Rename Godot Physics classes from *SW to Godot*

Also moved MT physics server wrappers to the main servers folder, since
they don't have to be implementation specific.

11 files changed, 206 insertions, 234 deletions

diff --git a/servers/physics_3d/joints/cone_twist_joint_3d_sw.cpp b/servers/physics_3d/joints/godot_cone_twist_joint_3d.cpp
index bb9cc1bf67..31a87fc595 100644
--- a/servers/physics_3d/joints/cone_twist_joint_3d_sw.cpp
+++ b/servers/physics_3d/joints/godot_cone_twist_joint_3d.cpp
@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  cone_twist_joint_3d_sw.cpp                                           */
+/*  godot_cone_twist_joint_3d.cpp                                        */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -49,7 +49,7 @@ subject to the following restrictions:
 Written by: Marcus Hennix
 */
 
-#include "cone_twist_joint_3d_sw.h"
+#include "godot_cone_twist_joint_3d.h"
 
 static void plane_space(const Vector3 &n, Vector3 &p, Vector3 &q) {
 	if (Math::abs(n.z) > Math_SQRT12) {
@@ -84,8 +84,8 @@ static _FORCE_INLINE_ real_t atan2fast(real_t y, real_t x) {
 	return (y < 0.0f) ? -angle : angle;
 }
 
-ConeTwistJoint3DSW::ConeTwistJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Transform3D &rbAFrame, const Transform3D &rbBFrame) :
-		Joint3DSW(_arr, 2) {
+GodotConeTwistJoint3D::GodotConeTwistJoint3D(GodotBody3D *rbA, GodotBody3D *rbB, const Transform3D &rbAFrame, const Transform3D &rbBFrame) :
+		GodotJoint3D(_arr, 2) {
 	A = rbA;
 	B = rbB;
 
@@ -96,7 +96,7 @@ ConeTwistJoint3DSW::ConeTwistJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Trans
 	B->add_constraint(this, 1);
 }
 
-bool ConeTwistJoint3DSW::setup(real_t p_timestep) {
+bool GodotConeTwistJoint3D::setup(real_t p_timestep) {
 	dynamic_A = (A->get_mode() > PhysicsServer3D::BODY_MODE_KINEMATIC);
 	dynamic_B = (B->get_mode() > PhysicsServer3D::BODY_MODE_KINEMATIC);
 
@@ -129,7 +129,7 @@ bool ConeTwistJoint3DSW::setup(real_t p_timestep) {
 		plane_space(normal[0], normal[1], normal[2]);
 
 		for (int i = 0; i < 3; i++) {
-			memnew_placement(&m_jac[i], JacobianEntry3DSW(
+			memnew_placement(&m_jac[i], GodotJacobianEntry3D(
 												A->get_principal_inertia_axes().transposed(),
 												B->get_principal_inertia_axes().transposed(),
 												pivotAInW - A->get_transform().origin - A->get_center_of_mass(),
@@ -230,7 +230,7 @@ bool ConeTwistJoint3DSW::setup(real_t p_timestep) {
 	return true;
 }
 
-void ConeTwistJoint3DSW::solve(real_t p_timestep) {
+void GodotConeTwistJoint3D::solve(real_t p_timestep) {
 	Vector3 pivotAInW = A->get_transform().xform(m_rbAFrame.origin);
 	Vector3 pivotBInW = B->get_transform().xform(m_rbBFrame.origin);
 
@@ -312,7 +312,7 @@ void ConeTwistJoint3DSW::solve(real_t p_timestep) {
 	}
 }
 
-void ConeTwistJoint3DSW::set_param(PhysicsServer3D::ConeTwistJointParam p_param, real_t p_value) {
+void GodotConeTwistJoint3D::set_param(PhysicsServer3D::ConeTwistJointParam p_param, real_t p_value) {
 	switch (p_param) {
 		case PhysicsServer3D::CONE_TWIST_JOINT_SWING_SPAN: {
 			m_swingSpan1 = p_value;
@@ -335,7 +335,7 @@ void ConeTwistJoint3DSW::set_param(PhysicsServer3D::ConeTwistJointParam p_param,
 	}
 }
 
