Initialize variables in servers/physics

10 files changed, 109 insertions, 225 deletions

diff --git a/servers/physics_3d/joints/cone_twist_joint_3d_sw.cpp b/servers/physics_3d/joints/cone_twist_joint_3d_sw.cpp
index 7315e9c709..bb9cc1bf67 100644
--- a/servers/physics_3d/joints/cone_twist_joint_3d_sw.cpp
+++ b/servers/physics_3d/joints/cone_twist_joint_3d_sw.cpp
@@ -92,20 +92,8 @@ ConeTwistJoint3DSW::ConeTwistJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Trans
 	m_rbAFrame = rbAFrame;
 	m_rbBFrame = rbBFrame;
 
-	m_swingSpan1 = Math_TAU / 8.0;
-	m_swingSpan2 = Math_TAU / 8.0;
-	m_twistSpan = Math_TAU;
-	m_biasFactor = 0.3f;
-	m_relaxationFactor = 1.0f;
-
-	m_angularOnly = false;
-	m_solveTwistLimit = false;
-	m_solveSwingLimit = false;
-
 	A->add_constraint(this, 0);
 	B->add_constraint(this, 1);
-
-	m_appliedImpulse = 0;
 }
 
 bool ConeTwistJoint3DSW::setup(real_t p_timestep) {
diff --git a/servers/physics_3d/joints/cone_twist_joint_3d_sw.h b/servers/physics_3d/joints/cone_twist_joint_3d_sw.h
index 608847352c..bf7e593820 100644
--- a/servers/physics_3d/joints/cone_twist_joint_3d_sw.h
+++ b/servers/physics_3d/joints/cone_twist_joint_3d_sw.h
@@ -67,39 +67,39 @@ public:
 			Body3DSW *B;
 		};
 
-		Body3DSW *_arr[2];
+		Body3DSW *_arr[2] = { nullptr, nullptr };
 	};
 
-	JacobianEntry3DSW m_jac[3]; //3 orthogonal linear constraints
+	JacobianEntry3DSW m_jac[3] = {}; //3 orthogonal linear constraints
 
-	real_t m_appliedImpulse;
+	real_t m_appliedImpulse = 0.0;
 	Transform3D m_rbAFrame;
 	Transform3D m_rbBFrame;
 
-	real_t m_limitSoftness;
-	real_t m_biasFactor;
-	real_t m_relaxationFactor;
+	real_t m_limitSoftness = 0.0;
+	real_t m_biasFactor = 0.3;
+	real_t m_relaxationFactor = 1.0;
 
-	real_t m_swingSpan1;
-	real_t m_swingSpan2;
-	real_t m_twistSpan;
+	real_t m_swingSpan1 = Math_TAU / 8.0;
+	real_t m_swingSpan2 = 0.0;
+	real_t m_twistSpan = 0.0;
 
 	Vector3 m_swingAxis;
 	Vector3 m_twistAxis;
 
-	real_t m_kSwing;
-	real_t m_kTwist;
+	real_t m_kSwing = 0.0;
+	real_t m_kTwist = 0.0;
 
-	real_t m_twistLimitSign;
-	real_t m_swingCorrection;
-	real_t m_twistCorrection;
+	real_t m_twistLimitSign = 0.0;
+	real_t m_swingCorrection = 0.0;
+	real_t m_twistCorrection = 0.0;
 
-	real_t m_accSwingLimitImpulse;
-	real_t m_accTwistLimitImpulse;
+	real_t m_accSwingLimitImpulse = 0.0;
+	real_t m_accTwistLimitImpulse = 0.0;
 
-	bool m_angularOnly;
-	bool m_solveTwistLimit;
-	bool m_solveSwingLimit;
+	bool m_angularOnly = false;
+	bool m_solveTwistLimit = false;
+	bool m_solveSwingLimit = false;
 
