Refactor physics force and impulse code

5 files changed, 12 insertions, 12 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 9d10ede608..789d6687a4 100644
--- a/servers/physics_3d/joints/cone_twist_joint_3d_sw.cpp
+++ b/servers/physics_3d/joints/cone_twist_joint_3d_sw.cpp
@@ -261,8 +261,8 @@ void ConeTwistJoint3DSW::solve(real_t p_timestep) {
 			real_t impulse = depth * tau / p_timestep * jacDiagABInv - rel_vel * jacDiagABInv;
 			m_appliedImpulse += impulse;
 			Vector3 impulse_vector = normal * impulse;
-			A->apply_impulse(pivotAInW - A->get_transform().origin, impulse_vector);
-			B->apply_impulse(pivotBInW - B->get_transform().origin, -impulse_vector);
+			A->apply_impulse(impulse_vector, pivotAInW - A->get_transform().origin);
+			B->apply_impulse(-impulse_vector, pivotBInW - B->get_transform().origin);
 		}
 	}
 
diff --git a/servers/physics_3d/joints/generic_6dof_joint_3d_sw.cpp b/servers/physics_3d/joints/generic_6dof_joint_3d_sw.cpp
index 423bbc0dfd..fede40ca65 100644
--- a/servers/physics_3d/joints/generic_6dof_joint_3d_sw.cpp
+++ b/servers/physics_3d/joints/generic_6dof_joint_3d_sw.cpp
@@ -205,8 +205,8 @@ real_t G6DOFTranslationalLimitMotor3DSW::solveLinearAxis(
 	normalImpulse = m_accumulatedImpulse[limit_index] - oldNormalImpulse;
 
 	Vector3 impulse_vector = axis_normal_on_a * normalImpulse;
-	body1->apply_impulse(rel_pos1, impulse_vector);
-	body2->apply_impulse(rel_pos2, -impulse_vector);
+	body1->apply_impulse(impulse_vector, rel_pos1);
+	body2->apply_impulse(-impulse_vector, rel_pos2);
 	return normalImpulse;
 }
 
diff --git a/servers/physics_3d/joints/hinge_joint_3d_sw.cpp b/servers/physics_3d/joints/hinge_joint_3d_sw.cpp
index a879b4ca7f..52c7389e1f 100644
--- a/servers/physics_3d/joints/hinge_joint_3d_sw.cpp
+++ b/servers/physics_3d/joints/hinge_joint_3d_sw.cpp
@@ -275,8 +275,8 @@ void HingeJoint3DSW::solve(real_t p_step) {
 			real_t impulse = depth * tau / p_step * jacDiagABInv - rel_vel * jacDiagABInv;
 			m_appliedImpulse += impulse;
 			Vector3 impulse_vector = normal * impulse;
-			A->apply_impulse(pivotAInW - A->get_transform().origin, impulse_vector);
-			B->apply_impulse(pivotBInW - B->get_transform().origin, -impulse_vector);
+			A->apply_impulse(impulse_vector, pivotAInW - A->get_transform().origin);
+			B->apply_impulse(-impulse_vector, pivotBInW - B->get_transform().origin);
 		}
 	}
 
diff --git a/servers/physics_3d/joints/pin_joint_3d_sw.cpp b/servers/physics_3d/joints/pin_joint_3d_sw.cpp
index 230904408b..f028ad88f9 100644
--- a/servers/physics_3d/joints/pin_joint_3d_sw.cpp
+++ b/servers/physics_3d/joints/pin_joint_3d_sw.cpp
@@ -119,8 +119,8 @@ void PinJoint3DSW::solve(real_t p_step) {
 
 		m_appliedImpulse += impulse;
 		Vector3 impulse_vector = normal * impulse;
-		A->apply_impulse(pivotAInW - A->get_transform().origin, impulse_vector);
-		B->apply_impulse(pivotBInW - B->get_transform().origin, -impulse_vector);
+		A->apply_impulse(impulse_vector, pivotAInW - A->get_transform().origin);
+		B->apply_impulse(-impulse_vector, pivotBInW - B->get_transform().origin);
 
 		normal[i] = 0;
 	}
diff --git a/servers/physics_3d/joints/slider_joint_3d_sw.cpp b/servers/physics_3d/joints/slider_joint_3d_sw.cpp
index 5b4609f24e..43bd49b4b5 100644
--- a/servers/physics_3d/joints/slider_joint_3d_sw.cpp
+++ b/servers/physics_3d/joints/slider_joint_3d_sw.cpp
@@ -197,8 +197,8 @@ void SliderJoint3DSW::solve(real_t p_step) {
 		// calcutate and apply impulse
 		real_t normalImpulse = softness * (restitution * depth / p_step - damping * rel_vel) * m_jacLinDiagABInv[i];
 		Vector3 impulse_vector = normal * normalImpulse;
-		A->apply_impulse(m_relPosA, impulse_vector);
-		B->apply_impulse(m_relPosB, -impulse_vector);
+		A->apply_impulse(impulse_vector, m_relPosA);
+		B->apply_impulse(-impulse_vector, m_relPosB);
 		if (m_poweredLinMotor && (!i)) { // apply linear motor
 			if (m_accumulatedLinMotorImpulse < m_maxLinMotorForce) {
 				real_t desiredMotorVel = m_targetLinMotorVelocity;
@@ -218,8 +218,8 @@ void SliderJoint3DSW::solve(real_t p_step) {
 				m_accumulatedLinMotorImpulse = new_acc;
 				// apply clamped impulse
 				impulse_vector = normal * normalImpulse;
-				A->apply_impulse(m_relPosA, impulse_vector);
-				B->apply_impulse(m_relPosB, -impulse_vector);
+				A->apply_impulse(impulse_vector, m_relPosA);
+				B->apply_impulse(-impulse_vector, m_relPosB);
 			}
 		}
 	}