Start working on ECS

CMakeLists.txt

@@ -128,6 +128,8 @@ SET (REACTPHYSICS3D_HEADERS
     "src/constraint/HingeJoint.h"
     "src/constraint/Joint.h"
     "src/constraint/SliderJoint.h"
+    "src/engine/Entity.h"
+    "src/engine/EntityManager.h"
     "src/engine/CollisionWorld.h"
     "src/engine/ConstraintSolver.h"
     "src/engine/ContactSolver.h"
@@ -138,6 +140,7 @@ SET (REACTPHYSICS3D_HEADERS
     "src/engine/OverlappingPair.h"
     "src/engine/Timer.h"
     "src/engine/Timer.cpp"
+    "src/components/TransformComponents.h"
     "src/collision/CollisionCallback.h"
     "src/collision/OverlapCallback.h"
     "src/mathematics/mathematics.h"
@@ -224,6 +227,9 @@ SET (REACTPHYSICS3D_SOURCES
     "src/engine/Material.cpp"
     "src/engine/OverlappingPair.cpp"
     "src/engine/Timer.cpp"
+    "src/engine/Entity.cpp"
+    "src/engine/EntityManager.cpp"
+    "src/components/TransformComponents.cpp"
     "src/collision/CollisionCallback.cpp"
     "src/mathematics/mathematics_functions.cpp"
     "src/mathematics/Matrix2x2.cpp"

src/body/Body.cpp

@@ -35,8 +35,8 @@ using namespace reactphysics3d;
 /**
  * @param id ID of the new body
  */
-Body::Body(bodyindex id)
-     : mID(id), mIsAlreadyInIsland(false), mIsAllowedToSleep(true), mIsActive(true),
+Body::Body(Entity entity, bodyindex id)
+     : mID(id), mEntity(entity), mIsAlreadyInIsland(false), mIsAllowedToSleep(true), mIsActive(true),
        mIsSleeping(false), mSleepTime(0), mUserData(nullptr) {
 
 #ifdef IS_LOGGING_ACTIVE

src/body/Body.h

@@ -29,6 +29,7 @@
 // Libraries
 #include <cassert>
 #include "configuration.h"
+#include "engine/Entity.h"
 
 /// Namespace reactphysics3d
 namespace reactphysics3d {
@@ -50,8 +51,12 @@ class Body {
         // -------------------- Attributes -------------------- //
 
         /// ID of the body
+        // TODO : Remove this
         bodyindex mID;
 
+        /// Identifier of the entity in the ECS
+        Entity mEntity;
+
         /// True if the body has already been added in an island (for sleeping technique)
         bool mIsAlreadyInIsland;
 
@@ -88,7 +93,7 @@ class Body {
         // -------------------- Methods -------------------- //
 
         /// Constructor
-        Body(bodyindex id);
+        Body(Entity entity, bodyindex id);
 
         /// Deleted copy-constructor
         Body(const Body& body) = delete;
@@ -102,6 +107,9 @@ class Body {
         /// Return the ID of the body
         bodyindex getId() const;
 
+        /// Return the corresponding entity of the body
+        Entity getEntity() const;
+
         /// Return whether or not the body is allowed to sleep
         bool isAllowedToSleep() const;
 
@@ -157,6 +165,14 @@ inline bodyindex Body::getId() const {
     return mID;
 }
 
+// Return the corresponding entity of the body
+/**
+ * @return The entity of the body
+ */
+inline Entity Body::getEntity() const {
+    return mEntity;
+}
+
 // Return whether or not the body is allowed to sleep
 /**
  * @return True if the body is allowed to sleep and false otherwise

src/body/CollisionBody.cpp

@@ -39,8 +39,8 @@ using namespace reactphysics3d;
  * @param world The physics world where the body is created
  * @param id ID of the body
  */
-CollisionBody::CollisionBody(const Transform& transform, CollisionWorld& world, bodyindex id)
-              : Body(id), mType(BodyType::DYNAMIC), mTransform(transform), mProxyCollisionShapes(nullptr),
+CollisionBody::CollisionBody(const Transform& transform, CollisionWorld& world, Entity entity, bodyindex id)
+              : Body(entity, id), mType(BodyType::DYNAMIC), mTransform(transform), mProxyCollisionShapes(nullptr),
                 mNbCollisionShapes(0), mContactManifoldsList(nullptr), mWorld(world) {
 
