Small refactor

include/bounce/softbody/softbody.h

@@ -19,11 +19,9 @@
 #ifndef B3_SOFT_BODY_H
 #define B3_SOFT_BODY_H
 
-#include <bounce/common/math/transform.h>
+#include <bounce/softbody/softbody_contact_manager.h>
 #include <bounce/common/memory/stack_allocator.h>
 
-#include <bounce/collision/broad_phase.h>
-
 class b3World;
 
 struct b3SoftBodyMesh;
@@ -141,16 +139,14 @@ public:
 	// Debug draw the body using the associated mesh.
 	void Draw() const;
 private:
-	friend struct b3SoftBodyNode;
+	friend class b3SoftBodyContactManager;
 	friend class b3SoftBodySolver;
 	friend class b3SoftBodyForceSolver;
+	friend struct b3SoftBodyNode;
 
 	// Compute mass of each node.
 	void ComputeMass();
 
-	// Update contacts.
-	void UpdateContacts();
-
 	// Solve
 	void Solve(float32 dt, const b3Vec3& gravity, u32 velocityIterations, u32 positionIterations);
 
@@ -190,8 +186,8 @@ private:
 	// Soft body triangles
 	b3SoftBodyTriangle* m_triangles;
 
-	// Broadphase
-	b3BroadPhase m_broadPhase;
+	// Contact manager
+	b3SoftBodyContactManager m_contactManager;
 
 	// Attached world
 	b3World* m_world;
@@ -207,11 +203,6 @@ inline b3Vec3 b3SoftBody::GetGravity() const
 	return m_gravity;
 }
 
-inline void b3SoftBody::SetWorld(b3World* world)
-{
-	m_world = world;
-}
-
 inline const b3World* b3SoftBody::GetWorld() const
 {
 	return m_world;

include/bounce/softbody/softbody_contact_manager.h

@@ -0,0 +1,48 @@
+/*
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef B3_SOFTBODY_CONTACT_MANAGER_H
+#define B3_SOFTBODY_CONTACT_MANAGER_H
+
+#include <bounce/softbody/softbody_node_body_contact.h>
+#include <bounce/collision/broad_phase.h>
+#include <bounce/common/memory/block_pool.h>
+#include <bounce/common/template/list.h>
+
+class b3SoftBody;
+
+// Contact delegator for b3SoftBody.
+class b3SoftBodyContactManager
+{
+public:
+	b3SoftBodyContactManager();
+
+	void FindNewBodyContacts();
+	void AddNSPair(b3SoftBodyNode* n1, b3Shape* s2);
+	void UpdateBodyContacts();
+
+	b3NodeBodyContact* CreateNodeBodyContact();
+	void Destroy(b3NodeBodyContact* c);
+
+	b3BlockPool m_nodeBodyContactBlocks;
+	b3SoftBody* m_body;
+	b3BroadPhase m_broadPhase;
+	b3List2<b3NodeBodyContact> m_nodeBodyContactList;
+};
+
+#endif

include/bounce/softbody/softbody_node.h

@@ -23,37 +23,7 @@
 #include <bounce/common/math/vec3.h>
 #include <bounce/common/math/transform.h>
 
-class b3Shape;
 class b3SoftBody;
-struct b3SoftBodyNode;
-
-// A contact between a node and a body
-struct b3NodeBodyContact
-{
-	b3SoftBodyNode* n1;
-	b3Shape* s2;
-
-	// Contact constraint
-	b3Vec3 normal1;
-	b3Vec3 localPoint1;
-	b3Vec3 localPoint2;
-	float32 normalImpulse;
-
-	// Friction constraint
-	b3Vec3 t1, t2;
-	b3Vec2 tangentImpulse;
-
-	bool active;
-};
-
-struct b3NodeBodyContactWorldPoint
-{
-	void Initialize(const b3NodeBodyContact* c, float32 rA, const b3Transform& xfA, float32 rB, const b3Transform& xfB);
-	
-	b3Vec3 point;
-	b3Vec3 normal;
-	float32 separation;
-};
 
 // Static node: Can be moved manually.
 // Kinematic node: Non-zero velocity, can be moved by the solver.
@@ -117,9 +87,11 @@ public:
 	void ApplyForce(const b3Vec3& force);
 private:
 	friend class b3SoftBody;
+	friend class b3SoftBodyContactManager;
 	friend class b3SoftBodySolver;
 	friend class b3SoftBodyForceSolver;
 	friend class b3SoftBodyContactSolver;
+	friend class b3NodeBodyContact;
 
 	b3SoftBodyNode() { }
 
@@ -128,6 +100,9 @@ private:
 	// Synchronize node
 	void Synchronize(const b3Vec3& displacement);
 
+	// Destroy associated contacts
+	void DestroyContacts();
+
 	// Type
 	b3SoftBodyNodeType m_type;
 
@@ -161,9 +136,6 @@ private:
 	// Soft body mesh vertex index.
 	u32 m_vertex;
 
-	// Node and body contact
-	b3NodeBodyContact m_bodyContact;
-
 	// Broadphase proxy
 	u32 m_broadPhaseId;
 
@@ -187,7 +159,7 @@ inline void b3SoftBodyNode::SetType(b3SoftBodyNodeType type)
 		Synchronize(b3Vec3_zero);
 	}
 
-	m_bodyContact.active = false;
+	DestroyContacts();
 }
 
 inline b3SoftBodyNodeType b3SoftBodyNode::GetType() const

include/bounce/softbody/softbody_node_body_contact.h

@@ -0,0 +1,78 @@
+/*
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef B3_SOFT_BODY_NODE_BODY_CONTACT_H
+#define B3_SOFT_BODY_NODE_BODY_CONTACT_H
+
+#include <bounce/common/template/list.h>
+#include <bounce/common/math/vec2.h>
+#include <bounce/common/math/vec3.h>
+#include <bounce/common/math/transform.h>
+
+struct b3SoftBodyNode;
+class b3Shape;
+
+// A contact between a node and a body
+class b3NodeBodyContact
+{
+public:
+private:
+	friend class b3List2<b3NodeBodyContact>;
+	friend class b3SoftBody;
+	friend class b3SoftBodyContactManager;
+	friend struct b3SoftBodyNode;
+	friend class b3SoftBodySolver;
+	friend class b3SoftBodyContactSolver;
+	friend struct b3NodeBodyContactWorldPoint;
+
+	b3NodeBodyContact() { }
+	~b3NodeBodyContact() { }
+	
+	void Update();
+
+	b3SoftBodyNode* m_n1;
+	b3Shape* m_s2;
+
+	// Is the contact active?
+	bool m_active;
+	
+	// Contact constraint
+	b3Vec3 m_normal1;
+	b3Vec3 m_localPoint1;
+	b3Vec3 m_localPoint2;
+	float32 m_normalImpulse;
+
+	// Friction constraint
+	b3Vec3 m_tangent1, m_tangent2;
+	b3Vec2 m_tangentImpulse;
+
+	// List pointers into the soft body
+	b3NodeBodyContact* m_prev;
+	b3NodeBodyContact* m_next;
+};
+
+struct b3NodeBodyContactWorldPoint
+{
+	void Initialize(const b3NodeBodyContact* c, float32 rA, const b3Transform& xfA, float32 rB, const b3Transform& xfB);
+
+	b3Vec3 point;
+	b3Vec3 normal;
+	float32 separation;
+};
+
+#endif