Merge 264ad27 into 5482d88

louis-langholtz · Jul 21, 2021 · 5a258d7 · 5a258d7
2 parents 5482d88 + 264ad27
commit 5a258d7
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Showing 42 changed files with 1,186 additions and 1,172 deletions.
diff --git a/Build/xcode5/PlayRho.xcodeproj/project.pbxproj b/Build/xcode5/PlayRho.xcodeproj/project.pbxproj
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@@ -476,8 +482,6 @@
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-		470F94D71EC8C37500AA3C82 /* JointKey.cpp */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.cpp.cpp; path = JointKey.cpp; sourceTree = "<group>"; };
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@@ -679,6 +683,14 @@
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@@ -1051,14 +1063,18 @@
 				475039901D2180D600D32047 /* DistanceProxy.hpp */,
 				80BB8930141C3E5900F1753A /* DynamicTree.cpp */,
 				80BB8931141C3E5900F1753A /* DynamicTree.hpp */,
+				4791332326A5F58C0011707B /* DynamicTreeData.cpp */,
+				4791332426A5F58C0011707B /* DynamicTreeData.hpp */,
 				4726DD0C1D3014990012A882 /* IndexPair.hpp */,
 				4731DE661DF0A73000E7F931 /* Manifold.cpp */,
 				4726DD351D387D630012A882 /* Manifold.hpp */,
 				4731DE2E1DDF9B6900E7F931 /* MassData.cpp */,
 				47CB343D1D6F3A8500828126 /* MassData.hpp */,
+				479132DD26A52AAF0011707B /* PointState.hpp */,
 				4731DE261DDF84A900E7F931 /* RayCastInput.hpp */,
 				4726DD281D31B4090012A882 /* RayCastOutput.cpp */,
 				4731DE201DDF83A500E7F931 /* RayCastOutput.hpp */,
+				479132F026A52FD00011707B /* RayCastOpcode.hpp */,
 				4731DE631DEF841600E7F931 /* SeparationScenario.cpp */,
 				4731DE5B1DEE3F0600E7F931 /* SeparationScenario.hpp */,
 				80BB8934141C3E5900F1753A /* Shapes */,
@@ -1069,6 +1085,10 @@
 				4734B2241DC29F7C00F15E29 /* SimplexEdge.hpp */,
 				80BB8932141C3E5900F1753A /* TimeOfImpact.cpp */,
 				80BB8933141C3E5900F1753A /* TimeOfImpact.hpp */,
+				479132FD26A5344A0011707B /* ToiConf.cpp */,
+				479132FE26A5344B0011707B /* ToiConf.hpp */,
+				4791330B26A5B90C0011707B /* ToiOutput.cpp */,
+				4791330C26A5B90C0011707B /* ToiOutput.hpp */,
 				47578BE31D886FED0078CD40 /* WorldManifold.cpp */,
 				47578BDE1D8869110078CD40 /* WorldManifold.hpp */,
 			);
@@ -1253,8 +1273,6 @@
 				4787D6BC1F2E968E008C115E /* JointConf.cpp */,
 				4787D6BD1F2E968E008C115E /* JointConf.hpp */,
 				4764087025105DD90090F711 /* JointID.hpp */,
-				470F94D71EC8C37500AA3C82 /* JointKey.cpp */,
-				470F94D81EC8C37500AA3C82 /* JointKey.hpp */,
 				4706451E25336323006E69AA /* LimitState.cpp */,
 				4706451C25336237006E69AA /* LimitState.hpp */,
 				4787D6CC1F2EC902008C115E /* MotorJointConf.cpp */,
@@ -1439,6 +1457,7 @@
 				4764086F250EA5DE0090F711 /* ArrayAllocator.hpp in Headers */,
 				80BB8987141C3E5900F1753A /* PlayRho.hpp in Headers */,
 				4764085325045B3C0090F711 /* UnitInterval.hpp in Headers */,
+				479132DF26A52AAF0011707B /* PointState.hpp in Headers */,
 				47D28D9D1F6F28C70094C032 /* WrongState.hpp in Headers */,
 				4706451B252CE27B006E69AA /* TypeInfo.hpp in Headers */,
 				476408932522698E0090F711 /* WorldMisc.hpp in Headers */,
@@ -1459,6 +1478,7 @@
 				4787D6BB1F2E946E008C115E /* PrismaticJointConf.hpp in Headers */,
 				47C85D1B1F0D9D8D00F70C56 /* Units.hpp in Headers */,
 				470F9B181EDF2959007EF7B6 /* Transformation.hpp in Headers */,
+				4791332626A5F58C0011707B /* DynamicTreeData.hpp in Headers */,
 				4764088D252268A40090F711 /* WorldBody.hpp in Headers */,
 				80BB8992141C3E5900F1753A /* DynamicTree.hpp in Headers */,
 				80BB8994141C3E5900F1753A /* TimeOfImpact.hpp in Headers */,
@@ -1471,6 +1491,7 @@