 #ifdef IS_PROFILING_ACTIVE

src/body/CollisionBody.h

@@ -118,7 +118,7 @@ class CollisionBody : public Body {
         // -------------------- Methods -------------------- //
 
         /// Constructor
-        CollisionBody(const Transform& transform, CollisionWorld& world, bodyindex id);
+        CollisionBody(const Transform& transform, CollisionWorld& world, Entity entity, bodyindex id);
 
         /// Destructor
         virtual ~CollisionBody() override;

src/body/RigidBody.cpp

@@ -39,8 +39,8 @@ using namespace reactphysics3d;
 * @param world The world where the body has been added
 * @param id The ID of the body
 */
-RigidBody::RigidBody(const Transform& transform, CollisionWorld& world, bodyindex id)
-          : CollisionBody(transform, world, id), mArrayIndex(0), mInitMass(decimal(1.0)),
+RigidBody::RigidBody(const Transform& transform, CollisionWorld& world, Entity entity, bodyindex id)
+          : CollisionBody(transform, world, entity, id), mArrayIndex(0), mInitMass(decimal(1.0)),
             mCenterOfMassLocal(0, 0, 0), mCenterOfMassWorld(transform.getPosition()),
             mIsGravityEnabled(true), mMaterial(world.mConfig), mLinearDamping(decimal(0.0)), mAngularDamping(decimal(0.0)),
             mJointsList(nullptr), mIsCenterOfMassSetByUser(false), mIsInertiaTensorSetByUser(false) {

src/body/RigidBody.h

@@ -134,7 +134,7 @@ class RigidBody : public CollisionBody {
         // -------------------- Methods -------------------- //
 
         /// Constructor
-        RigidBody(const Transform& transform, CollisionWorld& world, bodyindex id);
+        RigidBody(const Transform& transform, CollisionWorld& world, Entity entity, bodyindex id);
 
         /// Destructor
         virtual ~RigidBody() override;