-real_t ConeTwistJoint3DSW::get_param(PhysicsServer3D::ConeTwistJointParam p_param) const {
+real_t GodotConeTwistJoint3D::get_param(PhysicsServer3D::ConeTwistJointParam p_param) const {
 	switch (p_param) {
 		case PhysicsServer3D::CONE_TWIST_JOINT_SWING_SPAN: {
 			return m_swingSpan1;
diff --git a/servers/physics_3d/joints/cone_twist_joint_3d_sw.h b/servers/physics_3d/joints/godot_cone_twist_joint_3d.h
index bf7e593820..999d0f0692 100644
--- a/servers/physics_3d/joints/cone_twist_joint_3d_sw.h
+++ b/servers/physics_3d/joints/godot_cone_twist_joint_3d.h
@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  cone_twist_joint_3d_sw.h                                             */
+/*  godot_cone_twist_joint_3d.h                                          */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -34,7 +34,7 @@ Adapted to Godot from the Bullet library.
 
 /*
 Bullet Continuous Collision Detection and Physics Library
-ConeTwistJointSW is Copyright (c) 2007 Starbreeze Studios
+GodotConeTwistJoint3D is Copyright (c) 2007 Starbreeze Studios
 
 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.
@@ -49,28 +49,28 @@ subject to the following restrictions:
 Written by: Marcus Hennix
 */
 
-#ifndef CONE_TWIST_JOINT_SW_H
-#define CONE_TWIST_JOINT_SW_H
+#ifndef GODOT_CONE_TWIST_JOINT_3D_H
+#define GODOT_CONE_TWIST_JOINT_3D_H
 
-#include "servers/physics_3d/joints/jacobian_entry_3d_sw.h"
-#include "servers/physics_3d/joints_3d_sw.h"
+#include "servers/physics_3d/godot_joint_3d.h"
+#include "servers/physics_3d/joints/godot_jacobian_entry_3d.h"
 
-///ConeTwistJointSW can be used to simulate ragdoll joints (upper arm, leg etc)
-class ConeTwistJoint3DSW : public Joint3DSW {
+// GodotConeTwistJoint3D can be used to simulate ragdoll joints (upper arm, leg etc).
+class GodotConeTwistJoint3D : public GodotJoint3D {
 #ifdef IN_PARALLELL_SOLVER
 public:
 #endif
 
 	union {
 		struct {
-			Body3DSW *A;
-			Body3DSW *B;
+			GodotBody3D *A;
+			GodotBody3D *B;
 		};
 
-		Body3DSW *_arr[2] = { nullptr, nullptr };
+		GodotBody3D *_arr[2] = { nullptr, nullptr };
 	};
 
-	JacobianEntry3DSW m_jac[3] = {}; //3 orthogonal linear constraints
+	GodotJacobianEntry3D m_jac[3] = {}; //3 orthogonal linear constraints
 
 	real_t m_appliedImpulse = 0.0;
 	Transform3D m_rbAFrame;
@@ -107,7 +107,7 @@ public:
 	virtual bool setup(real_t p_step) override;
 	virtual void solve(real_t p_step) override;
 
-	ConeTwistJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Transform3D &rbAFrame, const Transform3D &rbBFrame);
+	GodotConeTwistJoint3D(GodotBody3D *rbA, GodotBody3D *rbB, const Transform3D &rbAFrame, const Transform3D &rbBFrame);
 
 	void setAngularOnly(bool angularOnly) {
 		m_angularOnly = angularOnly;
@@ -139,4 +139,4 @@ public:
 	real_t get_param(PhysicsServer3D::ConeTwistJointParam p_param) const;
 };
 
-#endif // CONE_TWIST_JOINT_SW_H
+#endif // GODOT_CONE_TWIST_JOINT_3D_H
diff --git a/servers/physics_3d/joints/generic_6dof_joint_3d_sw.cpp b/servers/physics_3d/joints/godot_generic_6dof_joint_3d.cpp
index 56aba24b42..d7e0537439 100644
--- a/servers/physics_3d/joints/generic_6dof_joint_3d_sw.cpp
+++ b/servers/physics_3d/joints/godot_generic_6dof_joint_3d.cpp
@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  generic_6dof_joint_3d_sw.cpp                                         */
+/*  godot_generic_6dof_joint_3d.cpp                                      */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -49,18 +49,18 @@ subject to the following restrictions:
 