 public:
 	virtual PhysicsServer3D::JointType get_type() const override { return PhysicsServer3D::JOINT_TYPE_CONE_TWIST; }
diff --git a/servers/physics_3d/joints/generic_6dof_joint_3d_sw.h b/servers/physics_3d/joints/generic_6dof_joint_3d_sw.h
index d0f3dbbd35..6492e40393 100644
--- a/servers/physics_3d/joints/generic_6dof_joint_3d_sw.h
+++ b/servers/physics_3d/joints/generic_6dof_joint_3d_sw.h
@@ -65,43 +65,28 @@ class G6DOFRotationalLimitMotor3DSW {
 public:
 	//! limit_parameters
 	//!@{
-	real_t m_loLimit; //!< joint limit
-	real_t m_hiLimit; //!< joint limit
-	real_t m_targetVelocity; //!< target motor velocity
-	real_t m_maxMotorForce; //!< max force on motor
-	real_t m_maxLimitForce; //!< max force on limit
-	real_t m_damping; //!< Damping.
-	real_t m_limitSoftness; //! Relaxation factor
-	real_t m_ERP; //!< Error tolerance factor when joint is at limit
-	real_t m_bounce; //!< restitution factor
-	bool m_enableMotor;
-	bool m_enableLimit;
+	real_t m_loLimit = -1e30; //!< joint limit
+	real_t m_hiLimit = 1e30; //!< joint limit
+	real_t m_targetVelocity = 0.0; //!< target motor velocity
+	real_t m_maxMotorForce = 0.1; //!< max force on motor
+	real_t m_maxLimitForce = 300.0; //!< max force on limit
+	real_t m_damping = 1.0; //!< Damping.
+	real_t m_limitSoftness = 0.5; //! Relaxation factor
+	real_t m_ERP = 0.5; //!< Error tolerance factor when joint is at limit
+	real_t m_bounce = 0.0; //!< restitution factor
+	bool m_enableMotor = false;
+	bool m_enableLimit = false;
 
 	//!@}
 
 	//! temp_variables
 	//!@{
-	real_t m_currentLimitError; //!< How much is violated this limit
-	int m_currentLimit; //!< 0=free, 1=at lo limit, 2=at hi limit
-	real_t m_accumulatedImpulse;
+	real_t m_currentLimitError = 0.0; //!< How much is violated this limit
+	int m_currentLimit = 0; //!< 0=free, 1=at lo limit, 2=at hi limit
+	real_t m_accumulatedImpulse = 0.0;
 	//!@}
 
-	G6DOFRotationalLimitMotor3DSW() {
-		m_accumulatedImpulse = 0.f;
-		m_targetVelocity = 0;
-		m_maxMotorForce = 0.1f;
-		m_maxLimitForce = 300.0f;
-		m_loLimit = -1e30;
-		m_hiLimit = 1e30;
-		m_ERP = 0.5f;
-		m_bounce = 0.0f;
-		m_damping = 1.0f;
-		m_limitSoftness = 0.5f;
-		m_currentLimit = 0;
-		m_currentLimitError = 0;
-		m_enableMotor = false;
-		m_enableLimit = false;
-	}
+	G6DOFRotationalLimitMotor3DSW() {}
 
 	//! Is limited
 	bool isLimited() {
@@ -125,30 +110,16 @@ public:
 
 class G6DOFTranslationalLimitMotor3DSW {
 public:
-	Vector3 m_lowerLimit; //!< the constraint lower limits
-	Vector3 m_upperLimit; //!< the constraint upper limits
-	Vector3 m_accumulatedImpulse;
+	Vector3 m_lowerLimit = Vector3(0.0, 0.0, 0.0); //!< the constraint lower limits
+	Vector3 m_upperLimit = Vector3(0.0, 0.0, 0.0); //!< the constraint upper limits
+	Vector3 m_accumulatedImpulse = Vector3(0.0, 0.0, 0.0);
 	//! Linear_Limit_parameters
 	//!@{
-	Vector3 m_limitSoftness; //!< Softness for linear limit
-	Vector3 m_damping; //!< Damping for linear limit
-	Vector3 m_restitution; //! Bounce parameter for linear limit
+	Vector3 m_limitSoftness = Vector3(0.7, 0.7, 0.7); //!< Softness for linear limit
+	Vector3 m_damping = Vector3(1.0, 1.0, 1.0); //!< Damping for linear limit
+	Vector3 m_restitution = Vector3(0.5, 0.5, 0.5); //! Bounce parameter for linear limit
 	//!@}
-	bool enable_limit[3];
-
-	G6DOFTranslationalLimitMotor3DSW() {
-		m_lowerLimit = Vector3(0.f, 0.f, 0.f);
-		m_upperLimit = Vector3(0.f, 0.f, 0.f);
-		m_accumulatedImpulse = Vector3(0.f, 0.f, 0.f);
-
-		m_limitSoftness = Vector3(1, 1, 1) * 0.7f;
-		m_damping = Vector3(1, 1, 1) * real_t(1.0f);
-		m_restitution = Vector3(1, 1, 1) * real_t(0.5f);
-
-		enable_limit[0] = true;
-		enable_limit[1] = true;
-		enable_limit[2] = true;
-	}
+	bool enable_limit[3] = { true, true, true };
 
