@bloomengine/engine 0.4.0 → 0.4.1

package/native/third_party/JoltPhysics/Jolt/Physics/Constraints/ContactConstraintManager.cpp

@@ -1,1804 +0,0 @@
-// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
-// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
-// SPDX-License-Identifier: MIT
-
-#include <Jolt/Jolt.h>
-
-#include <Jolt/Physics/Constraints/ContactConstraintManager.h>
-#include <Jolt/Physics/Constraints/CalculateSolverSteps.h>
-#include <Jolt/Physics/Body/Body.h>
-#include <Jolt/Physics/PhysicsUpdateContext.h>
-#include <Jolt/Physics/PhysicsSettings.h>
-#include <Jolt/Physics/PhysicsSystem.h>
-#include <Jolt/Physics/IslandBuilder.h>
-#include <Jolt/Physics/DeterminismLog.h>
-#include <Jolt/Core/TempAllocator.h>
-#include <Jolt/Core/QuickSort.h>
-#ifdef JPH_DEBUG_RENDERER
-	#include <Jolt/Renderer/DebugRenderer.h>
-#endif // JPH_DEBUG_RENDERER
-
-JPH_NAMESPACE_BEGIN
-
-using namespace literals;
-
-#ifdef JPH_DEBUG_RENDERER
-bool ContactConstraintManager::sDrawContactPoint = false;
-bool ContactConstraintManager::sDrawSupportingFaces = false;
-bool ContactConstraintManager::sDrawContactPointReduction = false;
-bool ContactConstraintManager::sDrawContactManifolds = false;
-#endif // JPH_DEBUG_RENDERER
-
-//#define JPH_MANIFOLD_CACHE_DEBUG
-
-////////////////////////////////////////////////////////////////////////////////////////////////////////
-// ContactConstraintManager::WorldContactPoint
-////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-void ContactConstraintManager::WorldContactPoint::CalculateNonPenetrationConstraintProperties(const Body &inBody1, float inInvMass1, float inInvInertiaScale1, const Body &inBody2, float inInvMass2, float inInvInertiaScale2, RVec3Arg inWorldSpacePosition1, RVec3Arg inWorldSpacePosition2, Vec3Arg inWorldSpaceNormal)
-{
-	// Calculate collision points relative to body
-	RVec3 p = 0.5_r * (inWorldSpacePosition1 + inWorldSpacePosition2);
-	Vec3 r1 = Vec3(p - inBody1.GetCenterOfMassPosition());
-	Vec3 r2 = Vec3(p - inBody2.GetCenterOfMassPosition());
-
-	mNonPenetrationConstraint.CalculateConstraintPropertiesWithMassOverride(inBody1, inInvMass1, inInvInertiaScale1, r1, inBody2, inInvMass2, inInvInertiaScale2, r2, inWorldSpaceNormal);
-}
-
-template <EMotionType Type1, EMotionType Type2>
-JPH_INLINE void ContactConstraintManager::WorldContactPoint::TemplatedCalculateFrictionAndNonPenetrationConstraintProperties(float inDeltaTime, float inGravityDeltaTimeDotNormal, const Body &inBody1, const Body &inBody2, float inInvM1, float inInvM2, Mat44Arg inInvI1, Mat44Arg inInvI2, RVec3Arg inWorldSpacePosition1, RVec3Arg inWorldSpacePosition2, Vec3Arg inWorldSpaceNormal, Vec3Arg inWorldSpaceTangent1, Vec3Arg inWorldSpaceTangent2, const ContactSettings &inSettings, float inMinVelocityForRestitution)
-{
-	JPH_DET_LOG("TemplatedCalculateFrictionAndNonPenetrationConstraintProperties: p1: " << inWorldSpacePosition1 << " p2: " << inWorldSpacePosition2
-		<< " normal: " << inWorldSpaceNormal << " tangent1: " << inWorldSpaceTangent1 << " tangent2: " << inWorldSpaceTangent2
-		<< " restitution: " << inSettings.mCombinedRestitution << " friction: " << inSettings.mCombinedFriction << " minv: " << inMinVelocityForRestitution
-		<< " surface_vel: " << inSettings.mRelativeLinearSurfaceVelocity << " surface_ang: " << inSettings.mRelativeAngularSurfaceVelocity);
-
-	// Calculate collision points relative to body
-	RVec3 p = 0.5_r * (inWorldSpacePosition1 + inWorldSpacePosition2);
-	Vec3 r1 = Vec3(p - inBody1.GetCenterOfMassPosition());
-	Vec3 r2 = Vec3(p - inBody2.GetCenterOfMassPosition());
-
-	// The gravity is applied in the beginning of the time step. If we get here, there was a collision
-	// at the beginning of the time step, so we've applied too much gravity. This means that our
-	// calculated restitution can be too high, so when we apply restitution, we cancel the added
-	// velocity due to gravity.
-	float gravity_dt_dot_normal;
-
-	// Calculate velocity of collision points
-	Vec3 relative_velocity;
-	if constexpr (Type1 != EMotionType::Static && Type2 != EMotionType::Static)
-	{
-		const MotionProperties *mp1 = inBody1.GetMotionPropertiesUnchecked();
-		const MotionProperties *mp2 = inBody2.GetMotionPropertiesUnchecked();
-		relative_velocity = mp2->GetPointVelocityCOM(r2) - mp1->GetPointVelocityCOM(r1);
-		gravity_dt_dot_normal = inGravityDeltaTimeDotNormal * (mp2->GetGravityFactor() - mp1->GetGravityFactor());
-	}
-	else if constexpr (Type1 != EMotionType::Static)
-	{
-		const MotionProperties *mp1 = inBody1.GetMotionPropertiesUnchecked();
-		relative_velocity = -mp1->GetPointVelocityCOM(r1);
-		gravity_dt_dot_normal = inGravityDeltaTimeDotNormal * mp1->GetGravityFactor();
-	}
-	else if constexpr (Type2 != EMotionType::Static)
-	{
-		const MotionProperties *mp2 = inBody2.GetMotionPropertiesUnchecked();
-		relative_velocity = mp2->GetPointVelocityCOM(r2);
-		gravity_dt_dot_normal = inGravityDeltaTimeDotNormal * mp2->GetGravityFactor();
-	}
-	else
-	{
-		JPH_ASSERT(false); // Static vs static makes no sense
-		relative_velocity = Vec3::sZero();
-		gravity_dt_dot_normal = 0.0f;
-	}
-	float normal_velocity = relative_velocity.Dot(inWorldSpaceNormal);
-
-	// How much the shapes are penetrating (> 0 if penetrating, < 0 if separated)
-	float penetration = Vec3(inWorldSpacePosition1 - inWorldSpacePosition2).Dot(inWorldSpaceNormal);
-
-	// If there is no penetration, this is a speculative contact and we will apply a bias to the contact constraint
-	// so that the constraint becomes relative_velocity . contact normal > -penetration / delta_time
-	// instead of relative_velocity . contact normal > 0
-	// See: GDC 2013: "Physics for Game Programmers; Continuous Collision" - Erin Catto
-	float speculative_contact_velocity_bias = max(0.0f, -penetration / inDeltaTime);
-
-	// Determine if the velocity is big enough for restitution
-	float normal_velocity_bias;
-	if (inSettings.mCombinedRestitution > 0.0f && normal_velocity < -inMinVelocityForRestitution)
-	{
-		// We have a velocity that is big enough for restitution. This is where speculative contacts don't work
-		// great as we have to decide now if we're going to apply the restitution or not. If the relative
-		// velocity is big enough for a hit, we apply the restitution (in the end, due to other constraints,
-		// the objects may actually not collide and we will have applied restitution incorrectly). Another
-		// artifact that occurs because of this approximation is that the object will bounce from its current
-		// position rather than from a position where it is touching the other object. This causes the object
-		// to appear to move faster for 1 frame (the opposite of time stealing).
-		if (normal_velocity < -speculative_contact_velocity_bias)
-			normal_velocity_bias = inSettings.mCombinedRestitution * (normal_velocity - gravity_dt_dot_normal);
-		else
-			// In this case we have predicted that we don't hit the other object, but if we do (due to other constraints changing velocities)
-			// the speculative contact will prevent penetration but will not apply restitution leading to another artifact.
-			normal_velocity_bias = speculative_contact_velocity_bias;
-	}
-	else
-	{
-		// No restitution. We can safely apply our contact velocity bias.
