Applied a bugfix on constraint solver and removed some frozen code

include/bounce/cloth/cloth.h

@@ -153,9 +153,6 @@ private:
 	// Update body contacts. 
 	void UpdateBodyContacts();
 
-	// Update particle contacts. 
-	void UpdateParticleContacts();
-
 	// Update contacts
 	void UpdateContacts();
 
@@ -183,17 +180,11 @@ private:
 	// Pool of particles
 	b3BlockPool m_particleBlocks;
 
-	// Pool of particle contacts
-	b3BlockPool m_particleContactBlocks;
-
 	// List of particles
 	b3List2<b3Particle> m_particleList;
 	
 	// List of forces
 	b3List2<b3Force> m_forceList;
-
-	// List of particle contacts
-	b3List2<b3ParticleContact> m_particleContactList;
 };
 
 inline void b3Cloth::SetGravity(const b3Vec3& gravity)

include/bounce/cloth/cloth_contact_solver.h

@@ -28,7 +28,6 @@ class b3Particle;
 class b3Body;
 
 class b3BodyContact;
-class b3ParticleContact;
 
 struct b3DenseVec3;
 
@@ -76,44 +75,11 @@ struct b3ClothSolverBodyContactPositionConstraint
 	b3Vec3 rA;
 	b3Vec3 rB;
 
+	b3Vec3 normalA;
 	b3Vec3 localPointA;
 	b3Vec3 localPointB;
 };
 
-struct b3ClothSolverParticleContactVelocityConstraint
-{
-	u32 indexA;
-	float32 invMassA;
-
-	u32 indexB;
-	float32 invMassB;
-
-	float32 friction;
-
-	b3Vec3 point;
-
-	b3Vec3 normal;
-	float32 normalMass;
-	float32 normalImpulse;
-	float32 velocityBias;
-
-	b3Vec3 tangent1;
-	b3Vec3 tangent2;
-	b3Mat22 tangentMass;
-	b3Vec2 tangentImpulse;
-};
-
-struct b3ClothSolverParticleContactPositionConstraint
-{
-	u32 indexA;
-	float32 invMassA;
-	float32 radiusA;
-
-	u32 indexB;
-	float32 invMassB;
-	float32 radiusB;
-};
-
 struct b3ClothContactSolverDef
 {
 	b3StackAllocator* allocator;
@@ -123,9 +89,6 @@ struct b3ClothContactSolverDef
 	
 	u32 bodyContactCount;
 	b3BodyContact** bodyContacts;
-	
-	u32 particleContactCount;
-	b3ParticleContact** particleContacts;
 };
 
 inline float32 b3MixFriction(float32 u1, float32 u2)
@@ -141,19 +104,13 @@ public:
 
 	void InitializeBodyContactConstraints();
 
-	void InitializeParticleContactConstraints();
-
 	void WarmStart();
 
 	void SolveBodyContactVelocityConstraints();
 
-	void SolveParticleContactVelocityConstraints();
-
 	void StoreImpulses();
 
 	bool SolveBodyContactPositionConstraints();
-
-	bool SolveParticleContactPositionConstraints();
 protected:
 	b3StackAllocator* m_allocator;
 
@@ -164,11 +121,6 @@ protected:
 	b3BodyContact** m_bodyContacts;
 	b3ClothSolverBodyContactVelocityConstraint* m_bodyVelocityConstraints;
 	b3ClothSolverBodyContactPositionConstraint* m_bodyPositionConstraints;
-
-	u32 m_particleContactCount;
-	b3ParticleContact** m_particleContacts;
-	b3ClothSolverParticleContactVelocityConstraint* m_particleVelocityConstraints;
-	b3ClothSolverParticleContactPositionConstraint* m_particlePositionConstraints;
 };
 
 #endif

include/bounce/cloth/cloth_solver.h

@@ -41,7 +41,6 @@ struct b3ClothSolverDef
 	u32 particleCapacity;
 	u32 forceCapacity;
 	u32 bodyContactCapacity;
-	u32 particleContactCapacity;
 };
 
 struct b3ClothSolverData

include/bounce/cloth/particle.h

@@ -103,36 +103,6 @@ struct b3BodyContactWorldPoint
 	float32 separation;
 };
 
-// A contact between two particles
-class b3ParticleContact
-{
-public:
-	b3ParticleContact() { }
-	~b3ParticleContact() { }
-
-	b3Particle* p1;
-	b3Particle* p2;
-
-	// Contact constraint
-	float32 normalImpulse;
-
-	// Friction constraint
-	b3Vec3 t1, t2;
-	b3Vec2 tangentImpulse;
-
-	b3ParticleContact* m_prev;
-	b3ParticleContact* m_next;
-};
-
-struct b3ParticleContactWorldPoint
-{
-	void Initialize(const b3ParticleContact* c);
-
-	b3Vec3 point;
-	b3Vec3 normal;
-	float32 separation;
-};
-
 // A cloth particle.
 class b3Particle
 {