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

.gitignore

@@ -1,4 +1,5 @@
 *.sln
+*.VC
 *.vcxproj
 *.vcxproj.user
 *.vcxproj.filters
@@ -8,6 +9,7 @@
 *.opendb
 *.ilk
 *.pdb
+*.ini
 *.idb
 *.pch
 *.ipch
@@ -26,5 +28,6 @@
 *.o
 *.a
 *.i
+*.DS_Store
 build/
 doc/

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.

include/testbed/tests/character_test.h

@@ -61,9 +61,9 @@ public:
 
 	void RayHit()
 	{
-		if (m_rayHit.m_shape)
+		if (m_rayHit.shape)
 		{
-			if (m_rayHit.m_shape->GetBody() != m_character)
+			if (m_rayHit.shape->GetBody() != m_character)
 			{
 				Test::RayHit();
 			}
@@ -72,12 +72,12 @@ public:
 
 	void Step()
 	{
-		if (m_rayHit.m_shape)
+		if (m_rayHit.shape)
 		{
-			if (m_rayHit.m_shape->GetBody() != m_character)
+			if (m_rayHit.shape->GetBody() != m_character)
 			{
-				b3Vec3 point = m_rayHit.m_point;
+				b3Vec3 point = m_rayHit.point;
-				b3Vec3 normal = m_rayHit.m_normal;
+				b3Vec3 normal = m_rayHit.normal;
 
 				const b3Transform& xf = m_character->GetTransform();
 				b3Vec3 n = point - xf.position;

include/testbed/tests/ray_cast.h

@@ -206,16 +206,16 @@ public:
 	{
 		// Perform the ray cast
 		RayCastListener listener;
-		m_world.RayCast(&listener, p1, p2);
+		listener.hit.shape = NULL;
+		m_world.RayCastFirst(&listener, p1, p2);
 
-		i32 hitId = listener.FindClosestHit();
+		RayCastHit hit = listener.hit;
-		if (hitId >= 0)
+		if (hit.shape)
 		{
 			// Replace current hit
-			RayCastHit hit = listener.m_hits[hitId];
+			g_debugDraw->DrawSegment(p1, hit.point, b3Color(0.0f, 1.0f, 0.0f));
-			g_debugDraw->DrawSegment(p1, hit.m_point, b3Color(0.0f, 1.0f, 0.0f));
+			g_debugDraw->DrawPoint(hit.point, b3Color(1.0f, 0.0f, 0.0f));
-			g_debugDraw->DrawPoint(hit.m_point, b3Color(1.0f, 0.0f, 0.0f));
+			g_debugDraw->DrawSegment(hit.point, hit.point + hit.normal, b3Color(1.0f, 1.0f, 1.0f));
-			g_debugDraw->DrawSegment(hit.m_point, hit.m_point + hit.m_normal, b3Color(1.0f, 1.0f, 1.0f));
 		}
 		else
 		{

include/testbed/tests/test.h

@@ -19,10 +19,11 @@
 #ifndef TEST_H
 #define TEST_H
 
+#include <bounce/bounce.h>
+
 #include <glfw/glfw3.h>
 #include <imgui/imgui.h>
 #include "../framework/debug_draw.h"
-#include <bounce/bounce.h>
 
 struct Settings
 {
@@ -83,53 +84,14 @@ struct TestEntry
 	TestCreate create;
 };
 
-enum TestType
+extern TestEntry g_tests[];
-{
-	// Collision
-	e_QHull,
-	e_Cluster,
-	e_Distance,
-	e_CapsuleDistance,
-	e_CapsuleAndCapsule,
-	e_CapsuleAndHull,
-	e_HullAndHull,
-	// Dynamics
-	// Joints
-	e_NewtonCradle,
-	e_Vehicle,
-	e_Door,
-	e_HingeChain,
-	e_Ragdoll,
-	// Contacts
-	e_Quadric,
-	e_MeshContact,
-	// World
-	e_SphereStack,
-	e_CapsuleStack,
-	e_BoxStack,
-	e_ShapeStack,
-	e_Jenga,
-	e_Thin,
-	e_Pyramid,
-	e_Pyramids,
-	// World Queries
-	e_RayCast,
-	e_SensorTest,
-	e_Character,
-	e_BodyTypes,
-	e_VaryingFriction,
-	e_VaryingRestitution,
-	e_testCount
-};
-
-extern TestEntry g_tests[e_testCount];
 
 struct RayCastHit
 {
-	b3Shape* m_shape;
+	b3Shape* shape;
-	b3Vec3 m_point;
+	b3Vec3 point;
-	b3Vec3 m_normal;
+	b3Vec3 normal;
-	float32 m_fraction;
+	float32 fraction;
 };
 
