Now the AABB is automaticaly computed for each RigidBody

git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@383 92aac97c-a6ce-11dd-a772-7fcde58d38e6

sources/reactphysics3d/body/AABB.h

@@ -21,7 +21,7 @@
 #define AABB_H
 
 // Libraries
-#include "BoundingVolume.h"
+#include "BroadBoundingVolume.h"
 #include "../mathematics/mathematics.h"
 
 // ReactPhysics3D namespace
@@ -35,7 +35,7 @@ namespace reactphysics3d {
         point and three extent size in the x,y and z directions.
     -------------------------------------------------------------------
 */
-class AABB : public BoundingVolume {
+class AABB : public BroadBoundingVolume {
     protected :
         Vector3D center;                // Center point of the AABB
         double extent[3];               // Three extents size in the x, y and z directions

sources/reactphysics3d/body/Body.cpp

@@ -1,45 +1,60 @@
 /****************************************************************************
- * Copyright (C) 2009      Daniel Chappuis                                  *
+* Copyright (C) 2009      Daniel Chappuis                                  *
- ****************************************************************************
+****************************************************************************
- * This file is part of ReactPhysics3D.                                     *
+* This file is part of ReactPhysics3D.                                     *
- *                                                                          *
+*                                                                          *
- * ReactPhysics3D is free software: you can redistribute it and/or modify   *
+* ReactPhysics3D is free software: you can redistribute it and/or modify   *
- * it under the terms of the GNU Lesser General Public License as published *
+* it under the terms of the GNU Lesser General Public License as published *
- * by the Free Software Foundation, either version 3 of the License, or     *
+* by the Free Software Foundation, either version 3 of the License, or     *
- * (at your option) any later version.                                      *
+* (at your option) any later version.                                      *
- *                                                                          *
+*                                                                          *
- * ReactPhysics3D is distributed in the hope that it will be useful,        *
+* ReactPhysics3D is distributed in the hope that it will be useful,        *
- * but WITHOUT ANY WARRANTY; without even the implied warranty of           *
+* but WITHOUT ANY WARRANTY; without even the implied warranty of           *
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the             *
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the             *
- * GNU Lesser General Public License for more details.                      *
+* GNU Lesser General Public License for more details.                      *
- *                                                                          *
+*                                                                          *
- * You should have received a copy of the GNU Lesser General Public License *
+* You should have received a copy of the GNU Lesser General Public License *
- * along with ReactPhysics3D. If not, see <http://www.gnu.org/licenses/>.   *
+* along with ReactPhysics3D. If not, see <http://www.gnu.org/licenses/>.   *
- ***************************************************************************/
+***************************************************************************/
 
  // Libraries
 #include "Body.h"
-#include "BoundingVolume.h"
+#include "BroadBoundingVolume.h"
+#include "NarrowBoundingVolume.h"
 
 // We want to use the ReactPhysics3D namespace
 using namespace reactphysics3d;
 
 // Constructor
-Body::Body(double mass, BoundingVolume* broadBoundingVolume, BoundingVolume* narrowBoundingVolume) throw(std::invalid_argument)
+Body::Body(double mass) throw(std::invalid_argument)
-     : mass(mass), broadBoundingVolume(broadBoundingVolume), narrowBoundingVolume(narrowBoundingVolume)  {
+     : mass(mass), broadBoundingVolume(0), narrowBoundingVolume(0)  {
     // Check if the mass is not larger than zero
     if (mass <= 0.0) {
         // We throw an exception
         throw std::invalid_argument("Exception in Body constructor : the mass has to be different larger than zero");
     }
-
-    // Set the body pointer to the bounding volumes
-    broadBoundingVolume->setBodyPointer(this);
-    narrowBoundingVolume->setBodyPointer(this);
 }
 