 /*
 2007-09-09
-Generic6DOFJointSW Refactored by Francisco Le?n
+GodotGeneric6DOFJoint3D Refactored by Francisco Le?n
 email: projectileman@yahoo.com
 http://gimpact.sf.net
 */
 
-#include "generic_6dof_joint_3d_sw.h"
+#include "godot_generic_6dof_joint_3d.h"
 
 #define GENERIC_D6_DISABLE_WARMSTARTING 1
 
-//////////////////////////// G6DOFRotationalLimitMotorSW ////////////////////////////////////
+//////////////////////////// GodotG6DOFRotationalLimitMotor3D ////////////////////////////////////
 
-int G6DOFRotationalLimitMotor3DSW::testLimitValue(real_t test_value) {
+int GodotG6DOFRotationalLimitMotor3D::testLimitValue(real_t test_value) {
 	if (m_loLimit > m_hiLimit) {
 		m_currentLimit = 0; //Free from violation
 		return 0;
@@ -80,9 +80,9 @@ int G6DOFRotationalLimitMotor3DSW::testLimitValue(real_t test_value) {
 	return 0;
 }
 
-real_t G6DOFRotationalLimitMotor3DSW::solveAngularLimits(
+real_t GodotG6DOFRotationalLimitMotor3D::solveAngularLimits(
 		real_t timeStep, Vector3 &axis, real_t jacDiagABInv,
-		Body3DSW *body0, Body3DSW *body1, bool p_body0_dynamic, bool p_body1_dynamic) {
+		GodotBody3D *body0, GodotBody3D *body1, bool p_body0_dynamic, bool p_body1_dynamic) {
 	if (!needApplyTorques()) {
 		return 0.0f;
 	}
@@ -148,14 +148,13 @@ real_t G6DOFRotationalLimitMotor3DSW::solveAngularLimits(
 	return clippedMotorImpulse;
 }
 
-//////////////////////////// End G6DOFRotationalLimitMotorSW ////////////////////////////////////
+//////////////////////////// GodotG6DOFTranslationalLimitMotor3D ////////////////////////////////////
 
-//////////////////////////// G6DOFTranslationalLimitMotorSW ////////////////////////////////////
-real_t G6DOFTranslationalLimitMotor3DSW::solveLinearAxis(
+real_t GodotG6DOFTranslationalLimitMotor3D::solveLinearAxis(
 		real_t timeStep,
 		real_t jacDiagABInv,
-		Body3DSW *body1, const Vector3 &pointInA,
-		Body3DSW *body2, const Vector3 &pointInB,
+		GodotBody3D *body1, const Vector3 &pointInA,
+		GodotBody3D *body2, const Vector3 &pointInB,
 		bool p_body1_dynamic, bool p_body2_dynamic,
 		int limit_index,
 		const Vector3 &axis_normal_on_a,
@@ -217,10 +216,10 @@ real_t G6DOFTranslationalLimitMotor3DSW::solveLinearAxis(
 	return normalImpulse;
 }
 
-//////////////////////////// G6DOFTranslationalLimitMotorSW ////////////////////////////////////
+//////////////////////////// GodotGeneric6DOFJoint3D ////////////////////////////////////
 
-Generic6DOFJoint3DSW::Generic6DOFJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Transform3D &frameInA, const Transform3D &frameInB, bool useLinearReferenceFrameA) :
-		Joint3DSW(_arr, 2),
+GodotGeneric6DOFJoint3D::GodotGeneric6DOFJoint3D(GodotBody3D *rbA, GodotBody3D *rbB, const Transform3D &frameInA, const Transform3D &frameInB, bool useLinearReferenceFrameA) :
+		GodotJoint3D(_arr, 2),
 		m_frameInA(frameInA),
 		m_frameInB(frameInB),
 		m_useLinearReferenceFrameA(useLinearReferenceFrameA) {
@@ -230,7 +229,7 @@ Generic6DOFJoint3DSW::Generic6DOFJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const T
 	B->add_constraint(this, 1);
 }
 