src/components/TransformComponents.cpp

@@ -0,0 +1,190 @@
+/********************************************************************************
+* ReactPhysics3D physics library, http://www.reactphysics3d.com                 *
+* Copyright (c) 2010-2018 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 "TransformComponents.h"
+#include "engine/EntityManager.h"
+#include <cassert>
+#include <random>
+
+// We want to use the ReactPhysics3D namespace
+using namespace reactphysics3d;
+
+
+// Constructor
+TransformComponents::TransformComponents(MemoryAllocator& allocator)
+                    :mMemoryAllocator(allocator), mNbComponents(0), mNbAllocatedComponents(0),
+                     mBuffer(nullptr), mMapEntityToComponentIndex(allocator) {
+
+    // Allocate memory for the components data
+    allocate(INIT_ALLOCATED_COMPONENTS);
+}
+
+// Destructor
+TransformComponents::~TransformComponents() {
+
+    if (mNbAllocatedComponents > 0) {
+
+        // Destroy all the remaining components
+        for (uint32 i = 0; i < mNbComponents; i++) {
+            destroyComponent(i);
+        }
+
+        // Size for the data of a single component (in bytes)
+        const size_t totalSizeBytes = mNbAllocatedComponents * COMPONENT_DATA_SIZE;
+
+        // Release the allocated memory
+        mMemoryAllocator.release(mBuffer, totalSizeBytes);
+    }
+}
+
+// Allocate memory for a given number of components
+void TransformComponents::allocate(uint32 nbComponentsToAllocate) {
+
+    assert(nbComponentsToAllocate > mNbAllocatedComponents);
+
+    // Size for the data of a single component (in bytes)
+    const size_t totalSizeBytes = nbComponentsToAllocate * COMPONENT_DATA_SIZE;
+
+    // Allocate memory
+    void* newBuffer = mMemoryAllocator.allocate(totalSizeBytes);
+    assert(newBuffer != nullptr);
+
+    // New pointers to components data
+    Entity* newEntities = static_cast<Entity*>(newBuffer);
+    Transform* newTransforms = reinterpret_cast<Transform*>(newEntities + mNbAllocatedComponents);
+
+    // If there was already components before
+    if (mNbAllocatedComponents > 0) {
+
+        // Copy component data from the previous buffer to the new one
+        memcpy(newTransforms, mTransforms, mNbComponents * sizeof(Transform));
+        memcpy(newEntities, mEntities, mNbComponents * sizeof(Entity));
+
+        // Deallocate previous memory
+        mMemoryAllocator.release(mBuffer, mNbAllocatedComponents * COMPONENT_DATA_SIZE);
+    }
+
+    mBuffer = newBuffer;
+    mEntities = newEntities;
+    mTransforms = newTransforms;
+    mNbAllocatedComponents = nbComponentsToAllocate;
+}
+
+// Add a component
+void TransformComponents::addComponent(Entity entity, const TransformComponent& component) {
+
+    // If we need to allocate more components
+    if (mNbComponents == mNbAllocatedComponents) {
+        allocate(mNbAllocatedComponents * 2);
+    }
+
+    // Map the entity with the new component lookup index
+    mMapEntityToComponentIndex.add(Pair<Entity, uint32>(entity, mNbComponents));
+
+    // Insert the new component data
+    new (mEntities + mNbComponents) Entity(entity);
+    new (mTransforms + mNbComponents) Transform(component.transform);
+
+    mNbComponents++;
+}
+
+// Perform garbage collection to remove unused components
+void TransformComponents::garbageCollection(const EntityManager& entityManager) {
+
+    // TODO : Make sure we call this method each frame
+
+    // We use lazy garbage collection. The idea is to pick random components and destroy
+    // them if their corresponding entities have been destroyed. We do this until we hit
+    // GARBAGE_COLLECTION_MAX_VALID_ENTITIES in a row. Therefore, it cost almost nothing
+    // if there are no destroyed entities and it very quickly destroys components where there
+    // are a lot of destroyed entities.
+
+    uint32 nbHitValidEntitiesInARow = 0;
+
+    // For random number generation
+    std::random_device rd;
+    std::mt19937 eng(rd());
+
+    while (mNbComponents > 0 && nbHitValidEntitiesInARow < GARBAGE_COLLECTION_MAX_VALID_ENTITIES) {
+
+        // Select a random index in the components array
+        std::uniform_int_distribution<uint32> distr(0, mNbComponents - 1);
+        uint32 i = distr(eng);
+
+        // If the corresponding entity is valid
+        if (entityManager.isValid(mEntities[i])) {
+            nbHitValidEntitiesInARow++;
+
+            continue;
+        }
+
+        nbHitValidEntitiesInARow = 0;
+
+        // Destroy the component
+        removeComponent(i);
+    }
+}
+
+// Remove a component at a given index
+void TransformComponents::removeComponent(uint32 index) {
+
+    assert(index < mNbComponents);
+
+    // We want to keep the arrays tightly packed. Therefore, when a component is removed,
+    // we replace it with the last element of the array
+
+    const uint32 lastIndex = mNbComponents - 1;
+
+    Entity entity = mEntities[index];
+    Entity lastEntity = mEntities[lastIndex];
+
+    if (mNbComponents > 1 && index != lastIndex) {
+
+        // Replace the data of the component to destroy by the data of the last component
+        mEntities[index] = mEntities[lastIndex];
+        mTransforms[index] = mTransforms[lastIndex];
+
+        // Update the entity to component index mapping
+        mMapEntityToComponentIndex[lastEntity] = index;
+    }
+    else {
+
+        // Call the destructors on the component values
+        destroyComponent(index);
+    }
+
+    // Update the entity to component index mapping
+    mMapEntityToComponentIndex.remove(entity);
+
+    mNbComponents--;
+}
+
+// Destroy a component at a given index
+void TransformComponents::destroyComponent(uint32 index) {
+
+    mEntities[index].~Entity();
+    mTransforms[index].~Transform();
+}