 class RayCastListener : public b3RayCastListener
@@ -137,35 +99,14 @@ class RayCastListener : public b3RayCastListener
 public:
 	float32 ReportShape(b3Shape* shape, const b3Vec3& point, const b3Vec3& normal, float32 fraction)
 	{
-		RayCastHit hit;
+		hit.shape = shape;
-		hit.m_shape = shape;
+		hit.point = point;
-		hit.m_point = point;
+		hit.normal = normal;
-		hit.m_normal = normal;
+		hit.fraction = fraction;
-		hit.m_fraction = fraction;
-
-		m_hits.PushBack(hit);
-
-		// Continue.
 		return 1.0f;
 	}
 
-	int FindClosestHit() const
+	RayCastHit hit;
-	{
-		float32 minFraction = FLT_MAX;
-		int minIndex = -1;
-		for (u32 i = 0; i < m_hits.Count(); ++i)
-		{
-			const RayCastHit* hit = m_hits.Get(i);
-			if (hit->m_fraction < minFraction)
-			{
-				minFraction = hit->m_fraction;
-				minIndex = i;
-			}
-		}
-		return minIndex;
-	}
-
-	b3StackArray<RayCastHit, 256> m_hits;
 };
 
 class Test : public b3ContactListener

premake5.lua

@@ -195,7 +195,7 @@ if os.is "windows" then
     newaction
     {
         trigger = "solution",
-        description = "Build solution",
+        description = "Generate solution",
         execute = function ()
 	    os.execute ( "premake5 clean" )
             os.execute ( "premake5 vs2015" )
@@ -205,7 +205,7 @@ if os.is "windows" then
     newaction
     {
         trigger = "doc",
-        description = "Build documentation",
+        description = "Generate documentation",
         execute = function ()
 	    os.execute ( "doxygen doxyfile" )
 	    os.execute ( "start doc\\api\\html\\index.html" )

src/bounce/dynamics/body.cpp

@@ -335,6 +335,41 @@ bool b3Body::ShouldCollide(const b3Body* other) const
 	return true;
 }
 
+void b3Body::SetType(b3BodyType type)
+{
+	if (m_type == type)
+	{
+		return;
+	}
+
+	m_type = type;
+
+	ResetMass();
+
+	m_force.SetZero();
+	m_torque.SetZero();
+
+	if (m_type == e_staticBody)
+	{
+		m_linearVelocity.SetZero();
+		m_angularVelocity.SetZero();
+		m_sweep.worldCenter0 = m_sweep.worldCenter;
+		m_sweep.orientation0 = m_sweep.orientation;
+		SynchronizeShapes();
+	}
+
+	SetAwake(true);
+
+	DestroyContacts();
+
+	// Move the shape proxies so new contacts can be created.
+	b3BroadPhase* phase = &m_world->m_contactMan.m_broadPhase;
+	for (b3Shape* s = m_shapeList.m_head; s; s = s->m_next)
+	{
+		phase->BufferMove(s->m_broadPhaseID);
+	}
+}
+
 void b3Body::Dump() const
 {
 	i32 bodyIndex = m_islandID;

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

@@ -79,7 +79,7 @@ void b3CollideCapsuleAndCapsule(b3Manifold& manifold,
 			float32 d1 = b3Distance(clipEdgeA[0].position, cp1);
 			float32 d2 = b3Distance(clipEdgeA[1].position, cp2);
 
-			if (d1 <= totalRadius && d2 <= totalRadius)
+			if (d1 > B3_EPSILON && d1 <= totalRadius && d2 > B3_EPSILON && d2 <= totalRadius)
 			{
 				b3Vec3 n1 = (cp1 - clipEdgeA[0].position) / d1;
 				b3Vec3 n2 = (cp2 - clipEdgeA[1].position) / d2;
@@ -123,7 +123,7 @@ void b3CollideCapsuleAndCapsule(b3Manifold& manifold,
 
 	float32 distance = b3Distance(pointA, pointB);
 
-	if (distance > 0.0f)
+	if (distance > B3_EPSILON)
 	{
 		b3Vec3 normal = (pointB - pointA) / distance;
 		b3Vec3 center = 0.5f * (pointA + hullA.radius * normal + pointB - hullB.radius * normal);

src/bounce/dynamics/shapes/capsule_shape.cpp

@@ -17,6 +17,7 @@
 */
 
 #include <bounce/dynamics/shapes/capsule_shape.h>
+#include <bounce/dynamics/time_step.h>
 
 b3CapsuleShape::b3CapsuleShape() 
 {

src/bounce/dynamics/shapes/sphere_shape.cpp

@@ -17,6 +17,7 @@
 */
 
 #include <bounce/dynamics/shapes/sphere_shape.h>
+#include <bounce/dynamics/time_step.h>
 
 b3SphereShape::b3SphereShape() 
 {

src/bounce/dynamics/world.cpp

@@ -377,6 +377,68 @@ void b3World::RayCast(b3RayCastListener* listener, const b3Vec3& p1, const b3Vec
 	m_contactMan.m_broadPhase.RayCast(&callback, input);
 }
 
