Merge pull request #37361 from reduz/server-renames

Renaming of servers for coherency.

1 files changed, 169 insertions, 0 deletions

diff --git a/servers/physics_3d/joints/jacobian_entry_3d_sw.h b/servers/physics_3d/joints/jacobian_entry_3d_sw.h
new file mode 100644
index 0000000000..e298d40d8d
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+++ b/servers/physics_3d/joints/jacobian_entry_3d_sw.h
@@ -0,0 +1,169 @@
+/*************************************************************************/
+/*  jacobian_entry_sw.h                                                  */
+/*************************************************************************/
+/*                       This file is part of:                           */
+/*                           GODOT ENGINE                                */
+/*                      https://godotengine.org                          */
+/*************************************************************************/
+/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur.                 */
+/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md).   */
+/*                                                                       */
+/* Permission is hereby granted, free of charge, to any person obtaining */
+/* a copy of this software and associated documentation files (the       */
+/* "Software"), to deal in the Software without restriction, including   */
+/* without limitation the rights to use, copy, modify, merge, publish,   */
+/* distribute, sublicense, and/or sell copies of the Software, and to    */
+/* permit persons to whom the Software is furnished to do so, subject to */
+/* the following conditions:                                             */
+/*                                                                       */
+/* The above copyright notice and this permission notice shall be        */
+/* included in all copies or substantial portions of the Software.       */
+/*                                                                       */
+/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
+/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
+/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
+/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
+/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
+/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
+/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
+/*************************************************************************/
+
+/*
+Adapted to Godot from the Bullet library.
+*/
+
+#ifndef JACOBIAN_ENTRY_SW_H
+#define JACOBIAN_ENTRY_SW_H
+
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include "core/math/transform.h"
+
+class JacobianEntry3DSW {
+public:
+	JacobianEntry3DSW(){};
+	//constraint between two different rigidbodies
+	JacobianEntry3DSW(
+			const Basis &world2A,
+			const Basis &world2B,
+			const Vector3 &rel_pos1, const Vector3 &rel_pos2,
+			const Vector3 &jointAxis,
+			const Vector3 &inertiaInvA,
+			const real_t massInvA,
+			const Vector3 &inertiaInvB,
+			const real_t massInvB) :
+			m_linearJointAxis(jointAxis) {
+		m_aJ = world2A.xform(rel_pos1.cross(m_linearJointAxis));
+		m_bJ = world2B.xform(rel_pos2.cross(-m_linearJointAxis));
+		m_0MinvJt = inertiaInvA * m_aJ;
+		m_1MinvJt = inertiaInvB * m_bJ;
+		m_Adiag = massInvA + m_0MinvJt.dot(m_aJ) + massInvB + m_1MinvJt.dot(m_bJ);
+
+		ERR_FAIL_COND(m_Adiag <= real_t(0.0));
+	}
+
+	//angular constraint between two different rigidbodies
+	JacobianEntry3DSW(const Vector3 &jointAxis,
+			const Basis &world2A,
+			const Basis &world2B,
+			const Vector3 &inertiaInvA,
+			const Vector3 &inertiaInvB) :
+			m_linearJointAxis(Vector3(real_t(0.), real_t(0.), real_t(0.))) {
+		m_aJ = world2A.xform(jointAxis);
+		m_bJ = world2B.xform(-jointAxis);
+		m_0MinvJt = inertiaInvA * m_aJ;
+		m_1MinvJt = inertiaInvB * m_bJ;
+		m_Adiag = m_0MinvJt.dot(m_aJ) + m_1MinvJt.dot(m_bJ);
+
+		ERR_FAIL_COND(m_Adiag <= real_t(0.0));
+	}
+
+	//angular constraint between two different rigidbodies
+	JacobianEntry3DSW(const Vector3 &axisInA,
+			const Vector3 &axisInB,
+			const Vector3 &inertiaInvA,
+			const Vector3 &inertiaInvB) :
+			m_linearJointAxis(Vector3(real_t(0.), real_t(0.), real_t(0.))),
+			m_aJ(axisInA),
+			m_bJ(-axisInB) {
+		m_0MinvJt = inertiaInvA * m_aJ;
+		m_1MinvJt = inertiaInvB * m_bJ;
+		m_Adiag = m_0MinvJt.dot(m_aJ) + m_1MinvJt.dot(m_bJ);
+
+		ERR_FAIL_COND(m_Adiag <= real_t(0.0));
+	}
+
+	//constraint on one rigidbody
+	JacobianEntry3DSW(
+			const Basis &world2A,
+			const Vector3 &rel_pos1, const Vector3 &rel_pos2,
+			const Vector3 &jointAxis,
+			const Vector3 &inertiaInvA,
+			const real_t massInvA) :
+			m_linearJointAxis(jointAxis) {
+		m_aJ = world2A.xform(rel_pos1.cross(jointAxis));
+		m_bJ = world2A.xform(rel_pos2.cross(-jointAxis));
+		m_0MinvJt = inertiaInvA * m_aJ;
+		m_1MinvJt = Vector3(real_t(0.), real_t(0.), real_t(0.));
+		m_Adiag = massInvA + m_0MinvJt.dot(m_aJ);
+
+		ERR_FAIL_COND(m_Adiag <= real_t(0.0));
+	}
+
+	real_t getDiagonal() const { return m_Adiag; }
+
+	// for two constraints on the same rigidbody (for example vehicle friction)
+	real_t getNonDiagonal(const JacobianEntry3DSW &jacB, const real_t massInvA) const {
+		const JacobianEntry3DSW &jacA = *this;
+		real_t lin = massInvA * jacA.m_linearJointAxis.dot(jacB.m_linearJointAxis);
+		real_t ang = jacA.m_0MinvJt.dot(jacB.m_aJ);
+		return lin + ang;
+	}
+
+	// for two constraints on sharing two same rigidbodies (for example two contact points between two rigidbodies)
+	real_t getNonDiagonal(const JacobianEntry3DSW &jacB, const real_t massInvA, const real_t massInvB) const {
+		const JacobianEntry3DSW &jacA = *this;
+		Vector3 lin = jacA.m_linearJointAxis * jacB.m_linearJointAxis;
+		Vector3 ang0 = jacA.m_0MinvJt * jacB.m_aJ;
+		Vector3 ang1 = jacA.m_1MinvJt * jacB.m_bJ;
+		Vector3 lin0 = massInvA * lin;
+		Vector3 lin1 = massInvB * lin;
+		Vector3 sum = ang0 + ang1 + lin0 + lin1;
+		return sum[0] + sum[1] + sum[2];
+	}
+
+	real_t getRelativeVelocity(const Vector3 &linvelA, const Vector3 &angvelA, const Vector3 &linvelB, const Vector3 &angvelB) {
+		Vector3 linrel = linvelA - linvelB;
+		Vector3 angvela = angvelA * m_aJ;
+		Vector3 angvelb = angvelB * m_bJ;
+		linrel *= m_linearJointAxis;
+		angvela += angvelb;
+		angvela += linrel;
+		real_t rel_vel2 = angvela[0] + angvela[1] + angvela[2];
+		return rel_vel2 + CMP_EPSILON;
+	}
+	//private:
+
+	Vector3 m_linearJointAxis;
+	Vector3 m_aJ;
+	Vector3 m_bJ;
+	Vector3 m_0MinvJt;
+	Vector3 m_1MinvJt;
+	//Optimization: can be stored in the w/last component of one of the vectors
+	real_t m_Adiag;
+};
+
+#endif // JACOBIAN_ENTRY_SW_H