diff --git a/ephysics/body/Body.cpp b/ephysics/body/Body.cpp index 375be15..3df1dd7 100644 --- a/ephysics/body/Body.cpp +++ b/ephysics/body/Body.cpp @@ -18,6 +18,6 @@ ephysics::Body::Body(bodyindex _id): m_isActive(true), m_isSleeping(false), m_sleepTime(0), - m_userData(nullptr) { + m_userData(null) { } \ No newline at end of file diff --git a/ephysics/body/CollisionBody.cpp b/ephysics/body/CollisionBody.cpp index c4e5ba1..b45f2a4 100644 --- a/ephysics/body/CollisionBody.cpp +++ b/ephysics/body/CollisionBody.cpp @@ -18,15 +18,15 @@ CollisionBody::CollisionBody(const etk::Transform3D& _transform, CollisionWorld& Body(_id), m_type(DYNAMIC), m_transform(_transform), - m_proxyCollisionShapes(nullptr), + m_proxyCollisionShapes(null), m_numberCollisionShapes(0), - m_contactManifoldsList(nullptr), + m_contactManifoldsList(null), m_world(_world) { } CollisionBody::~CollisionBody() { - assert(m_contactManifoldsList == nullptr); + assert(m_contactManifoldsList == null); // Remove all the proxy collision shapes of the body removeAllCollisionShapes(); @@ -46,7 +46,7 @@ ProxyShape* CollisionBody::addCollisionShape(CollisionShape* _collisionShape, // Create a proxy collision shape to attach the collision shape to the body ProxyShape* proxyShape = ETK_NEW(ProxyShape, this, _collisionShape,_transform, float(1)); // Add it to the list of proxy collision shapes of the body - if (m_proxyCollisionShapes == nullptr) { + if (m_proxyCollisionShapes == null) { m_proxyCollisionShapes = proxyShape; } else { proxyShape->m_next = m_proxyCollisionShapes; @@ -68,12 +68,12 @@ void CollisionBody::removeCollisionShape(const ProxyShape* _proxyShape) { m_world.m_collisionDetection.removeProxyCollisionShape(current); } ETK_DELETE(ProxyShape, current); - current = nullptr; + current = null; m_numberCollisionShapes--; return; } // Look for the proxy shape that contains the collision shape in parameter - while(current->m_next != nullptr) { + while(current->m_next != null) { // If we have found the collision shape to remove if (current->m_next == _proxyShape) { // Remove the proxy collision shape @@ -83,7 +83,7 @@ void CollisionBody::removeCollisionShape(const ProxyShape* _proxyShape) { m_world.m_collisionDetection.removeProxyCollisionShape(elementToRemove); } ETK_DELETE(ProxyShape, elementToRemove); - elementToRemove = nullptr; + elementToRemove = null; m_numberCollisionShapes--; return; } @@ -96,7 +96,7 @@ void CollisionBody::removeCollisionShape(const ProxyShape* _proxyShape) { void CollisionBody::removeAllCollisionShapes() { ProxyShape* current = m_proxyCollisionShapes; // Look for the proxy shape that contains the collision shape in parameter - while(current != nullptr) { + while(current != null) { // Remove the proxy collision shape ProxyShape* nextElement = current->m_next; if (m_isActive) { @@ -106,26 +106,26 @@ void CollisionBody::removeAllCollisionShapes() { // Get the next element in the list current = nextElement; } - m_proxyCollisionShapes = nullptr; + m_proxyCollisionShapes = null; } void CollisionBody::resetContactManifoldsList() { // Delete the linked list of contact manifolds of that body ContactManifoldListElement* currentElement = m_contactManifoldsList; - while (currentElement != nullptr) { + while (currentElement != null) { ContactManifoldListElement* nextElement = currentElement->next; // Delete the current element ETK_DELETE(ContactManifoldListElement, currentElement); currentElement = nextElement; } - m_contactManifoldsList = nullptr; + m_contactManifoldsList = null; } void CollisionBody::updateBroadPhaseState() const { // For all the proxy collision shapes of the body - for (ProxyShape* shape = m_proxyCollisionShapes; shape != nullptr; shape = shape->m_next) { + for (ProxyShape* shape = m_proxyCollisionShapes; shape != null; shape = shape->m_next) { // Update the proxy updateProxyShapeInBroadPhase(shape); } @@ -147,13 +147,13 @@ void CollisionBody::setIsActive(bool _isActive) { Body::setIsActive(_isActive); // If we have to activate the body if (_isActive == true) { - for (ProxyShape* shape = m_proxyCollisionShapes; shape != nullptr; shape = shape->m_next) { + for (ProxyShape* shape = m_proxyCollisionShapes; shape != null; shape = shape->m_next) { AABB aabb; shape->getCollisionShape()->computeAABB(aabb, m_transform * shape->m_localToBodyTransform); m_world.m_collisionDetection.addProxyCollisionShape(shape, aabb); } } else { - for (ProxyShape* shape = m_proxyCollisionShapes; shape != nullptr; shape = shape->m_next) { + for (ProxyShape* shape = m_proxyCollisionShapes; shape != null; shape = shape->m_next) { m_world.m_collisionDetection.removeProxyCollisionShape(shape); } resetContactManifoldsList(); @@ -162,7 +162,7 @@ void CollisionBody::setIsActive(bool _isActive) { void CollisionBody::askForBroadPhaseCollisionCheck() const { - for (ProxyShape* shape = m_proxyCollisionShapes; shape != nullptr; shape = shape->m_next) { + for (ProxyShape* shape = m_proxyCollisionShapes; shape != null; shape = shape->m_next) { m_world.m_collisionDetection.askForBroadPhaseCollisionCheck(shape); } } @@ -173,7 +173,7 @@ int32_t CollisionBody::resetIsAlreadyInIslandAndCountManifolds() { int32_t nbManifolds = 0; // Reset the m_isAlreadyInIsland variable of the contact manifolds for this body ContactManifoldListElement* currentElement = m_contactManifoldsList; - while (currentElement != nullptr) { + while (currentElement != null) { currentElement->contactManifold->m_isAlreadyInIsland = false; currentElement = currentElement->next; nbManifolds++; @@ -182,7 +182,7 @@ int32_t CollisionBody::resetIsAlreadyInIslandAndCountManifolds() { } bool CollisionBody::testPointInside(const vec3& _worldPoint) const { - for (ProxyShape* shape = m_proxyCollisionShapes; shape != nullptr; shape = shape->m_next) { + for (ProxyShape* shape = m_proxyCollisionShapes; shape != null; shape = shape->m_next) { if (shape->testPointInside(_worldPoint)) return true; } return false; @@ -194,7 +194,7 @@ bool CollisionBody::raycast(const Ray& _ray, RaycastInfo& _raycastInfo) { } bool isHit = false; Ray rayTemp(_ray); - for (ProxyShape* shape = m_proxyCollisionShapes; shape != nullptr; shape = shape->m_next) { + for (ProxyShape* shape = m_proxyCollisionShapes; shape != null; shape = shape->m_next) { // Test if the ray hits the collision shape if (shape->raycast(rayTemp, _raycastInfo)) { rayTemp.maxFraction = _raycastInfo.hitFraction; @@ -206,11 +206,11 @@ bool CollisionBody::raycast(const Ray& _ray, RaycastInfo& _raycastInfo) { AABB CollisionBody::getAABB() const { AABB bodyAABB; - if (m_proxyCollisionShapes == nullptr) { + if (m_proxyCollisionShapes == null) { return bodyAABB; } m_proxyCollisionShapes->getCollisionShape()->computeAABB(bodyAABB, m_transform * m_proxyCollisionShapes->getLocalToBodyTransform()); - for (ProxyShape* shape = m_proxyCollisionShapes->m_next; shape != nullptr; shape = shape->m_next) { + for (ProxyShape* shape = m_proxyCollisionShapes->m_next; shape != null; shape = shape->m_next) { AABB aabb; shape->getCollisionShape()->computeAABB(aabb, m_transform * shape->getLocalToBodyTransform()); bodyAABB.mergeWithAABB(aabb); diff --git a/ephysics/body/RigidBody.cpp b/ephysics/body/RigidBody.cpp index 5e54a7f..a0f6582 100644 --- a/ephysics/body/RigidBody.cpp +++ b/ephysics/body/RigidBody.cpp @@ -23,13 +23,13 @@ RigidBody::RigidBody(const etk::Transform3D& _transform, CollisionWorld& _world, m_isGravityEnabled(true), m_linearDamping(0.0f), m_angularDamping(float(0.0)), - m_jointsList(nullptr) { + m_jointsList(null) { // Compute the inverse mass m_massInverse = 1.0f / m_initMass; } RigidBody::~RigidBody() { - assert(m_jointsList == nullptr); + assert(m_jointsList == null); } @@ -97,23 +97,23 @@ void RigidBody::setMass(float _mass) { } void RigidBody::removeJointFrom_jointsList(const Joint* _joint) { - assert(_joint != nullptr); - assert(m_jointsList != nullptr); + assert(_joint != null); + assert(m_jointsList != null); // Remove the joint from the linked list of the joints of the first body if (m_jointsList->joint == _joint) { // If the first element is the one to remove JointListElement* elementToRemove = m_jointsList; m_jointsList = elementToRemove->next; ETK_DELETE(JointListElement, elementToRemove); - elementToRemove = nullptr; + elementToRemove = null; } else { // If the element to remove is not the first one in the list JointListElement* currentElement = m_jointsList; - while (currentElement->next != nullptr) { + while (currentElement->next != null) { if (currentElement->next->joint == _joint) { JointListElement* elementToRemove = currentElement->next; currentElement->next = elementToRemove->next; ETK_DELETE(JointListElement, elementToRemove); - elementToRemove = nullptr; + elementToRemove = null; break; } currentElement = currentElement->next; @@ -129,7 +129,7 @@ ProxyShape* RigidBody::addCollisionShape(CollisionShape* _collisionShape, // Create a new proxy collision shape to attach the collision shape to the body ProxyShape* proxyShape = ETK_NEW(ProxyShape, this, _collisionShape, _transform, _mass); // Add it to the list of proxy collision shapes of the body - if (m_proxyCollisionShapes == nullptr) { + if (m_proxyCollisionShapes == null) { m_proxyCollisionShapes = proxyShape; } else { proxyShape->m_next = m_proxyCollisionShapes; @@ -221,7 +221,7 @@ void RigidBody::recomputeMassInformation() { m_centerOfMassLocal *= m_massInverse; m_centerOfMassWorld = m_transform * m_centerOfMassLocal; // Compute the total mass and inertia tensor using all the collision shapes - for (ProxyShape* shape = m_proxyCollisionShapes; shape != nullptr; shape = shape->m_next) { + for (ProxyShape* shape = m_proxyCollisionShapes; shape != null; shape = shape->m_next) { // Get the inertia tensor of the collision shape in its local-space etk::Matrix3x3 inertiaTensor; shape->getCollisionShape()->computeLocalInertiaTensor(inertiaTensor, shape->getMass()); @@ -254,7 +254,7 @@ void RigidBody::updateBroadPhaseState() const { DynamicsWorld& world = static_cast(m_world); const vec3 displacement = world.m_timeStep * m_linearVelocity; // For all the proxy collision shapes of the body - for (ProxyShape* shape = m_proxyCollisionShapes; shape != nullptr; shape = shape->m_next) { + for (ProxyShape* shape = m_proxyCollisionShapes; shape != null; shape = shape->m_next) { // Recompute the world-space AABB of the collision shape AABB aabb; EPHY_VERBOSE(" : " << aabb.getMin() << " " << aabb.getMax()); diff --git a/ephysics/collision/CollisionDetection.cpp b/ephysics/collision/CollisionDetection.cpp index 1cd9a04..8157ec6 100644 --- a/ephysics/collision/CollisionDetection.cpp +++ b/ephysics/collision/CollisionDetection.cpp @@ -95,7 +95,7 @@ void CollisionDetection::reportCollisionBetweenShapes(CollisionCallback* _callba