generate contact when body type changes at runtime, decoupling, add first ray cast hit query to world query (more to add later such as sphere/box/convex casts), hotfix

include/bounce/collision/broad_phase.h

@@ -49,6 +49,10 @@ public:
 	// Return true if the proxy has moved.
 	bool MoveProxy(i32 proxyId, const b3AABB3& aabb, const b3Vec3& displacement);
 
+	// Add a proxy to the list of moved proxies.
+	// Only moved proxies will be used internally as an AABB query reference object.
+	void BufferMove(i32 proxyId);
+
 	// Get the AABB of a given proxy.
 	const b3AABB3& GetAABB(i32 proxyId) const;
 
@@ -77,10 +81,6 @@ public:
 private :
 	friend class b3DynamicTree;
 	
-	// Add a proxy to the list of moved proxies.
-	// Only moved proxies will be used as an AABB query reference object.
-	void BufferMove(i32 proxyId);
-
 	// The client callback used to add an overlapping pair
 	// to the overlapping pair buffer.
 	bool Report(i32 proxyId);

include/bounce/common/math/mat33.h

@@ -208,34 +208,6 @@ inline b3Mat33 b3Outer(const b3Vec3& a, const b3Vec3& b)
 	return b3Mat33(b.x * a, b.y * a, b.z * a);
 }
 
-// Move an inertia tensor from the its current center
-// to another.
-inline b3Mat33 b3MoveToCOM(const b3Mat33& inertia, float32 mass, const b3Vec3& center)
-{
-	// Paralell Axis Theorem
-	// J = I + m * dot(r, r) * E - outer(r, r)
-	// where
-	// I - inertia about the center of mass
-	// m - mass
-	// E - identity 3x3
-	// r - displacement vector from the current com to the new com
-	// J - inertia tensor at the new center of rotation
-	float32 dd = b3Dot(center, center);
-	b3Mat33 A = b3Diagonal(mass * dd);
-	b3Mat33 B = b3Outer(center, center);
-	return inertia + A - B;
-}
-
-// Compute the inertia matrix of a body measured in 
-// inertial frame (variable over time) given the 
-// inertia matrix in body-fixed frame (constant) 
-// and a rotation matrix representing the orientation 
-// of the body frame relative to the inertial frame.
-inline b3Mat33 b3RotateToFrame(const b3Mat33& inertia, const b3Mat33& rotation)
-{
-	return rotation * inertia * b3Transpose(rotation);
-}
-
 // Compute an orthogonal basis given one of its vectors.
 // The vector must be normalized.
 inline b3Mat33 b3Basis(const b3Vec3& a)
@@ -250,6 +222,7 @@ inline b3Mat33 b3Basis(const b3Vec3& a)
 	{
 		A.y.Set(0.0f, a.z, -a.y);
 	}
+	A.x = a;
 	A.y = b3Normalize(A.y);
 	A.z = b3Cross(a, A.y);
 	return A;

include/bounce/dynamics/body.h

@@ -24,6 +24,7 @@
 #include <bounce/common/math/quat.h>
 #include <bounce/common/math/transform.h>
 #include <bounce/common/template/list.h>
+#include <bounce/dynamics/time_step.h>
 
 class b3World;
 class b3Shape;
@@ -328,32 +329,6 @@ inline b3BodyType b3Body::GetType() const
 	return m_type; 
 }
 
-inline void b3Body::SetType(b3BodyType type) 
-{
-	if (m_type == type) 
-	{
-		return;
-	}
-
-	m_type = type;
-
-	ResetMass();
-
-	if (m_type == e_staticBody) 
-	{
-		m_linearVelocity.SetZero();
-		m_angularVelocity.SetZero();
-		SynchronizeShapes();
-	}
-
-	SetAwake(true);
-
-	m_force.SetZero();
-	m_torque.SetZero();
-
-	DestroyContacts();
-}
-
 inline void* b3Body::GetUserData() const 
 { 
 	return m_userData; 
@@ -430,6 +405,11 @@ inline const b3Sweep& b3Body::GetSweep() const
 	return m_sweep;
 }
 
+inline bool b3Body::IsAwake() const
+{
+	return (m_flags & e_awakeFlag) != 0;
+}
+
 inline void b3Body::SetAwake(bool flag) 
 {
 	if (flag) 
@@ -451,11 +431,6 @@ inline void b3Body::SetAwake(bool flag)
 	}
 }
 
-inline bool b3Body::IsAwake() const 
-{
-	return (m_flags & e_awakeFlag) != 0;
-}
-
 inline float32 b3Body::GetGravityScale() const
 { 
 	return m_gravityScale; 

include/bounce/dynamics/time_step.h

@@ -51,6 +51,34 @@ enum b3LimitState
 	e_equalLimits
 };
 
+// Move an inertia tensor from the its current center
+// to another.
+inline b3Mat33 b3MoveToCOM(const b3Mat33& inertia, float32 mass, const b3Vec3& center)
+{
+	// Paralell Axis Theorem
+	// J = I + m * dot(r, r) * E - outer(r, r)
+	// where
+	// I - inertia about the center of mass
+	// m - mass
+	// E - identity 3x3
+	// r - displacement vector from the current com to the new com
+	// J - inertia tensor at the new center of rotation
+	float32 dd = b3Dot(center, center);
+	b3Mat33 A = b3Diagonal(mass * dd);
+	b3Mat33 B = b3Outer(center, center);
+	return inertia + A - B;
+}
+
+// Compute the inertia matrix of a body measured in 
+// inertial frame (variable over time) given the 
+// inertia matrix in body-fixed frame (constant) 
+// and a rotation matrix representing the orientation 
+// of the body frame relative to the inertial frame.
+inline b3Mat33 b3RotateToFrame(const b3Mat33& inertia, const b3Mat33& rotation)
+{
+	return rotation * inertia * b3Transpose(rotation);
+}
+
 // Compute the time derivative of an orientation given
 // the angular velocity of the rotating frame represented by the orientation.
 inline b3Quat b3Derivative(const b3Quat& orientation, const b3Vec3& velocity)

include/bounce/dynamics/world.h

@@ -85,11 +85,19 @@ public:
 	
 	// Perform a ray cast with the world.
 	// The given ray cast listener will be notified when a ray intersects a shape 
-	// in the world. The ray cast output is the intercepted shape, the intersection 
+	// in the world. 
+	// The ray cast output is the intercepted shape, the intersection 
 	// point in world space, the face normal on the shape associated with the point, 
 	// and the intersection fraction.
 	void RayCast(b3RayCastListener* listener, const b3Vec3& p1, const b3Vec3& p2) const;
 
+	// Convenience function.
+	// Perform a ray cast with the world.
+	// If there is an intersection then the given ray cast listener will be notified once with 
+	// the shape closest to the ray origin and the associated ray cast output. 
+	// @todo Centralize all queries to a common scene query class?
+	void RayCastFirst(b3RayCastListener* listener, const b3Vec3& p1, const b3Vec3& p2) const;
+
 	// Perform a AABB cast with the world.
 	// The query listener will be notified when two shape AABBs are overlapping.
 	// If the listener returns false then the query is stopped immediately.