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CHANGELOG.md

@@ -2,6 +2,9 @@
 
 ## Version 0.8.0
 
+Note that this release contains some public API changes. Please read carefully the following changes before upgrading to this new version and
+do not hesitate to take a look at the user manual.
+
 ### Added
 
  - It is now possible to change the size of a BoxShape using the BoxShape::setHalfExtents() method

include/reactphysics3d/collision/shapes/CapsuleShape.h

@@ -137,7 +137,7 @@ inline decimal CapsuleShape::getRadius() const {
  * @param radius The radius of the capsule (in meters)
  */
 inline void CapsuleShape::setRadius(decimal radius) {
-    // TODO : Throw a library error here if radius is not larger than zero
+
     assert(radius > decimal(0.0));
     mMargin = radius;
 
@@ -160,7 +160,6 @@ inline decimal CapsuleShape::getHeight() const {
  */
 inline void CapsuleShape::setHeight(decimal height) {
 
-    // TODO : Throw a library error here if radius is not larger than zero
     assert(height > decimal(0.0));
     mHalfHeight = height * decimal(0.5);
 

include/reactphysics3d/configuration.h

@@ -63,7 +63,6 @@ using uint32 = std::uint32_t;
 using int64 = std::int64_t;
 using uint64 = std::uint64_t;
 
-// TODO : Delete this
 struct Entity;
 using bodypair = Pair<Entity, Entity>;
 

include/reactphysics3d/engine/PhysicsWorld.h

@@ -710,34 +710,6 @@ inline uint PhysicsWorld::getNbCollisionBodies() const {
    return mCollisionBodies.size();
 }
 
-// Return a constant pointer to a given CollisionBody of the world
-/**
- * @param index Index of a CollisionBody in the world
- * @return Constant pointer to a given CollisionBody
- */
-inline const CollisionBody* PhysicsWorld::getCollisionBody(uint index) const {
-
-    assert(index < mCollisionBodies.size());
-
-    // TODO : Report error here if index is not within bounds
-
-    return mCollisionBodies[index];
-}
-
-// Return a pointer to a given CollisionBody of the world
-/**
- * @param index Index of a CollisionBody in the world
- * @return Pointer to a given CollisionBody
- */
-inline CollisionBody* PhysicsWorld::getCollisionBody(uint index) {
-
-    assert(index < mCollisionBodies.size());
-
-    // TODO : Report error here if index is not within bounds
-
-    return mCollisionBodies[index];
-}
-
 // Return the number of RigidBody in the physics world
 /**
  * @return The number of rigid bodies in the physics world
@@ -746,34 +718,6 @@ inline uint PhysicsWorld::getNbRigidBodies() const {
    return mRigidBodies.size();
 }
 
-
-// Return a constant pointer to a given RigidBody of the world
-/**
- * @param index Index of a RigidBody in the world
- * @return Constant pointer to a given RigidBody
- */
-inline const RigidBody* PhysicsWorld::getRigidBody(uint index) const {
-    assert(index < mRigidBodies.size());
-
-    // TODO : Report error here if index is not within bounds
-
-    return mRigidBodies[index];
-}
-
-// Return a pointer to a given RigidBody of the world
-/**
- * @param index Index of a RigidBody in the world
- * @return Pointer to a given RigidBody
- */
-inline RigidBody* PhysicsWorld::getRigidBody(uint index) {
-
-    assert(index < mRigidBodies.size());
-
-    // TODO : Report error here if index is not within bounds
-
-    return mRigidBodies[index];
-}
-
 // Return true if the debug rendering is enabled
 /**
  * @return True if the debug rendering is enabled and false otherwise

include/reactphysics3d/systems/CollisionDetectionSystem.h

@@ -319,7 +319,7 @@ class CollisionDetectionSystem {
         void removeNoCollisionPair(Entity body1Entity, Entity body2Entity);
 
         /// Ask for a collision shape to be tested again during broad-phase.
-        void askForBroadPhaseCollisionCheck(Collider* shape);
+        void askForBroadPhaseCollisionCheck(Collider* collider);
 
         /// Notify that the overlapping pairs where a given collider is involved need to be tested for overlap
         void notifyOverlappingPairsToTestOverlap(Collider* collider);
@@ -411,10 +411,10 @@ inline void CollisionDetectionSystem::removeNoCollisionPair(Entity body1Entity,
 // Ask for a collision shape to be tested again during broad-phase.
 /// We simply put the shape in the list of collision shape that have moved in the
 /// previous frame so that it is tested for collision again in the broad-phase.
-inline void CollisionDetectionSystem::askForBroadPhaseCollisionCheck(Collider* shape) {
+inline void CollisionDetectionSystem::askForBroadPhaseCollisionCheck(Collider* collider) {
 
