Merge branch 'master' of https://github.com/tzaeschke/ode4j.git

Conflicts:
	demo/src/test/java/org/ode4j/tests/SpacePerformanceTest.java

CHANGELOG.txt

@@ -1,4 +1,7 @@
 
+- Added new SAP space, PR #43
+- Fixes on SAP space, PR #42 (Piotr)
+- Fixes on removing geoms from space, PR #41 (Piotr)
 - Added support for convex-trimesh collision (Piotr)
 - Fixed scaling of tacc in quickstep (issue #38, Eduard Nicodei)
 - Fixed Common.__ASSERT methods to act correctly if parameter is '0' or 'false', see issue #32

core/src/main/java/org/ode4j/ode/internal/CollideConvexTrimesh.java

@@ -1,42 +1,42 @@
-package org.ode4j.ode.internal;
-
-import org.ode4j.ode.DAABBC;
-import org.ode4j.ode.DColliderFn;
-import org.ode4j.ode.DContactGeomBuffer;
-import org.ode4j.ode.DGeom;
-import org.ode4j.ode.internal.CollisionLibccd.CollideConvexTrimeshTrianglesCCD;
-import org.ode4j.ode.internal.gimpact.GimDynArrayInt;
-import org.ode4j.ode.internal.gimpact.GimGeometry.aabb3f;
-import org.ode4j.ode.internal.gimpact.GimTrimesh;
-
-public class CollideConvexTrimesh implements DColliderFn {
-
-	@Override
-	public int dColliderFn(DGeom o1, DGeom o2, int flags, DContactGeomBuffer contacts) {
-
-		DxGimpact trimesh = (DxGimpact) o2; 
-		GimTrimesh ptrimesh = trimesh.m_collision_trimesh;
-		aabb3f test_aabb = new aabb3f();
-
-		DAABBC aabb = o1.getAABB();
-		test_aabb.minX = (float) aabb.getMin0();
-		test_aabb.maxX = (float) aabb.getMax0();
-		test_aabb.minY = (float) aabb.getMin1();
-		test_aabb.maxY = (float) aabb.getMax1();
-		test_aabb.minZ = (float) aabb.getMin2();
-		test_aabb.maxZ = (float) aabb.getMax2();
-
-		GimDynArrayInt collision_result = GimDynArrayInt.GIM_CREATE_BOXQUERY_LIST();
-		ptrimesh.getAabbSet().gim_aabbset_box_collision(test_aabb, collision_result);
-		int contactcount = 0;
-		if (collision_result.size() != 0) {
-			int[] boxesresult = collision_result.GIM_DYNARRAY_POINTER();
-			ptrimesh.gim_trimesh_locks_work_data();
-			CollideConvexTrimeshTrianglesCCD collideFn = new CollideConvexTrimeshTrianglesCCD();
-			contactcount = collideFn.collide(o1, o2, boxesresult, flags, contacts);
-			ptrimesh.gim_trimesh_unlocks_work_data();
-		}
-		collision_result.GIM_DYNARRAY_DESTROY();
-		return contactcount;
-	}
-}
+package org.ode4j.ode.internal;
+
+import org.ode4j.ode.DAABBC;
+import org.ode4j.ode.DColliderFn;
+import org.ode4j.ode.DContactGeomBuffer;
+import org.ode4j.ode.DGeom;
+import org.ode4j.ode.internal.CollisionLibccd.CollideConvexTrimeshTrianglesCCD;
+import org.ode4j.ode.internal.gimpact.GimDynArrayInt;
+import org.ode4j.ode.internal.gimpact.GimGeometry.aabb3f;
+import org.ode4j.ode.internal.gimpact.GimTrimesh;
+
+public class CollideConvexTrimesh implements DColliderFn {
+
+	@Override
+	public int dColliderFn(DGeom o1, DGeom o2, int flags, DContactGeomBuffer contacts) {
+
+		DxGimpact trimesh = (DxGimpact) o2; 
+		GimTrimesh ptrimesh = trimesh.m_collision_trimesh;
+		aabb3f test_aabb = new aabb3f();
+
+		DAABBC aabb = o1.getAABB();
+		test_aabb.minX = (float) aabb.getMin0();
+		test_aabb.maxX = (float) aabb.getMax0();
+		test_aabb.minY = (float) aabb.getMin1();
+		test_aabb.maxY = (float) aabb.getMax1();
+		test_aabb.minZ = (float) aabb.getMin2();
+		test_aabb.maxZ = (float) aabb.getMax2();
+
+		GimDynArrayInt collision_result = GimDynArrayInt.GIM_CREATE_BOXQUERY_LIST();
+		ptrimesh.getAabbSet().gim_aabbset_box_collision(test_aabb, collision_result);
+		int contactcount = 0;
+		if (collision_result.size() != 0) {
+			int[] boxesresult = collision_result.GIM_DYNARRAY_POINTER();
+			ptrimesh.gim_trimesh_locks_work_data();
+			CollideConvexTrimeshTrianglesCCD collideFn = new CollideConvexTrimeshTrianglesCCD();
+			contactcount = collideFn.collide(o1, o2, boxesresult, flags, contacts);
+			ptrimesh.gim_trimesh_unlocks_work_data();
+		}
+		collision_result.GIM_DYNARRAY_DESTROY();
+		return contactcount;
+	}
+}

core/src/main/java/org/ode4j/ode/internal/DxGeom.java

@@ -382,8 +382,11 @@ void spaceRemove(DxSpace parent, List<DxGeom> geoms) {
 		if (_next != null) {
 			_next._prev = _prev;
 		}
-		parent.setFirst(_next);
-//		parent_space.
+        if (_prev != null) {
+            _prev._next = _next;
+        } else {
+            parent.setFirst(_next);
+        }
 
 		//TODO use HashSet or IdentitySet or ArrayList? Check call hierarchy for type of usage!
 		geoms.remove(this);