 	//! Test limit
 	/*!
@@ -180,7 +151,7 @@ protected:
 			Body3DSW *B;
 		};
 
-		Body3DSW *_arr[2];
+		Body3DSW *_arr[2] = { nullptr, nullptr };
 	};
 
 	//! relative_frames
@@ -208,7 +179,7 @@ protected:
 protected:
 	//! temporal variables
 	//!@{
-	real_t m_timeStep;
+	real_t m_timeStep = 0.0;
 	Transform3D m_calculatedTransformA;
 	Transform3D m_calculatedTransformB;
 	Vector3 m_calculatedAxisAngleDiff;
@@ -216,7 +187,7 @@ protected:
 
 	Vector3 m_AnchorPos; // point between pivots of bodies A and B to solve linear axes
 
-	bool m_useLinearReferenceFrameA;
+	bool m_useLinearReferenceFrameA = false;
 
 	//!@}
 
diff --git a/servers/physics_3d/joints/hinge_joint_3d_sw.cpp b/servers/physics_3d/joints/hinge_joint_3d_sw.cpp
index b928f18231..a45fcf7eb5 100644
--- a/servers/physics_3d/joints/hinge_joint_3d_sw.cpp
+++ b/servers/physics_3d/joints/hinge_joint_3d_sw.cpp
@@ -79,21 +79,6 @@ HingeJoint3DSW::HingeJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Transform3D &
 	m_rbBFrame.basis[1][2] *= real_t(-1.);
 	m_rbBFrame.basis[2][2] *= real_t(-1.);
 
-	//start with free
-	m_lowerLimit = Math_PI;
-	m_upperLimit = -Math_PI;
-
-	m_useLimit = false;
-	m_biasFactor = 0.3f;
-	m_relaxationFactor = 1.0f;
-	m_limitSoftness = 0.9f;
-	m_solveLimit = false;
-
-	tau = 0.3;
-
-	m_angularOnly = false;
-	m_enableAngularMotor = false;
-
 	A->add_constraint(this, 0);
 	B->add_constraint(this, 1);
 }
@@ -135,21 +120,6 @@ HingeJoint3DSW::HingeJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Vector3 &pivo
 			rbAxisB1.y, rbAxisB2.y, -axisInB.y,
 			rbAxisB1.z, rbAxisB2.z, -axisInB.z);
 
-	//start with free
-	m_lowerLimit = Math_PI;
-	m_upperLimit = -Math_PI;
-
-	m_useLimit = false;
-	m_biasFactor = 0.3f;
-	m_relaxationFactor = 1.0f;
-	m_limitSoftness = 0.9f;
-	m_solveLimit = false;
-
-	tau = 0.3;
-
-	m_angularOnly = false;
-	m_enableAngularMotor = false;
-
 	A->add_constraint(this, 0);
 	B->add_constraint(this, 1);
 }
diff --git a/servers/physics_3d/joints/hinge_joint_3d_sw.h b/servers/physics_3d/joints/hinge_joint_3d_sw.h
index 22eb2f4660..a4ceff9ffe 100644
--- a/servers/physics_3d/joints/hinge_joint_3d_sw.h
+++ b/servers/physics_3d/joints/hinge_joint_3d_sw.h
@@ -60,7 +60,7 @@ class HingeJoint3DSW : public Joint3DSW {
 			Body3DSW *B;
 		};
 
-		Body3DSW *_arr[2];
+		Body3DSW *_arr[2] = {};
 	};
 
 	JacobianEntry3DSW m_jac[3]; //3 orthogonal linear constraints
@@ -69,31 +69,31 @@ class HingeJoint3DSW : public Joint3DSW {
 	Transform3D m_rbAFrame; // constraint axii. Assumes z is hinge axis.
 	Transform3D m_rbBFrame;
 
-	real_t m_motorTargetVelocity;
-	real_t m_maxMotorImpulse;
+	real_t m_motorTargetVelocity = 0.0;
+	real_t m_maxMotorImpulse = 0.0;
 
-	real_t m_limitSoftness;
-	real_t m_biasFactor;
-	real_t m_relaxationFactor;
+	real_t m_limitSoftness = 0.9;
+	real_t m_biasFactor = 0.3;
+	real_t m_relaxationFactor = 1.0;
 