-    if (shape->getBroadPhaseId() != -1) {
+    if (collider->getBroadPhaseId() != -1) {
-        mBroadPhaseSystem.addMovedCollider(shape->getBroadPhaseId(), shape);
+        mBroadPhaseSystem.addMovedCollider(collider->getBroadPhaseId(), collider);
     }
 }
 

include/reactphysics3d/systems/ContactSolverSystem.h

@@ -296,11 +296,9 @@ class ContactSolverSystem {
         decimal& mRestitutionVelocityThreshold;
 
         /// Contact constraints
-        // TODO : Use List<> here
         ContactManifoldSolver* mContactConstraints;
 
         /// Contact points
-        // TODO : Use List<> here
         ContactPointSolver* mContactPoints;
 
         /// Number of contact point constraints

src/body/RigidBody.cpp

@@ -531,7 +531,11 @@ void RigidBody::setMass(decimal mass) {
 
     mWorld.mRigidBodyComponents.setMass(mEntity, mass);
 
-    // TODO : Report error if mass is negative
+    if (mass < decimal(0.0)) {
+
+        RP3D_LOG(mWorld.mConfig.worldName, Logger::Level::Error, Logger::Category::Body,
+                 "Error when setting the mass of a rigid body: the mass must be a positive value",  __FILE__, __LINE__);
+    }
 
     if (mWorld.mRigidBodyComponents.getMass(mEntity) > decimal(0.0)) {
         mWorld.mRigidBodyComponents.setMassInverse(mEntity, decimal(1.0) / mass);

src/collision/Collider.cpp

@@ -71,14 +71,13 @@ bool Collider::testPointInside(const Vector3& worldPoint) {
  */
 void Collider::setCollisionCategoryBits(unsigned short collisionCategoryBits) {
 
-    // TODO : Here we should probably remove all overlapping pairs with this shape in the
-    //        broad-phase and add the shape in the "has moved" shape list so it is reevaluated
-    //        with the new mask bits
-
     mBody->mWorld.mCollidersComponents.setCollisionCategoryBits(mEntity, collisionCategoryBits);
 
     int broadPhaseId = mBody->mWorld.mCollidersComponents.getBroadPhaseId(mEntity);
 
+    // Ask the broad-phase collision detection to test this collider next frame
+    mBody->mWorld.mCollisionDetection.askForBroadPhaseCollisionCheck(this);
+
     RP3D_LOG(mBody->mWorld.mConfig.worldName, Logger::Level::Information, Logger::Category::Collider,
              "Collider " + std::to_string(broadPhaseId) + ": Set collisionCategoryBits=" +
              std::to_string(collisionCategoryBits),  __FILE__, __LINE__);
@@ -90,14 +89,13 @@ void Collider::setCollisionCategoryBits(unsigned short collisionCategoryBits) {
  */
 void Collider::setCollideWithMaskBits(unsigned short collideWithMaskBits) {
 
-    // TODO : Here we should probably remove all overlapping pairs with this shape in the
-    //        broad-phase and add the shape in the "has moved" shape list so it is reevaluated
-    //        with the new mask bits
-
     mBody->mWorld.mCollidersComponents.setCollideWithMaskBits(mEntity, collideWithMaskBits);
 
     int broadPhaseId = mBody->mWorld.mCollidersComponents.getBroadPhaseId(mEntity);
 
+    // Ask the broad-phase collision detection to test this collider next frame
+    mBody->mWorld.mCollisionDetection.askForBroadPhaseCollisionCheck(this);
+
     RP3D_LOG(mBody->mWorld.mConfig.worldName, Logger::Level::Information, Logger::Category::Collider,
              "Collider" + std::to_string(broadPhaseId) + ": Set collideWithMaskBits=" +
              std::to_string(collideWithMaskBits),  __FILE__, __LINE__);

src/collision/TriangleVertexArray.cpp

@@ -196,7 +196,7 @@ void TriangleVertexArray::computeVerticesNormals() {
  */
 void TriangleVertexArray::getTriangleVerticesIndices(uint triangleIndex, uint* outVerticesIndices) const {
 