contactPoint->getLocalPointOnBody1(), contactPoint->getLocalPointOnBody2()); // Notify the collision callback about this new contact - if (_callback != nullptr) { + if (_callback != null) { _callback->notifyContact(contactInfo); } } @@ -134,7 +134,7 @@ void CollisionDetection::computeNarrowPhase() { // TODO : Remove all the contact manifold of the overlapping pair from the contact manifolds list of the two bodies involved // Destroy the overlapping pair ETK_DELETE(OverlappingPair, it->second); - it->second = nullptr; + it->second = null; it = m_overlappingPairs.erase(it); continue; } else { @@ -160,7 +160,7 @@ void CollisionDetection::computeNarrowPhase() { const CollisionShapeType shape2Type = shape2->getCollisionShape()->getType(); NarrowPhaseAlgorithm* narrowPhaseAlgorithm = m_collisionMatrix[shape1Type][shape2Type]; // If there is no collision algorithm between those two kinds of shapes - if (narrowPhaseAlgorithm == nullptr) { + if (narrowPhaseAlgorithm == null) { continue; } // Notify the narrow-phase algorithm about the overlapping pair we are going to test @@ -223,7 +223,7 @@ void CollisionDetection::computeNarrowPhaseBetweenShapes(CollisionCallback* _cal // TODO : Remove all the contact manifold of the overlapping pair from the contact manifolds list of the two bodies involved // Destroy the overlapping pair ETK_DELETE(OverlappingPair, it->second); - it->second = nullptr; + it->second = null; it = m_overlappingPairs.erase(it); continue; } else { @@ -250,7 +250,7 @@ void CollisionDetection::computeNarrowPhaseBetweenShapes(CollisionCallback* _cal const CollisionShapeType shape2Type = shape2->getCollisionShape()->getType(); NarrowPhaseAlgorithm* narrowPhaseAlgorithm = m_collisionMatrix[shape1Type][shape2Type]; // If there is no collision algorithm between those two kinds of shapes - if (narrowPhaseAlgorithm == nullptr) { + if (narrowPhaseAlgorithm == null) { continue; } // Notify the narrow-phase algorithm about the overlapping pair we are going to test @@ -295,7 +295,7 @@ void CollisionDetection::broadPhaseNotifyOverlappingPair(ProxyShape* _shape1, Pr _shape2->getCollisionShape()->getType()); // Create the overlapping pair and add it int32_to the set of overlapping pairs OverlappingPair* newPair = ETK_NEW(OverlappingPair, _shape1, _shape2, nbMaxManifolds); - assert(newPair != nullptr); + assert(newPair != null); m_overlappingPairs.set(pairID, newPair); // Wake up the two bodies _shape1->getBody()->setIsSleeping(false); @@ -311,7 +311,7 @@ void CollisionDetection::removeProxyCollisionShape(ProxyShape* _proxyShape) { // TODO : Remove all the contact manifold of the overlapping pair from the contact manifolds list of the two bodies involved // Destroy the overlapping pair ETK_DELETE(OverlappingPair, it->second); - it->second = nullptr; + it->second = null; it = m_overlappingPairs.erase(it); } else { ++it; @@ -359,7 +359,7 @@ void CollisionDetection::addAllContactManifoldsToBodies() { } void CollisionDetection::addContactManifoldToBody(OverlappingPair* _pair) { - assert(_pair != nullptr); + assert(_pair != null); CollisionBody* body1 = _pair->getShape1()->getBody(); CollisionBody* body2 = _pair->getShape2()->getBody(); const ContactManifoldSet& manifoldSet = _pair->getContactManifoldSet(); diff --git a/ephysics/collision/ContactManifold.cpp b/ephysics/collision/ContactManifold.cpp index 5004cc5..071559b 100644 --- a/ephysics/collision/ContactManifold.cpp +++ b/ephysics/collision/ContactManifold.cpp @@ -59,7 +59,7 @@ void ContactManifold::removeContactPoint(uint32_t index) { // Call the destructor explicitly and tell the memory allocator that // the corresponding memory block is now free ETK_DELETE(ContactPoint, m_contactPoints[index]); - m_contactPoints[index] = nullptr; + m_contactPoints[index] = null; // If we don't remove the last index if (index < m_nbContactPoints - 1) { m_contactPoints[index] = m_contactPoints[m_nbContactPoints - 1]; @@ -187,7 +187,7 @@ void ContactManifold::clear() { // Call the destructor explicitly and tell the memory allocator that // the corresponding memory block is now free ETK_DELETE(ContactPoint, m_contactPoints[iii]); - m_contactPoints[iii] = nullptr; + m_contactPoints[iii] = null; } m_nbContactPoints = 0; } diff --git a/ephysics/collision/ContactManifoldSet.cpp b/ephysics/collision/ContactManifoldSet.cpp index bd461ae..27892b1 100644 --- a/ephysics/collision/ContactManifoldSet.cpp +++ b/ephysics/collision/ContactManifoldSet.cpp @@ -77,7 +77,7 @@ void ContactManifoldSet::addContactPoint(ContactPoint* contact) { if (smallestDepthIndex == -1) { // Delete the new contact ETK_DELETE(ContactPoint, contact); - contact = nullptr; + contact = null; return; } assert(smallestDepthIndex >= 0 && smallestDepthIndex < m_nbManifolds); @@ -164,7 +164,7 @@ void ContactManifoldSet::removeManifold(int32_t index) { assert(index >= 0 && index < m_nbManifolds); // Delete the new contact ETK_DELETE(ContactManifold, m_manifolds[index]); - m_manifolds[index] = nullptr; + m_manifolds[index] = null; for (int32_t i=index; (i+1) < m_nbManifolds; i++) { m_manifolds[i] = m_manifolds[i+1]; } diff --git a/ephysics/collision/RaycastInfo.hpp b/ephysics/collision/RaycastInfo.hpp index 9717e68..80663ca 100644 --- a/ephysics/collision/RaycastInfo.hpp +++ b/ephysics/collision/RaycastInfo.hpp @@ -36,8 +36,8 @@ namespace ephysics { RaycastInfo() : meshSubpart(-1), triangleIndex(-1), - body(nullptr), - proxyShape(nullptr) { + body(null), + proxyShape(null) { } diff --git a/ephysics/collision/broadphase/DynamicAABBTree.cpp b/ephysics/collision/broadphase/DynamicAABBTree.cpp index 8159c3f..d3c2a26 100644 --- a/ephysics/collision/broadphase/DynamicAABBTree.cpp +++ b/ephysics/collision/broadphase/DynamicAABBTree.cpp @@ -471,8 +471,8 @@ int32_t DynamicAABBTree::balanceSubTreeAtNode(int32_t _nodeID) { /// Report all shapes overlapping with the AABB given in parameter. void DynamicAABBTree::reportAllShapesOverlappingWithAABB(const AABB& _aabb, etk::Function _callback) const { - if (_callback == nullptr) { - EPHY_ERROR("call with nullptr callback"); + if (_callback == null) { + EPHY_ERROR("call with null callback"); return; } // Create a stack with the nodes to visit @@ -507,8 +507,8 @@ void DynamicAABBTree::reportAllShapesOverlappingWithAABB(const AABB& _aabb, etk: // Ray casting method void DynamicAABBTree::raycast(const ephysics::Ray& _ray, etk::Function _callback) const { PROFILE("DynamicAABBTree::raycast()"); - if (_callback == nullptr) { - EPHY_ERROR("call with nullptr callback"); + if (_callback == null) { + EPHY_ERROR("call with null callback"); return; } float maxFraction = _ray.maxFraction; diff --git a/ephysics/collision/narrowphase/ConcaveVsConvexAlgorithm.cpp b/ephysics/collision/narrowphase/ConcaveVsConvexAlgorithm.cpp index 14843ba..bcc26e5 100644 --- a/ephysics/collision/narrowphase/ConcaveVsConvexAlgorithm.cpp +++ b/ephysics/collision/narrowphase/ConcaveVsConvexAlgorithm.cpp @@ -71,7 +71,7 @@ void ConvexVsTriangleCallback::testTriangle(const vec3* _trianglePoints) { // Select the collision algorithm to use between the triangle and the convex shape NarrowPhaseAlgorithm* algo = m_collisionDetection->getCollisionAlgorithm(triangleShape.getType(), m_convexShape->getType()); // If there is no collision algorithm between those two kinds of shapes - if (algo == nullptr) { + if (algo == null) { return; } // Notify the narrow-phase algorithm about the overlapping pair we are going to test diff --git a/ephysics/collision/narrowphase/DefaultCollisionDispatch.cpp b/ephysics/collision/narrowphase/DefaultCollisionDispatch.cpp index d7f5f7d..a641537 100644 --- a/ephysics/collision/narrowphase/DefaultCollisionDispatch.cpp +++ b/ephysics/collision/narrowphase/DefaultCollisionDispatch.cpp @@ -42,6 +42,6 @@ NarrowPhaseAlgorithm* DefaultCollisionDispatch::selectAlgorithm(int32_t _type1, // Convex vs Convex algorithm (GJK algorithm) return &m_GJKAlgorithm; } else { - return nullptr; + return null; } } diff --git a/ephysics/collision/narrowphase/EPA/EPAAlgorithm.cpp b/ephysics/collision/narrowphase/EPA/EPAAlgorithm.cpp index 4cea217..a320e55 100644 --- a/ephysics/collision/narrowphase/EPA/EPAAlgorithm.cpp +++ b/ephysics/collision/narrowphase/EPA/EPAAlgorithm.cpp @@ -215,10 +215,10 @@ void EPAAlgorithm::computePenetrationDepthAndContactPoints(const Simplex& _simpl suppPointsB[4] = body2Tobody1 * shape2->getLocalSupportPointWithMargin(rotateToBody2 * n, shape2CachedCollisionData); points[4] = suppPointsA[4] - suppPointsB[4]; - TriangleEPA* face0 = nullptr; - TriangleEPA* face1 = nullptr; - TriangleEPA* face2 = nullptr; - TriangleEPA* face3 = nullptr; + TriangleEPA* face0 = null; + TriangleEPA* face1 = null; + TriangleEPA* face2 = null; + TriangleEPA* face3 = null; // If the origin is in the first tetrahedron if (isOriginInTetrahedron(points[0], points[1], points[2], points[3]) == 0) { @@ -244,10 +244,10 @@ void EPAAlgorithm::computePenetrationDepthAndContactPoints(const Simplex& _simpl return; } // If the constructed tetrahedron is not correct - if (!( face0 != nullptr - && face1 != nullptr - && face2 != nullptr - && face3 != nullptr + if (!( face0 != null + && face1 != null + && face2 != null + && face3 != null && face0->getDistSquare() > 0.0 && face1->getDistSquare() > 0.0 && face2->getDistSquare() > 0.0 diff --git a/ephysics/collision/narrowphase/EPA/EdgeEPA.cpp b/ephysics/collision/narrowphase/EPA/EdgeEPA.cpp index a3d8841..eeeae33 100644 --- a/ephysics/collision/narrowphase/EPA/EdgeEPA.cpp +++ b/ephysics/collision/narrowphase/EPA/EdgeEPA.cpp @@ -54,7 +54,7 @@ bool EdgeEPA::computeSilhouette(const vec3* _vertices, uint32_t _indexNewVertex, getTargetVertexIndex(), getSourceVertexIndex()); // If the triangle has been created - if (triangle != nullptr) { + if (triangle != null) { halfLink(EdgeEPA(triangle, 1), *this); return true; } @@ -71,7 +71,7 @@ bool EdgeEPA::computeSilhouette(const vec3* _vertices, uint32_t _indexNewVertex, getTargetVertexIndex(), getSourceVertexIndex()); // If the triangle has been created - if (triangle != nullptr) { + if (triangle != null) { halfLink(EdgeEPA(triangle, 1), *this); return true; } diff --git a/ephysics/collision/narrowphase/NarrowPhaseAlgorithm.cpp b/ephysics/collision/narrowphase/NarrowPhaseAlgorithm.cpp index d1d97f3..9bbe01f 100644 --- a/ephysics/collision/narrowphase/NarrowPhaseAlgorithm.cpp +++ b/ephysics/collision/narrowphase/NarrowPhaseAlgorithm.cpp @@ -11,7 +11,7 @@ using namespace ephysics; NarrowPhaseAlgorithm::NarrowPhaseAlgorithm(): - m_currentOverlappingPair(nullptr) { + m_currentOverlappingPair(null) { } diff --git a/ephysics/collision/shapes/ConcaveMeshShape.cpp b/ephysics/collision/shapes/ConcaveMeshShape.cpp index 6ee14f1..3f6978f 100644 --- a/ephysics/collision/shapes/ConcaveMeshShape.cpp +++ b/ephysics/collision/shapes/ConcaveMeshShape.cpp @@ -41,11 +41,11 @@ void ConcaveMeshShape::initBVHTree() { } void ConcaveMeshShape::getTriangleVerticesWithIndexPointer(int32_t _subPart, int32_t _triangleIndex, vec3* _outTriangleVertices) const { - EPHY_ASSERT(_outTriangleVertices != nullptr, "Input check error"); + EPHY_ASSERT(_outTriangleVertices != null, "Input check error"); // Get the triangle vertex array of the current sub-part TriangleVertexArray* triangleVertexArray = m_triangleMesh->getSubpart(_subPart); - if (triangleVertexArray == nullptr) { - EPHY_ERROR("get nullptr ..."); + if (triangleVertexArray == null) { + EPHY_ERROR("get null ..."); } ephysics::Triangle trianglePoints = triangleVertexArray->getTriangle(_triangleIndex); _outTriangleVertices[0] = trianglePoints[0] * m_scaling; diff --git a/ephysics/collision/shapes/ConvexMeshShape.cpp b/ephysics/collision/shapes/ConvexMeshShape.cpp index 30f68fd..2c02679 100644 --- a/ephysics/collision/shapes/ConvexMeshShape.cpp +++ b/ephysics/collision/shapes/ConvexMeshShape.cpp @@ -74,9 +74,9 @@ ConvexMeshShape::ConvexMeshShape(float _margin): vec3 ConvexMeshShape::getLocalSupportPointWithoutMargin(const vec3& _direction, void** _cachedCollisionData) const { assert(m_numberVertices == m_vertices.size()); - assert(_cachedCollisionData != nullptr); + assert(_cachedCollisionData != null); // Allocate memory for the cached collision data if not allocated yet - if ((*_cachedCollisionData) == nullptr) { + if ((*_cachedCollisionData) == null) { *_cachedCollisionData = (int32_t*) malloc(sizeof(int32_t)); *((int32_t*)(*_cachedCollisionData)) = 0; } diff --git a/ephysics/constraint/ContactPoint.hpp b/ephysics/constraint/ContactPoint.hpp index 26fc3da..55acbca 100644 --- a/ephysics/constraint/ContactPoint.hpp +++ b/ephysics/constraint/ContactPoint.hpp @@ -51,10 +51,10 @@ namespace ephysics { } ContactPointInfo(): - shape1(nullptr), - shape2(nullptr), - collisionShape1(nullptr), - collisionShape2(nullptr) { + shape1(null), + shape2(null), + collisionShape1(null), + collisionShape2(null) { // TODO: add it for etk::Vector } }; diff --git a/ephysics/constraint/Joint.cpp b/ephysics/constraint/Joint.cpp index 19b5884..7a0a147 100644 --- a/ephysics/constraint/Joint.cpp +++ b/ephysics/constraint/Joint.cpp @@ -15,8 +15,8 @@ Joint::Joint(const JointInfo& jointInfo) m_positionCorrectionTechnique(jointInfo.positionCorrectionTechnique), m_isCollisionEnabled(jointInfo.isCollisionEnabled), m_isAlreadyInIsland(false) { - assert(m_body1 != nullptr); - assert(m_body2 != nullptr); + assert(m_body1 != null); + assert(m_body2 != null); } Joint::~Joint() { diff --git a/ephysics/constraint/Joint.hpp b/ephysics/constraint/Joint.hpp index cd08b61..ad28540 100644 --- a/ephysics/constraint/Joint.hpp +++ b/ephysics/constraint/Joint.hpp @@ -50,8 +50,8 @@ namespace ephysics { bool isCollisionEnabled; //!< True if the two bodies of the joint are allowed to collide with each other /// Constructor JointInfo(JointType _constraintType): - body1(nullptr), - body2(nullptr), + body1(null), + body2(null), type(_constraintType), positionCorrectionTechnique(NON_LINEAR_GAUSS_SEIDEL), isCollisionEnabled(true) { diff --git a/ephysics/engine/CollisionWorld.cpp b/ephysics/engine/CollisionWorld.cpp index 45fd0a6..9c1bb91 100644 --- a/ephysics/engine/CollisionWorld.cpp +++ b/ephysics/engine/CollisionWorld.cpp @@ -15,7 +15,7 @@ using namespace std; CollisionWorld::CollisionWorld() : m_collisionDetection(this), m_currentBodyID(0), - m_eventListener(nullptr) { + m_eventListener(null) { } @@ -33,7 +33,7 @@ CollisionBody* CollisionWorld::createCollisionBody(const etk::Transform3D& _tran EPHY_ASSERT(bodyID < UINT64_MAX, "index too big"); // Create the collision body CollisionBody* collisionBody = ETK_NEW(CollisionBody, _transform, *this, bodyID); - EPHY_ASSERT(collisionBody != nullptr, "empty Body collision"); + EPHY_ASSERT(collisionBody != null, "empty Body collision"); // Add the collision body to the world m_bodies.add(collisionBody); // Return the pointer to the rigid body @@ -48,7 +48,7 @@ void CollisionWorld::destroyCollisionBody(CollisionBody* _collisionBody) { // Remove the collision body from the list of bodies m_bodies.erase(m_bodies.find(_collisionBody)); ETK_DELETE(CollisionBody, _collisionBody); - _collisionBody = nullptr; + _collisionBody = null; } bodyindex CollisionWorld::computeNextAvailableBodyID() { @@ -115,7 +115,7 @@ void CollisionWorld::testCollision(const CollisionBody* _body, CollisionCallback etk::Set shapes1; // For each shape of the body for (const ProxyShape* shape = _body->getProxyShapesList(); - shape != nullptr; + shape != null; shape = shape->getNext()) { shapes1.add(shape->m_broadPhaseID); } @@ -130,13 +130,13 @@ void CollisionWorld::testCollision(const CollisionBody* _body1, const CollisionB // Create the sets of shapes etk::Set shapes1; for (const ProxyShape* shape = _body1->getProxyShapesList(); - shape != nullptr; + shape != null; shape = shape->getNext()) { shapes1.add(shape->m_broadPhaseID); } etk::Set shapes2; for (const ProxyShape* shape = _body2->getProxyShapesList(); - shape != nullptr; + shape != null; shape = shape->getNext()) { shapes2.add(shape->m_broadPhaseID); } diff --git a/ephysics/engine/ConstraintSolver.cpp b/ephysics/engine/ConstraintSolver.cpp index a017e2d..1370ab2 100644 --- a/ephysics/engine/ConstraintSolver.cpp +++ b/ephysics/engine/ConstraintSolver.cpp @@ -20,7 +20,7 @@ ConstraintSolver::ConstraintSolver(const etk::Map& _mapBod void ConstraintSolver::initializeForIsland(float _dt, Island* _island) { PROFILE("ConstraintSolver::initializeForIsland()"); - assert(_island != nullptr); + assert(_island != null); assert(_island->getNbBodies() > 0); assert(_island->getNbJoints() > 0); // Set the current time step @@ -42,7 +42,7 @@ void ConstraintSolver::initializeForIsland(float _dt, Island* _island) { void ConstraintSolver::solveVelocityConstraints(Island* _island) { PROFILE("ConstraintSolver::solveVelocityConstraints()"); - assert(_island != nullptr); + assert(_island != null); assert(_island->getNbJoints() > 0); // For each joint of the island Joint** joints = _island->getJoints(); @@ -53,7 +53,7 @@ void ConstraintSolver::solveVelocityConstraints(Island* _island) { void ConstraintSolver::solvePositionConstraints(Island* _island) { PROFILE("ConstraintSolver::solvePositionConstraints()"); - assert(_island != nullptr); + assert(_island != null); assert(_island->getNbJoints() > 0); Joint** joints = _island->getJoints(); for (uint32_t iii=0; iii < _island->getNbJoints(); ++iii) { @@ -63,16 +63,16 @@ void ConstraintSolver::solvePositionConstraints(Island* _island) { void ConstraintSolver::setConstrainedVelocitiesArrays(vec3* _constrainedLinearVelocities, vec3* _constrainedAngularVelocities) { - assert(_constrainedLinearVelocities != nullptr); - assert(_constrainedAngularVelocities != nullptr); + assert(_constrainedLinearVelocities != null); + assert(_constrainedAngularVelocities != null); m_constraintSolverData.linearVelocities = _constrainedLinearVelocities; m_constraintSolverData.angularVelocities = _constrainedAngularVelocities; } void ConstraintSolver::setConstrainedPositionsArrays(vec3* _constrainedPositions, etk::Quaternion* _constrainedOrientations) { - assert(_constrainedPositions != nullptr); - assert(_constrainedOrientations != nullptr); + assert(_constrainedPositions != null); + assert(_constrainedOrientations != null); m_constraintSolverData.positions = _constrainedPositions; m_constraintSolverData.orientations = _constrainedOrientations; } \ No newline at end of file diff --git a/ephysics/engine/ConstraintSolver.hpp b/ephysics/engine/ConstraintSolver.hpp index 9144ffa..2670a45 100644 --- a/ephysics/engine/ConstraintSolver.hpp +++ b/ephysics/engine/ConstraintSolver.hpp @@ -30,10 +30,10 @@ namespace ephysics { bool isWarmStartingActive; //!< True if warm starting of the solver is active /// Constructor ConstraintSolverData(const etk::Map& refMapBodyToConstrainedVelocityIndex): - linearVelocities(nullptr), - angularVelocities(nullptr), - positions(nullptr), - orientations(nullptr), + linearVelocities(null), + angularVelocities(null), + positions(null), + orientations(null), mapBodyToConstrainedVelocityIndex(refMapBodyToConstrainedVelocityIndex) { } diff --git a/ephysics/engine/ContactSolver.cpp b/ephysics/engine/ContactSolver.cpp index 58e0911..d2cc15a 100644 --- a/ephysics/engine/ContactSolver.cpp +++ b/ephysics/engine/ContactSolver.cpp @@ -18,10 +18,10 @@ const float ContactSolver::BETA_SPLIT_IMPULSE = float(0.2); const float ContactSolver::SLOP = float(0.01); ContactSolver::ContactSolver(const etk::Map& _mapBodyToVelocityIndex) : - m_splitLinearVelocities(nullptr), - m_splitAngularVelocities(nullptr), - m_linearVelocities(nullptr), - m_angularVelocities(nullptr), + m_splitLinearVelocities(null), + m_splitAngularVelocities(null), + m_linearVelocities(null), + m_angularVelocities(null), m_mapBodyToConstrainedVelocityIndex(_mapBodyToVelocityIndex), m_isWarmStartingActive(true), m_isSplitImpulseActive(true), @@ -31,11 +31,11 @@ ContactSolver::ContactSolver(const etk::Map& _mapBodyToVel void ContactSolver::initializeForIsland(float _dt, Island* _island) { PROFILE("ContactSolver::initializeForIsland()"); - assert(_island != nullptr); + assert(_island != null); assert(_island->getNbBodies() > 0); assert(_island->getNbContactManifolds() > 0); - assert(m_splitLinearVelocities != nullptr); - assert(m_splitAngularVelocities != nullptr); + assert(m_splitLinearVelocities != null); + assert(m_splitAngularVelocities != null); // Set the current time step m_timeStep = _dt; m_contactConstraints.resize(_island->getNbContactManifolds()); @@ -48,8 +48,8 @@ void ContactSolver::initializeForIsland(float _dt, Island* _island) { // Get the two bodies of the contact RigidBody* body1 = static_cast(externalManifold->getContactPoint(0)->getBody1()); RigidBody* body2 = static_cast(externalManifold->getContactPoint(0)->getBody2()); - assert(body1 != nullptr); - assert(body2 != nullptr); + assert(body1 != null); + assert(body2 != null); // Get the position of the two bodies const vec3& x1 = body1->m_centerOfMassWorld; const vec3& x2 = body2->m_centerOfMassWorld; diff --git a/ephysics/engine/DynamicsWorld.cpp b/ephysics/engine/DynamicsWorld.cpp index 7750859..3f355e1 100644 --- a/ephysics/engine/DynamicsWorld.cpp +++ b/ephysics/engine/DynamicsWorld.cpp @@ -48,7 +48,7 @@ ephysics::DynamicsWorld::~DynamicsWorld() { for (auto &it: m_islands) { // Call the island destructor ETK_DELETE(Island, it); - it = nullptr; + it = null; } m_islands.clear(); // Release the memory allocated for the bodies velocity arrays @@ -80,7 +80,7 @@ void ephysics::DynamicsWorld::update(float timeStep) { PROFILE("ephysics::DynamicsWorld::update()"); m_timeStep = timeStep; // Notify