-		normal_velocity_bias = speculative_contact_velocity_bias;
-	}
-
-	mNonPenetrationConstraint.TemplatedCalculateConstraintProperties<Type1, Type2>(inInvM1, inInvI1, r1, inInvM2, inInvI2, r2, inWorldSpaceNormal, normal_velocity_bias);
-
-	// Calculate friction part
-	if (inSettings.mCombinedFriction > 0.0f)
-	{
-		// Get surface velocity relative to tangents
-		Vec3 ws_surface_velocity = inSettings.mRelativeLinearSurfaceVelocity + inSettings.mRelativeAngularSurfaceVelocity.Cross(r1);
-		float surface_velocity1 = inWorldSpaceTangent1.Dot(ws_surface_velocity);
-		float surface_velocity2 = inWorldSpaceTangent2.Dot(ws_surface_velocity);
-
-		// Implement friction as 2 AxisConstraintParts
-		mFrictionConstraint1.TemplatedCalculateConstraintProperties<Type1, Type2>(inInvM1, inInvI1, r1, inInvM2, inInvI2, r2, inWorldSpaceTangent1, surface_velocity1);
-		mFrictionConstraint2.TemplatedCalculateConstraintProperties<Type1, Type2>(inInvM1, inInvI1, r1, inInvM2, inInvI2, r2, inWorldSpaceTangent2, surface_velocity2);
-	}
-	else
-	{
-		// Turn off friction constraint
-		mFrictionConstraint1.Deactivate();
-		mFrictionConstraint2.Deactivate();
-	}
-}
-
-////////////////////////////////////////////////////////////////////////////////////////////////////////
-// ContactConstraintManager::ContactConstraint
-////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-#ifdef JPH_DEBUG_RENDERER
-void ContactConstraintManager::ContactConstraint::Draw(DebugRenderer *inRenderer, ColorArg inManifoldColor) const
-{
-	if (mContactPoints.empty())
-		return;
-
-	// Get body transforms
-	RMat44 transform_body1 = mBody1->GetCenterOfMassTransform();
-	RMat44 transform_body2 = mBody2->GetCenterOfMassTransform();
-
-	RVec3 prev_point = transform_body1 * Vec3::sLoadFloat3Unsafe(mContactPoints.back().mContactPoint->mPosition1);
-	for (const WorldContactPoint &wcp : mContactPoints)
-	{
-		// Test if any lambda from the previous frame was transferred
-		float radius = wcp.mNonPenetrationConstraint.GetTotalLambda() == 0.0f
-					&& wcp.mFrictionConstraint1.GetTotalLambda() == 0.0f
-					&& wcp.mFrictionConstraint2.GetTotalLambda() == 0.0f? 0.1f :  0.2f;
-
-		RVec3 next_point = transform_body1 * Vec3::sLoadFloat3Unsafe(wcp.mContactPoint->mPosition1);
-		inRenderer->DrawMarker(next_point, Color::sCyan, radius);
-		inRenderer->DrawMarker(transform_body2 * Vec3::sLoadFloat3Unsafe(wcp.mContactPoint->mPosition2), Color::sPurple, radius);
-
-		// Draw edge
-		inRenderer->DrawArrow(prev_point, next_point, inManifoldColor, 0.05f);
-		prev_point = next_point;
-	}
-
-	// Draw normal
-	RVec3 wp = transform_body1 * Vec3::sLoadFloat3Unsafe(mContactPoints[0].mContactPoint->mPosition1);
-	inRenderer->DrawArrow(wp, wp + GetWorldSpaceNormal(), Color::sRed, 0.05f);
-
-	// Get tangents
-	Vec3 t1, t2;
-	GetTangents(t1, t2);
-
-	// Draw tangents
-	inRenderer->DrawLine(wp, wp + t1, Color::sGreen);
-	inRenderer->DrawLine(wp, wp + t2, Color::sBlue);
-}
-#endif // JPH_DEBUG_RENDERER
-
-////////////////////////////////////////////////////////////////////////////////////////////////////////
-// ContactConstraintManager::CachedContactPoint
-////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-void ContactConstraintManager::CachedContactPoint::SaveState(StateRecorder &inStream) const
-{
-	inStream.Write(mPosition1);
-	inStream.Write(mPosition2);
-	inStream.Write(mNonPenetrationLambda);
-	inStream.Write(mFrictionLambda);
-}
-
-void ContactConstraintManager::CachedContactPoint::RestoreState(StateRecorder &inStream)
-{
-	inStream.Read(mPosition1);
-	inStream.Read(mPosition2);
-	inStream.Read(mNonPenetrationLambda);
-	inStream.Read(mFrictionLambda);
-}
-
-////////////////////////////////////////////////////////////////////////////////////////////////////////
-// ContactConstraintManager::CachedManifold
-////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-void ContactConstraintManager::CachedManifold::SaveState(StateRecorder &inStream) const
-{
-	inStream.Write(mContactNormal);
-}
-
-void ContactConstraintManager::CachedManifold::RestoreState(StateRecorder &inStream)
-{
-	inStream.Read(mContactNormal);
-}
-
-////////////////////////////////////////////////////////////////////////////////////////////////////////
-// ContactConstraintManager::CachedBodyPair
-////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-void ContactConstraintManager::CachedBodyPair::SaveState(StateRecorder &inStream) const
-{
-	inStream.Write(mDeltaPosition);
-	inStream.Write(mDeltaRotation);
-}
-
-void ContactConstraintManager::CachedBodyPair::RestoreState(StateRecorder &inStream)
-{
-	inStream.Read(mDeltaPosition);
-	inStream.Read(mDeltaRotation);
-}
-
-////////////////////////////////////////////////////////////////////////////////////////////////////////
-// ContactConstraintManager::ManifoldCache
-////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-void ContactConstraintManager::ManifoldCache::Init(uint inMaxBodyPairs, uint inMaxContactConstraints, uint inCachedManifoldsSize)
-{
-	uint max_body_pairs = min(inMaxBodyPairs, cMaxBodyPairsLimit);
-	JPH_ASSERT(max_body_pairs == inMaxBodyPairs, "Cannot support this many body pairs!");
-	JPH_ASSERT(inMaxContactConstraints <= cMaxContactConstraintsLimit); // Should have been enforced by caller
-
-	mAllocator.Init(uint(min(uint64(max_body_pairs) * sizeof(BodyPairMap::KeyValue) + inCachedManifoldsSize, uint64(~uint(0)))));
-
-	mCachedManifolds.Init(GetNextPowerOf2(inMaxContactConstraints));
-	mCachedBodyPairs.Init(GetNextPowerOf2(max_body_pairs));
-}
-
-void ContactConstraintManager::ManifoldCache::Clear()
-{
-	JPH_PROFILE_FUNCTION();
-
-	mCachedManifolds.Clear();
-	mCachedBodyPairs.Clear();
-	mAllocator.Clear();
-
-#ifdef JPH_ENABLE_ASSERTS
-	// Mark as incomplete
-	mIsFinalized = false;
-#endif
-}
-
-void ContactConstraintManager::ManifoldCache::Prepare(uint inExpectedNumBodyPairs, uint inExpectedNumManifolds)
-{
-	// Minimum amount of buckets to use in the hash map
-	constexpr uint32 cMinBuckets = 1024;
-
-	// Use the next higher power of 2 of amount of objects in the cache from last frame to determine the amount of buckets in this frame
-	mCachedManifolds.SetNumBuckets(min(max(cMinBuckets, GetNextPowerOf2(inExpectedNumManifolds)), mCachedManifolds.GetMaxBuckets()));
-	mCachedBodyPairs.SetNumBuckets(min(max(cMinBuckets, GetNextPowerOf2(inExpectedNumBodyPairs)), mCachedBodyPairs.GetMaxBuckets()));
-}
-
-const ContactConstraintManager::MKeyValue *ContactConstraintManager::ManifoldCache::Find(const SubShapeIDPair &inKey, uint64 inKeyHash) const
-{
-	JPH_ASSERT(mIsFinalized);
-	return mCachedManifolds.Find(inKey, inKeyHash);
-}
-
-ContactConstraintManager::MKeyValue *ContactConstraintManager::ManifoldCache::Create(ContactAllocator &ioContactAllocator, const SubShapeIDPair &inKey, uint64 inKeyHash, int inNumContactPoints)
-{
-	JPH_ASSERT(!mIsFinalized);
-	MKeyValue *kv = mCachedManifolds.Create(ioContactAllocator, inKey, inKeyHash, CachedManifold::sGetRequiredExtraSize(inNumContactPoints));
-	if (kv == nullptr)
-	{
-		ioContactAllocator.mErrors |= EPhysicsUpdateError::ManifoldCacheFull;
-		return nullptr;
-	}
-	kv->GetValue().mNumContactPoints = uint16(inNumContactPoints);
-	++ioContactAllocator.mNumManifolds;
-	return kv;
-}
-
-ContactConstraintManager::MKVAndCreated ContactConstraintManager::ManifoldCache::FindOrCreate(ContactAllocator &ioContactAllocator, const SubShapeIDPair &inKey, uint64 inKeyHash, int inNumContactPoints)
-{
-	MKeyValue *kv = const_cast<MKeyValue *>(mCachedManifolds.Find(inKey, inKeyHash));
-	if (kv != nullptr)
-		return { kv, false };
-
-	return { Create(ioContactAllocator, inKey, inKeyHash, inNumContactPoints), true };
-}
-
-uint32 ContactConstraintManager::ManifoldCache::ToHandle(const MKeyValue *inKeyValue) const
-{
-	JPH_ASSERT(!mIsFinalized);
-	return mCachedManifolds.ToHandle(inKeyValue);
-}
-
-const ContactConstraintManager::MKeyValue *ContactConstraintManager::ManifoldCache::FromHandle(uint32 inHandle) const
-{
-	JPH_ASSERT(mIsFinalized);
-	return mCachedManifolds.FromHandle(inHandle);
-}
-
-const ContactConstraintManager::BPKeyValue *ContactConstraintManager::ManifoldCache::Find(const BodyPair &inKey, uint64 inKeyHash) const
-{
-	JPH_ASSERT(mIsFinalized);
-	return mCachedBodyPairs.Find(inKey, inKeyHash);
-}
-
-ContactConstraintManager::BPKeyValue *ContactConstraintManager::ManifoldCache::Create(ContactAllocator &ioContactAllocator, const BodyPair &inKey, uint64 inKeyHash)
-{
-	JPH_ASSERT(!mIsFinalized);
-	BPKeyValue *kv = mCachedBodyPairs.Create(ioContactAllocator, inKey, inKeyHash, 0);
-	if (kv == nullptr)
-	{
-		ioContactAllocator.mErrors |= EPhysicsUpdateError::BodyPairCacheFull;
-		return nullptr;
-	}
-	++ioContactAllocator.mNumBodyPairs;
-	return kv;
-}
-
-void ContactConstraintManager::ManifoldCache::GetAllBodyPairsSorted(Array<const BPKeyValue *> &outAll) const
-{
-	JPH_ASSERT(mIsFinalized);
-	mCachedBodyPairs.GetAllKeyValues(outAll);
-
-	// Sort by key
-	QuickSort(outAll.begin(), outAll.end(), [](const BPKeyValue *inLHS, const BPKeyValue *inRHS) {
-		return inLHS->GetKey() < inRHS->GetKey();
-	});
-}
-
-void ContactConstraintManager::ManifoldCache::GetAllManifoldsSorted(const CachedBodyPair &inBodyPair, Array<const MKeyValue *> &outAll) const
-{