-    assert(triangleIndex >= 0 && triangleIndex < mNbTriangles);
+    assert(triangleIndex < mNbTriangles);
 
     const uchar* triangleIndicesPointer = mIndicesStart + triangleIndex * mIndicesStride;
     const void* startTriangleIndices = static_cast<const void*>(triangleIndicesPointer);
@@ -224,7 +224,7 @@ void TriangleVertexArray::getTriangleVerticesIndices(uint triangleIndex, uint* o
  */
 void TriangleVertexArray::getTriangleVertices(uint triangleIndex, Vector3* outTriangleVertices) const {
 
-    assert(triangleIndex >= 0 && triangleIndex < mNbTriangles);
+    assert(triangleIndex < mNbTriangles);
 
     // Get the three vertex index of the three vertices of the triangle
     uint verticesIndices[3];
@@ -262,7 +262,7 @@ void TriangleVertexArray::getTriangleVertices(uint triangleIndex, Vector3* outTr
  */
 void TriangleVertexArray::getTriangleVerticesNormals(uint triangleIndex, Vector3* outTriangleVerticesNormals) const {
 
-    assert(triangleIndex >= 0 && triangleIndex < mNbTriangles);
+    assert(triangleIndex < mNbTriangles);
 
     // Get the three vertex index of the three vertices of the triangle
     uint verticesIndices[3];

src/collision/narrowphase/SAT/SATAlgorithm.cpp

@@ -823,7 +823,6 @@ bool SATAlgorithm::testCollisionConvexPolyhedronVsConvexPolyhedron(NarrowPhaseIn
         // Now, we will clip the shapes along this axis to find the contact points
 
         assert(minPenetrationDepth > decimal(0.0));
-        assert((isMinPenetrationFaceNormal && minFaceIndex >= 0) || !isMinPenetrationFaceNormal);
 
         // If the minimum separating axis is a face normal
         if (isMinPenetrationFaceNormal) {

src/collision/shapes/CapsuleShape.cpp

@@ -39,7 +39,7 @@ using namespace reactphysics3d;
  */
 CapsuleShape::CapsuleShape(decimal radius, decimal height, MemoryAllocator& allocator)
             : ConvexShape(CollisionShapeName::CAPSULE, CollisionShapeType::CAPSULE, allocator, radius), mHalfHeight(height * decimal(0.5)) {
-    // TODO : Throw a library error here if radius or height is not larger than zero
+
     assert(radius > decimal(0.0));
     assert(height > decimal(0.0));
 }

src/engine/PhysicsCommon.cpp

@@ -167,6 +167,12 @@ void PhysicsCommon::destroyPhysicsWorld(PhysicsWorld* world) {
  */
 SphereShape* PhysicsCommon::createSphereShape(const decimal radius) {
 
+    if (radius <= decimal(0.0)) {
+
+        RP3D_LOG("PhysicsCommon", Logger::Level::Error, Logger::Category::PhysicCommon,
+                 "Error when creating a SphereShape: radius must be a positive value",  __FILE__, __LINE__);
+    }
+
     SphereShape* shape = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(SphereShape))) SphereShape(radius, mMemoryManager.getHeapAllocator());
     mSphereShapes.add(shape);
 
@@ -182,7 +188,7 @@ void PhysicsCommon::destroySphereShape(SphereShape* sphereShape) {
     // If the shape is still part of some colliders
     if (sphereShape->mColliders.size() > 0) {
 
-        RP3D_LOG("PhysicsCommon", Logger::Level::Error, Logger::Category::World,
+        RP3D_LOG("PhysicsCommon", Logger::Level::Error, Logger::Category::PhysicCommon,
                  "Error when destroying the SphereShape because it is still used by some colliders",  __FILE__, __LINE__);
     }
 
@@ -202,6 +208,11 @@ void PhysicsCommon::destroySphereShape(SphereShape* sphereShape) {
  */
 BoxShape* PhysicsCommon::createBoxShape(const Vector3& halfExtents) {
 
+    if (halfExtents.x <= decimal(0.0) || halfExtents.y <= decimal(0.0) || halfExtents.z <= decimal(0.0)) {
+
+        RP3D_LOG("PhysicsCommon", Logger::Level::Error, Logger::Category::PhysicCommon,
+                 "Error when creating a BoxShape: the half extents must be positive values",  __FILE__, __LINE__);
+    }
     BoxShape* shape = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(BoxShape))) BoxShape(halfExtents, mMemoryManager.getHeapAllocator());
 
     mBoxShapes.add(shape);
@@ -218,7 +229,7 @@ void PhysicsCommon::destroyBoxShape(BoxShape* boxShape) {
     // If the shape is still part of some colliders
     if (boxShape->mColliders.size() > 0) {
 