+struct b3RayCastFirstCallback
+{
+	float32 Report(const b3RayCastInput& input, i32 proxyId)
+	{
+		// Get shape associated with the proxy.
+		void* userData = broadPhase->GetUserData(proxyId);
+		b3Shape* shape = (b3Shape*)userData;
+
+		// Get map from shape local space to world space.
+		b3Transform xf = shape->GetBody()->GetTransform();
+
+		b3RayCastOutput output;
+		bool hit = shape->RayCast(&output, input, xf);
+		if (hit)
+		{
+			// Track minimum time of impact to require less memory.
+			if (output.fraction < output0.fraction)
+			{
+				shape0 = shape;
+				output0 = output;
+			}
+		}
+
+		// Continue the search from where we stopped.
+		return input.maxFraction;
+	}
+
+	b3Shape* shape0;
+	b3RayCastOutput output0; 
+	const b3BroadPhase* broadPhase;
+};
+
+void b3World::RayCastFirst(b3RayCastListener* listener, const b3Vec3& p1, const b3Vec3& p2) const
+{
+	b3RayCastInput input;
+	input.p1 = p1;
+	input.p2 = p2;
+	input.maxFraction = 1.0f;
+
+	b3RayCastFirstCallback callback;
+	callback.shape0 = NULL;
+	callback.output0.fraction = B3_MAX_FLOAT;
+	callback.broadPhase = &m_contactMan.m_broadPhase;
+	
+	// Perform the ray cast.
+	m_contactMan.m_broadPhase.RayCast(&callback, input);
+
+	if (callback.shape0)
+	{
+		// Ray hits closest shape.
+		float32 fraction = callback.output0.fraction;
+		float32 w1 = 1.0f - fraction;
+		float32 w2 = fraction;
+
+		b3Vec3 point = w1 * input.p1 + w2 * input.p2;
+		b3Vec3 normal = callback.output0.normal;
+
+		// Report the intersection to the user.
+		listener->ReportShape(callback.shape0, point, normal, fraction);
+	}
+}
+
 struct b3QueryAABBCallback
 {
 	bool Report(i32 proxyID)

src/testbed/framework/main.cpp

@@ -25,6 +25,7 @@
 GLFWwindow* g_window;
 Settings g_settings;
 Test* g_test;
+u32 g_testCount;
 Camera g_camera;
 DebugDraw* g_debugDraw;
 bool g_leftDown;
@@ -234,7 +235,7 @@ void Interface()
 	ImGui::PushItemWidth(-1.0f);
 
 	ImGui::Text("Test");
-	if (ImGui::Combo("##Test", &g_settings.testID, GetTestName, NULL, e_testCount, e_testCount))
+	if (ImGui::Combo("##Test", &g_settings.testID, GetTestName, NULL, g_testCount, g_testCount))
 	{
 		delete g_test;
 		g_test = g_tests[g_settings.testID].create();
@@ -248,12 +249,12 @@ void Interface()
 	}
 	if (ImGui::Button("Previous", buttonSize))
 	{
-		g_settings.testID = b3Clamp(g_settings.testID - 1, 0, int(e_testCount) - 1);
+		g_settings.testID = b3Clamp(g_settings.testID - 1, 0, int(g_testCount) - 1);
 		g_settings.lastTestID = -1;
 	}
 	if (ImGui::Button("Next", buttonSize))
 	{
-		g_settings.testID = b3Clamp(g_settings.testID + 1, 0, int(e_testCount) - 1);
+		g_settings.testID = b3Clamp(g_settings.testID + 1, 0, int(g_testCount) - 1);
 		g_settings.lastTestID = -1;
 	}
 	if (ImGui::Button("Exit", buttonSize))
@@ -419,12 +420,12 @@ int main(int argc, char** args)
 	sprintf(title, "Bounce Testbed Version %d.%d.%d", b3_version.major, b3_version.minor, b3_version.revision);
 	
 	glfwWindowHint(GLFW_CONTEXT_VERSION_MAJOR, 3);
-    	glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, 0);
+    glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, 0);
     	
