switch hull indices to 32-bit indices

include/bounce/collision/shapes/hull.h

@@ -21,26 +21,17 @@
 
 #include <bounce/common/geometry.h>
 
-// The maximum number of vertices that a hull can have.
-#define B3_MAX_HULL_VERTICES (B3_MAX_U8 + 1)
-
-// The maximum number of half-edges a hull can have.
-#define B3_MAX_HULL_EDGES (B3_MAX_U8 + 1)
-
-// The maximum number of faces and planes a hull can have.
-#define B3_MAX_HULL_FACES (B3_MAX_U8 + 1)
-
 struct b3Face
 {
-	u8 edge;
+	u32 edge;
 };
 
 struct b3HalfEdge
 {
-	u8 origin;
-	u8 twin;
-	u8 face;
-	u8 next;
+	u32 origin;
+	u32 twin;
+	u32 face;
+	u32 next;
 };
 
 struct b3Hull

include/bounce/collision/shapes/hull.inl

@@ -1,10 +1,10 @@
 inline b3HalfEdge b3MakeEdge(u32 origin, u32 twin, u32 face, u32 next)
 {
 	b3HalfEdge edge;
-	edge.origin = u8(origin);
-	edge.twin = u8(twin);
-	edge.face = u8(face);
-	edge.next = u8(next);
+	edge.origin = origin;
+	edge.twin = twin;
+	edge.face = face;
+	edge.next = next;
 	return edge;
 }
 

include/bounce/collision/shapes/qhull.h

@@ -20,25 +20,25 @@
 #define B3_Q_HULL_H
 
 #include <bounce/collision/shapes/hull.h>
+#include <bounce/common/template/array.h>
 
 // This hull can be constructed from an array of points.
 struct b3QHull : public b3Hull
 {
-	b3Vec3 hullVertices[B3_MAX_HULL_VERTICES];
-	b3HalfEdge hullEdges[B3_MAX_HULL_EDGES];
-	b3Face hullFaces[B3_MAX_HULL_FACES];
-	b3Plane hullPlanes[B3_MAX_HULL_FACES];
+	b3StackArray<b3Vec3, 256> hullVertices;
+	b3StackArray<b3HalfEdge, 256> hullEdges;
+	b3StackArray<b3Face, 256> hullFaces;
+	b3StackArray<b3Plane, 256> hullPlanes;
 
 	b3QHull()
 	{
-		// Zero the counters since the user manipulates via setters
-		vertices = hullVertices;
+		vertices = hullVertices.Begin();
 		vertexCount = 0;
-		edges = hullEdges;
+		edges = hullEdges.Begin();
 		edgeCount = 0;
-		faces = hullFaces;
+		faces = hullFaces.Begin();
 		faceCount = 0;
-		planes = hullPlanes;
+		planes = hullPlanes.Begin();
 		centroid.SetZero();
 	}
 

include/bounce/dynamics/contacts/collide/clip.h

@@ -22,41 +22,27 @@
 #include <bounce/common/template/array.h>
 #include <bounce/common/geometry.h>
 
-#define B3_NULL_EDGE (0xFF)
+#define B3_NULL_EDGE B3_MAX_U32
 
 // A combination of features used to uniquely identify a vertex on a feature.
 struct b3FeaturePair
 {
-	u8 inEdge1; // incoming edge on hull 1
-	u8 inEdge2; // incoming edge on hull 2
-	u8 outEdge1; // outgoing edge on hull 1
-	u8 outEdge2; // outgoing edge on hull 2
+	u32 inEdge1; // incoming edge on hull 1
+	u32 outEdge1; // outgoing edge on hull 1
+	u32 inEdge2; // incoming edge on hull 2
+	u32 outEdge2; // outgoing edge on hull 2
 };
 
 inline b3FeaturePair b3MakePair(u32 inEdge1, u32 inEdge2, u32 outEdge1, u32 outEdge2)
 {
 	b3FeaturePair out;
-	out.inEdge1 = u8(inEdge1);
-	out.inEdge2 = u8(inEdge2);
-	out.outEdge1 = u8(outEdge1);
-	out.outEdge2 = u8(outEdge2);
+	out.inEdge1 = inEdge1;
+	out.inEdge2 = inEdge2;
+	out.outEdge1 = outEdge1;
+	out.outEdge2 = outEdge2;
 	return out;
 }
 
-// Make a 32-bit key for a feature pair.
-inline u32 b3MakeKey(const b3FeaturePair& featurePair)
-{
-	union b3FeaturePairKey
-	{
-		b3FeaturePair pair;
-		u32 key;
-	};
-
-	b3FeaturePairKey key;
-	key.pair = featurePair;
-	return key.key;
-}
-
 // A clip vertex.
 struct b3ClipVertex
 {
@@ -110,4 +96,4 @@ u32 b3ClipEdgeToFace(b3ClipVertex vOut[2],
 void b3ClipPolygonToFace(b3ClipPolygon& pOut,
 	const b3ClipPolygon& pIn, const b3Transform& xf, float32 r, u32 index, const b3Hull* hull);
 
-#endif
+#endif

include/bounce/dynamics/contacts/manifold.h

@@ -20,10 +20,48 @@
 #define B3_MANIFOLD_H
 
 #include <bounce/common/math/vec2.h>
-#include <bounce/common/geometry.h>
+#include <bounce/dynamics/contacts/collide/clip.h>
 
 #define B3_NULL_TRIANGLE (0xFFFFFFFF)
 
+// A contact manifold point.
+struct b3ManifoldPointKey
+{
+	bool operator==(const b3ManifoldPointKey& other) const
+	{
+		return triangleKey == other.triangleKey &&
+			key1 == other.key1 && key2 == other.key2;
+	}
+
+	u32 triangleKey; 
+	u64 key1; 
+	u64 key2; 
+};
+
+inline b3ManifoldPointKey b3MakeKey(const b3FeaturePair& featurePair)
+{
+	struct b3Key128
+	{
+		u64 key1;
+		u64 key2;
+	};
+
+	union b3FeaturePairKey
+	{
+		b3FeaturePair pair;
+		b3Key128 key;
+	};
+
+	b3FeaturePairKey fpkey;
+	fpkey.pair = featurePair;
+
+	b3ManifoldPointKey key;
+	key.triangleKey = B3_NULL_TRIANGLE;
+	key.key1 = fpkey.key.key1;
+	key.key2 = fpkey.key.key2;
+	return key;
+}
+
 // A contact manifold point.
 struct b3ManifoldPoint
 {
@@ -31,8 +69,7 @@ struct b3ManifoldPoint
 	b3Vec3 localPoint1; // local point on the first shape without its radius
 	b3Vec3 localPoint2; // local point on the other shape without its radius
 
-	u32 triangleKey; // triangle identifier
-	u32 key; // point identifier
+	b3ManifoldPointKey key; // point identifier
 
 	float32 normalImpulse; // normal impulse
 	u32 persisting; // is this point persistent?