From f2c0a799e90916b980a85ebd110466a5feff1ead Mon Sep 17 00:00:00 2001
From: austin <austin@austinhoover.net>
Date: Fri, 30 May 2025 15:08:20 -0400
Subject: [PATCH] dont add contact joints for geom-geom

---
 docs/src/progress/renderertodo.md             |  1 +
 .../collision/CollisionEngine.java            | 37 ++++++-------------
 2 files changed, 13 insertions(+), 25 deletions(-)

diff --git a/docs/src/progress/renderertodo.md b/docs/src/progress/renderertodo.md
index ad1ff0c9..4f6fde8f 100644
--- a/docs/src/progress/renderertodo.md
+++ b/docs/src/progress/renderertodo.md
@@ -2079,6 +2079,7 @@ Render pathing nodes (still needs some work)
 Pathing construction between town buildings and road nodes
 Pathing construction for farm plots
 Bounding sphere work
+Don't allocate contact joints for geom-geom
 
 
 
diff --git a/src/main/java/electrosphere/collision/CollisionEngine.java b/src/main/java/electrosphere/collision/CollisionEngine.java
index 89d54720..ed906b52 100644
--- a/src/main/java/electrosphere/collision/CollisionEngine.java
+++ b/src/main/java/electrosphere/collision/CollisionEngine.java
@@ -486,44 +486,31 @@ public class CollisionEngine {
             int numc = OdeHelper.collide(o1,o2,MAX_CONTACTS,contacts.getGeomBuffer());
             Globals.profiler.endCpuSample();
             //create DContacts based on each collision that occurs
-            if (numc != 0) {
-                for (int i=0; i<numc; i++) {
+            if(numc != 0){
+                for(int i=0; i<numc; i++){
                     DContact contact = contacts.get(i);
 
                     //special code for ray casting
                     if (o1 instanceof DRay || o2 instanceof DRay){
                         DVector3 end = new DVector3();
-                        end.eqSum( contact.geom.pos, contact.geom.normal, contact.geom.depth );
+                        end.eqSum(contact.geom.pos, contact.geom.normal, contact.geom.depth);
                         continue;
                     }
 
-                    // //
-                    // //apply shallow slope correction
-                    // if(
-                    //     //is terrain
-                    //     (c1.getType() == Collidable.TYPE_TERRAIN || c2.getType() == Collidable.TYPE_TERRAIN) &&
-                    //     (!c1.getType().equals(c2.getType())) &&
-                    //     contact.geom.normal.length() > 0 
-                    //     &&
-                    //     //force is pointing basically upwards
-                    //     PhysicsUtils.odeVecToJomlVec(contact.geom.normal).dot(MathUtils.getUpVector()) > 0.7
-                    // ){
-                    //     System.out.println(PhysicsUtils.odeVecToJomlVec(contact.geom.normal).dot(MathUtils.getUpVector()));
-                    //     if(//force is pointing basically upwards
-                    //     PhysicsUtils.odeVecToJomlVec(contact.geom.normal).dot(MathUtils.getUpVector()) > 0.7){
-                    //         contact.geom.normal.set(PhysicsUtils.jomlVecToOdeVec(MathUtils.getUpVector()));
-                    //     }
-                    // }
-
                     //
                     //add contact to contact group
                     DJoint c = OdeHelper.createContactJoint(world,contactgroup,contact);
                     if(b1 == null){
-                        c.attach(null,b2);
-                    } else if(b2 == null){
-                        c.attach(b1,null);
+                        if(b2 == null){
+                        } else {
+                            c.attach(null,b2);
+                        }
                     } else {
-                        c.attach(b1,b2);
+                        if(b2 == null){
+                            c.attach(b1,null);
+                        } else {
+                            c.attach(b1,b2);
+                        }
                     }
 
                     // Use the default collision resolution