the event listener about the beginning of an int32_ternal tick - if (m_eventListener != nullptr) { + if (m_eventListener != null) { m_eventListener->beginInternalTick(); } // Reset all the contact manifolds lists of each body @@ -107,7 +107,7 @@ void ephysics::DynamicsWorld::update(float timeStep) { updateSleepingBodies(); } // Notify the event listener about the end of an int32_ternal tick - if (m_eventListener != nullptr) { + if (m_eventListener != null) { m_eventListener->endInternalTick(); } // Reset the external force and torque applied to the bodies @@ -326,7 +326,7 @@ ephysics::RigidBody* ephysics::DynamicsWorld::createRigidBody(const etk::Transfo assert(bodyID < UINT64_MAX); // Create the rigid body ephysics::RigidBody* rigidBody = ETK_NEW(RigidBody, _transform, *this, bodyID); - assert(rigidBody != nullptr); + assert(rigidBody != null); // Add the rigid body to the physics world m_bodies.add(rigidBody); m_rigidBodies.add(rigidBody); @@ -341,7 +341,7 @@ void ephysics::DynamicsWorld::destroyRigidBody(RigidBody* _rigidBody) { m_freeBodiesIDs.pushBack(_rigidBody->getID()); // Destroy all the joints in which the rigid body to be destroyed is involved for (ephysics::JointListElement* element = _rigidBody->m_jointsList; - element != nullptr; + element != null; element = element->next) { destroyJoint(element->joint); } @@ -352,11 +352,11 @@ void ephysics::DynamicsWorld::destroyRigidBody(RigidBody* _rigidBody) { m_rigidBodies.erase(m_rigidBodies.find(_rigidBody)); // Call the destructor of the rigid body ETK_DELETE(RigidBody, _rigidBody); - _rigidBody = nullptr; + _rigidBody = null; } ephysics::Joint* ephysics::DynamicsWorld::createJoint(const ephysics::JointInfo& _jointInfo) { - Joint* newJoint = nullptr; + Joint* newJoint = null; // Allocate memory to create the new joint switch(_jointInfo.type) { // Ball-and-Socket joint @@ -377,7 +377,7 @@ ephysics::Joint* ephysics::DynamicsWorld::createJoint(const ephysics::JointInfo& break; default: assert(false); - return nullptr; + return null; } // If the collision between the two bodies of the constraint is disabled if (!_jointInfo.isCollisionEnabled) { @@ -393,8 +393,8 @@ ephysics::Joint* ephysics::DynamicsWorld::createJoint(const ephysics::JointInfo& } void ephysics::DynamicsWorld::destroyJoint(Joint* _joint) { - if (_joint == nullptr) { - EPHY_WARNING("Request destroy nullptr joint"); + if (_joint == null) { + EPHY_WARNING("Request destroy null joint"); return; } // If the collision between the two bodies of the constraint was disabled @@ -413,12 +413,12 @@ void ephysics::DynamicsWorld::destroyJoint(Joint* _joint) { size_t nbBytes = _joint->getSizeInBytes(); // Call the destructor of the joint ETK_DELETE(Joint, _joint); - _joint = nullptr; + _joint = null; } void ephysics::DynamicsWorld::addJointToBody(ephysics::Joint* _joint) { - if (_joint == nullptr) { - EPHY_WARNING("Request add nullptr joint"); + if (_joint == null) { + EPHY_WARNING("Request add null joint"); return; } // Add the joint at the beginning of the linked list of joints of the first body @@ -433,7 +433,7 @@ void ephysics::DynamicsWorld::computeIslands() { // Clear all the islands for (auto &it: m_islands) { ETK_DELETE(Island, it); - it = nullptr; + it = null; } // Call the island destructor m_islands.clear(); @@ -448,7 +448,7 @@ void ephysics::DynamicsWorld::computeIslands() { } // Create a stack (using an array) for the rigid bodies to visit during the Depth First Search etk::Vector stackBodiesToVisit; - stackBodiesToVisit.resize(nbBodies, nullptr); + stackBodiesToVisit.resize(nbBodies, null); // For each rigid body of the world for (etk::Set::Iterator it = m_rigidBodies.begin(); it != m_rigidBodies.end(); ++it) { ephysics::RigidBody* body = *it; @@ -489,7 +489,7 @@ void ephysics::DynamicsWorld::computeIslands() { // For each contact manifold in which the current body is involded ephysics::ContactManifoldListElement* contactElement; for (contactElement = bodyToVisit->m_contactManifoldsList; - contactElement != nullptr; + contactElement != null; contactElement = contactElement->next) { ephysics::ContactManifold* contactManifold = contactElement->contactManifold; assert(contactManifold->getNbContactPoints() > 0); @@ -516,7 +516,7 @@ void ephysics::DynamicsWorld::computeIslands() { // For each joint in which the current body is involved ephysics::JointListElement* jointElement; for (jointElement = bodyToVisit->m_jointsList; - jointElement != nullptr; + jointElement != null; jointElement = jointElement->next) { ephysics::Joint* joint = jointElement->joint; // Check if the current joint has already been added int32_to an island @@ -615,7 +615,7 @@ void ephysics::DynamicsWorld::testCollision(const ephysics::CollisionBody* _body etk::Set shapes1; // For each shape of the body for (const ProxyShape* shape = _body->getProxyShapesList(); - shape != nullptr; + shape != null; shape = shape->getNext()) { shapes1.add(shape->m_broadPhaseID); } @@ -627,12 +627,12 @@ void ephysics::DynamicsWorld::testCollision(const ephysics::CollisionBody* _body void ephysics::DynamicsWorld::testCollision(const ephysics::CollisionBody* _body1, const ephysics::CollisionBody* _body2, ephysics::CollisionCallback* _callback) { // Create the sets of shapes etk::Set shapes1; - for (const ProxyShape* shape=_body1->getProxyShapesList(); shape != nullptr; + for (const ProxyShape* shape=_body1->getProxyShapesList(); shape != null; shape = shape->getNext()) { shapes1.add(shape->m_broadPhaseID); } etk::Set shapes2; - for (const ProxyShape* shape=_body2->getProxyShapesList(); shape != nullptr; + for (const ProxyShape* shape=_body2->getProxyShapesList(); shape != null; shape = shape->getNext()) { shapes2.add(shape->m_broadPhaseID); } diff --git a/ephysics/engine/DynamicsWorld.hpp b/ephysics/engine/DynamicsWorld.hpp index e75523c..4cc2f3f 100644 --- a/ephysics/engine/DynamicsWorld.hpp +++ b/ephysics/engine/DynamicsWorld.hpp @@ -266,7 +266,7 @@ namespace ephysics { void setTimeBeforeSleep(float timeBeforeSleep); /** * @brief Set an event listener object to receive events callbacks. - * @note If you use nullptr as an argument, the events callbacks will be disabled. + * @note If you use null as an argument, the events callbacks will be disabled. * @param[in] _eventListener Pointer to the event listener object that will receive * event callbacks during the simulation */ diff --git a/ephysics/engine/Profiler.cpp b/ephysics/engine/Profiler.cpp index 321ac6a..97ab5d7 100644 --- a/ephysics/engine/Profiler.cpp +++ b/ephysics/engine/Profiler.cpp @@ -15,7 +15,7 @@ using namespace ephysics; // Initialization of static variables -ProfileNode Profiler::m_rootNode("Root", nullptr); +ProfileNode Profiler::m_rootNode("Root", null); ProfileNode* Profiler::m_currentNode = &Profiler::m_rootNode; long double Profiler::m_profilingStartTime = Timer::getCurrentSystemTime() * 1000.0; uint32_t Profiler::m_frameCounter = 0; @@ -23,17 +23,17 @@ uint32_t Profiler::m_frameCounter = 0; // Constructor ProfileNode::ProfileNode(const char* name, ProfileNode* parentNode) :m_name(name), m_numberTotalCalls(0), m_startTime(0), m_totalTime(0), - m_recursionCounter(0), m_parentNode(parentNode), m_childNode(nullptr), - m_siblingNode(nullptr) { + m_recursionCounter(0), m_parentNode(parentNode), m_childNode(null), + m_siblingNode(null) { reset(); } // Destructor ProfileNode::~ProfileNode() { ETK_DELETE(ProfileNode, m_childNode); - m_childNode = nullptr; + m_childNode = null; ETK_DELETE(ProfileNode, m_siblingNode); - m_siblingNode = nullptr; + m_siblingNode = null; } // Return a pointer to a sub node with a given name @@ -41,7 +41,7 @@ ProfileNode* ProfileNode::findSubNode(const char* name) { // Try to find the node among the child nodes ProfileNode* child = m_childNode; - while (child != nullptr) { + while (child != null) { if (child->m_name == name) { return child; } @@ -95,12 +95,12 @@ void ProfileNode::reset() { m_totalTime = 0.0; // Reset the child node - if (m_childNode != nullptr) { + if (m_childNode != null) { m_childNode->reset(); } // Reset the sibling node - if (m_siblingNode != nullptr) { + if (m_siblingNode != null) { m_siblingNode->reset(); } } @@ -108,9 +108,9 @@ void ProfileNode::reset() { // Destroy the node void ProfileNode::destroy() { ETK_DELETE(ProfileNode, m_childNode); - m_childNode = nullptr; + m_childNode = null; ETK_DELETE(ProfileNode, m_siblingNode); - m_siblingNode = nullptr; + m_siblingNode = null; } // Constructor @@ -123,12 +123,12 @@ ProfileNodeIterator::ProfileNodeIterator(ProfileNode* startingNode) // Enter a given child node void ProfileNodeIterator::enterChild(int32_t index) { m_currentChildNode = m_currentParentNode->getChildNode(); - while ((m_currentChildNode != nullptr) && (index != 0)) { + while ((m_currentChildNode != null) && (index != 0)) { index--; m_currentChildNode = m_currentChildNode->getSiblingNode(); } - if (m_currentChildNode != nullptr) { + if (m_currentChildNode != null) { m_currentParentNode = m_currentChildNode; m_currentChildNode = m_currentParentNode->getChildNode(); } @@ -136,7 +136,7 @@ void ProfileNodeIterator::enterChild(int32_t index) { // Enter a given parent node void ProfileNodeIterator::enterParent() { - if (m_currentParentNode->getParentNode() != nullptr) { + if (m_currentParentNode->getParentNode() != null) { m_currentParentNode = m_currentParentNode->getParentNode(); } m_currentChildNode = m_currentParentNode->getChildNode(); @@ -242,12 +242,12 @@ void Profiler::print32_tRecursiveNodeReport(ProfileNodeIterator* iterator, // Return true if we are at the root of the profiler tree bool ProfileNodeIterator::isRoot() { - return (m_currentParentNode->getParentNode() == nullptr); + return (m_currentParentNode->getParentNode() == null); } // Return true if we are at the end of a branch of the profiler tree bool ProfileNodeIterator::isEnd() { - return (m_currentChildNode == nullptr); + return (m_currentChildNode == null); } // Return the name of the current node diff --git a/test/testRaycast.cpp b/test/testRaycast.cpp index 8220054..d940d9b 100644 --- a/test/testRaycast.cpp +++ b/test/testRaycast.cpp @@ -29,7 +29,7 @@ class WorldRaycastCallback : public ephysics::RaycastCallback { bool isHit; WorldRaycastCallback() { isHit = false; - shapeToTest = nullptr; + shapeToTest = null; } virtual float notifyRaycastHit(const ephysics::RaycastInfo& info) { if (shapeToTest->getBody()->getID() == info.body->getID()) { @@ -44,9 +44,9 @@ class WorldRaycastCallback : public ephysics::RaycastCallback { return 1.0f; } void reset() { - raycastInfo.body = nullptr; + raycastInfo.body = null; raycastInfo.hitFraction = 0.0f; - raycastInfo.proxyShape = nullptr; + raycastInfo.proxyShape = null; raycastInfo.worldNormal.setZero(); raycastInfo.worldPoint.setZero(); isHit = false;