src/components/TransformComponents.h

@@ -0,0 +1,140 @@
+/********************************************************************************
+* ReactPhysics3D physics library, http://www.reactphysics3d.com                 *
+* Copyright (c) 2010-2018 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_TRANSFORM_COMPONENTS_H
+#define REACTPHYSICS3D_TRANSFORM_COMPONENTS_H
+
+// Libraries
+#include "mathematics/Transform.h"
+#include "engine/Entity.h"
+#include "containers/Map.h"
+
+// ReactPhysics3D namespace
+namespace reactphysics3d {
+
+// Class declarations
+class MemoryAllocator;
+class EntityManager;
+
+// Class TransformComponents
+/**
+ * This class represent the component of the ECS that contains the transforms of the
+ * different entities. The position and orientation of the bodies are stored there.
+ */
+class TransformComponents {
+
+    private:
+
+        // -------------------- Constants -------------------- //
+
+        /// Number of components to allocated at the beginning
+        const uint32 INIT_ALLOCATED_COMPONENTS = 10;
+
+        /// Number of valid entities to hit before stopping garbage collection
+        const uint32 GARBAGE_COLLECTION_MAX_VALID_ENTITIES = 5;
+
+        const size_t COMPONENT_DATA_SIZE = sizeof(Entity) + sizeof(Transform);
+
+        // -------------------- Attributes -------------------- //
+
+        /// Memory allocator
+        MemoryAllocator& mMemoryAllocator;
+
+        /// Current number of components
+        uint32 mNbComponents;
+
+        /// Number of allocated components
+        uint32 mNbAllocatedComponents;
+
+        /// Allocated memory for all the data of the components
+        void* mBuffer;
+
+        /// Map an entity to the index of its component in the array
+        Map<Entity, uint32> mMapEntityToComponentIndex;
+
+        /// Array of entities of each component
+        Entity* mEntities;
+
+        /// Array of transform of each component
+        Transform* mTransforms;
+
+        // -------------------- Methods -------------------- //
+
+        /// Remove a component at a given index
+        void removeComponent(uint32 index);
+
+        /// Destroy a component at a given index
+        void destroyComponent(uint32 index);
+
+    public:
+
+        /// Structure for the data of a transform component
+        struct TransformComponent {
+
+            const Transform& transform;
+
+            /// Constructor
+            TransformComponent(const Transform& transform) : transform(transform) {
+
+            }
+        };
+
+        // -------------------- Methods -------------------- //
+
+        /// Constructor
+        TransformComponents(MemoryAllocator& allocator);
+
+        /// Destructor
+        ~TransformComponents();
+
+        /// Allocate memory for a given number of components
+        void allocate(uint32 nbComponentsToAllocate);
+
+        /// Add a component
+        void addComponent(Entity entity, const TransformComponent& component);
+
+        /// Perform garbage collection to remove unused components
+        void garbageCollection(const EntityManager& entityManager);
+
+        /// Return the transform of an entity
+        Transform& getTransform(Entity entity) const;
+
+        /// Set the transform of an entity
+        void setTransform(Entity entity, const Transform& transform);
+};
+
+// Return the transform of an entity
+inline Transform& TransformComponents::getTransform(Entity entity) const {
+    return mTransforms[mMapEntityToComponentIndex[entity]];
+}
+
+// Set the transform of an entity
+inline void TransformComponents::setTransform(Entity entity, const Transform& transform) {
+    mTransforms[mMapEntityToComponentIndex[entity]] = transform;
+}
+
+}
+
+#endif

src/configuration.h

@@ -53,8 +53,6 @@ using uint = unsigned int;
 using uchar = unsigned char;
 using ushort = unsigned short;
 using luint = long unsigned int;
-using bodyindex = luint;
-using bodyindexpair = Pair<bodyindex, bodyindex>;
 
 using int8 = std::int8_t;
 using uint8 = std::uint8_t;
@@ -63,6 +61,10 @@ using uint16 = std::uint16_t;
 using int32 = std::int32_t;
 using uint32 = std::uint32_t;
 
+// TODO : Delete this
+using bodyindex = luint;
+using bodyindexpair = Pair<bodyindex, bodyindex>;
+
 // ------------------- Enumerations ------------------- //
 
 /// Position correction technique used in the constraint solver (for joints).

src/engine/CollisionWorld.cpp

@@ -37,7 +37,9 @@ uint CollisionWorld::mNbWorlds = 0;
 
