Add documentation

src/collision/broadphase/PairManager.h

@@ -115,7 +115,6 @@ inline bool PairManager::isDifferentPair(const BroadPhasePair& pair1, bodyindex
 }
 
 // Return the next power of two of a 32bits integer using a SWAR algorithm
-// TODO : Add documentation
 inline luint PairManager::computeNextPowerOfTwo(luint number) const {
     number |= (number >> 1);
     number |= (number >> 2);
@@ -149,7 +148,8 @@ inline void PairManager::sortIDs(bodyindex &id1, bodyindex &id2) const {
 
 // This method returns an hash value for a 32 bits key
 // using Thomas Wang's hash technique.
-// TODO : Add documentation here
+// This hash function can be found at :
+// http://www.concentric.net/~ttwang/tech/inthash.htm
 inline int PairManager::computeHash32Bits(int key) const {
     key += ~(key << 15);
     key ^=  (key >> 10);

src/collision/broadphase/SweepAndPruneAlgorithm.h

@@ -112,8 +112,12 @@ class SweepAndPruneAlgorithm : public BroadPhaseAlgorithm {
         virtual void updateObject(Body* body, const AABB& aabb);      // Notify the broad-phase that the AABB of an object has changed
 };
 
-// TODO : ADD Documentation for this method
+// Encode a floating value into a integer value in order to
-// Encode a floating value into a integer value
+// work with integer comparison in the Sweep-And-Prune algorithm
+// because it is faster. The main issue when encoding floating
+// number into integer is to keep to sorting order. This is a
+// problem for negative float number. This article describes
+// how to solve this issue : http://www.stereopsis.com/radix.html
 inline uint encodeFloatIntoInteger(float number) {
     uint intNumber = (uint&) number;
     

src/engine/PhysicsWorld.cpp

@@ -56,6 +56,9 @@ RigidBody* PhysicsWorld::createRigidBody(const Transform& transform, decimal mas
         currentBodyID++;
     }
 
+    // Largest index cannot be used (it is used for invalid index)
+    assert(bodyID < std::numeric_limits<reactphysics3d::bodyindex>::max());
+
     // Create the rigid body
     RigidBody* rigidBody = new (memoryPoolRigidBodies.allocateObject()) RigidBody(transform, mass, inertiaTensorLocal, collisionShape, bodyID);