-	JPH_ASSERT(mIsFinalized);
-
-	// Iterate through the attached manifolds
-	for (uint32 handle = inBodyPair.mFirstCachedManifold; handle != ManifoldMap::cInvalidHandle; handle = FromHandle(handle)->GetValue().mNextWithSameBodyPair)
-	{
-		const MKeyValue *kv = mCachedManifolds.FromHandle(handle);
-		outAll.push_back(kv);
-	}
-
-	// Sort by key
-	QuickSort(outAll.begin(), outAll.end(), [](const MKeyValue *inLHS, const MKeyValue *inRHS) {
-		return inLHS->GetKey() < inRHS->GetKey();
-	});
-}
-
-void ContactConstraintManager::ManifoldCache::GetAllCCDManifoldsSorted(Array<const MKeyValue *> &outAll) const
-{
-	mCachedManifolds.GetAllKeyValues(outAll);
-
-	for (int i = (int)outAll.size() - 1; i >= 0; --i)
-		if ((outAll[i]->GetValue().mFlags & (uint16)CachedManifold::EFlags::CCDContact) == 0)
-		{
-			outAll[i] = outAll.back();
-			outAll.pop_back();
-		}
-
-	// Sort by key
-	QuickSort(outAll.begin(), outAll.end(), [](const MKeyValue *inLHS, const MKeyValue *inRHS) {
-		return inLHS->GetKey() < inRHS->GetKey();
-	});
-}
-
-void ContactConstraintManager::ManifoldCache::ContactPointRemovedCallbacks(ContactListener *inListener)
-{
-	JPH_PROFILE_FUNCTION();
-
-	for (MKeyValue &kv : mCachedManifolds)
-		if ((kv.GetValue().mFlags & uint16(CachedManifold::EFlags::ContactPersisted)) == 0)
-			inListener->OnContactRemoved(kv.GetKey());
-}
-
-#ifdef JPH_ENABLE_ASSERTS
-
-void ContactConstraintManager::ManifoldCache::Finalize()
-{
-	mIsFinalized = true;
-
-#ifdef JPH_MANIFOLD_CACHE_DEBUG
-	Trace("ManifoldMap:");
-	mCachedManifolds.TraceStats();
-	Trace("BodyPairMap:");
-	mCachedBodyPairs.TraceStats();
-#endif // JPH_MANIFOLD_CACHE_DEBUG
-}
-
-#endif
-
-void ContactConstraintManager::ManifoldCache::SaveState(StateRecorder &inStream, const StateRecorderFilter *inFilter) const
-{
-	JPH_ASSERT(mIsFinalized);
-
-	// Get contents of cache
-	Array<const BPKeyValue *> all_bp;
-	GetAllBodyPairsSorted(all_bp);
-
-	// Determine which ones to save
-	Array<const BPKeyValue *> selected_bp;
-	if (inFilter == nullptr)
-		selected_bp = std::move(all_bp);
-	else
-	{
-		selected_bp.reserve(all_bp.size());
-		for (const BPKeyValue *bp_kv : all_bp)
-			if (inFilter->ShouldSaveContact(bp_kv->GetKey().mBodyA, bp_kv->GetKey().mBodyB))
-				selected_bp.push_back(bp_kv);
-	}
-
-	// Write body pairs
-	uint32 num_body_pairs = uint32(selected_bp.size());
-	inStream.Write(num_body_pairs);
-	for (const BPKeyValue *bp_kv : selected_bp)
-	{
-		// Write body pair key
-		inStream.Write(bp_kv->GetKey());
-
-		// Write body pair
-		const CachedBodyPair &bp = bp_kv->GetValue();
-		bp.SaveState(inStream);
-
-		// Get attached manifolds
-		Array<const MKeyValue *> all_m;
-		GetAllManifoldsSorted(bp, all_m);
-
-		// Write num manifolds
-		uint32 num_manifolds = uint32(all_m.size());
-		inStream.Write(num_manifolds);
-
-		// Write all manifolds
-		for (const MKeyValue *m_kv : all_m)
-		{
-			// Write key
-			inStream.Write(m_kv->GetKey());
-			const CachedManifold &cm = m_kv->GetValue();
-			JPH_ASSERT((cm.mFlags & (uint16)CachedManifold::EFlags::CCDContact) == 0);
-
-			// Write amount of contacts
-			inStream.Write(cm.mNumContactPoints);
-
-			// Write manifold
-			cm.SaveState(inStream);
-
-			// Write contact points
-			for (uint32 i = 0; i < cm.mNumContactPoints; ++i)
-				cm.mContactPoints[i].SaveState(inStream);
-		}
-	}
-
-	// Get CCD manifolds
-	Array<const MKeyValue *> all_m;
-	GetAllCCDManifoldsSorted(all_m);
-
-	// Determine which ones to save
-	Array<const MKeyValue *> selected_m;
-	if (inFilter == nullptr)
-		selected_m = std::move(all_m);
-	else
-	{
-		selected_m.reserve(all_m.size());
-		for (const MKeyValue *m_kv : all_m)
-			if (inFilter->ShouldSaveContact(m_kv->GetKey().GetBody1ID(), m_kv->GetKey().GetBody2ID()))
-				selected_m.push_back(m_kv);
-	}
-
-	// Write all CCD manifold keys
-	uint32 num_manifolds = uint32(selected_m.size());
-	inStream.Write(num_manifolds);
-	for (const MKeyValue *m_kv : selected_m)
-		inStream.Write(m_kv->GetKey());
-}
-
-bool ContactConstraintManager::ManifoldCache::RestoreState(const ManifoldCache &inReadCache, StateRecorder &inStream, const StateRecorderFilter *inFilter)
-{
-	JPH_ASSERT(!mIsFinalized);
-
-	bool success = true;
-
-	// Create a contact allocator for restoring the contact cache
-	ContactAllocator contact_allocator(GetContactAllocator());
-
-	// When validating, get all existing body pairs
-	Array<const BPKeyValue *> all_bp;
-	if (inStream.IsValidating())
-		inReadCache.GetAllBodyPairsSorted(all_bp);
-
-	// Read amount of body pairs
-	uint32 num_body_pairs;
-	if (inStream.IsValidating())
-		num_body_pairs = uint32(all_bp.size());
-	inStream.Read(num_body_pairs);
-
-	// Read entire cache
-	for (uint32 i = 0; i < num_body_pairs; ++i)
-	{
-		// Read key
-		BodyPair body_pair_key;
-		if (inStream.IsValidating() && i < all_bp.size())
-			body_pair_key = all_bp[i]->GetKey();
-		inStream.Read(body_pair_key);
-
-		// Check if we want to restore this contact
-		if (inFilter == nullptr || inFilter->ShouldRestoreContact(body_pair_key.mBodyA, body_pair_key.mBodyB))
-		{
-			// Create new entry for this body pair
-			uint64 body_pair_hash = body_pair_key.GetHash();
-			BPKeyValue *bp_kv = Create(contact_allocator, body_pair_key, body_pair_hash);
-			if (bp_kv == nullptr)
-			{
-				// Out of cache space
-				success = false;
-				break;
-			}
-			CachedBodyPair &bp = bp_kv->GetValue();
-
-			// Read body pair
-			if (inStream.IsValidating() && i < all_bp.size())
-				memcpy(&bp, &all_bp[i]->GetValue(), sizeof(CachedBodyPair));
-			bp.RestoreState(inStream);
-
-			// When validating, get all existing manifolds
-			Array<const MKeyValue *> all_m;
-			if (inStream.IsValidating())
-				inReadCache.GetAllManifoldsSorted(all_bp[i]->GetValue(), all_m);
-
-			// Read amount of manifolds
-			uint32 num_manifolds = 0;
-			if (inStream.IsValidating())
-				num_manifolds = uint32(all_m.size());
-			inStream.Read(num_manifolds);
-
-			uint32 handle = ManifoldMap::cInvalidHandle;
-			for (uint32 j = 0; j < num_manifolds; ++j)
-			{
-				// Read key
-				SubShapeIDPair sub_shape_key;
-				if (inStream.IsValidating() && j < all_m.size())
-					sub_shape_key = all_m[j]->GetKey();
-				inStream.Read(sub_shape_key);
-				uint64 sub_shape_key_hash = sub_shape_key.GetHash();
-
-				// Read amount of contact points
-				uint16 num_contact_points = 0;
-				if (inStream.IsValidating() && j < all_m.size())
-					num_contact_points = all_m[j]->GetValue().mNumContactPoints;
-				inStream.Read(num_contact_points);
-
-				// Read manifold
-				MKeyValue *m_kv = Create(contact_allocator, sub_shape_key, sub_shape_key_hash, num_contact_points);
-				if (m_kv == nullptr)
-				{
-					// Out of cache space
-					success = false;
-					break;
-				}
-				CachedManifold &cm = m_kv->GetValue();
-				if (inStream.IsValidating() && j < all_m.size())
-				{
-					memcpy(&cm, &all_m[j]->GetValue(), CachedManifold::sGetRequiredTotalSize(num_contact_points));
-					cm.mNumContactPoints = uint16(num_contact_points); // Restore num contact points
-				}
-				cm.RestoreState(inStream);
-				cm.mNextWithSameBodyPair = handle;
-				handle = ToHandle(m_kv);
-
-				// Read contact points
-				for (uint32 k = 0; k < num_contact_points; ++k)
-					cm.mContactPoints[k].RestoreState(inStream);
-			}
-			bp.mFirstCachedManifold = handle;
-		}
-		else
-		{
-			// Skip the contact
-			CachedBodyPair bp;
-			bp.RestoreState(inStream);
-			uint32 num_manifolds = 0;
-			inStream.Read(num_manifolds);
-			for (uint32 j = 0; j < num_manifolds; ++j)
-			{
-				SubShapeIDPair sub_shape_key;
-				inStream.Read(sub_shape_key);
-				uint16 num_contact_points;
-				inStream.Read(num_contact_points);
-				CachedManifold cm;
-				cm.RestoreState(inStream);
-				for (uint32 k = 0; k < num_contact_points; ++k)
-					cm.mContactPoints[0].RestoreState(inStream);
-			}
-		}
-	}
-
-	// When validating, get all existing CCD manifolds
-	Array<const MKeyValue *> all_m;
-	if (inStream.IsValidating())
-		inReadCache.GetAllCCDManifoldsSorted(all_m);
-
-	// Read amount of CCD manifolds
-	uint32 num_manifolds;
-	if (inStream.IsValidating())
-		num_manifolds = uint32(all_m.size());
-	inStream.Read(num_manifolds);
-
-	for (uint32 j = 0; j < num_manifolds; ++j)
-	{
-		// Read key
-		SubShapeIDPair sub_shape_key;
-		if (inStream.IsValidating() && j < all_m.size())
-			sub_shape_key = all_m[j]->GetKey();
-		inStream.Read(sub_shape_key);
-
-		// Check if we want to restore this contact
-		if (inFilter == nullptr || inFilter->ShouldRestoreContact(sub_shape_key.GetBody1ID(), sub_shape_key.GetBody2ID()))
-		{
-			// Create CCD manifold
-			uint64 sub_shape_key_hash = sub_shape_key.GetHash();
-			MKeyValue *m_kv = Create(contact_allocator, sub_shape_key, sub_shape_key_hash, 0);
-			if (m_kv == nullptr)
-			{
-				// Out of cache space
-				success = false;
-				break;
-			}
-			CachedManifold &cm = m_kv->GetValue();
-			cm.mFlags |= (uint16)CachedManifold::EFlags::CCDContact;
-		}
-	}
-
-#ifdef JPH_ENABLE_ASSERTS
-	// We don't finalize until the last part is restored
-	if (inStream.IsLastPart())
-		mIsFinalized = true;
-#endif
-
-	return success;
-}
-
-////////////////////////////////////////////////////////////////////////////////////////////////////////