 // Destructor
 Body::~Body() {
+    if (broadBoundingVolume) {
         delete broadBoundingVolume;
+    }
+    if (narrowBoundingVolume) {
         delete narrowBoundingVolume;
+    }
+}
+
+// Set the broad-phase bounding volume
+void Body::setBroadBoundingVolume(BroadBoundingVolume* broadBoundingVolume) {
+    assert(broadBoundingVolume);
+    this->broadBoundingVolume = broadBoundingVolume;
+    broadBoundingVolume->setBodyPointer(this);
+}
+
+// Set the narrow-phase bounding volume
+void Body::setNarrowBoundingVolume(NarrowBoundingVolume* narrowBoundingVolume) {
+    assert(narrowBoundingVolume);
+    this->narrowBoundingVolume = narrowBoundingVolume;
+    narrowBoundingVolume->setBodyPointer(this);
 }

sources/reactphysics3d/body/Body.h

@@ -1,33 +1,35 @@
 /****************************************************************************
- * Copyright (C) 2009      Daniel Chappuis                                  *
+* Copyright (C) 2009      Daniel Chappuis                                  *
- ****************************************************************************
+****************************************************************************
- * This file is part of ReactPhysics3D.                                     *
+* This file is part of ReactPhysics3D.                                     *
- *                                                                          *
+*                                                                          *
- * ReactPhysics3D is free software: you can redistribute it and/or modify   *
+* ReactPhysics3D is free software: you can redistribute it and/or modify   *
- * it under the terms of the GNU Lesser General Public License as published *
+* it under the terms of the GNU Lesser General Public License as published *
- * by the Free Software Foundation, either version 3 of the License, or     *
+* by the Free Software Foundation, either version 3 of the License, or     *
- * (at your option) any later version.                                      *
+* (at your option) any later version.                                      *
- *                                                                          *
+*                                                                          *
- * ReactPhysics3D is distributed in the hope that it will be useful,        *
+* ReactPhysics3D is distributed in the hope that it will be useful,        *
- * but WITHOUT ANY WARRANTY; without even the implied warranty of           *
+* but WITHOUT ANY WARRANTY; without even the implied warranty of           *
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the             *
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the             *
- * GNU Lesser General Public License for more details.                      *
+* GNU Lesser General Public License for more details.                      *
- *                                                                          *
+*                                                                          *
- * You should have received a copy of the GNU Lesser General Public License *
+* You should have received a copy of the GNU Lesser General Public License *
- * along with ReactPhysics3D. If not, see <http://www.gnu.org/licenses/>.   *
+* along with ReactPhysics3D. If not, see <http://www.gnu.org/licenses/>.   *
- ***************************************************************************/
+***************************************************************************/
 
 #ifndef BODY_H
 #define BODY_H
 
- // Libraries
+// Libraries
 #include <stdexcept>
+#include <cassert>
 
 
 // Namespace reactphysics3d
 namespace reactphysics3d {
 
-class BoundingVolume;
+class BroadBoundingVolume;
+class NarrowBoundingVolume;
 
 /*  -------------------------------------------------------------------
     Class Body :
@@ -38,14 +40,16 @@ class BoundingVolume;
 class Body {
     protected :
         double mass;                                    // Mass of the body
-        BoundingVolume* broadBoundingVolume;        // Bounding volume used for the broad-phase collision detection
+        BroadBoundingVolume* broadBoundingVolume;       // Bounding volume used for the broad-phase collision detection
-        BoundingVolume* narrowBoundingVolume;       // Bounding volume used for the narrow-phase collision detection
+        NarrowBoundingVolume* narrowBoundingVolume;     // Bounding volume used for the narrow-phase collision detection
         bool isMotionEnabled;                           // True if the body is able to move
         bool isCollisionEnabled;                        // True if the body can collide with others bodies
 