-void Generic6DOFJoint3DSW::calculateAngleInfo() {
+void GodotGeneric6DOFJoint3D::calculateAngleInfo() {
 	Basis relative_frame = m_calculatedTransformB.basis.inverse() * m_calculatedTransformA.basis;
 
 	m_calculatedAxisAngleDiff = relative_frame.get_euler_xyz();
@@ -270,17 +269,17 @@ void Generic6DOFJoint3DSW::calculateAngleInfo() {
 	*/
 }
 
-void Generic6DOFJoint3DSW::calculateTransforms() {
+void GodotGeneric6DOFJoint3D::calculateTransforms() {
 	m_calculatedTransformA = A->get_transform() * m_frameInA;
 	m_calculatedTransformB = B->get_transform() * m_frameInB;
 
 	calculateAngleInfo();
 }
 
-void Generic6DOFJoint3DSW::buildLinearJacobian(
-		JacobianEntry3DSW &jacLinear, const Vector3 &normalWorld,
+void GodotGeneric6DOFJoint3D::buildLinearJacobian(
+		GodotJacobianEntry3D &jacLinear, const Vector3 &normalWorld,
 		const Vector3 &pivotAInW, const Vector3 &pivotBInW) {
-	memnew_placement(&jacLinear, JacobianEntry3DSW(
+	memnew_placement(&jacLinear, GodotJacobianEntry3D(
 										 A->get_principal_inertia_axes().transposed(),
 										 B->get_principal_inertia_axes().transposed(),
 										 pivotAInW - A->get_transform().origin - A->get_center_of_mass(),
@@ -292,16 +291,16 @@ void Generic6DOFJoint3DSW::buildLinearJacobian(
 										 B->get_inv_mass()));
 }
 
-void Generic6DOFJoint3DSW::buildAngularJacobian(
-		JacobianEntry3DSW &jacAngular, const Vector3 &jointAxisW) {
-	memnew_placement(&jacAngular, JacobianEntry3DSW(jointAxisW,
+void GodotGeneric6DOFJoint3D::buildAngularJacobian(
+		GodotJacobianEntry3D &jacAngular, const Vector3 &jointAxisW) {
+	memnew_placement(&jacAngular, GodotJacobianEntry3D(jointAxisW,
 										  A->get_principal_inertia_axes().transposed(),
 										  B->get_principal_inertia_axes().transposed(),
 										  A->get_inv_inertia(),
 										  B->get_inv_inertia()));
 }
 
-bool Generic6DOFJoint3DSW::testAngularLimitMotor(int axis_index) {
+bool GodotGeneric6DOFJoint3D::testAngularLimitMotor(int axis_index) {
 	real_t angle = m_calculatedAxisAngleDiff[axis_index];
 
 	//test limits
@@ -309,7 +308,7 @@ bool Generic6DOFJoint3DSW::testAngularLimitMotor(int axis_index) {
 	return m_angularLimits[axis_index].needApplyTorques();
 }
 
-bool Generic6DOFJoint3DSW::setup(real_t p_timestep) {
+bool GodotGeneric6DOFJoint3D::setup(real_t p_timestep) {
 	dynamic_A = (A->get_mode() > PhysicsServer3D::BODY_MODE_KINEMATIC);
 	dynamic_B = (B->get_mode() > PhysicsServer3D::BODY_MODE_KINEMATIC);
 
@@ -365,7 +364,7 @@ bool Generic6DOFJoint3DSW::setup(real_t p_timestep) {
 	return true;
 }
 
-void Generic6DOFJoint3DSW::solve(real_t p_timestep) {
+void GodotGeneric6DOFJoint3D::solve(real_t p_timestep) {
 	m_timeStep = p_timestep;
 
 	//calculateTransforms();
@@ -414,19 +413,19 @@ void Generic6DOFJoint3DSW::solve(real_t p_timestep) {
 	}
 }
 
-void Generic6DOFJoint3DSW::updateRHS(real_t timeStep) {
+void GodotGeneric6DOFJoint3D::updateRHS(real_t timeStep) {
 	(void)timeStep;
 }
 
-Vector3 Generic6DOFJoint3DSW::getAxis(int axis_index) const {
+Vector3 GodotGeneric6DOFJoint3D::getAxis(int axis_index) const {
 	return m_calculatedAxis[axis_index];
 }
 
