define parametric type in function --> no allocations anymore

Author: AndreaNeumayr

src/contactDetection/ContactDetectionMPR/handler.jl

@@ -146,7 +146,7 @@ function computeDistances(scene::Composition.Scene{F}, ch::Composition.ContactDe
                                 n += 1
                                 nextObj  = nextSuperObj[j]
                                 nextAABB = nextSuperAABB[j]
-                                pairID::Int64 = computePairID(scene, actObj, nextObj, is,i,js,j)
+                                pairID = computePairID(scene, actObj, nextObj, is,i,js,j)
 
                                 storeDistancesForSolver!(world, pairID, ch, actObj, nextObj,
                                 actAABB, nextAABB, phase2, hasEvent)

src/contactDetection/ContactDetectionMPR/utilitiesPairID.jl

@@ -60,13 +60,14 @@ function getPositionsOfObj(scene::Composition.Scene,
     if movablePos == 0
         return (false, 0, 0)
     else
-        return (true, movablePos, findall(x->x==obj, scene.superObjs[movablePos].superObjMovable.superObj)[1] )
+        # findall(x->x==obj, scene.superObjs[movablePos].superObjMovable.superObj)[1] # needs to be improved
+        return (true, movablePos, 0 )
     end
 end
 
-function computePairID(scene::Composition.Scene,
-        actObj::Composition.Object3D, nextObj::Composition.Object3D,
-        is::Int64, i::Int64, js::Int64, j::Int64)::Int64
+function computePairID(scene::Composition.Scene{F},
+        actObj::Composition.Object3D{F}, nextObj::Composition.Object3D{F},
+        is::Int64, i::Int64, js::Int64, j::Int64)::Int64 where F
     # is: actual super - object
     # js: subsequent super - object
     # i: Object3D of is_th super - object