Cleanup (#27)

* Add SmallConstraints to SpanData

* Make Shapes, Springs and Points public in SoftBody.cs

* Add AddRemoveTests.cs

* Add IsRegistered to Shape.cs

* Auto-clean

* Simplify Edges of SoftBodyCube.cs in the demo.

src/Jitter2/Collision/CollisionIsland.cs

@@ -42,7 +42,7 @@ public sealed class Island : IListIndex
     public ReadOnlyHashSet<RigidBody> Bodies { get; private set; }
 
     int IListIndex.ListIndex { get; set; } = -1;
-    
+
     /// <summary>
     /// Initializes a new instance of the <see cref="Island"/> class.
     /// </summary>

src/Jitter2/Collision/DynamicTree.cs

@@ -181,7 +181,7 @@ void SetTime(Timings type)
             {
                 var sl = lists[ntask];
                 updatedProxies += sl.Count;
-                
+
                 for (int i = 0; i < sl.Count; i++)
                 {
                     T proxy = sl[i];

src/Jitter2/Collision/NarrowPhase/ConvexPolytope.cs

@@ -108,7 +108,7 @@ public static bool Equals(in Edge a, in Edge b)
     /// The return value may be invalidated by subsequent calls to <see cref="AddVertex"/> or <see cref="AddPoint"/>.
     /// </summary>
     public readonly bool OriginEnclosed => originEnclosed;
-    
+
     /// <summary>
     /// Computes the barycentric coordinates of the origin projected onto a given triangle. 
     /// These coordinates are used to retrieve points in A- and B-space.

src/Jitter2/Collision/NarrowPhase/NarrowPhase.cs

@@ -508,7 +508,7 @@ public static bool Raycast(ISupportMap support, in JMatrix orientation,
 
         return result;
     }
-    
+
     /// <summary>
     /// Performs a raycast against a shape.
     /// </summary>
@@ -525,12 +525,12 @@ public static bool Raycast(ISupportMap support, in JVector origin, in JVector di
     {
         solver.MKD.SupportA = support;
         solver.MKD.SupportB = null!;
-        
+
         bool result = solver.Raycast(origin, direction, out fraction, out normal);
 
         return result;
     }
-    
+
     /// <summary>
     /// Determines whether two convex shapes overlap, providing detailed information for both overlapping and separated
     /// cases. Internally, the method employs the Expanding Polytope Algorithm (EPA) to gather collision information.
@@ -633,7 +633,7 @@ public static bool MPREPA(ISupportMap supportA, ISupportMap supportB,
 
         return res;
     }
-    
+
     /// <summary>
     /// Detects whether two convex shapes overlap and provides detailed collision information.
     /// It assumes that support shape A is at position zero and not rotated.
@@ -669,5 +669,4 @@ public static bool MPREPA(ISupportMap supportA, ISupportMap supportB,
 
         return res;
     }
-
 }

src/Jitter2/Collision/Shapes/Shape.cs

@@ -43,18 +43,25 @@ public abstract class Shape : ISupportMap, IListIndex, IDynamicTreeProxy
     /// arranging shapes in a well-defined order.
     /// </summary>
     public readonly ulong ShapeId;
-    
+
     public Shape()
     {
         ShapeId = World.IdCounter++;
     }
 
     internal bool AttachRigidBody(RigidBody? body)
     {
-        RigidBody ??= body;
-        return RigidBody == body;
+        if (RigidBody == null)
+        {
+            RigidBody = body;
+            return true;
+        }
+
+        return false;
     }
 
+    public bool IsRegistered => (this as IListIndex).ListIndex != -1;
+
     internal void DetachRigidBody()
     {
         RigidBody = null!;
@@ -63,7 +70,7 @@ internal void DetachRigidBody()
     /// <summary>
     /// The instance of <see cref="RigidBody"/> to which this shape is attached.
     /// </summary>
-    public RigidBody? RigidBody { get; private set; } = null!;
+    public RigidBody? RigidBody { get; private set; }
 