-// ContactConstraintManager
-////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-ContactConstraintManager::ContactConstraintManager(const PhysicsSettings &inPhysicsSettings) :
-	mPhysicsSettings(inPhysicsSettings)
-{
-#ifdef JPH_ENABLE_ASSERTS
-	// For the first frame mark this empty buffer as finalized
-	mCache[mCacheWriteIdx ^ 1].Finalize();
-#endif
-}
-
-ContactConstraintManager::~ContactConstraintManager()
-{
-	JPH_ASSERT(mConstraints == nullptr);
-}
-
-void ContactConstraintManager::Init(uint inMaxBodyPairs, uint inMaxContactConstraints)
-{
-	// Limit the number of constraints so that the allocation size fits in an unsigned integer
-	mMaxConstraints = min(inMaxContactConstraints, cMaxContactConstraintsLimit);
-	JPH_ASSERT(mMaxConstraints == inMaxContactConstraints, "Cannot support this many contact constraints!");
-
-	// Calculate worst case cache usage
-	constexpr uint cMaxManifoldSizePerConstraint = sizeof(CachedManifold) + (MaxContactPoints - 1) * sizeof(CachedContactPoint);
-	static_assert(cMaxManifoldSizePerConstraint < sizeof(ContactConstraint)); // If not true, then the next line can overflow
-	uint cached_manifolds_size = mMaxConstraints * cMaxManifoldSizePerConstraint;
-
-	// Init the caches
-	mCache[0].Init(inMaxBodyPairs, mMaxConstraints, cached_manifolds_size);
-	mCache[1].Init(inMaxBodyPairs, mMaxConstraints, cached_manifolds_size);
-}
-
-void ContactConstraintManager::PrepareConstraintBuffer(PhysicsUpdateContext *inContext)
-{
-	// Store context
-	mUpdateContext = inContext;
-
-	// Allocate temporary constraint buffer
-	JPH_ASSERT(mConstraints == nullptr);
-	mConstraints = (ContactConstraint *)inContext->mTempAllocator->Allocate(mMaxConstraints * sizeof(ContactConstraint));
-}
-
-template <EMotionType Type1, EMotionType Type2>
-JPH_INLINE void ContactConstraintManager::TemplatedCalculateFrictionAndNonPenetrationConstraintProperties(ContactConstraint &ioConstraint, const ContactSettings &inSettings, float inDeltaTime, Vec3Arg inGravityDeltaTime, RMat44Arg inTransformBody1, RMat44Arg inTransformBody2, const Body &inBody1, const Body &inBody2)
-{
-	// Calculate scaled mass and inertia
-	Mat44 inv_i1;
-	if constexpr (Type1 == EMotionType::Dynamic)
-	{
-		const MotionProperties *mp1 = inBody1.GetMotionPropertiesUnchecked();
-		inv_i1 = inSettings.mInvInertiaScale1 * mp1->GetInverseInertiaForRotation(inTransformBody1.GetRotation());
-	}
-	else
-	{
-		inv_i1 = Mat44::sZero();
-	}
-
-	Mat44 inv_i2;
-	if constexpr (Type2 == EMotionType::Dynamic)
-	{
-		const MotionProperties *mp2 = inBody2.GetMotionPropertiesUnchecked();
-		inv_i2 = inSettings.mInvInertiaScale2 * mp2->GetInverseInertiaForRotation(inTransformBody2.GetRotation());
-	}
-	else
-	{
-		inv_i2 = Mat44::sZero();
-	}
-
-	// Calculate tangents
-	Vec3 t1, t2;
-	ioConstraint.GetTangents(t1, t2);
-
-	Vec3 ws_normal = ioConstraint.GetWorldSpaceNormal();
-
-	// Calculate value for restitution correction
-	float gravity_dt_dot_normal = inGravityDeltaTime.Dot(ws_normal);
-
-	// Setup velocity constraint properties
-	float min_velocity_for_restitution = mPhysicsSettings.mMinVelocityForRestitution;
-	for (WorldContactPoint &wcp : ioConstraint.mContactPoints)
-	{
-		RVec3 p1 = inTransformBody1 * Vec3::sLoadFloat3Unsafe(wcp.mContactPoint->mPosition1);
-		RVec3 p2 = inTransformBody2 * Vec3::sLoadFloat3Unsafe(wcp.mContactPoint->mPosition2);
-		wcp.TemplatedCalculateFrictionAndNonPenetrationConstraintProperties<Type1, Type2>(inDeltaTime, gravity_dt_dot_normal, inBody1, inBody2, ioConstraint.mInvMass1, ioConstraint.mInvMass2, inv_i1, inv_i2, p1, p2, ws_normal, t1, t2, inSettings, min_velocity_for_restitution);
-	}
-}
-
-inline void ContactConstraintManager::CalculateFrictionAndNonPenetrationConstraintProperties(ContactConstraint &ioConstraint, const ContactSettings &inSettings, float inDeltaTime, Vec3Arg inGravityDeltaTime, RMat44Arg inTransformBody1, RMat44Arg inTransformBody2, const Body &inBody1, const Body &inBody2)
-{
-	// Dispatch to the correct templated form
-	switch (inBody1.GetMotionType())
-	{
-	case EMotionType::Dynamic:
-		switch (inBody2.GetMotionType())
-		{
-		case EMotionType::Dynamic:
-			TemplatedCalculateFrictionAndNonPenetrationConstraintProperties<EMotionType::Dynamic, EMotionType::Dynamic>(ioConstraint, inSettings, inDeltaTime, inGravityDeltaTime, inTransformBody1, inTransformBody2, inBody1, inBody2);
-			break;
-
-		case EMotionType::Kinematic:
-			TemplatedCalculateFrictionAndNonPenetrationConstraintProperties<EMotionType::Dynamic, EMotionType::Kinematic>(ioConstraint, inSettings, inDeltaTime, inGravityDeltaTime, inTransformBody1, inTransformBody2, inBody1, inBody2);
-			break;
-
-		case EMotionType::Static:
-			TemplatedCalculateFrictionAndNonPenetrationConstraintProperties<EMotionType::Dynamic, EMotionType::Static>(ioConstraint, inSettings, inDeltaTime, inGravityDeltaTime, inTransformBody1, inTransformBody2, inBody1, inBody2);
-			break;
-
-		default:
-			JPH_ASSERT(false);
-			break;
-		}
-		break;
-
-	case EMotionType::Kinematic:
-		JPH_ASSERT(inBody2.IsDynamic());
-		TemplatedCalculateFrictionAndNonPenetrationConstraintProperties<EMotionType::Kinematic, EMotionType::Dynamic>(ioConstraint, inSettings, inDeltaTime, inGravityDeltaTime, inTransformBody1, inTransformBody2, inBody1, inBody2);
-		break;
-
-	case EMotionType::Static:
-		JPH_ASSERT(inBody2.IsDynamic());
-		TemplatedCalculateFrictionAndNonPenetrationConstraintProperties<EMotionType::Static, EMotionType::Dynamic>(ioConstraint, inSettings, inDeltaTime, inGravityDeltaTime, inTransformBody1, inTransformBody2, inBody1, inBody2);
-		break;
-
-	default:
-		JPH_ASSERT(false);
-		break;
-	}
-}
-
-void ContactConstraintManager::GetContactsFromCache(ContactAllocator &ioContactAllocator, Body &inBody1, Body &inBody2, bool &outPairHandled, bool &outConstraintCreated)
-{
-	// Start with nothing found and not handled
-	outConstraintCreated = false;
-	outPairHandled = false;
-
-	// Swap bodies so that body 1 id < body 2 id
-	Body *body1, *body2;
-	if (inBody1.GetID() < inBody2.GetID())
-	{
-		body1 = &inBody1;
-		body2 = &inBody2;
-	}
-	else
-	{
-		body1 = &inBody2;
-		body2 = &inBody1;
-	}
-
-	// Find the cached body pair
-	BodyPair body_pair_key(body1->GetID(), body2->GetID());
-	uint64 body_pair_hash = body_pair_key.GetHash();
-	const ManifoldCache &read_cache = mCache[mCacheWriteIdx ^ 1];
-	const BPKeyValue *kv = read_cache.Find(body_pair_key, body_pair_hash);
-	if (kv == nullptr)
-		return;
-	const CachedBodyPair &input_cbp = kv->GetValue();
-
-	// Get relative translation
-	Quat inv_r1 = body1->GetRotation().Conjugated();
-	Vec3 delta_position = inv_r1 * Vec3(body2->GetCenterOfMassPosition() - body1->GetCenterOfMassPosition());
-
-	// Get old position delta
-	Vec3 old_delta_position = Vec3::sLoadFloat3Unsafe(input_cbp.mDeltaPosition);
-
-	// Check if bodies are still roughly in the same relative position
-	if ((delta_position - old_delta_position).LengthSq() > mPhysicsSettings.mBodyPairCacheMaxDeltaPositionSq)
-		return;
-
-	// Determine relative orientation
-	Quat delta_rotation = inv_r1 * body2->GetRotation();
-
-	// Reconstruct old quaternion delta
-	Quat old_delta_rotation = Quat::sLoadFloat3Unsafe(input_cbp.mDeltaRotation);
-
-	// Check if bodies are still roughly in the same relative orientation
-	// The delta between 2 quaternions p and q is: p q^* = [rotation_axis * sin(angle / 2), cos(angle / 2)]
-	// From the W component we can extract the angle: cos(angle / 2) = px * qx + py * qy + pz * qz + pw * qw = p . q
-	// Since we want to abort if the rotation is smaller than -angle or bigger than angle, we can write the comparison as |p . q| < cos(angle / 2)
-	if (abs(delta_rotation.Dot(old_delta_rotation)) < mPhysicsSettings.mBodyPairCacheCosMaxDeltaRotationDiv2)
-		return;
-
-	// The cache is valid, return that we've handled this body pair
-	outPairHandled = true;
-
-	// Copy the cached body pair to this frame
-	ManifoldCache &write_cache = mCache[mCacheWriteIdx];
-	BPKeyValue *output_bp_kv = write_cache.Create(ioContactAllocator, body_pair_key, body_pair_hash);
-	if (output_bp_kv == nullptr)
-		return; // Out of cache space
-	CachedBodyPair *output_cbp = &output_bp_kv->GetValue();
-	memcpy(output_cbp, &input_cbp, sizeof(CachedBodyPair));
-
-	// If there were no contacts, we have handled the contact
-	if (input_cbp.mFirstCachedManifold == ManifoldMap::cInvalidHandle)
-		return;
-
-	// Get body transforms
-	RMat44 transform_body1 = body1->GetCenterOfMassTransform();
-	RMat44 transform_body2 = body2->GetCenterOfMassTransform();
-
-	// Get time step
-	float delta_time = mUpdateContext->mStepDeltaTime;
-
-	// Calculate value for restitution correction
-	Vec3 gravity_dt = mUpdateContext->mPhysicsSystem->GetGravity() * delta_time;
-
-	// Copy manifolds
-	uint32 output_handle = ManifoldMap::cInvalidHandle;
-	uint32 input_handle = input_cbp.mFirstCachedManifold;
-	do
-	{
-		JPH_PROFILE("Add Constraint From Cached Manifold");
-
-		// Find the existing manifold
-		const MKeyValue *input_kv = read_cache.FromHandle(input_handle);
-		const SubShapeIDPair &input_key = input_kv->GetKey();
-		const CachedManifold &input_cm = input_kv->GetValue();
-		JPH_ASSERT(input_cm.mNumContactPoints > 0); // There should be contact points in this manifold!