 // Constructor
 CollisionWorld::CollisionWorld(const WorldSettings& worldSettings, Logger* logger, Profiler* profiler)
-               : mConfig(worldSettings), mCollisionDetection(this, mMemoryManager), mBodies(mMemoryManager.getPoolAllocator()), mCurrentBodyId(0),
+               : mConfig(worldSettings), mEntityManager(mMemoryManager.getPoolAllocator()),
+                 mTransformComponents(mMemoryManager.getBaseAllocator()),
+                 mCollisionDetection(this, mMemoryManager), mBodies(mMemoryManager.getPoolAllocator()), mCurrentBodyId(0),
                  mFreeBodiesIds(mMemoryManager.getPoolAllocator()), mEventListener(nullptr), mName(worldSettings.worldName),
                  mIsProfilerCreatedByUser(profiler != nullptr),
                  mIsLoggerCreatedByUser(logger != nullptr) {
@@ -138,16 +140,22 @@ CollisionWorld::~CollisionWorld() {
  */
 CollisionBody* CollisionWorld::createCollisionBody(const Transform& transform) {
 
+    // Create a new entity for the body
+    Entity entity = mEntityManager.createEntity();
+
     // Get the next available body ID
     bodyindex bodyID = computeNextAvailableBodyId();
 
     // Largest index cannot be used (it is used for invalid index)
     assert(bodyID < std::numeric_limits<reactphysics3d::bodyindex>::max());
 
+    // Add a transform component
+    mTransformComponents.addComponent(entity, TransformComponents::TransformComponent(transform));
+
     // Create the collision body
     CollisionBody* collisionBody = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool,
                                         sizeof(CollisionBody)))
-                                        CollisionBody(transform, *this, bodyID);
+                                        CollisionBody(transform, *this, entity, bodyID);
 
     assert(collisionBody != nullptr);
 
@@ -189,6 +197,9 @@ void CollisionWorld::destroyCollisionBody(CollisionBody* collisionBody) {
     // Reset the contact manifold list of the body
     collisionBody->resetContactManifoldsList();
 
+    // Destroy the corresponding entity
+    mEntityManager.destroyEntity(collisionBody->getEntity());
+
     // Call the destructor of the collision body
     collisionBody->~CollisionBody();
 

src/engine/CollisionWorld.h

@@ -32,6 +32,8 @@
 #include "collision/CollisionDetection.h"
 #include "constraint/Joint.h"
 #include "memory/MemoryManager.h"
+#include "engine/EntityManager.h"
+#include "components/TransformComponents.h"
 
 /// Namespace reactphysics3d
 namespace reactphysics3d {
@@ -66,6 +68,12 @@ class CollisionWorld {
         /// Configuration of the physics world
         WorldSettings mConfig;
 
+        /// Entity Manager for the ECS
+        EntityManager mEntityManager;
+
+        /// Transform Components
+        TransformComponents mTransformComponents;
+
         /// Reference to the collision detection
         CollisionDetection mCollisionDetection;
 
@@ -190,6 +198,7 @@ class CollisionWorld {
         friend class CollisionDetection;
         friend class CollisionBody;
         friend class RigidBody;
+        friend class ProxyShape;
         friend class ConvexMeshShape;
 };
 

src/engine/DynamicsWorld.cpp

@@ -417,15 +417,21 @@ void DynamicsWorld::solvePositionCorrection() {
  */
 RigidBody* DynamicsWorld::createRigidBody(const Transform& transform) {
 
+    // Create a new entity for the body
+    Entity entity = mEntityManager.createEntity();
+
     // Compute the body ID
     bodyindex bodyID = computeNextAvailableBodyId();
 
     // Largest index cannot be used (it is used for invalid index)
     assert(bodyID < std::numeric_limits<reactphysics3d::bodyindex>::max());
 
+    // Add a transform component
+    mTransformComponents.addComponent(entity, TransformComponents::TransformComponent(transform));
+
     // Create the rigid body
     RigidBody* rigidBody = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool,
-                                                        sizeof(RigidBody))) RigidBody(transform, *this, bodyID);
+                                     sizeof(RigidBody))) RigidBody(transform, *this, entity, bodyID);
     assert(rigidBody != nullptr);
 
     // Add the rigid body to the physics world
@@ -471,6 +477,9 @@ void DynamicsWorld::destroyRigidBody(RigidBody* rigidBody) {
     // Reset the contact manifold list of the body
     rigidBody->resetContactManifoldsList();
 