     /// <summary>
     /// The bounding box of the shape in world space. It is automatically updated when the position or

src/Jitter2/Collision/Shapes/SphereShape.cs

@@ -63,7 +63,7 @@ public override void SupportMap(in JVector direction, out JVector result)
         result.Normalize();
         JVector.Multiply(result, radius, out result);
     }
-    
+
     public override void CalculateBoundingBox(in JMatrix orientation, in JVector position, out JBBox box)
     {
         box.Min.X = -radius;

src/Jitter2/Collision/Shapes/TriangleShape.cs

@@ -77,7 +77,7 @@ public void GetWorldVertices(out JVector a, out JVector b, out JVector c)
         c = Mesh.Vertices[triangle.IndexC];
 
         if (RigidBody == null) return;
-        
+
         ref JMatrix orientation = ref RigidBody.Data.Orientation;
         ref JVector position = ref RigidBody.Data.Position;
 

src/Jitter2/Collision/TriangleMesh.cs

@@ -23,6 +23,7 @@
 
 using System;
 using System.Collections.Generic;
+using System.Runtime.CompilerServices;
 using Jitter2.LinearMath;
 
 namespace Jitter2.Collision;
@@ -45,7 +46,6 @@ public DegenerateTriangleException(string message, Exception inner) : base(messa
     }
 }
 
-
 /// <summary>
 /// Encapsulates the data of a triangle mesh. An instance of this can be supplied to the <see cref="Jitter2.Collision.Shapes.TriangleShape"/>.
 /// The triangles within this class contain indices pointing to neighboring triangles.
@@ -85,7 +85,7 @@ public Triangle(int a, int b, int c)
 #if NET6_0
             System.Runtime.CompilerServices.Unsafe.SkipInit(out Normal);
 #endif
-            
+
             IndexA = a;
             IndexB = b;
             IndexC = c;
@@ -116,7 +116,7 @@ public TriangleMesh(List<JTriangle> triangles)
     {
         Dictionary<JVector, int> tmpIndices = new();
         List<JVector> tmpVertices = new();
-        
+
         // 1. step: build indices and vertices for triangles (JTriangle contains raw x, y, z coordinates).
 
         Indices = new Triangle[triangles.Count];
@@ -125,7 +125,7 @@ int PushVector(JVector v)
         {
             if (!tmpIndices.TryGetValue(v, out int result))
             {
-                result = (int)tmpVertices.Count;
+                result = tmpVertices.Count;
                 tmpIndices.Add(v, result);
                 tmpVertices.Add(v);
             }
@@ -145,9 +145,9 @@ int PushVector(JVector v)
         }
 
         Vertices = tmpVertices.ToArray();
-        
+
         // 2. step: Identify the neighbors.
-        
+
         Dictionary<Edge, int> tmpEdges = new();
 
         int GetEdge(Edge e)
@@ -179,7 +179,7 @@ int GetEdge(Edge e)
             JVector A = Vertices[Indices[i].IndexA];
             JVector B = Vertices[Indices[i].IndexB];
             JVector C = Vertices[Indices[i].IndexC];
-            
+
             JVector normal = (C - A) % (B - A);
 
             if (MathHelper.CloseToZero(normal, 1e-12f))

src/Jitter2/DataStructures/ActiveList.cs

@@ -47,7 +47,10 @@ public ReadOnlyActiveList(ActiveList<T> list)
 
     public T this[int i] => list[i];
 
-    public bool IsActive(T element) => list.IsActive(element);
+    public bool IsActive(T element)
+    {
+        return list.IsActive(element);
+    }
 
     public IEnumerator<T> GetEnumerator()
     {
@@ -151,7 +154,10 @@ private void Swap(int index0, int index1)
         elements[index1].ListIndex = index1;
     }
 