+        void setBroadBoundingVolume(BroadBoundingVolume* broadBoundingVolume);      // Set the broad-phase bounding volume
+        void setNarrowBoundingVolume(NarrowBoundingVolume* narrowBoundingVolume);   // Set the narrow-phase bounding volume
+
     public :
-        Body(double mass, BoundingVolume* broadBoundingVolume,
+        Body(double mass) throw(std::invalid_argument);    // Constructor
-             BoundingVolume* narrowBoundingVolume) throw(std::invalid_argument);    // Constructor
         virtual ~Body();                                   // Destructor
 
         double getMass() const;                                         // Return the mass of the body
@@ -54,12 +58,10 @@ class Body {
         void setIsMotionEnabled(bool isMotionEnabled);                  // Set the value to true if the body can move
         bool getIsCollisionEnabled() const;                             // Return true if the body can collide with others bodies
         void setIsCollisionEnabled(bool isCollisionEnabled);            // Set the isCollisionEnabled value
-        const BoundingVolume* getBroadBoundingVolume() const;           // Return the broad-phase bounding volume
+        const BroadBoundingVolume* getBroadBoundingVolume() const;      // Return the broad-phase bounding volume
-        const BoundingVolume* getNarrowBoundingVolume() const;          // Return the narrow-phase bounding volume of the body
+        const NarrowBoundingVolume* getNarrowBoundingVolume() const;    // Return the narrow-phase bounding volume of the body
 };
 
-// --- Inlines function --- //
-
 // Method that return the mass of the body
 inline double Body::getMass() const {
     return mass;
@@ -91,12 +93,12 @@ inline void Body::setIsCollisionEnabled(bool isCollisionEnabled) {
 }
 
 // Return the broad-phase bounding volume
-inline const BoundingVolume* Body::getBroadBoundingVolume() const {
+inline const BroadBoundingVolume* Body::getBroadBoundingVolume() const {
     return broadBoundingVolume;
 }
 
 // Return the oriented bounding box of the rigid body
-inline const BoundingVolume* Body::getNarrowBoundingVolume() const {
+inline const NarrowBoundingVolume* Body::getNarrowBoundingVolume() const {
     return narrowBoundingVolume;
 }
 

sources/reactphysics3d/body/BroadBoundingVolume.cpp

@@ -0,0 +1,34 @@
+/****************************************************************************
+* Copyright (C) 2009      Daniel Chappuis                                  *
+****************************************************************************
+* This file is part of ReactPhysics3D.                                     *
+*                                                                          *
+* ReactPhysics3D is free software: you can redistribute it and/or modify   *
+* it under the terms of the GNU Lesser General Public License as published *
+* by the Free Software Foundation, either version 3 of the License, or     *
+* (at your option) any later version.                                      *
+*                                                                          *
+* ReactPhysics3D is distributed in the hope that it will be useful,        *
+* but WITHOUT ANY WARRANTY; without even the implied warranty of           *
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the             *
+* GNU Lesser General Public License for more details.                      *
+*                                                                          *
+* You should have received a copy of the GNU Lesser General Public License *
+* along with ReactPhysics3D. If not, see <http://www.gnu.org/licenses/>.   *
+***************************************************************************/
+
+// Libraries
+#include "BroadBoundingVolume.h"
+
+// We want to use the ReactPhysics3D namespace
+using namespace reactphysics3d;
+
+// Constructor
+BroadBoundingVolume::BroadBoundingVolume() : BoundingVolume() {
+
+}
+
+// Destructor
+BroadBoundingVolume::~BroadBoundingVolume() {
+
+}

sources/reactphysics3d/body/BroadBoundingVolume.h

@@ -0,0 +1,47 @@
+/****************************************************************************
+* Copyright (C) 2009      Daniel Chappuis                                  *
+****************************************************************************
+* This file is part of ReactPhysics3D.                                     *
+*                                                                          *
+* ReactPhysics3D is free software: you can redistribute it and/or modify   *
+* it under the terms of the GNU Lesser General Public License as published *
+* by the Free Software Foundation, either version 3 of the License, or     *
+* (at your option) any later version.                                      *
+*                                                                          *
+* ReactPhysics3D is distributed in the hope that it will be useful,        *
+* but WITHOUT ANY WARRANTY; without even the implied warranty of           *
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the             *
+* GNU Lesser General Public License for more details.                      *
+*                                                                          *
+* You should have received a copy of the GNU Lesser General Public License *
+* along with ReactPhysics3D. If not, see <http://www.gnu.org/licenses/>.   *
+***************************************************************************/
+
+#ifndef BROAD_BOUNDING_VOLUME_H
+#define BROAD_BOUNDING_VOLUME_H
+
+// Libraries
+#include "BoundingVolume.h"
+
+
+// ReactPhysics3D namespace
+namespace reactphysics3d {
+
+/*  -------------------------------------------------------------------
+    Class BroadBoundingVolume :
+        This class represents the volume that contains a rigid body
+        This volume will be used to compute the broad-phase collision
+        detection.
+    -------------------------------------------------------------------
+*/
+class BroadBoundingVolume : public BoundingVolume {
+    protected :
+
+    public :
+        BroadBoundingVolume();                   // Constructor
+        virtual ~BroadBoundingVolume();          // Destructor
+};
+
+}
+
+#endif