-
-		// Create room for manifold in write buffer and copy data
-		uint64 input_hash = input_key.GetHash();
-		MKeyValue *output_kv = write_cache.Create(ioContactAllocator, input_key, input_hash, input_cm.mNumContactPoints);
-		if (output_kv == nullptr)
-			break; // Out of cache space
-		CachedManifold *output_cm = &output_kv->GetValue();
-		memcpy(output_cm, &input_cm, CachedManifold::sGetRequiredTotalSize(input_cm.mNumContactPoints));
-
-		// Link the object under the body pairs
-		output_cm->mNextWithSameBodyPair = output_handle;
-		output_handle = write_cache.ToHandle(output_kv);
-
-		// Calculate default contact settings
-		ContactSettings settings;
-		settings.mCombinedFriction = mCombineFriction(*body1, input_key.GetSubShapeID1(), *body2, input_key.GetSubShapeID2());
-		settings.mCombinedRestitution = mCombineRestitution(*body1, input_key.GetSubShapeID1(), *body2, input_key.GetSubShapeID2());
-		settings.mIsSensor = body1->IsSensor() || body2->IsSensor();
-
-		// Calculate world space contact normal
-		Vec3 world_space_normal = transform_body2.Multiply3x3(Vec3::sLoadFloat3Unsafe(output_cm->mContactNormal)).Normalized();
-
-		// Call contact listener to update settings
-		if (mContactListener != nullptr)
-		{
-			// Convert constraint to manifold structure for callback
-			ContactManifold manifold;
-			manifold.mWorldSpaceNormal = world_space_normal;
-			manifold.mSubShapeID1 = input_key.GetSubShapeID1();
-			manifold.mSubShapeID2 = input_key.GetSubShapeID2();
-			manifold.mBaseOffset = transform_body1.GetTranslation();
-			manifold.mRelativeContactPointsOn1.resize(output_cm->mNumContactPoints);
-			manifold.mRelativeContactPointsOn2.resize(output_cm->mNumContactPoints);
-			Mat44 local_transform_body2 = transform_body2.PostTranslated(-manifold.mBaseOffset).ToMat44();
-			float penetration_depth = -FLT_MAX;
-			for (uint32 i = 0; i < output_cm->mNumContactPoints; ++i)
-			{
-				const CachedContactPoint &ccp = output_cm->mContactPoints[i];
-				manifold.mRelativeContactPointsOn1[i] = transform_body1.Multiply3x3(Vec3::sLoadFloat3Unsafe(ccp.mPosition1));
-				manifold.mRelativeContactPointsOn2[i] = local_transform_body2 * Vec3::sLoadFloat3Unsafe(ccp.mPosition2);
-				penetration_depth = max(penetration_depth, (manifold.mRelativeContactPointsOn1[i] - manifold.mRelativeContactPointsOn2[i]).Dot(world_space_normal));
-			}
-			manifold.mPenetrationDepth = penetration_depth; // We don't have the penetration depth anymore, estimate it
-
-			// Notify callback
-			mContactListener->OnContactPersisted(*body1, *body2, manifold, settings);
-		}
-
-		JPH_ASSERT(settings.mIsSensor || !(body1->IsSensor() || body2->IsSensor()), "Sensors cannot be converted into regular bodies by a contact callback!");
-		if (!settings.mIsSensor // If one of the bodies is a sensor, don't actually create the constraint
-			&& ((body1->IsDynamic() && settings.mInvMassScale1 != 0.0f) // One of the bodies must have mass to be able to create a contact constraint
-				|| (body2->IsDynamic() && settings.mInvMassScale2 != 0.0f)))
-		{
-			// Add contact constraint in world space for the solver
-			uint32 constraint_idx = mNumConstraints++;
-			if (constraint_idx >= mMaxConstraints)
-			{
-				ioContactAllocator.mErrors |= EPhysicsUpdateError::ContactConstraintsFull;
-				break;
-			}
-
-			// A constraint will be created
-			outConstraintCreated = true;
-
-			ContactConstraint &constraint = mConstraints[constraint_idx];
-			new (&constraint) ContactConstraint();
-			constraint.mBody1 = body1;
-			constraint.mBody2 = body2;
-			constraint.mSortKey = input_hash;
-			world_space_normal.StoreFloat3(&constraint.mWorldSpaceNormal);
-			constraint.mCombinedFriction = settings.mCombinedFriction;
-			constraint.mInvMass1 = body1->GetMotionPropertiesUnchecked() != nullptr? settings.mInvMassScale1 * body1->GetMotionPropertiesUnchecked()->GetInverseMassUnchecked() : 0.0f;
-			constraint.mInvInertiaScale1 = settings.mInvInertiaScale1;
-			constraint.mInvMass2 = body2->GetMotionPropertiesUnchecked() != nullptr? settings.mInvMassScale2 * body2->GetMotionPropertiesUnchecked()->GetInverseMassUnchecked() : 0.0f;
-			constraint.mInvInertiaScale2 = settings.mInvInertiaScale2;
-			constraint.mContactPoints.resize(output_cm->mNumContactPoints);
-			for (uint32 i = 0; i < output_cm->mNumContactPoints; ++i)
-			{
-				CachedContactPoint &ccp = output_cm->mContactPoints[i];
-				WorldContactPoint &wcp = constraint.mContactPoints[i];
-				wcp.mNonPenetrationConstraint.SetTotalLambda(ccp.mNonPenetrationLambda);
-				wcp.mFrictionConstraint1.SetTotalLambda(ccp.mFrictionLambda[0]);
-				wcp.mFrictionConstraint2.SetTotalLambda(ccp.mFrictionLambda[1]);
-				wcp.mContactPoint = &ccp;
-			}
-
-			JPH_DET_LOG("GetContactsFromCache: id1: " << constraint.mBody1->GetID() << " id2: " << constraint.mBody2->GetID() << " key: " << constraint.mSortKey);
-
-			// Calculate friction and non-penetration constraint properties for all contact points
-			CalculateFrictionAndNonPenetrationConstraintProperties(constraint, settings, delta_time, gravity_dt, transform_body1, transform_body2, *body1, *body2);
-
-			// Notify island builder
-			mUpdateContext->mIslandBuilder->LinkContact(constraint_idx, body1->GetIndexInActiveBodiesInternal(), body2->GetIndexInActiveBodiesInternal());
-
-		#ifdef JPH_DEBUG_RENDERER
-			// Draw the manifold
-			if (sDrawContactManifolds)
-				constraint.Draw(DebugRenderer::sInstance, Color::sYellow);
-		#endif // JPH_DEBUG_RENDERER
-
-		#ifdef JPH_TRACK_SIMULATION_STATS
-			// Track new contact constraints
-			if (!body1->IsStatic())
-				body1->GetMotionPropertiesUnchecked()->GetSimulationStats().mNumContactConstraints.fetch_add(1, memory_order_relaxed);
-			if (!body2->IsStatic())
-				body2->GetMotionPropertiesUnchecked()->GetSimulationStats().mNumContactConstraints.fetch_add(1, memory_order_relaxed);
-		#endif
-		}
-
-		// Mark contact as persisted so that we won't fire OnContactRemoved callbacks
-		input_cm.mFlags |= (uint16)CachedManifold::EFlags::ContactPersisted;
-
-		// Fetch the next manifold
-		input_handle = input_cm.mNextWithSameBodyPair;
-	}
-	while (input_handle != ManifoldMap::cInvalidHandle);
-	output_cbp->mFirstCachedManifold = output_handle;
-}
-
-ContactConstraintManager::BodyPairHandle ContactConstraintManager::AddBodyPair(ContactAllocator &ioContactAllocator, const Body &inBody1, const Body &inBody2)
-{
-	// Swap bodies so that body 1 id < body 2 id
-	const Body *body1, *body2;
-	if (inBody1.GetID() < inBody2.GetID())
-	{
-		body1 = &inBody1;
-		body2 = &inBody2;
-	}
-	else
-	{
-		body1 = &inBody2;
-		body2 = &inBody1;
-	}
-
-	// Add an entry
-	BodyPair body_pair_key(body1->GetID(), body2->GetID());
-	uint64 body_pair_hash = body_pair_key.GetHash();
-	BPKeyValue *body_pair_kv = mCache[mCacheWriteIdx].Create(ioContactAllocator, body_pair_key, body_pair_hash);
-	if (body_pair_kv == nullptr)
-		return nullptr; // Out of cache space
-	CachedBodyPair *cbp = &body_pair_kv->GetValue();
-	cbp->mFirstCachedManifold = ManifoldMap::cInvalidHandle;
-
-	// Get relative translation
-	Quat inv_r1 = body1->GetRotation().Conjugated();
-	Vec3 delta_position = inv_r1 * Vec3(body2->GetCenterOfMassPosition() - body1->GetCenterOfMassPosition());
-
-	// Store it
-	delta_position.StoreFloat3(&cbp->mDeltaPosition);
-
-	// Determine relative orientation
-	Quat delta_rotation = inv_r1 * body2->GetRotation();
-
-	// Store it
-	delta_rotation.StoreFloat3(&cbp->mDeltaRotation);
-
-	return cbp;
-}
-
-template <EMotionType Type1, EMotionType Type2>
-bool ContactConstraintManager::TemplatedAddContactConstraint(ContactAllocator &ioContactAllocator, BodyPairHandle inBodyPairHandle, Body &inBody1, Body &inBody2, const ContactManifold &inManifold)
-{
-	// Calculate hash
-	SubShapeIDPair key { inBody1.GetID(), inManifold.mSubShapeID1, inBody2.GetID(), inManifold.mSubShapeID2 };
-	uint64 key_hash = key.GetHash();
-
-	// Determine number of contact points
-	int num_contact_points = (int)inManifold.mRelativeContactPointsOn1.size();
-	JPH_ASSERT(num_contact_points <= MaxContactPoints);
-	JPH_ASSERT(num_contact_points == (int)inManifold.mRelativeContactPointsOn2.size());
-
-	// Reserve space for new contact cache entry
-	// Note that for dynamic vs dynamic we always require the first body to have a lower body id to get a consistent key
-	// under which to look up the contact
-	ManifoldCache &write_cache = mCache[mCacheWriteIdx];
-	MKeyValue *new_manifold_kv = write_cache.Create(ioContactAllocator, key, key_hash, num_contact_points);
-	if (new_manifold_kv == nullptr)
-		return false; // Out of cache space
-	CachedManifold *new_manifold = &new_manifold_kv->GetValue();
-
-	// Transform the world space normal to the space of body 2 (this is usually the static body)
-	RMat44 inverse_transform_body2 = inBody2.GetInverseCenterOfMassTransform();
-	inverse_transform_body2.Multiply3x3(inManifold.mWorldSpaceNormal).Normalized().StoreFloat3(&new_manifold->mContactNormal);
-
-	// Settings object that gets passed to the callback
-	ContactSettings settings;
-	settings.mCombinedFriction = mCombineFriction(inBody1, inManifold.mSubShapeID1, inBody2, inManifold.mSubShapeID2);
-	settings.mCombinedRestitution = mCombineRestitution(inBody1, inManifold.mSubShapeID1, inBody2, inManifold.mSubShapeID2);
-	settings.mIsSensor = inBody1.IsSensor() || inBody2.IsSensor();
-
-	// Get the contact points for the old cache entry
-	const ManifoldCache &read_cache = mCache[mCacheWriteIdx ^ 1];
-	const MKeyValue *old_manifold_kv = read_cache.Find(key, key_hash);
-	const CachedContactPoint *ccp_start;
-	const CachedContactPoint *ccp_end;
-	if (old_manifold_kv != nullptr)
-	{
-		// Call point persisted listener
-		if (mContactListener != nullptr)
-			mContactListener->OnContactPersisted(inBody1, inBody2, inManifold, settings);
-
-		// Fetch the contact points from the old manifold
-		const CachedManifold *old_manifold = &old_manifold_kv->GetValue();
-		ccp_start = old_manifold->mContactPoints;
-		ccp_end = ccp_start + old_manifold->mNumContactPoints;
-
-		// Mark contact as persisted so that we won't fire OnContactRemoved callbacks
-		old_manifold->mFlags |= (uint16)CachedManifold::EFlags::ContactPersisted;
-	}
-	else
-	{
-		// Call point added listener
-		if (mContactListener != nullptr)
-			mContactListener->OnContactAdded(inBody1, inBody2, inManifold, settings);
-
-		// No contact points available from old manifold
-		ccp_start = nullptr;
-		ccp_end = nullptr;
-	}
-
-	// Get inverse transform for body 1
-	RMat44 inverse_transform_body1 = inBody1.GetInverseCenterOfMassTransform();
-
-	bool contact_constraint_created = false;
-
-	// If one of the bodies is a sensor, don't actually create the constraint
-	JPH_ASSERT(settings.mIsSensor || !(inBody1.IsSensor() || inBody2.IsSensor()), "Sensors cannot be converted into regular bodies by a contact callback!");
-	if (!settings.mIsSensor
-		&& ((inBody1.IsDynamic() && settings.mInvMassScale1 != 0.0f) // One of the bodies must have mass to be able to create a contact constraint
-			|| (inBody2.IsDynamic() && settings.mInvMassScale2 != 0.0f)))
-	{
-		// Add contact constraint
-		uint32 constraint_idx = mNumConstraints++;
-		if (constraint_idx >= mMaxConstraints)
-		{
-			ioContactAllocator.mErrors |= EPhysicsUpdateError::ContactConstraintsFull;
-
-			// Manifold has been created already, we're not filling it in, so we need to reset the contact number of points.
-			// Note that we don't hook it up to the body pair cache so that it won't be used as a cache during the next simulation.