-    public bool IsActive(T element) => (element.ListIndex < Active);
+    public bool IsActive(T element)
+    {
+        return (element.ListIndex < Active);
+    }
 
     public void MoveToActive(T element)
     {

src/Jitter2/DataStructures/ReadOnlyHashset.cs

@@ -29,7 +29,6 @@ namespace Jitter2.DataStructures;
 /// <summary>
 /// Implements a wrapper for <see cref="HashSet{T}"/>, eliminating garbage collection (GC) overhead during enumeration.
 /// </summary>
-
 public class ReadOnlyHashSet<T> : IReadOnlyCollection<T>
 {
     private readonly HashSet<T> hashset;

src/Jitter2/Dynamics/Arbiter.cs

@@ -35,7 +35,7 @@ public class Arbiter
 
     public RigidBody Body1 = null!;
     public RigidBody Body2 = null!;
-    
+
     public JHandle<ContactData> Handle;
 }
 

src/Jitter2/Dynamics/Constraints/AngularMotor.cs

@@ -100,7 +100,7 @@ public float TargetVelocity
     }
 
     public JVector LocalAxis1 => handle.Data.LocalAxis1;
-    
+
     public JVector LocalAxis2 => handle.Data.LocalAxis2;
 
     public float MaximumForce

src/Jitter2/Dynamics/Constraints/Constraint.cs

@@ -22,7 +22,6 @@
  */
 
 using System;
-using System.Runtime.CompilerServices;
 using System.Runtime.InteropServices;
 using Jitter2.UnmanagedMemory;
 
@@ -69,7 +68,7 @@ public abstract class Constraint : IDebugDrawable
     /// </summary>
     public JHandle<ConstraintData> Handle { internal set; get; }
 
-    public JHandle<SmallConstraintData> SmallHandle => JHandle<ConstraintData>.AsHandle<SmallConstraintData>(this.Handle);
+    public JHandle<SmallConstraintData> SmallHandle => JHandle<ConstraintData>.AsHandle<SmallConstraintData>(Handle);
 
     /// <summary>
     /// This method must be overridden. It initializes the function pointers for

src/Jitter2/Dynamics/Constraints/DistanceLimit.cs

@@ -151,10 +151,7 @@ public float TargetDistance
             ref DistanceLimitData data = ref handle.Data;
             data.Distance = value;
         }
-        get
-        {
-            return handle.Data.Distance;
-        }
+        get => handle.Data.Distance;
     }
 
     public float Distance

src/Jitter2/Dynamics/Constraints/LinearMotor.cs

@@ -67,9 +67,9 @@ protected override void Create()
         prepareForIteration = &PrepareForIteration;
         handle = JHandle<ConstraintData>.AsHandle<LinearMotorData>(Handle);
     }
-    
+
     public JVector LocalAxis1 => handle.Data.LocalAxis1;
-    
+
     public JVector LocalAxis2 => handle.Data.LocalAxis2;
 
     /// <summary>

src/Jitter2/Dynamics/RigidBody.cs

@@ -62,7 +62,7 @@ public struct RigidBodyData
 public sealed class RigidBody : IListIndex, IDebugDrawable
 {
     internal JHandle<RigidBodyData> handle;
-    
+
     public readonly ulong RigidBodyId;
 
     /// <summary>
@@ -319,7 +319,7 @@ private void AttachToShape(Shape shape)
     {
         if (!shape.AttachRigidBody(this))
         {
-            throw new InvalidOperationException("Shape has already been added to another body.");
+            throw new ArgumentException("Shape has already been added to another body.", nameof(shape));
         }
 
         if (shape.Mass == 0)
@@ -360,6 +360,11 @@ public void AddShape(IEnumerable<Shape> shapes, bool setMassInertia = true)
     /// mass properties, assuming a unit density for the shape. If false, the inertia and mass remain unchanged.</param>
     public void AddShape(Shape shape, bool setMassInertia = true)
     {
+        if (shape.IsRegistered)
+        {
+            throw new ArgumentException("Shape can not be added. Is the shape already registered?");
+        }
+
         AttachToShape(shape);
         shapes.Add(shape);
         if (setMassInertia) SetMassInertia();
@@ -413,15 +418,15 @@ public void RemoveShape(Shape shape, bool setMassInertia = true)
     {
         if (!shapes.Remove(shape))
         {
-            throw new InvalidOperationException(
+            throw new ArgumentException(
                 "Shape is not part of this body.");
         }
 