sources/reactphysics3d/body/NarrowBoundingVolume.cpp

@@ -0,0 +1,34 @@
+/****************************************************************************
+* Copyright (C) 2009      Daniel Chappuis                                  *
+****************************************************************************
+* This file is part of ReactPhysics3D.                                     *
+*                                                                          *
+* ReactPhysics3D is free software: you can redistribute it and/or modify   *
+* it under the terms of the GNU Lesser General Public License as published *
+* by the Free Software Foundation, either version 3 of the License, or     *
+* (at your option) any later version.                                      *
+*                                                                          *
+* ReactPhysics3D is distributed in the hope that it will be useful,        *
+* but WITHOUT ANY WARRANTY; without even the implied warranty of           *
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the             *
+* GNU Lesser General Public License for more details.                      *
+*                                                                          *
+* You should have received a copy of the GNU Lesser General Public License *
+* along with ReactPhysics3D. If not, see <http://www.gnu.org/licenses/>.   *
+***************************************************************************/
+
+// Libraries
+#include "NarrowBoundingVolume.h"
+
+// We want to use the ReactPhysics3D namespace
+using namespace reactphysics3d;
+
+// Constructor
+NarrowBoundingVolume::NarrowBoundingVolume() : BoundingVolume() {
+    
+}
+
+// Destructor
+NarrowBoundingVolume::~NarrowBoundingVolume() {
+
+}

sources/reactphysics3d/body/NarrowBoundingVolume.h

@@ -0,0 +1,50 @@
+/****************************************************************************
+* Copyright (C) 2009      Daniel Chappuis                                  *
+****************************************************************************
+* This file is part of ReactPhysics3D.                                     *
+*                                                                          *
+* ReactPhysics3D is free software: you can redistribute it and/or modify   *
+* it under the terms of the GNU Lesser General Public License as published *
+* by the Free Software Foundation, either version 3 of the License, or     *
+* (at your option) any later version.                                      *
+*                                                                          *
+* ReactPhysics3D is distributed in the hope that it will be useful,        *
+* but WITHOUT ANY WARRANTY; without even the implied warranty of           *
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the             *
+* GNU Lesser General Public License for more details.                      *
+*                                                                          *
+* You should have received a copy of the GNU Lesser General Public License *
+* along with ReactPhysics3D. If not, see <http://www.gnu.org/licenses/>.   *
+***************************************************************************/
+
+#ifndef NARROW_BOUNDING_VOLUME_H
+#define NARROW_BOUNDING_VOLUME_H
+
+// Libraries
+#include "BoundingVolume.h"
+#include "AABB.h"
+
+
+// ReactPhysics3D namespace
+namespace reactphysics3d {
+
+/*  -------------------------------------------------------------------
+    Class NarrowBoundingVolume :
+        This class represents the volume that contains a rigid body
+        This volume will be used to compute the narrow-phase collision
+        detection.
+    -------------------------------------------------------------------
+*/
+class NarrowBoundingVolume : public BoundingVolume {
+    protected :
+
+    public :
+        NarrowBoundingVolume();                   // Constructor
+        virtual ~NarrowBoundingVolume();          // Destructor
+
+        virtual AABB* computeAABB() const=0;      // Return the corresponding AABB
+};
+
+}
+
+#endif

sources/reactphysics3d/body/OBB.cpp

@@ -176,59 +176,30 @@ vector<Vector3D> OBB::getExtremeVertices(const Vector3D& directionAxis) const {
     return extremeVertices;
 }
 