-real_t Generic6DOFJoint3DSW::getAngle(int axis_index) const {
+real_t GodotGeneric6DOFJoint3D::getAngle(int axis_index) const {
 	return m_calculatedAxisAngleDiff[axis_index];
 }
 
-void Generic6DOFJoint3DSW::calcAnchorPos() {
+void GodotGeneric6DOFJoint3D::calcAnchorPos() {
 	real_t imA = A->get_inv_mass();
 	real_t imB = B->get_inv_mass();
 	real_t weight;
@@ -438,9 +437,9 @@ void Generic6DOFJoint3DSW::calcAnchorPos() {
 	const Vector3 &pA = m_calculatedTransformA.origin;
 	const Vector3 &pB = m_calculatedTransformB.origin;
 	m_AnchorPos = pA * weight + pB * (real_t(1.0) - weight);
-} // Generic6DOFJointSW::calcAnchorPos()
+}
 
-void Generic6DOFJoint3DSW::set_param(Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisParam p_param, real_t p_value) {
+void GodotGeneric6DOFJoint3D::set_param(Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisParam p_param, real_t p_value) {
 	ERR_FAIL_INDEX(p_axis, 3);
 	switch (p_param) {
 		case PhysicsServer3D::G6DOF_JOINT_LINEAR_LOWER_LIMIT: {
@@ -527,7 +526,7 @@ void Generic6DOFJoint3DSW::set_param(Vector3::Axis p_axis, PhysicsServer3D::G6DO
 	}
 }
 
-real_t Generic6DOFJoint3DSW::get_param(Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisParam p_param) const {
+real_t GodotGeneric6DOFJoint3D::get_param(Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisParam p_param) const {
 	ERR_FAIL_INDEX_V(p_axis, 3, 0);
 	switch (p_param) {
 		case PhysicsServer3D::G6DOF_JOINT_LINEAR_LOWER_LIMIT: {
@@ -615,7 +614,7 @@ real_t Generic6DOFJoint3DSW::get_param(Vector3::Axis p_axis, PhysicsServer3D::G6
 	return 0;
 }
 
-void Generic6DOFJoint3DSW::set_flag(Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisFlag p_flag, bool p_value) {
+void GodotGeneric6DOFJoint3D::set_flag(Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisFlag p_flag, bool p_value) {
 	ERR_FAIL_INDEX(p_axis, 3);
 
 	switch (p_flag) {
@@ -642,7 +641,7 @@ void Generic6DOFJoint3DSW::set_flag(Vector3::Axis p_axis, PhysicsServer3D::G6DOF
 	}
 }
 
-bool Generic6DOFJoint3DSW::get_flag(Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisFlag p_flag) const {
+bool GodotGeneric6DOFJoint3D::get_flag(Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisFlag p_flag) const {
 	ERR_FAIL_INDEX_V(p_axis, 3, 0);
 	switch (p_flag) {
 		case PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT: {
diff --git a/servers/physics_3d/joints/generic_6dof_joint_3d_sw.h b/servers/physics_3d/joints/godot_generic_6dof_joint_3d.h
index 6492e40393..729b3fa1f9 100644
--- a/servers/physics_3d/joints/generic_6dof_joint_3d_sw.h
+++ b/servers/physics_3d/joints/godot_generic_6dof_joint_3d.h
@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  generic_6dof_joint_3d_sw.h                                           */
+/*  godot_generic_6dof_joint_3d.h                                        */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -32,11 +32,11 @@
 Adapted to Godot from the Bullet library.
 */
 
-#ifndef GENERIC_6DOF_JOINT_SW_H
-#define GENERIC_6DOF_JOINT_SW_H
+#ifndef GODOT_GENERIC_6DOF_JOINT_3D_H
+#define GODOT_GENERIC_6DOF_JOINT_3D_H
 
-#include "servers/physics_3d/joints/jacobian_entry_3d_sw.h"
-#include "servers/physics_3d/joints_3d_sw.h"
+#include "servers/physics_3d/godot_joint_3d.h"
+#include "servers/physics_3d/joints/godot_jacobian_entry_3d.h"
 
 /*
 Bullet Continuous Collision Detection and Physics Library
@@ -55,13 +55,13 @@ subject to the following restrictions:
 