-	real_t m_lowerLimit;
-	real_t m_upperLimit;
+	real_t m_lowerLimit = Math_PI;
+	real_t m_upperLimit = -Math_PI;
 
-	real_t m_kHinge;
+	real_t m_kHinge = 0.0;
 
-	real_t m_limitSign;
-	real_t m_correction;
+	real_t m_limitSign = 0.0;
+	real_t m_correction = 0.0;
 
-	real_t m_accLimitImpulse;
+	real_t m_accLimitImpulse = 0.0;
 
-	real_t tau;
+	real_t tau = 0.3;
 
-	bool m_useLimit;
-	bool m_angularOnly;
-	bool m_enableAngularMotor;
-	bool m_solveLimit;
+	bool m_useLimit = false;
+	bool m_angularOnly = false;
+	bool m_enableAngularMotor = false;
+	bool m_solveLimit = false;
 
-	real_t m_appliedImpulse;
+	real_t m_appliedImpulse = 0.0;
 
 public:
 	virtual PhysicsServer3D::JointType get_type() const override { return PhysicsServer3D::JOINT_TYPE_HINGE; }
diff --git a/servers/physics_3d/joints/jacobian_entry_3d_sw.h b/servers/physics_3d/joints/jacobian_entry_3d_sw.h
index 6afa70c816..7294ff78e3 100644
--- a/servers/physics_3d/joints/jacobian_entry_3d_sw.h
+++ b/servers/physics_3d/joints/jacobian_entry_3d_sw.h
@@ -163,7 +163,7 @@ public:
 	Vector3 m_0MinvJt;
 	Vector3 m_1MinvJt;
 	//Optimization: can be stored in the w/last component of one of the vectors
-	real_t m_Adiag;
+	real_t m_Adiag = 1.0;
 };
 
 #endif // JACOBIAN_ENTRY_SW_H
diff --git a/servers/physics_3d/joints/pin_joint_3d_sw.cpp b/servers/physics_3d/joints/pin_joint_3d_sw.cpp
index 8eb84d1c2f..f41151ec0e 100644
--- a/servers/physics_3d/joints/pin_joint_3d_sw.cpp
+++ b/servers/physics_3d/joints/pin_joint_3d_sw.cpp
@@ -171,11 +171,6 @@ PinJoint3DSW::PinJoint3DSW(Body3DSW *p_body_a, const Vector3 &p_pos_a, Body3DSW
 	m_pivotInA = p_pos_a;
 	m_pivotInB = p_pos_b;
 
-	m_tau = 0.3;
-	m_damping = 1;
-	m_impulseClamp = 0;
-	m_appliedImpulse = 0;
-
 	A->add_constraint(this, 0);
 	B->add_constraint(this, 1);
 }
diff --git a/servers/physics_3d/joints/pin_joint_3d_sw.h b/servers/physics_3d/joints/pin_joint_3d_sw.h
index 3d91452850..79af48f2a5 100644
--- a/servers/physics_3d/joints/pin_joint_3d_sw.h
+++ b/servers/physics_3d/joints/pin_joint_3d_sw.h
@@ -60,15 +60,15 @@ class PinJoint3DSW : public Joint3DSW {
 			Body3DSW *B;
 		};
 
-		Body3DSW *_arr[2];
+		Body3DSW *_arr[2] = {};
 	};
 
-	real_t m_tau; //bias
-	real_t m_damping;
-	real_t m_impulseClamp;
-	real_t m_appliedImpulse;
+	real_t m_tau = 0.3; //bias
+	real_t m_damping = 1.0;
+	real_t m_impulseClamp = 0.0;
+	real_t m_appliedImpulse = 0.0;
 
-	JacobianEntry3DSW m_jac[3]; //3 orthogonal linear constraints
+	JacobianEntry3DSW m_jac[3] = {}; //3 orthogonal linear constraints
 
 	Vector3 m_pivotInA;
 	Vector3 m_pivotInB;
diff --git a/servers/physics_3d/joints/slider_joint_3d_sw.cpp b/servers/physics_3d/joints/slider_joint_3d_sw.cpp
index 1895fe1e2e..e10ed436d5 100644
--- a/servers/physics_3d/joints/slider_joint_3d_sw.cpp
+++ b/servers/physics_3d/joints/slider_joint_3d_sw.cpp
@@ -72,41 +72,6 @@ static _FORCE_INLINE_ real_t atan2fast(real_t y, real_t x) {
 	return (y < 0.0f) ? -angle : angle;
 }
 