-// Return the 4 vertices of a face of the OBB. The 4 vertices will be ordered. The convention is that the index 0 corresponds to
-// the face in the direction of the axis[0], 1 corresponds to the face in the opposite direction of the axis[0], 2 corresponds to
-// the face in the direction of the axis[1], etc.
-vector<Vector3D> OBB::getFace(unsigned int index) const throw(invalid_argument) {
-    // Check the argument
-    if (index >=0 && index <6) {
-        vector<Vector3D> vertices;
-        switch(index) {
-            case 0: vertices.push_back(center + (axis[0]*extent[0]) + (axis[1]*extent[1]) - (axis[2]*extent[2]));
-                    vertices.push_back(center + (axis[0]*extent[0]) + (axis[1]*extent[1]) + (axis[2]*extent[2]));
-                    vertices.push_back(center + (axis[0]*extent[0]) - (axis[1]*extent[1]) + (axis[2]*extent[2]));
-                    vertices.push_back(center + (axis[0]*extent[0]) - (axis[1]*extent[1]) - (axis[2]*extent[2]));
-                    break;
-            case 1: vertices.push_back(center - (axis[0]*extent[0]) + (axis[1]*extent[1]) - (axis[2]*extent[2]));
-                    vertices.push_back(center - (axis[0]*extent[0]) + (axis[1]*extent[1]) + (axis[2]*extent[2]));
-                    vertices.push_back(center - (axis[0]*extent[0]) - (axis[1]*extent[1]) + (axis[2]*extent[2]));
-                    vertices.push_back(center - (axis[0]*extent[0]) - (axis[1]*extent[1]) - (axis[2]*extent[2]));
-                    break;
-            case 2: vertices.push_back(center + (axis[1]*extent[1]) + (axis[0]*extent[0]) - (axis[2]*extent[2]));
-                    vertices.push_back(center + (axis[1]*extent[1]) + (axis[0]*extent[0]) + (axis[2]*extent[2]));
-                    vertices.push_back(center + (axis[1]*extent[1]) - (axis[0]*extent[0]) + (axis[2]*extent[2]));
-                    vertices.push_back(center + (axis[1]*extent[1]) - (axis[0]*extent[0]) - (axis[2]*extent[2]));
-                    break;
-            case 3: vertices.push_back(center - (axis[1]*extent[1]) + (axis[0]*extent[0]) - (axis[2]*extent[2]));
-                    vertices.push_back(center - (axis[1]*extent[1]) + (axis[0]*extent[0]) + (axis[2]*extent[2]));
-                    vertices.push_back(center - (axis[1]*extent[1]) - (axis[0]*extent[0]) + (axis[2]*extent[2]));
-                    vertices.push_back(center - (axis[1]*extent[1]) - (axis[0]*extent[0]) - (axis[2]*extent[2]));
-                    break;
-            case 4: vertices.push_back(center + (axis[2]*extent[2]) + (axis[0]*extent[0]) - (axis[1]*extent[1]));
-                    vertices.push_back(center + (axis[2]*extent[2]) + (axis[0]*extent[0]) + (axis[1]*extent[1]));
-                    vertices.push_back(center + (axis[2]*extent[2]) - (axis[0]*extent[0]) + (axis[1]*extent[1]));
-                    vertices.push_back(center + (axis[2]*extent[2]) - (axis[0]*extent[0]) - (axis[1]*extent[1]));
-                    break;
-            case 5: vertices.push_back(center - (axis[2]*extent[2]) + (axis[0]*extent[0]) - (axis[1]*extent[1]));
-                    vertices.push_back(center - (axis[2]*extent[2]) + (axis[0]*extent[0]) + (axis[1]*extent[1]));
-                    vertices.push_back(center - (axis[2]*extent[2]) - (axis[0]*extent[0]) + (axis[1]*extent[1]));
-                    vertices.push_back(center - (axis[2]*extent[2]) - (axis[0]*extent[0]) - (axis[1]*extent[1]));
-                    break;
-        }
-
-        // Return the vertices
-        assert(vertices.size() == 4);
-        return vertices;
-    }
-    else {
-        // Throw an exception
-        throw invalid_argument("Exception: The argument must be between 0 and 5");
-    }
-}
-
 // Static method that computes an OBB from a set of vertices. The "center" argument corresponds to the center of the OBB
 // This method allocates a new OBB object and return a pointer to the new allocated OBB object
 OBB* OBB::computeFromVertices(const vector<Vector3D>& vertices, const Vector3D& center) {
     // TODO : Implement this method;
     return 0;
 }
+
+// Return the corresponding AABB
+AABB* OBB::computeAABB() const {
+    double maxLength[] = {0.0, 0.0, 0.0};   // Maximum length for each of the three x,y and z axis
+    Vector3D vertex;
+    double length;
+    
+    // For each vertex of the OBB
+    for (int i = 0; i<8; i++) {
+        vertex = getVertex(i) - center;
+        for (int j=0; j<3; j++) {
+            length = std::abs(vertex.getValue(j));
+            if (length > maxLength[j]) {
+                maxLength[j] = length;
+            }
+        }
+    }
+
+    // Create and return the AABB
+    return new AABB(center, maxLength[0], maxLength[1], maxLength[2]);
+}

