diff options
| author | Rémi Verschelde <rverschelde@gmail.com> | 2020-07-02 18:39:16 +0200 |
|---|---|---|
| committer | GitHub <noreply@github.com> | 2020-07-02 18:39:16 +0200 |
| commit | 67e4082b1e73f3cbe518c499eb328b0f68f3419b (patch) | |
| tree | ccb3953feff88ee0c6f7bf2013cb49e0404c2247 /servers/physics_2d/joints_2d_sw.cpp | |
| parent | d12124856292e80c9069593ed263d72d01f60d02 (diff) | |
| parent | ba27deef06f0152a59c86e3b0ab3ebb0976344ad (diff) | |
Merge pull request #37350 from aaronfranke/force-impulse
Refactor physics force and impulse code to use (force, position) order
Diffstat (limited to 'servers/physics_2d/joints_2d_sw.cpp')
| -rw-r--r-- | servers/physics_2d/joints_2d_sw.cpp | 24 |
1 files changed, 12 insertions, 12 deletions
diff --git a/servers/physics_2d/joints_2d_sw.cpp b/servers/physics_2d/joints_2d_sw.cpp index 81e961e90d..e7d26645e9 100644 --- a/servers/physics_2d/joints_2d_sw.cpp +++ b/servers/physics_2d/joints_2d_sw.cpp @@ -136,9 +136,9 @@ bool PinJoint2DSW::setup(real_t p_step) { bias = delta * -(get_bias() == 0 ? space->get_constraint_bias() : get_bias()) * (1.0 / p_step); // apply accumulated impulse - A->apply_impulse(rA, -P); + A->apply_impulse(-P, rA); if (B) { - B->apply_impulse(rB, P); + B->apply_impulse(P, rB); } return true; @@ -161,9 +161,9 @@ void PinJoint2DSW::solve(real_t p_step) { Vector2 impulse = M.basis_xform(bias - rel_vel - Vector2(softness, softness) * P); - A->apply_impulse(rA, -impulse); + A->apply_impulse(-impulse, rA); if (B) { - B->apply_impulse(rB, impulse); + B->apply_impulse(impulse, rB); } P += impulse; @@ -301,8 +301,8 @@ bool GrooveJoint2DSW::setup(real_t p_step) { gbias = (delta * -(_b == 0 ? space->get_constraint_bias() : _b) * (1.0 / p_step)).clamped(get_max_bias()); // apply accumulated impulse - A->apply_impulse(rA, -jn_acc); - B->apply_impulse(rB, jn_acc); + A->apply_impulse(-jn_acc, rA); + B->apply_impulse(jn_acc, rB); correct = true; return true; @@ -320,8 +320,8 @@ void GrooveJoint2DSW::solve(real_t p_step) { j = jn_acc - jOld; - A->apply_impulse(rA, -j); - B->apply_impulse(rB, j); + A->apply_impulse(-j, rA); + B->apply_impulse(j, rB); } GrooveJoint2DSW::GrooveJoint2DSW(const Vector2 &p_a_groove1, const Vector2 &p_a_groove2, const Vector2 &p_b_anchor, Body2DSW *p_body_a, Body2DSW *p_body_b) : @@ -370,8 +370,8 @@ bool DampedSpringJoint2DSW::setup(real_t p_step) { real_t f_spring = (rest_length - dist) * stiffness; Vector2 j = n * f_spring * (p_step); - A->apply_impulse(rA, -j); - B->apply_impulse(rB, j); + A->apply_impulse(-j, rA); + B->apply_impulse(j, rB); return true; } @@ -386,8 +386,8 @@ void DampedSpringJoint2DSW::solve(real_t p_step) { target_vrn = vrn + v_damp; Vector2 j = n * v_damp * n_mass; - A->apply_impulse(rA, -j); - B->apply_impulse(rB, j); + A->apply_impulse(-j, rA); + B->apply_impulse(j, rB); } void DampedSpringJoint2DSW::set_param(PhysicsServer2D::DampedSpringParam p_param, real_t p_value) { |