-void SliderJoint3DSW::initParams() {
-	m_lowerLinLimit = real_t(1.0);
-	m_upperLinLimit = real_t(-1.0);
-	m_lowerAngLimit = real_t(0.);
-	m_upperAngLimit = real_t(0.);
-	m_softnessDirLin = SLIDER_CONSTRAINT_DEF_SOFTNESS;
-	m_restitutionDirLin = SLIDER_CONSTRAINT_DEF_RESTITUTION;
-	m_dampingDirLin = real_t(0.);
-	m_softnessDirAng = SLIDER_CONSTRAINT_DEF_SOFTNESS;
-	m_restitutionDirAng = SLIDER_CONSTRAINT_DEF_RESTITUTION;
-	m_dampingDirAng = real_t(0.);
-	m_softnessOrthoLin = SLIDER_CONSTRAINT_DEF_SOFTNESS;
-	m_restitutionOrthoLin = SLIDER_CONSTRAINT_DEF_RESTITUTION;
-	m_dampingOrthoLin = SLIDER_CONSTRAINT_DEF_DAMPING;
-	m_softnessOrthoAng = SLIDER_CONSTRAINT_DEF_SOFTNESS;
-	m_restitutionOrthoAng = SLIDER_CONSTRAINT_DEF_RESTITUTION;
-	m_dampingOrthoAng = SLIDER_CONSTRAINT_DEF_DAMPING;
-	m_softnessLimLin = SLIDER_CONSTRAINT_DEF_SOFTNESS;
-	m_restitutionLimLin = SLIDER_CONSTRAINT_DEF_RESTITUTION;
-	m_dampingLimLin = SLIDER_CONSTRAINT_DEF_DAMPING;
-	m_softnessLimAng = SLIDER_CONSTRAINT_DEF_SOFTNESS;
-	m_restitutionLimAng = SLIDER_CONSTRAINT_DEF_RESTITUTION;
-	m_dampingLimAng = SLIDER_CONSTRAINT_DEF_DAMPING;
-
-	m_poweredLinMotor = false;
-	m_targetLinMotorVelocity = real_t(0.);
-	m_maxLinMotorForce = real_t(0.);
-	m_accumulatedLinMotorImpulse = real_t(0.0);
-
-	m_poweredAngMotor = false;
-	m_targetAngMotorVelocity = real_t(0.);
-	m_maxAngMotorForce = real_t(0.);
-	m_accumulatedAngMotorImpulse = real_t(0.0);
-} // SliderJointSW::initParams()
-
 //-----------------------------------------------------------------------------
 
 //-----------------------------------------------------------------------------
@@ -120,8 +85,6 @@ SliderJoint3DSW::SliderJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Transform3D
 
 	A->add_constraint(this, 0);
 	B->add_constraint(this, 1);
-
-	initParams();
 } // SliderJointSW::SliderJointSW()
 
 //-----------------------------------------------------------------------------
diff --git a/servers/physics_3d/joints/slider_joint_3d_sw.h b/servers/physics_3d/joints/slider_joint_3d_sw.h
index f357bbd67a..d32ad9469e 100644
--- a/servers/physics_3d/joints/slider_joint_3d_sw.h
+++ b/servers/physics_3d/joints/slider_joint_3d_sw.h
@@ -73,53 +73,53 @@ protected:
 			Body3DSW *B;
 		};
 
-		Body3DSW *_arr[2];
+		Body3DSW *_arr[2] = { nullptr, nullptr };
 	};
 
 	Transform3D m_frameInA;
 	Transform3D m_frameInB;
 
