ void ConvexPolyhedronVsConvexPolyhedronAlgorithm::testCollision(NarrowPhaseInfoB
     for (uint batchIndex = batchStartIndex; batchIndex < batchStartIndex + batchNbItems; batchIndex++) {
 
         // Get the last frame collision info
-        LastFrameCollisionInfo* lastFrameCollisionInfo = narrowPhaseInfoBatch.getLastFrameCollisionInfo(batchIndex);
+        LastFrameCollisionInfo* lastFrameCollisionInfo = narrowPhaseInfoBatch.lastFrameCollisionInfos[batchIndex];
 
         lastFrameCollisionInfo->wasUsingSAT = true;
         lastFrameCollisionInfo->wasUsingGJK = false;

src/collision/narrowphase/GJK/GJKAlgorithm.cpp

@@ -92,7 +92,7 @@ void GJKAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uin
         VoronoiSimplex simplex;
 
         // Get the last collision frame info
-        LastFrameCollisionInfo* lastFrameCollisionInfo = narrowPhaseInfoBatch.getLastFrameCollisionInfo(batchIndex);
+        LastFrameCollisionInfo* lastFrameCollisionInfo = narrowPhaseInfoBatch.lastFrameCollisionInfos[batchIndex];
 
         // Get the previous point V (last cached separating axis)
         Vector3 v;

src/collision/narrowphase/SAT/SATAlgorithm.cpp

@@ -494,7 +494,7 @@ void SATAlgorithm::testCollisionConvexPolyhedronVsConvexPolyhedron(NarrowPhaseIn
         Vector3 minEdgeVsEdgeSeparatingAxisPolyhedron2Space;
         bool isShape1Triangle = polyhedron1->getName() == CollisionShapeName::TRIANGLE;
 
-        LastFrameCollisionInfo* lastFrameCollisionInfo = narrowPhaseInfoBatch.getLastFrameCollisionInfo(batchIndex);
+        LastFrameCollisionInfo* lastFrameCollisionInfo = narrowPhaseInfoBatch.lastFrameCollisionInfos[batchIndex];
 
         // If the last frame collision info is valid and was also using SAT algorithm
         if (lastFrameCollisionInfo->isValid && lastFrameCollisionInfo->wasUsingSAT) {

src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.cpp

@@ -62,7 +62,7 @@ void SphereVsConvexPolyhedronAlgorithm::testCollision(NarrowPhaseInfoBatch& narr
             narrowPhaseInfoBatch.collisionShapes2[batchIndex]->getType() == CollisionShapeType::SPHERE);
 
         // Get the last frame collision info
-        LastFrameCollisionInfo* lastFrameCollisionInfo = narrowPhaseInfoBatch.getLastFrameCollisionInfo(batchIndex);
+        LastFrameCollisionInfo* lastFrameCollisionInfo = narrowPhaseInfoBatch.lastFrameCollisionInfos[batchIndex];
 
         lastFrameCollisionInfo->wasUsingGJK = true;
         lastFrameCollisionInfo->wasUsingSAT = false;