-			new_manifold->mNumContactPoints = 0;
-			return false;
-		}
-
-		// We will create a contact constraint
-		contact_constraint_created = true;
-
-		ContactConstraint &constraint = mConstraints[constraint_idx];
-		new (&constraint) ContactConstraint();
-		constraint.mBody1 = &inBody1;
-		constraint.mBody2 = &inBody2;
-		constraint.mSortKey = key_hash;
-		inManifold.mWorldSpaceNormal.StoreFloat3(&constraint.mWorldSpaceNormal);
-		constraint.mCombinedFriction = settings.mCombinedFriction;
-		constraint.mInvMass1 = inBody1.GetMotionPropertiesUnchecked() != nullptr? settings.mInvMassScale1 * inBody1.GetMotionPropertiesUnchecked()->GetInverseMassUnchecked() : 0.0f;
-		constraint.mInvInertiaScale1 = settings.mInvInertiaScale1;
-		constraint.mInvMass2 = inBody2.GetMotionPropertiesUnchecked() != nullptr? settings.mInvMassScale2 * inBody2.GetMotionPropertiesUnchecked()->GetInverseMassUnchecked() : 0.0f;
-		constraint.mInvInertiaScale2 = settings.mInvInertiaScale2;
-
-		JPH_DET_LOG("TemplatedAddContactConstraint: id1: " << constraint.mBody1->GetID() << " id2: " << constraint.mBody2->GetID() << " key: " << constraint.mSortKey);
-
-		// Notify island builder
-		mUpdateContext->mIslandBuilder->LinkContact(constraint_idx, inBody1.GetIndexInActiveBodiesInternal(), inBody2.GetIndexInActiveBodiesInternal());
-
-		// Get time step
-		float delta_time = mUpdateContext->mStepDeltaTime;
-
-		// Calculate value for restitution correction
-		float gravity_dt_dot_normal = inManifold.mWorldSpaceNormal.Dot(mUpdateContext->mPhysicsSystem->GetGravity() * delta_time);
-
-		// Calculate scaled mass and inertia
-		float inv_m1;
-		Mat44 inv_i1;
-		if constexpr (Type1 == EMotionType::Dynamic)
-		{
-			const MotionProperties *mp1 = inBody1.GetMotionPropertiesUnchecked();
-			inv_m1 = settings.mInvMassScale1 * mp1->GetInverseMass();
-			inv_i1 = settings.mInvInertiaScale1 * mp1->GetInverseInertiaForRotation(inverse_transform_body1.Transposed3x3());
-		}
-		else
-		{
-			inv_m1 = 0.0f;
-			inv_i1 = Mat44::sZero();
-		}
-
-		float inv_m2;
-		Mat44 inv_i2;
-		if constexpr (Type2 == EMotionType::Dynamic)
-		{
-			const MotionProperties *mp2 = inBody2.GetMotionPropertiesUnchecked();
-			inv_m2 = settings.mInvMassScale2 * mp2->GetInverseMass();
-			inv_i2 = settings.mInvInertiaScale2 * mp2->GetInverseInertiaForRotation(inverse_transform_body2.Transposed3x3());
-		}
-		else
-		{
-			inv_m2 = 0.0f;
-			inv_i2 = Mat44::sZero();
-		}
-
-		// Calculate tangents
-		Vec3 t1, t2;
-		constraint.GetTangents(t1, t2);
-
-		constraint.mContactPoints.resize(num_contact_points);
-		for (int i = 0; i < num_contact_points; ++i)
-		{
-			// Convert to world space and set positions
-			WorldContactPoint &wcp = constraint.mContactPoints[i];
-			RVec3 p1_ws = inManifold.mBaseOffset + inManifold.mRelativeContactPointsOn1[i];
-			RVec3 p2_ws = inManifold.mBaseOffset + inManifold.mRelativeContactPointsOn2[i];
-
-			// Convert to local space to the body
-			Vec3 p1_ls = Vec3(inverse_transform_body1 * p1_ws);
-			Vec3 p2_ls = Vec3(inverse_transform_body2 * p2_ws);
-
-			// Check if we have a close contact point from last update
-			bool lambda_set = false;
-			for (const CachedContactPoint *ccp = ccp_start; ccp < ccp_end; ccp++)
-				if (Vec3::sLoadFloat3Unsafe(ccp->mPosition1).IsClose(p1_ls, mPhysicsSettings.mContactPointPreserveLambdaMaxDistSq)
-					&& Vec3::sLoadFloat3Unsafe(ccp->mPosition2).IsClose(p2_ls, mPhysicsSettings.mContactPointPreserveLambdaMaxDistSq))
-				{
-					// Get lambdas from previous frame
-					wcp.mNonPenetrationConstraint.SetTotalLambda(ccp->mNonPenetrationLambda);
-					wcp.mFrictionConstraint1.SetTotalLambda(ccp->mFrictionLambda[0]);
-					wcp.mFrictionConstraint2.SetTotalLambda(ccp->mFrictionLambda[1]);
-					lambda_set = true;
-					break;
-				}
-			if (!lambda_set)
-			{
-				wcp.mNonPenetrationConstraint.SetTotalLambda(0.0f);
-				wcp.mFrictionConstraint1.SetTotalLambda(0.0f);
-				wcp.mFrictionConstraint2.SetTotalLambda(0.0f);
-			}
-
-			// Create new contact point
-			CachedContactPoint &cp = new_manifold->mContactPoints[i];
-			p1_ls.StoreFloat3(&cp.mPosition1);
-			p2_ls.StoreFloat3(&cp.mPosition2);
-			wcp.mContactPoint = &cp;
-
-			// Setup velocity constraint
-			wcp.TemplatedCalculateFrictionAndNonPenetrationConstraintProperties<Type1, Type2>(delta_time, gravity_dt_dot_normal, inBody1, inBody2, inv_m1, inv_m2, inv_i1, inv_i2, p1_ws, p2_ws, inManifold.mWorldSpaceNormal, t1, t2, settings, mPhysicsSettings.mMinVelocityForRestitution);
-		}
-
-	#ifdef JPH_DEBUG_RENDERER
-		// Draw the manifold
-		if (sDrawContactManifolds)
-			constraint.Draw(DebugRenderer::sInstance, Color::sOrange);
-	#endif // JPH_DEBUG_RENDERER
-
-	#ifdef JPH_TRACK_SIMULATION_STATS
-		// Track new contact constraints
-		if constexpr (Type1 != EMotionType::Static)
-			inBody1.GetMotionPropertiesUnchecked()->GetSimulationStats().mNumContactConstraints.fetch_add(1, memory_order_relaxed);
-		if constexpr (Type2 != EMotionType::Static)
-			inBody2.GetMotionPropertiesUnchecked()->GetSimulationStats().mNumContactConstraints.fetch_add(1, memory_order_relaxed);
-	#endif
-	}
-	else
-	{
-		// Store the contact manifold in the cache
-		for (int i = 0; i < num_contact_points; ++i)
-		{
-			// Convert to local space to the body
-			Vec3 p1 = Vec3(inverse_transform_body1 * (inManifold.mBaseOffset + inManifold.mRelativeContactPointsOn1[i]));
-			Vec3 p2 = Vec3(inverse_transform_body2 * (inManifold.mBaseOffset + inManifold.mRelativeContactPointsOn2[i]));
-
-			// Create new contact point
-			CachedContactPoint &cp = new_manifold->mContactPoints[i];
-			p1.StoreFloat3(&cp.mPosition1);
-			p2.StoreFloat3(&cp.mPosition2);
-
-			// Reset contact impulses, we haven't applied any
-			cp.mNonPenetrationLambda = 0.0f;
-			cp.mFrictionLambda[0] = 0.0f;
-			cp.mFrictionLambda[1] = 0.0f;
-		}
-	}
-
-	// Store cached contact point in body pair cache
-	CachedBodyPair *cbp = reinterpret_cast<CachedBodyPair *>(inBodyPairHandle);
-	new_manifold->mNextWithSameBodyPair = cbp->mFirstCachedManifold;
-	cbp->mFirstCachedManifold = write_cache.ToHandle(new_manifold_kv);
-
-	// A contact constraint was added
-	return contact_constraint_created;
-}
-
-bool ContactConstraintManager::AddContactConstraint(ContactAllocator &ioContactAllocator, BodyPairHandle inBodyPairHandle, Body &inBody1, Body &inBody2, const ContactManifold &inManifold)
-{
-	JPH_PROFILE_FUNCTION();
-
-	JPH_DET_LOG("AddContactConstraint: id1: " << inBody1.GetID() << " id2: " << inBody2.GetID()
-		<< " subshape1: " << inManifold.mSubShapeID1 << " subshape2: " << inManifold.mSubShapeID2
-		<< " normal: " << inManifold.mWorldSpaceNormal << " pendepth: " << inManifold.mPenetrationDepth);
-
-	JPH_ASSERT(inManifold.mWorldSpaceNormal.IsNormalized());
-
-	// Swap bodies so that body 1 id < body 2 id
-	const ContactManifold *manifold;
-	Body *body1, *body2;
-	ContactManifold temp;
-	if (inBody2.GetID() < inBody1.GetID())
-	{
-		body1 = &inBody2;
-		body2 = &inBody1;
-		temp = inManifold.SwapShapes();
-		manifold = &temp;
-	}
-	else
-	{
-		body1 = &inBody1;
-		body2 = &inBody2;
-		manifold = &inManifold;
-	}
-
-	// Dispatch to the correct templated form
-	// Note: Non-dynamic vs non-dynamic can happen in this case due to one body being a sensor, so we need to have an extended switch case here
-	switch (body1->GetMotionType())
-	{
-	case EMotionType::Dynamic:
-		{
-			switch (body2->GetMotionType())
-			{
-			case EMotionType::Dynamic:
-				return TemplatedAddContactConstraint<EMotionType::Dynamic, EMotionType::Dynamic>(ioContactAllocator, inBodyPairHandle, *body1, *body2, *manifold);
-
-			case EMotionType::Kinematic:
-				return TemplatedAddContactConstraint<EMotionType::Dynamic, EMotionType::Kinematic>(ioContactAllocator, inBodyPairHandle, *body1, *body2, *manifold);
-
-			case EMotionType::Static:
-				return TemplatedAddContactConstraint<EMotionType::Dynamic, EMotionType::Static>(ioContactAllocator, inBodyPairHandle, *body1, *body2, *manifold);
-
-			default:
-				JPH_ASSERT(false);
-				break;
-			}
-			break;
-		}
-
-	case EMotionType::Kinematic:
-		switch (body2->GetMotionType())
-		{
-		case EMotionType::Dynamic:
-			return TemplatedAddContactConstraint<EMotionType::Kinematic, EMotionType::Dynamic>(ioContactAllocator, inBodyPairHandle, *body1, *body2, *manifold);
-
-		case EMotionType::Kinematic:
-			return TemplatedAddContactConstraint<EMotionType::Kinematic, EMotionType::Kinematic>(ioContactAllocator, inBodyPairHandle, *body1, *body2, *manifold);
-
-		case EMotionType::Static:
-			return TemplatedAddContactConstraint<EMotionType::Kinematic, EMotionType::Static>(ioContactAllocator, inBodyPairHandle, *body1, *body2, *manifold);
-
-		default:
-			JPH_ASSERT(false);
-			break;
-		}
-		break;
-
-	case EMotionType::Static:
-		switch (body2->GetMotionType())
-		{
-		case EMotionType::Dynamic:
-			return TemplatedAddContactConstraint<EMotionType::Static, EMotionType::Dynamic>(ioContactAllocator, inBodyPairHandle, *body1, *body2, *manifold);
-
-		case EMotionType::Kinematic:
-			return TemplatedAddContactConstraint<EMotionType::Static, EMotionType::Kinematic>(ioContactAllocator, inBodyPairHandle, *body1, *body2, *manifold);
-
-		case EMotionType::Static: // Static vs static not possible
-		default:
-			JPH_ASSERT(false);
-			break;
-		}
-		break;
-
-	default:
-		JPH_ASSERT(false);
-		break;
-	}
-
-	return false;
-}
-
-void ContactConstraintManager::OnCCDContactAdded(ContactAllocator &ioContactAllocator, const Body &inBody1, const Body &inBody2, const ContactManifold &inManifold, ContactSettings &outSettings)
-{
-	JPH_ASSERT(inManifold.mWorldSpaceNormal.IsNormalized());
-
-	// Calculate contact settings
-	outSettings.mCombinedFriction = mCombineFriction(inBody1, inManifold.mSubShapeID1, inBody2, inManifold.mSubShapeID2);
-	outSettings.mCombinedRestitution = mCombineRestitution(inBody1, inManifold.mSubShapeID1, inBody2, inManifold.mSubShapeID2);
-	outSettings.mIsSensor = false; // For now, no sensors are supported during CCD
-
-	// The remainder of this function only deals with calling contact callbacks, if there's no contact callback we also don't need to do this work
-	if (mContactListener != nullptr)
-	{
-		// Swap bodies so that body 1 id < body 2 id
-		const ContactManifold *manifold;
-		const Body *body1, *body2;
-		ContactManifold temp;
-		if (inBody2.GetID() < inBody1.GetID())
-		{
-			body1 = &inBody2;
-			body2 = &inBody1;
-			temp = inManifold.SwapShapes();
-			manifold = &temp;
-		}
-		else
-		{
-			body1 = &inBody1;
-			body2 = &inBody2;
-			manifold = &inManifold;
-		}
-
-		// Calculate hash
-		SubShapeIDPair key { body1->GetID(), manifold->mSubShapeID1, body2->GetID(), manifold->mSubShapeID2 };
-		uint64 key_hash = key.GetHash();
-
-		// Check if we already created this contact this physics update
-		ManifoldCache &write_cache = mCache[mCacheWriteIdx];
-		MKVAndCreated new_manifold_kv = write_cache.FindOrCreate(ioContactAllocator, key, key_hash, 0);
-		if (new_manifold_kv.second)
-		{
-			// This contact is new for this physics update, check if previous update we already had this contact.