-        RP3D_LOG("PhysicsCommon", Logger::Level::Error, Logger::Category::World,
+        RP3D_LOG("PhysicsCommon", Logger::Level::Error, Logger::Category::PhysicCommon,
                  "Error when destroying the BoxShape because it is still used by some colliders",  __FILE__, __LINE__);
     }
 
@@ -239,6 +250,18 @@ void PhysicsCommon::destroyBoxShape(BoxShape* boxShape) {
  */
 CapsuleShape* PhysicsCommon::createCapsuleShape(decimal radius, decimal height) {
 
+    if (radius <= decimal(0.0)) {
+
+        RP3D_LOG("PhysicsCommon", Logger::Level::Error, Logger::Category::PhysicCommon,
+                 "Error when creating a CapsuleShape: radius must be a positive value",  __FILE__, __LINE__);
+    }
+
+    if (height <= decimal(0.0)) {
+
+        RP3D_LOG("PhysicsCommon", Logger::Level::Error, Logger::Category::PhysicCommon,
+                 "Error when creating a CapsuleShape: height must be a positive value",  __FILE__, __LINE__);
+    }
+
     CapsuleShape* shape = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(CapsuleShape))) CapsuleShape(radius, height, mMemoryManager.getHeapAllocator());
 
     mCapsuleShapes.add(shape);
@@ -255,7 +278,7 @@ void PhysicsCommon::destroyCapsuleShape(CapsuleShape* capsuleShape) {
     // If the shape is still part of some colliders
     if (capsuleShape->mColliders.size() > 0) {
 
-        RP3D_LOG("PhysicsCommon", Logger::Level::Error, Logger::Category::World,
+        RP3D_LOG("PhysicsCommon", Logger::Level::Error, Logger::Category::PhysicCommon,
                  "Error when destroying the CapsuleShape because it is still used by some colliders",  __FILE__, __LINE__);
     }
 
@@ -292,7 +315,7 @@ void PhysicsCommon::destroyConvexMeshShape(ConvexMeshShape* convexMeshShape) {
     // If the shape is still part of some colliders
     if (convexMeshShape->mColliders.size() > 0) {
 
-        RP3D_LOG("PhysicsCommon", Logger::Level::Error, Logger::Category::World,
+        RP3D_LOG("PhysicsCommon", Logger::Level::Error, Logger::Category::PhysicCommon,
                  "Error when destroying the ConvexMeshShape because it is still used by some colliders",  __FILE__, __LINE__);
     }
 
@@ -338,7 +361,7 @@ void PhysicsCommon::destroyHeightFieldShape(HeightFieldShape* heightFieldShape)
     // If the shape is still part of some colliders
     if (heightFieldShape->mColliders.size() > 0) {
 
-        RP3D_LOG("PhysicsCommon", Logger::Level::Error, Logger::Category::World,
+        RP3D_LOG("PhysicsCommon", Logger::Level::Error, Logger::Category::PhysicCommon,
                  "Error when destroying the HeightFieldShape because it is still used by some colliders",  __FILE__, __LINE__);
     }
 
@@ -375,7 +398,7 @@ void PhysicsCommon::destroyConcaveMeshShape(ConcaveMeshShape* concaveMeshShape)
     // If the shape is still part of some colliders
     if (concaveMeshShape->mColliders.size() > 0) {
 
-        RP3D_LOG("PhysicsCommon", Logger::Level::Error, Logger::Category::World,
+        RP3D_LOG("PhysicsCommon", Logger::Level::Error, Logger::Category::PhysicCommon,
                  "Error when destroying the ConcaveMeshShape because it is still used by some colliders",  __FILE__, __LINE__);
     }
 

src/engine/PhysicsWorld.cpp

@@ -775,7 +775,6 @@ void PhysicsWorld::createIslands() {
             // Add the body into the island
             mIslands.bodyEntities[islandIndex].add(bodyToVisitEntity);
 
-            // TODO : Do not use pointer to rigid body here (maybe move getType() into a component)
             RigidBody* rigidBodyToVisit = static_cast<RigidBody*>(mCollisionBodyComponents.getBody(bodyToVisitEntity));
 
