change class to structure for consistency

include/bounce/collision/gjk/gjk.h

@@ -23,7 +23,7 @@
 
 ///////////////////////////////////////////////////////////////////////////////////////////////////
 
-class b3GJKProxy;
+struct b3GJKProxy;
 struct b3SimplexCache;
 
 struct b3SimplexVertex

include/bounce/collision/gjk/gjk_proxy.h

@@ -22,10 +22,12 @@
 #include <bounce/common/math/vec3.h>
 
 // A GJK proxy encapsulates any convex hull to be used by the GJK.
-class b3GJKProxy
+struct b3GJKProxy
 {
-public:
+	const b3Vec3* vertices; // vertices in this proxy
-	b3GJKProxy() : m_vertices(NULL), m_count(0), m_radius(0.0f) { }
+	u32 vertexCount; // number of vertices
+	float32 radius; // proxy radius
+	b3Vec3 vertexBuffer[3]; // vertex buffer for convenience
 
 	// Get the number of vertices in this proxy.
 	u32 GetVertexCount() const;
@@ -39,31 +41,26 @@ public:
 	// Convenience function.
 	// Get the support vertex in a given direction.
 	const b3Vec3& GetSupportVertex(const b3Vec3& direction) const;
-
-	const b3Vec3* m_vertices; // vertices in this proxy
-	u32 m_count; // number of vertices
-	float32 m_radius; // shape radius
-	b3Vec3 m_buffer[3]; // vertices from a child shape
 };
 
 inline u32 b3GJKProxy::GetVertexCount() const
 {
-	return m_count;
+	return vertexCount;
 }
 
 inline const b3Vec3& b3GJKProxy::GetVertex(u32 index) const
 {
-	B3_ASSERT(0 <= index && index < m_count);
+	B3_ASSERT(0 <= index && index < vertexCount);
-	return m_vertices[index];
+	return vertices[index];
 }
 
 inline u32 b3GJKProxy::GetSupportIndex(const b3Vec3& d) const
 {
 	u32 maxIndex = 0;
-	float32 maxProjection = b3Dot(d, m_vertices[maxIndex]);
+	float32 maxProjection = b3Dot(d, vertices[maxIndex]);
-	for (u32 i = 1; i < m_count; ++i)
+	for (u32 i = 1; i < vertexCount; ++i)
 	{
-		float32 projection = b3Dot(d, m_vertices[i]);
+		float32 projection = b3Dot(d, vertices[i]);
 		if (projection > maxProjection)
 		{
 			maxIndex = i;
@@ -76,7 +73,7 @@ inline u32 b3GJKProxy::GetSupportIndex(const b3Vec3& d) const
 inline const b3Vec3& b3GJKProxy::GetSupportVertex(const b3Vec3& d) const
 {
 	u32 index = GetSupportIndex(d);
-	return m_vertices[index];
+	return vertices[index];
 }
 
 #endif

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

@@ -42,11 +42,10 @@ struct b3ConvexCache
 };
 
 // Used for computing the distance between two generic shapes.
-class b3ShapeGJKProxy : public b3GJKProxy
+struct b3ShapeGJKProxy : public b3GJKProxy
 {
-public:
 	b3ShapeGJKProxy() { }
-	
+
 	b3ShapeGJKProxy(const b3Shape* shape, u32 index)
 	{
 		Set(shape, index);

src/bounce/collision/gjk/gjk.cpp

@@ -708,8 +708,8 @@ b3GJKOutput b3GJK(const b3Transform& xf1, const b3GJKProxy& proxy1,
 	// Apply radius if requested.
 	if (applyRadius)
 	{
-		float32 r1 = proxy1.m_radius;
+		float32 r1 = proxy1.radius;
-		float32 r2 = proxy2.m_radius;
+		float32 r2 = proxy2.radius;
 
 		if (output.distance > r1 + r2 && output.distance > B3_EPSILON)
 		{

src/bounce/dynamics/contacts/collide/collide.cpp

@@ -34,25 +34,25 @@ void b3ShapeGJKProxy::Set(const b3Shape* shape, u32 index)
 	case e_sphereShape:
 	{
 		const b3SphereShape* sphere = (b3SphereShape*)shape;
-		m_count = 1;
+		vertexCount = 1;
-		m_vertices = &sphere->m_center;
+		vertices = &sphere->m_center;
-		m_radius = sphere->m_radius;
+		radius = sphere->m_radius;
 		break;
 	}
 	case e_capsuleShape:
 	{
 		const b3CapsuleShape* capsule = (b3CapsuleShape*)shape;
-		m_count = 2;
+		vertexCount = 2;
-		m_vertices = capsule->m_centers;
+		vertices = capsule->m_centers;
-		m_radius = capsule->m_radius;
+		radius = capsule->m_radius;
 		break;
 	}
 	case e_hullShape:
 	{
 		const b3HullShape* hull = (b3HullShape*)shape;
-		m_count = hull->m_hull->vertexCount;
+		vertexCount = hull->m_hull->vertexCount;
-		m_vertices = hull->m_hull->vertices;
+		vertices = hull->m_hull->vertices;
-		m_radius = hull->m_radius;
+		radius = hull->m_radius;
 		break;
 	}
 	case e_meshShape:
@@ -64,13 +64,13 @@ void b3ShapeGJKProxy::Set(const b3Shape* shape, u32 index)
 
 		const b3Triangle& triangle = mesh->m_mesh->GetTriangle(index);
 
-		m_buffer[0] = mesh->m_mesh->vertices[triangle.v1];
+		vertexBuffer[0] = mesh->m_mesh->vertices[triangle.v1];
-		m_buffer[1] = mesh->m_mesh->vertices[triangle.v2];
+		vertexBuffer[1] = mesh->m_mesh->vertices[triangle.v2];
-		m_buffer[2] = mesh->m_mesh->vertices[triangle.v3];
+		vertexBuffer[2] = mesh->m_mesh->vertices[triangle.v3];
 
-		m_count = 3;
+		vertexCount = 3;
-		m_vertices = m_buffer;
+		vertices = vertexBuffer;
-		m_radius = mesh->m_radius;
+		radius = mesh->m_radius;
 		break;
 	}
 	default: