SHADE_Engine/src/Physics/Collision/Narrowphase/SHCollisionDispatch.cpp

@@ -42,31 +42,10 @@ namespace SHADE
   , { SHCollision::CapsuleVsSphere, SHCollision::CapsuleVsConvex, SHCollision::CapsuleVsCapsule }  // Capsule
   };
 
-  const bool SHCollisionDispatcher::collisionTable[NUM_TYPES][NUM_TYPES]
-  {
-    /*          S       ST      K       KT      D       DT    */
-    /* S  */  { false,  false,  false,  true,   true,   true }
-  , /* ST */  { false,  false,  true,   true,   true,   true }
-  , /* K  */  { false,  true,   false,  true,   true,   true }
-  , /* KT */  { true,   true,   true,   true,   true,   true }
-  , /* D  */  { true,   true,   true,   true,   true,   true }
-  , /* DT */  { true,   true,   true,   true,   true,   true }
-  };
-
   /*-----------------------------------------------------------------------------------*/
   /* Public Member Functions Definitions                                               */
   /*-----------------------------------------------------------------------------------*/
 
-  bool SHCollisionDispatcher::ShouldCollide(const SHCollisionShape& A, const SHCollisionShape& B) noexcept
-  {
-    // Filter through collision table
-    const int TYPE_A = SHUtilities::ConvertEnum(A.GetType()) + A.IsTrigger() ? TYPE_OFFSET : 0;
-    const int TYPE_B = SHUtilities::ConvertEnum(B.GetType()) + B.IsTrigger() ? TYPE_OFFSET : 0;
-
-    if (!collisionTable[TYPE_A][TYPE_B])
-      return false;
-  }
-
   bool SHCollisionDispatcher::Collide(SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B) noexcept
   {
     const int TYPE_A = SHUtilities::ConvertEnum(A.GetType());

SHADE_Engine/src/Physics/Collision/Narrowphase/SHCollisionDispatch.h

@@ -31,18 +31,6 @@ namespace SHADE
     /* Member Functions                                                                */
     /*---------------------------------------------------------------------------------*/
 
-    /**
-     * @brief
-     * Filters the collision through the collision table and layer matching.
-     * @param A
-     * A Collision Shape.
-     * @param B
-     * A Collision Shape.
-     * @return
-     * True if both shapes should be tested for collision.
-    */
-    static bool ShouldCollide (const SHCollisionShape& A, const SHCollisionShape& B)                        noexcept;
-
     static bool Collide       (SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B)  noexcept;
     static bool Collide       (const SHCollisionShape& A, const SHCollisionShape& B)                        noexcept;
 
@@ -54,33 +42,14 @@ namespace SHADE
     using ManifoldCollide = bool(*)(SHManifold&, const SHCollisionShape& A, const SHCollisionShape& B);
     using TriggerCollide  = bool(*)(const SHCollisionShape& A, const SHCollisionShape& B);
 
-    enum class Types
-    {
-      STATIC   
-    , KINEMATIC
-    , DYNAMIC
-    , STATIC_TRIGGER
-    , KINEMATIC_TRIGGER
-    , DYNAMIC_TRIGGER
-
-    , COUNT
-    };
-
     /*---------------------------------------------------------------------------------*/
     /* Data Members                                                                    */
     /*---------------------------------------------------------------------------------*/
 
-    // Read the Types enum class, then see where it's used and it'll make sense
-    static constexpr int TYPE_OFFSET  = 3;
-
     static constexpr int NUM_SHAPES   = static_cast<int>(SHCollisionShape::Type::COUNT);
-    static constexpr int NUM_TYPES    = static_cast<int>(Types::COUNT);
 
     static const ManifoldCollide  manifoldCollide [NUM_SHAPES][NUM_SHAPES];
     static const TriggerCollide   triggerCollide  [NUM_SHAPES][NUM_SHAPES];
-
-    static const bool             collisionTable  [NUM_TYPES][NUM_TYPES];
-
   };
 
 

SHADE_Engine/src/Physics/Dynamics/SHRigidBody.cpp

@@ -643,7 +643,7 @@ namespace SHADE
     // Compute world centroid
     worldCentroid = (R * localCentroid) + motionState.position;
 
-    if (bodyType == Type::STATIC)
+    if (bodyType != Type::DYNAMIC)
       return;
 
     // Compute world inertia