Removed members that were no longer needed from ContactConstraintManager::ContactConstraint (#599)

* It is no longer needed to store the surface velocity in a contact constraint
* Removed mCombinedRestitution from contact point

Jolt/Physics/Constraints/ContactConstraintManager.cpp

@@ -657,9 +657,8 @@ JPH_INLINE void ContactConstraintManager::TemplatedCalculateFrictionAndNonPenetr
 	ioConstraint.GetTangents(t1, t2);
 
 	// Get surface velocity relative to tangents
-	Vec3 relative_surface_velocity = ioConstraint.GetRelativeSurfaceVelocity();
-	float surface_velocity1 = t1.Dot(relative_surface_velocity);
-	float surface_velocity2 = t2.Dot(relative_surface_velocity);
+	float surface_velocity1 = t1.Dot(inSettings.mRelativeSurfaceVelocity);
+	float surface_velocity2 = t2.Dot(inSettings.mRelativeSurfaceVelocity);
 
 	Vec3 ws_normal = ioConstraint.GetWorldSpaceNormal();
 
@@ -669,7 +668,7 @@ JPH_INLINE void ContactConstraintManager::TemplatedCalculateFrictionAndNonPenetr
 	{
 		RVec3 p1 = inTransformBody1 * Vec3::sLoadFloat3Unsafe(wcp.mContactPoint->mPosition1);
 		RVec3 p2 = inTransformBody2 * Vec3::sLoadFloat3Unsafe(wcp.mContactPoint->mPosition2);
-		wcp.TemplatedCalculateFrictionAndNonPenetrationConstraintProperties<Type1, Type2>(inDeltaTime, inBody1, inBody2, inv_m1, inv_m2, inv_i1, inv_i2, p1, p2, ws_normal, t1, t2, ioConstraint.mCombinedRestitution, ioConstraint.mCombinedFriction, min_velocity_for_restitution, surface_velocity1, surface_velocity2);
+		wcp.TemplatedCalculateFrictionAndNonPenetrationConstraintProperties<Type1, Type2>(inDeltaTime, inBody1, inBody2, inv_m1, inv_m2, inv_i1, inv_i2, p1, p2, ws_normal, t1, t2, inSettings.mCombinedRestitution, inSettings.mCombinedFriction, min_velocity_for_restitution, surface_velocity1, surface_velocity2);
 	}
 }
 
@@ -874,8 +873,6 @@ void ContactConstraintManager::GetContactsFromCache(ContactAllocator &ioContactA
 			constraint.mSortKey = input_hash;
 			world_space_normal.StoreFloat3(&constraint.mWorldSpaceNormal);
 			constraint.mCombinedFriction = settings.mCombinedFriction;
-			settings.mRelativeSurfaceVelocity.StoreFloat3(&constraint.mRelativeSurfaceVelocity);
-			constraint.mCombinedRestitution = settings.mCombinedRestitution;
 			constraint.mContactPoints.resize(output_cm->mNumContactPoints);
 			for (uint32 i = 0; i < output_cm->mNumContactPoints; ++i)
 			{
@@ -1067,8 +1064,6 @@ bool ContactConstraintManager::TemplatedAddContactConstraint(ContactAllocator &i
 		constraint.mSortKey = key_hash;
 		inManifold.mWorldSpaceNormal.StoreFloat3(&constraint.mWorldSpaceNormal);
 		constraint.mCombinedFriction = settings.mCombinedFriction;
-		settings.mRelativeSurfaceVelocity.StoreFloat3(&constraint.mRelativeSurfaceVelocity);
-		constraint.mCombinedRestitution = settings.mCombinedRestitution;
 
 		JPH_DET_LOG("TemplatedAddContactConstraint: id1: " << constraint.mBody1->GetID() << " id2: " << constraint.mBody2->GetID() << " key: " << constraint.mSortKey);
 

Jolt/Physics/Constraints/ContactConstraintManager.h

@@ -449,12 +449,6 @@ private:
 			return Vec3::sLoadFloat3Unsafe(mWorldSpaceNormal);
 		}
 
-		/// Convert the relative surface velocity to a Vec3
-		JPH_INLINE Vec3			GetRelativeSurfaceVelocity() const
-		{
-			return Vec3::sLoadFloat3Unsafe(mRelativeSurfaceVelocity);
-		}
-
 		/// Get the tangents for this contact constraint
 		JPH_INLINE void			GetTangents(Vec3 &outTangent1, Vec3 &outTangent2) const
 		{
@@ -468,8 +462,6 @@ private:
 		uint64					mSortKey;
 		Float3					mWorldSpaceNormal;
 		float					mCombinedFriction;
-		Float3					mRelativeSurfaceVelocity;
-		float					mCombinedRestitution;
 		WorldContactPoints		mContactPoints;
 	};