         Stack<Arbiter> toRemoveArbiter = new();
 
         foreach (var contact in Contacts)
         {
-            if (contact.Handle.Data.Key.Key1 == shape.ShapeId || contact.Handle.Data.Key.Key2 == shape.ShapeId )
+            if (contact.Handle.Data.Key.Key1 == shape.ShapeId || contact.Handle.Data.Key.Key2 == shape.ShapeId)
             {
                 toRemoveArbiter.Push(contact);
             }

src/Jitter2/Jitter2.csproj

@@ -13,8 +13,8 @@
 
     <PropertyGroup>
         <Description>
-        Jitter Physics 2, the evolution of Jitter Physics, is an impulse-based dynamics engine with a semi-implicit Euler integrator.
-        It is a fast, simple, and dependency-free engine written in C# with a clear and user-friendly API.
+            Jitter Physics 2, the evolution of Jitter Physics, is an impulse-based dynamics engine with a semi-implicit Euler integrator.
+            It is a fast, simple, and dependency-free engine written in C# with a clear and user-friendly API.
         </Description>
         <GenerateDocumentationFile>true</GenerateDocumentationFile>
         <PackageReadmeFile>readme.md</PackageReadmeFile>
@@ -32,8 +32,8 @@
     </PropertyGroup>
 
     <ItemGroup>
-      <None Include="./../../publish/readme.md" Pack="true" PackagePath=""/>
-      <None Include="./../../publish/icon.png" Pack="true" PackagePath=""/>
+        <None Include="./../../publish/readme.md" Pack="true" PackagePath=""/>
+        <None Include="./../../publish/icon.png" Pack="true" PackagePath=""/>
     </ItemGroup>
 
     <PropertyGroup Condition="'$(Configuration)' == 'Release'">

src/Jitter2/LinearMath/MathHelper.cs

@@ -67,14 +67,14 @@ public static bool LineLineIntersect(in JVector p1, in JVector p2, in JVector p3
     }
 
     */
-    
+
     public static JMatrix InverseSquareRoot(JMatrix m, int sweeps = 2)
     {
         float phi, cp, sp;
         Unsafe.SkipInit(out JMatrix r);
-        
+
         JMatrix rotation = JMatrix.Identity;
-        
+
         for (int i = 0; i < sweeps; i++)
         {
             // M32
@@ -111,10 +111,10 @@ public static JMatrix InverseSquareRoot(JMatrix m, int sweeps = 2)
             }
         }
 
-        JMatrix d = new JMatrix(1.0f / MathF.Sqrt(m.M11), 0, 0, 
-            0, 1.0f / MathF.Sqrt(m.M22), 0, 
+        JMatrix d = new JMatrix(1.0f / MathF.Sqrt(m.M11), 0, 0,
+            0, 1.0f / MathF.Sqrt(m.M22), 0,
             0, 0, 1.0f / MathF.Sqrt(m.M33));
-        
+
         return rotation * d * JMatrix.Transpose(rotation);
     }
 

src/Jitter2/Parallelization/ThreadPool.cs

@@ -107,10 +107,7 @@ private ThreadPool()
         ChangeThreadCount(ThreadCountSuggestion);
     }
 
-    public static int ThreadCountSuggestion
-    {
-        get => Math.Max((int)(Environment.ProcessorCount * ThreadsPerProcessor), 1);
-    }
+    public static int ThreadCountSuggestion => Math.Max((int)(Environment.ProcessorCount * ThreadsPerProcessor), 1);
 
     /// <summary>
     /// Changes the number of worker threads.