             // Awake the body if it is sleeping
@@ -1023,3 +1022,76 @@ void PhysicsWorld::setIsGravityEnabled(bool isGravityEnabled) {
     RP3D_LOG(mConfig.worldName, Logger::Level::Information, Logger::Category::World,
              "Physics World: isGravityEnabled= " + (isGravityEnabled ? std::string("true") : std::string("false")),  __FILE__, __LINE__);
 }
+
+// Return a constant pointer to a given CollisionBody of the world
+/**
+ * @param index Index of a CollisionBody in the world
+ * @return Constant pointer to a given CollisionBody
+ */
+const CollisionBody* PhysicsWorld::getCollisionBody(uint index) const {
+
+    if (index >= getNbCollisionBodies()) {
+
+        RP3D_LOG(mConfig.worldName, Logger::Level::Error, Logger::Category::World,
+                 "Error when getting collision body: index is out of bounds",  __FILE__, __LINE__);
+    }
+
+    assert(index < mCollisionBodies.size());
+
+    return mCollisionBodies[index];
+}
+
+// Return a pointer to a given CollisionBody of the world
+/**
+ * @param index Index of a CollisionBody in the world
+ * @return Pointer to a given CollisionBody
+ */
+CollisionBody* PhysicsWorld::getCollisionBody(uint index) {
+
+    if (index >= getNbCollisionBodies()) {
+
+        RP3D_LOG(mConfig.worldName, Logger::Level::Error, Logger::Category::World,
+                 "Error when getting collision body: index is out of bounds",  __FILE__, __LINE__);
+    }
+
+    assert(index < mCollisionBodies.size());
+
+    return mCollisionBodies[index];
+}
+
+// Return a constant pointer to a given RigidBody of the world
+/**
+ * @param index Index of a RigidBody in the world
+ * @return Constant pointer to a given RigidBody
+ */
+const RigidBody* PhysicsWorld::getRigidBody(uint index) const {
+
+    if (index >= getNbRigidBodies()) {
+
+        RP3D_LOG(mConfig.worldName, Logger::Level::Error, Logger::Category::World,
+                 "Error when getting rigid body: index is out of bounds",  __FILE__, __LINE__);
+    }
+
+    assert(index < mRigidBodies.size());
+
+    return mRigidBodies[index];
+}
+
+// Return a pointer to a given RigidBody of the world
+/**
+ * @param index Index of a RigidBody in the world
+ * @return Pointer to a given RigidBody
+ */
+RigidBody* PhysicsWorld::getRigidBody(uint index) {
+
+    if (index >= getNbRigidBodies()) {
+
+        RP3D_LOG(mConfig.worldName, Logger::Level::Error, Logger::Category::World,
+                 "Error when getting rigid body: index is out of bounds",  __FILE__, __LINE__);
+    }
+
+    assert(index < mRigidBodies.size());
+
+    return mRigidBodies[index];
+}
+

src/systems/BroadPhaseSystem.cpp

@@ -165,12 +165,10 @@ void BroadPhaseSystem::updateCollidersComponents(uint32 startIndex, uint32 nbIte
     startIndex = std::min(startIndex, mCollidersComponents.getNbEnabledComponents());
     uint32 endIndex = std::min(startIndex + nbItems, mCollidersComponents.getNbEnabledComponents());
     nbItems = endIndex - startIndex;
-    assert(nbItems >= 0);
 
     // For each collider component to update
     for (uint32 i = startIndex; i < startIndex + nbItems; i++) {
 
-        // TODO : Can we remove this test
         const int32 broadPhaseId = mCollidersComponents.mBroadPhaseIds[i];
         if (broadPhaseId != -1) {
 

src/systems/CollisionDetectionSystem.cpp

@@ -1598,8 +1598,6 @@ void CollisionDetectionSystem::filterOverlappingPairs(Entity bodyEntity, List<ui
 // Filter the overlapping pairs to keep only the pairs where two given bodies are involved
 void CollisionDetectionSystem::filterOverlappingPairs(Entity body1Entity, Entity body2Entity, List<uint64>& convexPairs, List<uint64>& concavePairs) const {
 
-    // TODO : Do not go through all the overlapping pairs here but get all the involded overlapping pairs directly from the bodies
-
     // For each possible collision pair of bodies
     for (uint i=0; i < mOverlappingPairs.getNbPairs(); i++) {
 

testbed/src/SceneDemo.h

@@ -87,10 +87,8 @@ class SceneDemo : public Scene {
 		/// Constant color shader
 		openglframework::Shader mColorShader;
 
-        // TODO : Delete this
         openglframework::Shader mQuadShader;
 
-        // TODO : Delete this
         openglframework::VertexArrayObject mVAOQuad;
 
         openglframework::VertexBufferObject mVBOQuad;
@@ -134,7 +132,6 @@ class SceneDemo : public Scene {
         /// Create a the VAO and VBOs to render the debug infos
         void createDebugVBO();
 
-        /// TODO : Delete this
         void drawTextureQuad();
 
         /// Update the contact points