sources/reactphysics3d/body/OBB.h

@@ -22,7 +22,7 @@
 
 // Libraries
 #include <cfloat>
-#include "BoundingVolume.h"
+#include "NarrowBoundingVolume.h"
 #include "../mathematics/mathematics.h"
 
 // ReactPhysics3D namespace
@@ -38,7 +38,7 @@ namespace reactphysics3d {
         of the box along the three axis of the OBB.
     -------------------------------------------------------------------
 */
-class OBB : public BoundingVolume {
+class OBB : public NarrowBoundingVolume {
     protected :
         Vector3D center;            // Center point of the OBB
         Vector3D oldAxis[3];        // Array that contains the three unit length axis at the beginning
@@ -60,6 +60,7 @@ class OBB : public BoundingVolume {
         void setExtent(unsigned int index, double extent) throw(std::invalid_argument);                     // Set an extent value
         virtual std::vector<Vector3D> getExtremeVertices(const Vector3D& axis) const;                       // Return all the vertices that are projected at the extreme of the projection of the bouding volume on the axis
         virtual void update(const Vector3D& newCenter, const Quaternion& rotationQuaternion);               // Update the oriented bounding box orientation according to a new orientation of the rigid body
+        virtual AABB* computeAABB() const;                                                                  // Return the corresponding AABB
         virtual void draw() const;                                                                          // Draw the OBB (only for testing purpose)
         static OBB* computeFromVertices(const std::vector<Vector3D>& vertices, const Vector3D& center);     // Compute an OBB from a set of vertices
 };
@@ -132,6 +133,55 @@ inline Vector3D OBB::getVertex(unsigned int index) const throw (std::invalid_arg
     }
 }
 