+    // Destroy the corresponding entity
+    mEntityManager.destroyEntity(rigidBody->getEntity());
+
     // Call the destructor of the rigid body
     rigidBody->~RigidBody();
 

src/engine/Entity.cpp

@@ -0,0 +1,60 @@
+/********************************************************************************
+* ReactPhysics3D physics library, http://www.reactphysics3d.com                 *
+* Copyright (c) 2010-2018 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 "Entity.h"
+#include <cassert>
+
+using namespace reactphysics3d;
+
+// Static members initialization
+const uint32 Entity::ENTITY_INDEX_BITS = 24;
+const uint32 Entity::ENTITY_INDEX_MASK = (1 << Entity::ENTITY_INDEX_BITS) - 1;
+const uint32 Entity::ENTITY_GENERATION_BITS = 8;
+const uint32 Entity::ENTITY_GENERATION_MASK = (1 << Entity::ENTITY_GENERATION_BITS) - 1;
+const uint32 Entity::MINIMUM_FREE_INDICES = 1024;
+
+// Constructor
+Entity::Entity(uint32 index, uint32 generation)
+       :id((index & ENTITY_INDEX_MASK) | ((generation & ENTITY_GENERATION_MASK) << ENTITY_INDEX_BITS)) {
+
+    uint32 test1 = index & ENTITY_INDEX_MASK;
+    uint32 test2 = (generation & ENTITY_INDEX_MASK) << ENTITY_INDEX_BITS;
+    uint32 test3 = test1 | test2;
+    uint32 test = getIndex();
+    assert(getIndex() == index);
+    assert(getGeneration() == generation);
+}
+
+// Assignment operator
+Entity& Entity::operator=(const Entity& entity) {
+
+    if (&entity != this) {
+
+        id = entity.id;
+    }
+
+    return *this;
+}

src/engine/Entity.h

@@ -0,0 +1,144 @@
+/********************************************************************************
+* ReactPhysics3D physics library, http://www.reactphysics3d.com                 *
+* Copyright (c) 2010-2018 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_ENTITY_H
+#define REACTPHYSICS3D_ENTITY_H
+
+// Libraries
+#include "configuration.h"
+
+/// Namespace reactphysics3d
+namespace reactphysics3d {
+
+// Structure Entity
+/**
+ * This class is used to identify an entity in the Entity-Component-System.
+ * Entities are used for bodies in the physics engine. The id of an entity is
+ * a 32 bits integer that is separated in two parts. The index and the generation
+ * parts. The idea is that the index part directly gives us the index of the entity
+ * in a lookup array. However, we want to support deletion of the entities. That's why
+ * we have the generation part. This number is used to distinguish the entities created
+ * at the same index in the array. If it is the case, we will increase the generation number
+ * each time.
+ *
+ * We use 24 bits for the index. Therefore, we support 16 millions simultaneous entries.
+ * We use 8 bits for the generation. Therefore, we support 256 entries created at the same index.
+ * To prevent reaching the 256 entries too fast, we make sure that we do not reuse the same index
+ * slot too ofen. To do that, we put recycled indices in a queue and only reuse values from that
+ * queue when it contains at least MINIMUM_FREE_INDICES values. It means, an id will reappear until
+ * its index has run 256 laps through the queue. It means that we must create and destroy at least
+ * 256 * MINIMUM_FREE_INDICES entities until an id can reappear. This seems reasonably safe.
+ *
+ * This implementation is based on the following article:
+ * http://bitsquid.blogspot.com/2014/08/building-data-oriented-entity-system.html
+ */
+struct Entity {
+
+    private:
+
+        /// Number of bits reserved for the index
+        static const uint32 ENTITY_INDEX_BITS;
+
+        /// Mask for the index part of the id
+        static const uint32 ENTITY_INDEX_MASK;
+
+        /// Number of bits reserved for the generation number
+        static const uint32 ENTITY_GENERATION_BITS;
+
+        /// Mask for the generation part of the id
+        static const uint32 ENTITY_GENERATION_MASK;
+
+        /// Minimum of free indices in the queue before we reuse one from the queue
+        static const uint32 MINIMUM_FREE_INDICES;
+
+    public:
+
+        // -------------------- Attributes -------------------- //
+
+        /// Id of the entity
+        uint32 id;
+
+        // -------------------- Methods -------------------- //
+
+        /// Constructor
+        Entity(uint32 index, uint32 generation);
+
+        /// Return the lookup index of the entity in a array
+        uint32 getIndex() const;
+
+        /// Return the generation number of the entity
+        uint32 getGeneration() const;
+
+        /// Assignment operator
+        Entity& operator=(const Entity& entity);
+
+        /// Equality operator
+        bool operator==(const Entity& entity) const;
+
+        /// Inequality operator (it != end())
+        bool operator!=(const Entity& entity) const;
+
+        // -------------------- Friendship -------------------- //
+
+        friend class EntityManager;
+
+};
+
+// Return the lookup index of the entity in a array
+inline uint32 Entity::getIndex() const {
+    return id & ENTITY_INDEX_MASK;
+}
+
+// Return the generation number of the entity
+inline uint32 Entity::getGeneration() const {
+    return (id >> ENTITY_INDEX_BITS) & ENTITY_GENERATION_MASK;
+}
+
+// Equality operator
+inline bool Entity::operator==(const Entity& entity) const {
+
+    return entity.id == id;
+}
+
+// Inequality operator (it != end())
+inline bool Entity::operator!=(const Entity& entity) const {
+    return entity.id != id;
+}
+
+}
+
+// Hash function for a reactphysics3d Entity
+namespace std {
+
+  template <> struct hash<reactphysics3d::Entity> {
+
+    size_t operator()(const reactphysics3d::Entity& entity) const {
+
+        return entity.id;
+    }
+  };
+}
+
+#endif