 	// linear limits
-	real_t m_lowerLinLimit;
-	real_t m_upperLinLimit;
+	real_t m_lowerLinLimit = 1.0;
+	real_t m_upperLinLimit = -1.0;
 	// angular limits
-	real_t m_lowerAngLimit;
-	real_t m_upperAngLimit;
+	real_t m_lowerAngLimit = 0.0;
+	real_t m_upperAngLimit = 0.0;
 	// softness, restitution and damping for different cases
 	// DirLin - moving inside linear limits
 	// LimLin - hitting linear limit
 	// DirAng - moving inside angular limits
 	// LimAng - hitting angular limit
 	// OrthoLin, OrthoAng - against constraint axis
-	real_t m_softnessDirLin;
-	real_t m_restitutionDirLin;
-	real_t m_dampingDirLin;
-	real_t m_softnessDirAng;
-	real_t m_restitutionDirAng;
-	real_t m_dampingDirAng;
-	real_t m_softnessLimLin;
-	real_t m_restitutionLimLin;
-	real_t m_dampingLimLin;
-	real_t m_softnessLimAng;
-	real_t m_restitutionLimAng;
-	real_t m_dampingLimAng;
-	real_t m_softnessOrthoLin;
-	real_t m_restitutionOrthoLin;
-	real_t m_dampingOrthoLin;
-	real_t m_softnessOrthoAng;
-	real_t m_restitutionOrthoAng;
-	real_t m_dampingOrthoAng;
+	real_t m_softnessDirLin = SLIDER_CONSTRAINT_DEF_SOFTNESS;
+	real_t m_restitutionDirLin = SLIDER_CONSTRAINT_DEF_RESTITUTION;
+	real_t m_dampingDirLin = 0.0;
+	real_t m_softnessDirAng = SLIDER_CONSTRAINT_DEF_SOFTNESS;
+	real_t m_restitutionDirAng = SLIDER_CONSTRAINT_DEF_RESTITUTION;
+	real_t m_dampingDirAng = 0.0;
+	real_t m_softnessLimLin = SLIDER_CONSTRAINT_DEF_SOFTNESS;
+	real_t m_restitutionLimLin = SLIDER_CONSTRAINT_DEF_RESTITUTION;
+	real_t m_dampingLimLin = SLIDER_CONSTRAINT_DEF_DAMPING;
+	real_t m_softnessLimAng = SLIDER_CONSTRAINT_DEF_SOFTNESS;
+	real_t m_restitutionLimAng = SLIDER_CONSTRAINT_DEF_RESTITUTION;
+	real_t m_dampingLimAng = SLIDER_CONSTRAINT_DEF_DAMPING;
+	real_t m_softnessOrthoLin = SLIDER_CONSTRAINT_DEF_SOFTNESS;
+	real_t m_restitutionOrthoLin = SLIDER_CONSTRAINT_DEF_RESTITUTION;
+	real_t m_dampingOrthoLin = SLIDER_CONSTRAINT_DEF_DAMPING;
+	real_t m_softnessOrthoAng = SLIDER_CONSTRAINT_DEF_SOFTNESS;
+	real_t m_restitutionOrthoAng = SLIDER_CONSTRAINT_DEF_RESTITUTION;
+	real_t m_dampingOrthoAng = SLIDER_CONSTRAINT_DEF_DAMPING;
 
 	// for interlal use
-	bool m_solveLinLim;
-	bool m_solveAngLim;
+	bool m_solveLinLim = false;
+	bool m_solveAngLim = false;
 
-	JacobianEntry3DSW m_jacLin[3];
-	real_t m_jacLinDiagABInv[3];
+	JacobianEntry3DSW m_jacLin[3] = {};
+	real_t m_jacLinDiagABInv[3] = {};
 
-	JacobianEntry3DSW m_jacAng[3];
+	JacobianEntry3DSW m_jacAng[3] = {};
 
-	real_t m_timeStep;
+	real_t m_timeStep = 0.0;
 	Transform3D m_calculatedTransformA;
 	Transform3D m_calculatedTransformB;
 
@@ -132,23 +132,20 @@ protected:
 	Vector3 m_relPosA;
 	Vector3 m_relPosB;
 
-	real_t m_linPos;
+	real_t m_linPos = 0.0;
 
-	real_t m_angDepth;
-	real_t m_kAngle;
+	real_t m_angDepth = 0.0;
+	real_t m_kAngle = 0.0;
 
-	bool m_poweredLinMotor;
-	real_t m_targetLinMotorVelocity;
-	real_t m_maxLinMotorForce;
-	real_t m_accumulatedLinMotorImpulse;
+	bool m_poweredLinMotor = false;
+	real_t m_targetLinMotorVelocity = 0.0;
+	real_t m_maxLinMotorForce = 0.0;
+	real_t m_accumulatedLinMotorImpulse = 0.0;
 
-	bool m_poweredAngMotor;
-	real_t m_targetAngMotorVelocity;
-	real_t m_maxAngMotorForce;
-	real_t m_accumulatedAngMotorImpulse;
-
-	//------------------------
-	void initParams();
+	bool m_poweredAngMotor = false;
+	real_t m_targetAngMotorVelocity = 0.0;
+	real_t m_maxAngMotorForce = 0.0;
+	real_t m_accumulatedAngMotorImpulse = 0.0;
 
 public:
 	// constructors