 				47C85D211F0DA14500F70C56 /* Templates.hpp in Headers */,
 				80BB899A141C3E5900F1753A /* EdgeShapeConf.hpp in Headers */,
 				80BB899C141C3E5900F1753A /* PolygonShapeConf.hpp in Headers */,
+				4791330E26A5B90C0011707B /* ToiOutput.hpp in Headers */,
 				470F9B0C1EDE6340007EF7B6 /* Vector3.hpp in Headers */,
 				47D61F761F1F1F2500E702BD /* DroidSansTtfData.h in Headers */,
 				4764086B250C86640090F711 /* BodyID.hpp in Headers */,
@@ -1484,11 +1505,13 @@
 				4787D6CB1F2EA3A1008C115E /* GearJointConf.hpp in Headers */,
 				4734B22D1DC2B11D00F15E29 /* Simplex.hpp in Headers */,
 				80BB899F141C3E5900F1753A /* BlockAllocator.hpp in Headers */,
+				4791330026A5344B0011707B /* ToiConf.hpp in Headers */,
 				476408942522698E0090F711 /* WorldJoint.hpp in Headers */,
 				4726DD381D387D630012A882 /* Manifold.hpp in Headers */,
 				4731DE5E1DEE3F0600E7F931 /* SeparationScenario.hpp in Headers */,
 				80BB89A2141C3E5900F1753A /* GrowableStack.hpp in Headers */,
 				474BAB301E5D00960058E08A /* BodyConstraint.hpp in Headers */,
+				479132F226A52FD00011707B /* RayCastOpcode.hpp in Headers */,
 				80BB89A4141C3E5900F1753A /* Math.hpp in Headers */,
 				47E36F501FE8477000C10B79 /* FixedLimits.hpp in Headers */,
 				47E36F541FE8534500C10B79 /* FixedMath.hpp in Headers */,
@@ -1528,7 +1551,6 @@
 				4768D3FD1E414A0100574143 /* Vector2.hpp in Headers */,
 				477DB2AD1D1C4BE800846ED6 /* PositionSolverManifold.hpp in Headers */,
 				470463EE250305C900614373 /* CheckedValue.hpp in Headers */,
-				470F94DB1EC8C37500AA3C82 /* JointKey.hpp in Headers */,
 				4731DE291DDF84A900E7F931 /* RayCastInput.hpp in Headers */,
 				478E67C71E760AB7009B9AD5 /* BodyType.hpp in Headers */,
 				4787D6D31F2ECB8E008C115E /* TargetJointConf.hpp in Headers */,
@@ -1910,6 +1932,7 @@
 				47E7060B255CDBEE00A55BC1 /* ConstraintSolverConf.cpp in Sources */,
 				470F94D51EC649B300AA3C82 /* ContactKey.cpp in Sources */,
 				80BB898F141C3E5900F1753A /* Distance.cpp in Sources */,
+				4791332526A5F58C0011707B /* DynamicTreeData.cpp in Sources */,
 				4764089F25226E180090F711 /* WorldContact.cpp in Sources */,
 				4787D6D61F2ECD87008C115E /* PulleyJointConf.cpp in Sources */,
 				80BB8991141C3E5900F1753A /* DynamicTree.cpp in Sources */,
@@ -1930,7 +1953,6 @@
 				80BB89A3141C3E5900F1753A /* Math.cpp in Sources */,
 				47B58F551F570E2C00354C34 /* DynamicMemory.cpp in Sources */,
 				4764088B251FA6360090F711 /* StepStats.cpp in Sources */,
-				470F94D91EC8C37500AA3C82 /* JointKey.cpp in Sources */,
 				476162C81E245C9D002C7FB0 /* CodeDumper.cpp in Sources */,
 				47363E8620027FE2005912B1 /* ContactImpulsesList.cpp in Sources */,
 				80BB89A7141C3E5900F1753A /* StackAllocator.cpp in Sources */,
@@ -1942,6 +1964,7 @@
 				4731DE641DEF841600E7F931 /* SeparationScenario.cpp in Sources */,
 				47578BE41D886FED0078CD40 /* WorldManifold.cpp in Sources */,
 				80BB89B1141C3E5900F1753A /* Island.cpp in Sources */,
+				479132FF26A5344B0011707B /* ToiConf.cpp in Sources */,
 				47D6D59E2672B5CA00AF32B4 /* DistanceConf.cpp in Sources */,
 				47640887251F11630090F711 /* WorldImplJoint.cpp in Sources */,
 				475039911D2180D600D32047 /* DistanceProxy.cpp in Sources */,
@@ -1955,6 +1978,7 @@
 				80BB89BE141C3E5900F1753A /* Contact.cpp in Sources */,
 				80BB89C0141C3E5900F1753A /* ContactSolver.cpp in Sources */,
 				4787D6C21F2E9DC0008C115E /* DistanceJointConf.cpp in Sources */,
+				4791330D26A5B90C0011707B /* ToiOutput.cpp in Sources */,
 				479DEBAD268155E50070497D /* Sweep.cpp in Sources */,
 				4787D6DE1F2ED2D6008C115E /* RopeJointConf.cpp in Sources */,
 				4764089C25226E180090F711 /* WorldJoint.cpp in Sources */,