src/engine/EntityManager.cpp

@@ -0,0 +1,75 @@
+/********************************************************************************
+* ReactPhysics3D physics library, http://www.reactphysics3d.com                 *
+* Copyright (c) 2010-2018 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 "EntityManager.h"
+#include "Entity.h"
+
+using namespace reactphysics3d;
+
+// Constructor
+EntityManager::EntityManager(MemoryAllocator& allocator)
+              :mGenerations(allocator), mFreeIndices(allocator) {
+
+}
+
+// Create a new entity
+Entity EntityManager::createEntity() {
+
+    uint32 index;
+
+    // If there are already enough free indices to start using them
+    if (mFreeIndices.size() > Entity::MINIMUM_FREE_INDICES) {
+
+        // Recycle an index from the free indices
+        index = mFreeIndices.getFront();
+        mFreeIndices.popFront();
+    }
+    else {
+
+        // We start at generation 0
+        mGenerations.add(0);
+
+        // Create a new indice
+        index = static_cast<uint32>(mGenerations.size()) - 1;
+
+        assert(index < (1 << Entity::ENTITY_INDEX_BITS));
+    }
+
+    // Return a new entity
+    return Entity(index, mGenerations[index]);
+}
+
+// Destroy an entity
+void EntityManager::destroyEntity(Entity entity) {
+
+    const uint32 index = entity.getIndex();
+
+    // Increment the generation of this index
+    mGenerations[index]++;
+
+    // Add the index into the deque of free indices
+    mFreeIndices.addBack(index);
+}

src/engine/EntityManager.h

@@ -0,0 +1,80 @@
+/********************************************************************************
+* ReactPhysics3D physics library, http://www.reactphysics3d.com                 *
+* Copyright (c) 2010-2018 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_ENTITY_MANAGER_H
+#define REACTPHYSICS3D_ENTITY_MANAGER_H
+
+// Libraries
+#include "configuration.h"
+#include "containers/List.h"
+#include "containers/Deque.h"
+#include "engine/Entity.h"
+
+/// Namespace reactphysics3d
+namespace reactphysics3d {
+
+// Class EntityManager
+/**
+ * This class is responsible to manage the entities of the ECS.
+ */
+class EntityManager {
+
+    private:
+
+        // -------------------- Attributes -------------------- //
+
+        /// List storing the generations of the created entities
+        List<uint8> mGenerations;
+
+        /// Deque with the indices of destroyed entities that can be reused
+        Deque<uint32> mFreeIndices;
+
+        // -------------------- Methods -------------------- //
+
+    public:
+
+        // -------------------- Methods -------------------- //
+
+        /// Constructor
+        EntityManager(MemoryAllocator& allocator);
+
+        /// Create a new entity
+        Entity createEntity();
+
+        /// Destroy an entity
+        void destroyEntity(Entity entity);
+
+        /// Return true if the entity is still valid (not destroyed)
+        bool isValid(Entity entity) const;
+};
+
+// Return true if the entity is still valid (not destroyed)
+inline bool EntityManager::isValid(Entity entity) const {
+    return mGenerations[entity.getIndex()] == entity.getGeneration();
+}
+
+}
+
+#endif