+// Return the 4 vertices of a face of the OBB. The 4 vertices will be ordered. The convention is that the index 0 corresponds to
+// the face in the direction of the axis[0], 1 corresponds to the face in the opposite direction of the axis[0], 2 corresponds to
+// the face in the direction of the axis[1], etc.
+inline std::vector<Vector3D> OBB::getFace(unsigned int index) const throw(std::invalid_argument) {
+    // Check the argument
+    if (index >=0 && index <6) {
+        std::vector<Vector3D> vertices;
+        switch(index) {
+            case 0: vertices.push_back(center + (axis[0]*extent[0]) + (axis[1]*extent[1]) - (axis[2]*extent[2]));
+                    vertices.push_back(center + (axis[0]*extent[0]) + (axis[1]*extent[1]) + (axis[2]*extent[2]));
+                    vertices.push_back(center + (axis[0]*extent[0]) - (axis[1]*extent[1]) + (axis[2]*extent[2]));
+                    vertices.push_back(center + (axis[0]*extent[0]) - (axis[1]*extent[1]) - (axis[2]*extent[2]));
+                    break;
+            case 1: vertices.push_back(center - (axis[0]*extent[0]) + (axis[1]*extent[1]) - (axis[2]*extent[2]));
+                    vertices.push_back(center - (axis[0]*extent[0]) + (axis[1]*extent[1]) + (axis[2]*extent[2]));
+                    vertices.push_back(center - (axis[0]*extent[0]) - (axis[1]*extent[1]) + (axis[2]*extent[2]));
+                    vertices.push_back(center - (axis[0]*extent[0]) - (axis[1]*extent[1]) - (axis[2]*extent[2]));
+                    break;
+            case 2: vertices.push_back(center + (axis[1]*extent[1]) + (axis[0]*extent[0]) - (axis[2]*extent[2]));
+                    vertices.push_back(center + (axis[1]*extent[1]) + (axis[0]*extent[0]) + (axis[2]*extent[2]));
+                    vertices.push_back(center + (axis[1]*extent[1]) - (axis[0]*extent[0]) + (axis[2]*extent[2]));
+                    vertices.push_back(center + (axis[1]*extent[1]) - (axis[0]*extent[0]) - (axis[2]*extent[2]));
+                    break;
+            case 3: vertices.push_back(center - (axis[1]*extent[1]) + (axis[0]*extent[0]) - (axis[2]*extent[2]));
+                    vertices.push_back(center - (axis[1]*extent[1]) + (axis[0]*extent[0]) + (axis[2]*extent[2]));
+                    vertices.push_back(center - (axis[1]*extent[1]) - (axis[0]*extent[0]) + (axis[2]*extent[2]));
+                    vertices.push_back(center - (axis[1]*extent[1]) - (axis[0]*extent[0]) - (axis[2]*extent[2]));
+                    break;
+            case 4: vertices.push_back(center + (axis[2]*extent[2]) + (axis[0]*extent[0]) - (axis[1]*extent[1]));
+                    vertices.push_back(center + (axis[2]*extent[2]) + (axis[0]*extent[0]) + (axis[1]*extent[1]));
+                    vertices.push_back(center + (axis[2]*extent[2]) - (axis[0]*extent[0]) + (axis[1]*extent[1]));
+                    vertices.push_back(center + (axis[2]*extent[2]) - (axis[0]*extent[0]) - (axis[1]*extent[1]));
+                    break;
+            case 5: vertices.push_back(center - (axis[2]*extent[2]) + (axis[0]*extent[0]) - (axis[1]*extent[1]));
+                    vertices.push_back(center - (axis[2]*extent[2]) + (axis[0]*extent[0]) + (axis[1]*extent[1]));
+                    vertices.push_back(center - (axis[2]*extent[2]) - (axis[0]*extent[0]) + (axis[1]*extent[1]));
+                    vertices.push_back(center - (axis[2]*extent[2]) - (axis[0]*extent[0]) - (axis[1]*extent[1]));
+                    break;
+        }
+
+        // Return the vertices
+        assert(vertices.size() == 4);
+        return vertices;
+    }
+    else {
+        // Throw an exception
+        throw std::invalid_argument("Exception: The argument must be between 0 and 5");
+    }
+}
 
 // Return an extent value
 inline double OBB::getExtent(unsigned int index) const throw(std::invalid_argument) {

sources/reactphysics3d/body/RigidBody.cpp

@@ -19,14 +19,16 @@
 
 // Libraries
 #include "RigidBody.h"
+#include "BroadBoundingVolume.h"
+#include "NarrowBoundingVolume.h"
 
  // We want to use the ReactPhysics3D namespace
  using namespace reactphysics3d;
 