-			const ManifoldCache &read_cache = mCache[mCacheWriteIdx ^ 1];
-			const MKeyValue *old_manifold_kv = read_cache.Find(key, key_hash);
-			if (old_manifold_kv == nullptr)
-			{
-				// New contact
-				mContactListener->OnContactAdded(*body1, *body2, *manifold, outSettings);
-			}
-			else
-			{
-				// Existing contact
-				mContactListener->OnContactPersisted(*body1, *body2, *manifold, outSettings);
-
-				// Mark contact as persisted so that we won't fire OnContactRemoved callbacks
-				old_manifold_kv->GetValue().mFlags |= (uint16)CachedManifold::EFlags::ContactPersisted;
-			}
-
-			// Check if the cache is full
-			if (new_manifold_kv.first != nullptr)
-			{
-				// We don't store any contact points in this manifold as it is not for caching impulses, we only need to know that the contact was created
-				CachedManifold &new_manifold = new_manifold_kv.first->GetValue();
-				new_manifold.mContactNormal = { 0, 0, 0 };
-				new_manifold.mFlags |= (uint16)CachedManifold::EFlags::CCDContact;
-			}
-		}
-		else
-		{
-			// Already found this contact this physics update.
-			// Note that we can trigger OnContactPersisted multiple times per physics update, but otherwise we have no way of obtaining the settings
-			mContactListener->OnContactPersisted(*body1, *body2, *manifold, outSettings);
-		}
-
-		// If we swapped body1 and body2 we need to swap the mass scales back
-		if (manifold == &temp)
-		{
-			std::swap(outSettings.mInvMassScale1, outSettings.mInvMassScale2);
-			std::swap(outSettings.mInvInertiaScale1, outSettings.mInvInertiaScale2);
-			// Note we do not need to negate the relative surface velocity as it is not applied by the CCD collision constraint
-		}
-	}
-
-	JPH_ASSERT(outSettings.mIsSensor || !(inBody1.IsSensor() || inBody2.IsSensor()), "Sensors cannot be converted into regular bodies by a contact callback!");
-}
-
-void ContactConstraintManager::SortContacts(uint32 *inConstraintIdxBegin, uint32 *inConstraintIdxEnd) const
-{
-	JPH_PROFILE_FUNCTION();
-
-	QuickSort(inConstraintIdxBegin, inConstraintIdxEnd, [this](uint32 inLHS, uint32 inRHS) {
-		const ContactConstraint &lhs = mConstraints[inLHS];
-		const ContactConstraint &rhs = mConstraints[inRHS];
-
-		// Most of the time the sort key will be different so we sort on that
-		if (lhs.mSortKey != rhs.mSortKey)
-			return lhs.mSortKey < rhs.mSortKey;
-
-		// If they're equal we use the IDs of body 1 to order
-		if (lhs.mBody1 != rhs.mBody1)
-			return lhs.mBody1->GetID() < rhs.mBody1->GetID();
-
-		// If they're still equal we use the IDs of body 2 to order
-		if (lhs.mBody2 != rhs.mBody2)
-			return lhs.mBody2->GetID() < rhs.mBody2->GetID();
-
-		JPH_ASSERT(inLHS == inRHS, "Hash collision, ordering will be inconsistent");
-		return false;
-	});
-}
-
-void ContactConstraintManager::FinalizeContactCacheAndCallContactPointRemovedCallbacks(uint inExpectedNumBodyPairs, uint inExpectedNumManifolds)
-{
-	JPH_PROFILE_FUNCTION();
-
-#ifdef JPH_ENABLE_ASSERTS
-	// Mark cache as finalized
-	ManifoldCache &old_write_cache = mCache[mCacheWriteIdx];
-	old_write_cache.Finalize();
-
-	// Check that the count of body pairs and manifolds that we tracked outside of the cache (to avoid contention on an atomic) is correct
-	JPH_ASSERT(old_write_cache.GetNumBodyPairs() == inExpectedNumBodyPairs);
-	JPH_ASSERT(old_write_cache.GetNumManifolds() == inExpectedNumManifolds);
-#endif
-
-	// Buffers are now complete, make write buffer the read buffer
-	mCacheWriteIdx ^= 1;
-
-	// Get the old read cache / new write cache
-	ManifoldCache &old_read_cache = mCache[mCacheWriteIdx];
-
-	// Call the contact point removal callbacks
-	if (mContactListener != nullptr)
-		old_read_cache.ContactPointRemovedCallbacks(mContactListener);
-
-	// We're done with the old read cache now
-	old_read_cache.Clear();
-
-	// Use the amount of contacts from the last iteration to determine the amount of buckets to use in the hash map for the next iteration
-	old_read_cache.Prepare(inExpectedNumBodyPairs, inExpectedNumManifolds);
-}
-
-bool ContactConstraintManager::WereBodiesInContact(const BodyID &inBody1ID, const BodyID &inBody2ID) const
-{
-	// The body pair needs to be in the cache and it needs to have a manifold (otherwise it's just a record indicating that there are no collisions)
-	const ManifoldCache &read_cache = mCache[mCacheWriteIdx ^ 1];
-	BodyPair key;
-	if (inBody1ID < inBody2ID)
-		key = BodyPair(inBody1ID, inBody2ID);
-	else
-		key = BodyPair(inBody2ID, inBody1ID);
-	uint64 key_hash = key.GetHash();
-	const BPKeyValue *kv = read_cache.Find(key, key_hash);
-	return kv != nullptr && kv->GetValue().mFirstCachedManifold != ManifoldMap::cInvalidHandle;
-}
-
-template <EMotionType Type1, EMotionType Type2>
-JPH_INLINE void ContactConstraintManager::sWarmStartConstraint(ContactConstraint &ioConstraint, MotionProperties *ioMotionProperties1, MotionProperties *ioMotionProperties2, float inWarmStartImpulseRatio)
-{
-	// Calculate tangents
-	Vec3 t1, t2;
-	ioConstraint.GetTangents(t1, t2);
-
-	Vec3 ws_normal = ioConstraint.GetWorldSpaceNormal();
-
-	for (WorldContactPoint &wcp : ioConstraint.mContactPoints)
-	{
-		// Warm starting: Apply impulse from last frame
-		if (wcp.mFrictionConstraint1.IsActive() || wcp.mFrictionConstraint2.IsActive())
-		{
-			wcp.mFrictionConstraint1.TemplatedWarmStart<Type1, Type2>(ioMotionProperties1, ioConstraint.mInvMass1, ioMotionProperties2, ioConstraint.mInvMass2, t1, inWarmStartImpulseRatio);
-			wcp.mFrictionConstraint2.TemplatedWarmStart<Type1, Type2>(ioMotionProperties1, ioConstraint.mInvMass1, ioMotionProperties2, ioConstraint.mInvMass2, t2, inWarmStartImpulseRatio);
-		}
-		wcp.mNonPenetrationConstraint.TemplatedWarmStart<Type1, Type2>(ioMotionProperties1, ioConstraint.mInvMass1, ioMotionProperties2, ioConstraint.mInvMass2, ws_normal, inWarmStartImpulseRatio);
-	}
-}
-
-template <class MotionPropertiesCallback>
-void ContactConstraintManager::WarmStartVelocityConstraints(const uint32 *inConstraintIdxBegin, const uint32 *inConstraintIdxEnd, float inWarmStartImpulseRatio, MotionPropertiesCallback &ioCallback)
-{
-	JPH_PROFILE_FUNCTION();
-
-	for (const uint32 *constraint_idx = inConstraintIdxBegin; constraint_idx < inConstraintIdxEnd; ++constraint_idx)
-	{
-		ContactConstraint &constraint = mConstraints[*constraint_idx];
-
-		// Fetch bodies
-		Body &body1 = *constraint.mBody1;
-		EMotionType motion_type1 = body1.GetMotionType();
-		MotionProperties *motion_properties1 = body1.GetMotionPropertiesUnchecked();
-
-		Body &body2 = *constraint.mBody2;
-		EMotionType motion_type2 = body2.GetMotionType();
-		MotionProperties *motion_properties2 = body2.GetMotionPropertiesUnchecked();
-
-		// Dispatch to the correct templated form
-		// Note: Warm starting doesn't differentiate between kinematic/static bodies so we handle both as static bodies
-		if (motion_type1 == EMotionType::Dynamic)
-		{
-			if (motion_type2 == EMotionType::Dynamic)
-			{
-				sWarmStartConstraint<EMotionType::Dynamic, EMotionType::Dynamic>(constraint, motion_properties1, motion_properties2, inWarmStartImpulseRatio);
-
-				ioCallback(motion_properties2);
-			}
-			else
-				sWarmStartConstraint<EMotionType::Dynamic, EMotionType::Static>(constraint, motion_properties1, motion_properties2, inWarmStartImpulseRatio);
-
-			ioCallback(motion_properties1);
-		}
-		else
-		{
-			JPH_ASSERT(motion_type2 == EMotionType::Dynamic);
-
-			sWarmStartConstraint<EMotionType::Static, EMotionType::Dynamic>(constraint, motion_properties1, motion_properties2, inWarmStartImpulseRatio);
-
-			ioCallback(motion_properties2);
-		}
-	}
-}
-
-// Specialize for the two body callback types
-template void ContactConstraintManager::WarmStartVelocityConstraints<CalculateSolverSteps>(const uint32 *inConstraintIdxBegin, const uint32 *inConstraintIdxEnd, float inWarmStartImpulseRatio, CalculateSolverSteps &ioCallback);
-template void ContactConstraintManager::WarmStartVelocityConstraints<DummyCalculateSolverSteps>(const uint32 *inConstraintIdxBegin, const uint32 *inConstraintIdxEnd, float inWarmStartImpulseRatio, DummyCalculateSolverSteps &ioCallback);
-
-template <EMotionType Type1, EMotionType Type2>
-JPH_INLINE bool ContactConstraintManager::sSolveVelocityConstraint(ContactConstraint &ioConstraint, MotionProperties *ioMotionProperties1, MotionProperties *ioMotionProperties2)
-{
-	bool any_impulse_applied = false;
-
-	// Calculate tangents
-	Vec3 t1, t2;
-	ioConstraint.GetTangents(t1, t2);
-
-	// First apply all friction constraints (non-penetration is more important than friction)
-	for (WorldContactPoint &wcp : ioConstraint.mContactPoints)
-	{
-		// Check if friction is enabled
-		if (wcp.mFrictionConstraint1.IsActive() || wcp.mFrictionConstraint2.IsActive())
-		{
-			// Calculate impulse to stop motion in tangential direction
-			float lambda1 = wcp.mFrictionConstraint1.TemplatedSolveVelocityConstraintGetTotalLambda<Type1, Type2>(ioMotionProperties1, ioMotionProperties2, t1);
-			float lambda2 = wcp.mFrictionConstraint2.TemplatedSolveVelocityConstraintGetTotalLambda<Type1, Type2>(ioMotionProperties1, ioMotionProperties2, t2);
-			float total_lambda_sq = Square(lambda1) + Square(lambda2);
-
-			// Calculate max impulse that can be applied. Note that we're using the non-penetration impulse from the previous iteration here.
-			// We do this because non-penetration is more important so is solved last (the last things that are solved in an iterative solver
-			// contribute the most).
-			float max_lambda_f = ioConstraint.mCombinedFriction * wcp.mNonPenetrationConstraint.GetTotalLambda();
-
-			// If the total lambda that we will apply is too large, scale it back
-			if (total_lambda_sq > Square(max_lambda_f))
-			{
-				float scale = max_lambda_f / sqrt(total_lambda_sq);
-				lambda1 *= scale;
-				lambda2 *= scale;
-			}
-
-			// Apply the friction impulse
-			if (wcp.mFrictionConstraint1.TemplatedSolveVelocityConstraintApplyLambda<Type1, Type2>(ioMotionProperties1, ioConstraint.mInvMass1, ioMotionProperties2, ioConstraint.mInvMass2, t1, lambda1))
-				any_impulse_applied = true;
-			if (wcp.mFrictionConstraint2.TemplatedSolveVelocityConstraintApplyLambda<Type1, Type2>(ioMotionProperties1, ioConstraint.mInvMass1, ioMotionProperties2, ioConstraint.mInvMass2, t2, lambda2))
-				any_impulse_applied = true;
-		}
-	}
-
-	Vec3 ws_normal = ioConstraint.GetWorldSpaceNormal();
-
-	// Then apply all non-penetration constraints
-	for (WorldContactPoint &wcp : ioConstraint.mContactPoints)
-	{
-		// Solve non penetration velocities
-		if (wcp.mNonPenetrationConstraint.TemplatedSolveVelocityConstraint<Type1, Type2>(ioMotionProperties1, ioConstraint.mInvMass1, ioMotionProperties2, ioConstraint.mInvMass2, ws_normal, 0.0f, FLT_MAX))
-			any_impulse_applied = true;
-	}
-
-	return any_impulse_applied;
-}
-
-bool ContactConstraintManager::SolveVelocityConstraints(const uint32 *inConstraintIdxBegin, const uint32 *inConstraintIdxEnd)
-{
-	JPH_PROFILE_FUNCTION();
-
-	bool any_impulse_applied = false;
-
-	for (const uint32 *constraint_idx = inConstraintIdxBegin; constraint_idx < inConstraintIdxEnd; ++constraint_idx)
-	{
-		ContactConstraint &constraint = mConstraints[*constraint_idx];
-
-		// Fetch bodies
-		Body &body1 = *constraint.mBody1;
-		EMotionType motion_type1 = body1.GetMotionType();
-		MotionProperties *motion_properties1 = body1.GetMotionPropertiesUnchecked();
-
-		Body &body2 = *constraint.mBody2;
-		EMotionType motion_type2 = body2.GetMotionType();
-		MotionProperties *motion_properties2 = body2.GetMotionPropertiesUnchecked();
-
-		// Dispatch to the correct templated form
-		switch (motion_type1)
-		{
-		case EMotionType::Dynamic:
-			switch (motion_type2)
-			{
-			case EMotionType::Dynamic:
-				any_impulse_applied |= sSolveVelocityConstraint<EMotionType::Dynamic, EMotionType::Dynamic>(constraint, motion_properties1, motion_properties2);
-				break;
-
-			case EMotionType::Kinematic:
-				any_impulse_applied |= sSolveVelocityConstraint<EMotionType::Dynamic, EMotionType::Kinematic>(constraint, motion_properties1, motion_properties2);
-				break;
-
-			case EMotionType::Static:
-				any_impulse_applied |= sSolveVelocityConstraint<EMotionType::Dynamic, EMotionType::Static>(constraint, motion_properties1, motion_properties2);
-				break;
-
-			default:
-				JPH_ASSERT(false);
-				break;
-			}
-			break;
-
-		case EMotionType::Kinematic:
-			JPH_ASSERT(motion_type2 == EMotionType::Dynamic);
-			any_impulse_applied |= sSolveVelocityConstraint<EMotionType::Kinematic, EMotionType::Dynamic>(constraint, motion_properties1, motion_properties2);
-			break;
-
-		case EMotionType::Static:
-			JPH_ASSERT(motion_type2 == EMotionType::Dynamic);
-			any_impulse_applied |= sSolveVelocityConstraint<EMotionType::Static, EMotionType::Dynamic>(constraint, motion_properties1, motion_properties2);
-			break;
-
-		default:
-			JPH_ASSERT(false);
-			break;
-		}
-	}
-
-	return any_impulse_applied;
-}
-
-void ContactConstraintManager::StoreAppliedImpulses(const uint32 *inConstraintIdxBegin, const uint32 *inConstraintIdxEnd) const
-{
-	// Copy back total applied impulse to cache for the next frame
-	for (const uint32 *constraint_idx = inConstraintIdxBegin; constraint_idx < inConstraintIdxEnd; ++constraint_idx)
-	{
-		const ContactConstraint &constraint = mConstraints[*constraint_idx];
-
-		for (const WorldContactPoint &wcp : constraint.mContactPoints)
-		{
-			wcp.mContactPoint->mNonPenetrationLambda = wcp.mNonPenetrationConstraint.GetTotalLambda();
-			wcp.mContactPoint->mFrictionLambda[0] = wcp.mFrictionConstraint1.GetTotalLambda();
-			wcp.mContactPoint->mFrictionLambda[1] = wcp.mFrictionConstraint2.GetTotalLambda();
-		}
-	}
-}
-
-bool ContactConstraintManager::SolvePositionConstraints(const uint32 *inConstraintIdxBegin, const uint32 *inConstraintIdxEnd)
-{
-	JPH_PROFILE_FUNCTION();
-
-	bool any_impulse_applied = false;
-
-	for (const uint32 *constraint_idx = inConstraintIdxBegin; constraint_idx < inConstraintIdxEnd; ++constraint_idx)
-	{
-		ContactConstraint &constraint = mConstraints[*constraint_idx];
-
-		// Fetch bodies
-		Body &body1 = *constraint.mBody1;
-		Body &body2 = *constraint.mBody2;
-
-		// Get transforms
-		RMat44 transform1 = body1.GetCenterOfMassTransform();
-		RMat44 transform2 = body2.GetCenterOfMassTransform();
-
-		Vec3 ws_normal = constraint.GetWorldSpaceNormal();
-
-		for (WorldContactPoint &wcp : constraint.mContactPoints)
-		{
-			// Calculate new contact point positions in world space (the bodies may have moved)
-			RVec3 p1 = transform1 * Vec3::sLoadFloat3Unsafe(wcp.mContactPoint->mPosition1);
-			RVec3 p2 = transform2 * Vec3::sLoadFloat3Unsafe(wcp.mContactPoint->mPosition2);
-
-			// Calculate separation along the normal (negative if interpenetrating)
-			// Allow a little penetration by default (PhysicsSettings::mPenetrationSlop) to avoid jittering between contact/no-contact which wipes out the contact cache and warm start impulses
-			// Clamp penetration to a max PhysicsSettings::mMaxPenetrationDistance so that we don't apply a huge impulse if we're penetrating a lot
-			float separation = max(Vec3(p2 - p1).Dot(ws_normal) + mPhysicsSettings.mPenetrationSlop, -mPhysicsSettings.mMaxPenetrationDistance);
-
-			// Only enforce constraint when separation < 0 (otherwise we're apart)
-			if (separation < 0.0f)
-			{
-				// Update constraint properties (bodies may have moved)
-				wcp.CalculateNonPenetrationConstraintProperties(body1, constraint.mInvMass1, constraint.mInvInertiaScale1, body2, constraint.mInvMass2, constraint.mInvInertiaScale2, p1, p2, ws_normal);
-
-				// Solve position errors
-				if (wcp.mNonPenetrationConstraint.SolvePositionConstraintWithMassOverride(body1, constraint.mInvMass1, body2, constraint.mInvMass2, ws_normal, separation, mPhysicsSettings.mBaumgarte))
-					any_impulse_applied = true;
-			}
-		}
-	}
-
-	return any_impulse_applied;
-}
-
-void ContactConstraintManager::RecycleConstraintBuffer()
-{
-	// Reset constraint array
-	mNumConstraints = 0;
-}
-
-void ContactConstraintManager::FinishConstraintBuffer()
-{
-	// Free constraints buffer
-	mUpdateContext->mTempAllocator->Free(mConstraints, mMaxConstraints * sizeof(ContactConstraint));
-	mConstraints = nullptr;
-	mNumConstraints = 0;
-
-	// Reset update context
-	mUpdateContext = nullptr;
-}
-
-void ContactConstraintManager::SaveState(StateRecorder &inStream, const StateRecorderFilter *inFilter) const
-{
-	mCache[mCacheWriteIdx ^ 1].SaveState(inStream, inFilter);
-}
-
-bool ContactConstraintManager::RestoreState(StateRecorder &inStream, const StateRecorderFilter *inFilter)
-{
-	bool success = mCache[mCacheWriteIdx].RestoreState(mCache[mCacheWriteIdx ^ 1], inStream, inFilter);
-
-	// If this is the last part, the cache is finalized
-	if (inStream.IsLastPart())
-	{
-		mCacheWriteIdx ^= 1;
-		mCache[mCacheWriteIdx].Clear();
-	}
-
-	return success;
-}
-
-JPH_NAMESPACE_END