diff --git a/PlayRho/Collision/AABB.hpp b/PlayRho/Collision/AABB.hpp
@@ -36,6 +36,8 @@
 
 namespace playrho {
 
+class Contact;
+
 namespace detail {
 
 template <std::size_t N>
@@ -378,7 +380,6 @@ inline ::std::ostream& operator<<(::std::ostream& os, const AABB<N>& value)
 namespace d2 {
 
 class Shape;
-class Contact;
 class DistanceProxy;
 struct Transformation;
 class World;

diff --git a/PlayRho/Collision/Collision.cpp b/PlayRho/Collision/Collision.cpp
@@ -19,6 +19,7 @@
 
 #include <PlayRho/Collision/Collision.hpp>
 #include <PlayRho/Collision/Manifold.hpp>
+
 #include <cmath>
 
 namespace playrho {

diff --git a/PlayRho/Collision/Collision.hpp b/PlayRho/Collision/Collision.hpp
@@ -27,22 +27,10 @@
 #include <PlayRho/Common/Math.hpp>
 #include <PlayRho/Common/ArrayList.hpp>
 #include <PlayRho/Collision/ContactFeature.hpp>
-
-#include <array>
-#include <type_traits>
+#include <PlayRho/Collision/PointState.hpp>
 
 namespace playrho {
 
-/// @brief Point state enumeration.
-/// @note This is used for determining the state of contact points.
-enum class PointState
-{
-    NullState, ///< point does not exist
-    AddState, ///< point was added in the update
-    PersistState, ///< point persisted across the update
-    RemoveState ///< point was removed in the update
-};
-
 /// @brief Point states.
 /// @details The states pertain to the transition from an old manifold to a new manifold.
 ///   So state 1 is either persist or remove while state 2 is either add or persist.

diff --git a/PlayRho/Collision/ContactFeature.hpp b/PlayRho/Collision/ContactFeature.hpp
@@ -27,7 +27,7 @@
 
 namespace playrho {
 
-/// @brief Contact Feature.
+/// @brief The contact feature.
 /// @details The features that intersect to form the contact point.
 /// @note This structure is designed to be compact and passed-by-value.
 /// @note This data structure is 4-bytes large.
@@ -110,7 +110,7 @@ constexpr bool operator!=(ContactFeature lhs, ContactFeature rhs) noexcept
 }
 
 /// @brief Gets the human readable name for the given contact feature type.
-inline const char* GetName(ContactFeature::Type type) noexcept
+constexpr const char* GetName(ContactFeature::Type type) noexcept
 {
     switch (type)
     {