 	g_window = glfwCreateWindow(1024, 768, title, NULL, NULL);
 	if (g_window == NULL)
 	{		
-		fprintf(stderr, "Failed to opengl GLFW window\n");
+		fprintf(stderr, "Failed to open GLFW window\n");
 		glfwTerminate();
 		return -1;
 	}
@@ -436,11 +437,13 @@ int main(int argc, char** args)
 	glfwSetKeyCallback(g_window, KeyButton);
 	glfwSetCharCallback(g_window, Char);
 	glfwSwapInterval(1);
+	
 	if (gladLoadGL() == 0)
 	{
+		fprintf(stderr, "Failed to load OpenGL extensions\n");
 		fprintf(stderr, "Error: %d\n", glad_glGetError());
 		glfwTerminate();
-		exit(EXIT_FAILURE);
+		return -1;
 	}
 
 	printf("OpenGL %s, GLSL %s\n", glGetString(GL_VERSION), glGetString(GL_SHADING_LANGUAGE_VERSION));
@@ -457,7 +460,13 @@ int main(int argc, char** args)
 	g_debugDraw = new DebugDraw();
 
 	// Run the testbed
+	g_testCount = 0;
+	while (g_tests[g_testCount].create != NULL)
+	{
+		++g_testCount;
+	}
 	g_test = NULL;
+
 	Run();
 
 	// Destroy the last test
@@ -475,4 +484,5 @@ int main(int argc, char** args)
 
 	// Destroy g_window
 	glfwTerminate();
-}
+	return 0;
+}

src/testbed/framework/test.cpp

@@ -49,7 +49,7 @@ Test::Test()
 	g_camera.m_center.SetZero();
 	g_settings.drawGrid = false;
 
-	m_rayHit.m_shape = NULL;
+	m_rayHit.shape = NULL;
 	m_mouseJoint = NULL;
 
 	{
@@ -358,7 +358,7 @@ void Test::MouseMove(const Ray3& pw)
 {
 	if (m_mouseJoint)
 	{
-		float32 hitFraction = m_rayHit.m_fraction;
+		float32 hitFraction = m_rayHit.fraction;
 		float32 w1 = 1.0f - hitFraction;
 		float32 w2 = hitFraction;
 
@@ -370,7 +370,7 @@ void Test::MouseMove(const Ray3& pw)
 void Test::MouseLeftDown(const Ray3& pw)
 {
 	// Clear the current hit
-	m_rayHit.m_shape = NULL;
+	m_rayHit.shape = NULL;
 	if (m_mouseJoint)
 	{
 		b3Body* groundBody = m_mouseJoint->GetBodyA();
@@ -384,25 +384,23 @@ void Test::MouseLeftDown(const Ray3& pw)
 	b3Vec3 p1 = pw.Start();
 	b3Vec3 p2 = pw.End();
 
-	// Perform the ray cast
 	RayCastListener listener;
-	m_world.RayCast(&listener, p1, p2);
+	listener.hit.shape = NULL;
 
-	int hitId = listener.FindClosestHit();
+	// Perform the ray cast
+	m_world.RayCastFirst(&listener, p1, p2);
 
-	if (hitId >= 0)
+	if (listener.hit.shape)
 	{
-		// Hit
+		m_rayHit = listener.hit;
-		// Replace current hit
+		
-		m_rayHit = listener.m_hits[hitId];
-
 		RayHit();
 	}
 }
 
 void Test::MouseLeftUp(const Ray3& pw)
 {
-	m_rayHit.m_shape = NULL;
+	m_rayHit.shape = NULL;
 	if (m_mouseJoint)
 	{
 		b3Body* groundBody = m_mouseJoint->GetBodyA();		
@@ -418,12 +416,12 @@ void Test::RayHit()
 {
 	b3BodyDef bdef;
 	b3Body* bodyA = m_world.CreateBody(bdef);
-	b3Body* bodyB = m_rayHit.m_shape->GetBody();
+	b3Body* bodyB = m_rayHit.shape->GetBody();
 	
 	b3MouseJointDef def;
 	def.bodyA = bodyA;
 	def.bodyB = bodyB;
-	def.target = m_rayHit.m_point;
+	def.target = m_rayHit.point;
 	def.maxForce = 2000.0f * bodyB->GetMass();
 
 	m_mouseJoint = (b3MouseJoint*)m_world.CreateJoint(def);

src/testbed/framework/test_entries.cpp

@@ -47,7 +47,7 @@
 #include <testbed/tests/varying_friction.h>
 #include <testbed/tests/varying_restitution.h>
 
-TestEntry g_tests[e_testCount] =
+TestEntry g_tests[] =
 {
 	{ "Quickhull Test", &QuickhullTest::Create },
 	{ "Cluster Test", &Cluster::Create },