  // Constructor
- RigidBody::RigidBody(const Vector3D& position, const Quaternion& orientation, double mass, const Matrix3x3& inertiaTensorLocal, BoundingVolume* broadBoundingVolume,
+ RigidBody::RigidBody(const Vector3D& position, const Quaternion& orientation, double mass, const Matrix3x3& inertiaTensorLocal,
-                      BoundingVolume* narrowBoundingVolume)
+                      NarrowBoundingVolume* narrowBoundingVolume)
-           : Body(mass, broadBoundingVolume, narrowBoundingVolume), position(position), orientation(orientation.getUnit()), inertiaTensorLocal(inertiaTensorLocal),
+           : Body(mass), position(position), orientation(orientation.getUnit()), inertiaTensorLocal(inertiaTensorLocal),
              inertiaTensorLocalInverse(inertiaTensorLocal.getInverse()), massInverse(1.0/mass), oldPosition(position), oldOrientation(orientation) {
 
     restitution = 1.0;
@@ -34,6 +36,12 @@
     isCollisionEnabled = true;
     interpolationFactor = 0.0;
 
+    // Set the bounding volume for the narrow-phase collision detection
+    setNarrowBoundingVolume(narrowBoundingVolume);
+
+    // Compute the broad-phase bounding volume (an AABB)
+    setBroadBoundingVolume(narrowBoundingVolume->computeAABB());
+
     // Update the orientation of the OBB according to the orientation of the rigid body
     update();
 
@@ -45,3 +53,10 @@
 RigidBody::~RigidBody() {
 
 };
+
+// Update the rigid body in order to reflect a change in the body state
+void RigidBody::update() {
+    // Update the orientation of the corresponding bounding volumes of the rigid body
+    broadBoundingVolume->update(position, orientation);
+    narrowBoundingVolume->update(position, orientation);
+}

sources/reactphysics3d/body/RigidBody.h

@@ -15,7 +15,7 @@
 *                                                                          *
 * You should have received a copy of the GNU Lesser General Public License *
 * along with ReactPhysics3D. If not, see <http://www.gnu.org/licenses/>.   *
- ***************************************************************************/
+***************************************************************************/
 
 #ifndef RIGIDBODY_H
 #define RIGIDBODY_H
@@ -23,7 +23,6 @@
 // Libraries
 #include <cassert>
 #include "Body.h"
-#include "BoundingVolume.h"
 #include "../mathematics/mathematics.h"
 
 // Namespace reactphysics3d
@@ -54,8 +53,8 @@ class RigidBody : public Body {
         double restitution;                         // Coefficient of restitution (between 0 and 1), 1 for a very boucing body
 
     public :
-        RigidBody(const Vector3D& position, const Quaternion& orientation, double mass, const Matrix3x3& inertiaTensorLocal,
+        RigidBody(const Vector3D& position, const Quaternion& orientation, double mass,
-                  BoundingVolume* broadBoundingVolume, BoundingVolume* narrowBoundingVolume);                                       // Constructor                                                                                                         // Copy-constructor
+                  const Matrix3x3& inertiaTensorLocal, NarrowBoundingVolume* narrowBoundingVolume);     // Constructor                                                                                                         // Copy-constructor
         virtual ~RigidBody();                                                                           // Destructor
 
         Vector3D getPosition() const;                                           // Return the position of the body
@@ -190,7 +189,7 @@ inline Matrix3x3 RigidBody::getInertiaTensorInverseWorld() const {
 
 // Set the interpolation factor of the body
 inline void RigidBody::setInterpolationFactor(double factor) {
-    //assert(factor >= 0.0 && factor <= 1.0);
+    assert(factor >= 0.0 && factor <= 1.0);
 
     // Set the factor
     interpolationFactor = factor;
@@ -240,13 +239,6 @@ inline void RigidBody::updateOldPositionAndOrientation() {
     oldOrientation = orientation;
 }
 
-// Update the rigid body in order to reflect a change in the body state
-inline void RigidBody::update() {
-    // Update the orientation of the corresponding bounding volumes of the rigid body
-    broadBoundingVolume->update(position, orientation);
-    narrowBoundingVolume->update(position, orientation);
-}
-
 } // End of the ReactPhyscis3D namespace
 
  #endif