 /*
 2007-09-09
-Generic6DOFJointSW Refactored by Francisco Le?n
+GodotGeneric6DOFJoint3D Refactored by Francisco Le?n
 email: projectileman@yahoo.com
 http://gimpact.sf.net
 */
 
 //! Rotation Limit structure for generic joints
-class G6DOFRotationalLimitMotor3DSW {
+class GodotG6DOFRotationalLimitMotor3D {
 public:
 	//! limit_parameters
 	//!@{
@@ -86,29 +86,25 @@ public:
 	real_t m_accumulatedImpulse = 0.0;
 	//!@}
 
-	G6DOFRotationalLimitMotor3DSW() {}
+	GodotG6DOFRotationalLimitMotor3D() {}
 
-	//! Is limited
 	bool isLimited() {
 		return (m_loLimit < m_hiLimit);
 	}
 
-	//! Need apply correction
+	// Need apply correction.
 	bool needApplyTorques() {
 		return (m_enableMotor || m_currentLimit != 0);
 	}
 
-	//! calculates error
-	/*!
-	calculates m_currentLimit and m_currentLimitError.
-	*/
+	// Calculates m_currentLimit and m_currentLimitError.
 	int testLimitValue(real_t test_value);
 
-	//! apply the correction impulses for two bodies
-	real_t solveAngularLimits(real_t timeStep, Vector3 &axis, real_t jacDiagABInv, Body3DSW *body0, Body3DSW *body1, bool p_body0_dynamic, bool p_body1_dynamic);
+	// Apply the correction impulses for two bodies.
+	real_t solveAngularLimits(real_t timeStep, Vector3 &axis, real_t jacDiagABInv, GodotBody3D *body0, GodotBody3D *body1, bool p_body0_dynamic, bool p_body1_dynamic);
 };
 
-class G6DOFTranslationalLimitMotor3DSW {
+class GodotG6DOFTranslationalLimitMotor3D {
 public:
 	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
@@ -135,23 +131,23 @@ public:
 	real_t solveLinearAxis(
 			real_t timeStep,
 			real_t jacDiagABInv,
-			Body3DSW *body1, const Vector3 &pointInA,
-			Body3DSW *body2, const Vector3 &pointInB,
+			GodotBody3D *body1, const Vector3 &pointInA,
+			GodotBody3D *body2, const Vector3 &pointInB,
 			bool p_body1_dynamic, bool p_body2_dynamic,
 			int limit_index,
 			const Vector3 &axis_normal_on_a,
 			const Vector3 &anchorPos);
 };
 
-class Generic6DOFJoint3DSW : public Joint3DSW {
+class GodotGeneric6DOFJoint3D : public GodotJoint3D {
 protected:
 	union {
 		struct {
-			Body3DSW *A;
-			Body3DSW *B;
+			GodotBody3D *A;
+			GodotBody3D *B;
 		};
 
-		Body3DSW *_arr[2] = { nullptr, nullptr };
+		GodotBody3D *_arr[2] = { nullptr, nullptr };
 	};
 
 	//! relative_frames
@@ -162,18 +158,18 @@ protected:
 
 	//! Jacobians
 	//!@{
-	JacobianEntry3DSW m_jacLinear[3]; //!< 3 orthogonal linear constraints
-	JacobianEntry3DSW m_jacAng[3]; //!< 3 orthogonal angular constraints
+	GodotJacobianEntry3D m_jacLinear[3]; //!< 3 orthogonal linear constraints
+	GodotJacobianEntry3D m_jacAng[3]; //!< 3 orthogonal angular constraints
 	//!@}
 
 	//! Linear_Limit_parameters
 	//!@{
-	G6DOFTranslationalLimitMotor3DSW m_linearLimits;
+	GodotG6DOFTranslationalLimitMotor3D m_linearLimits;
 	//!@}
 
 	//! hinge_parameters
 	//!@{
-	G6DOFRotationalLimitMotor3DSW m_angularLimits[3];
+	GodotG6DOFRotationalLimitMotor3D m_angularLimits[3];
 	//!@}
 
 protected:
@@ -191,45 +187,35 @@ protected:
 
 	//!@}
 
-	Generic6DOFJoint3DSW(Generic6DOFJoint3DSW const &) = delete;
-	void operator=(Generic6DOFJoint3DSW const &) = delete;
+	GodotGeneric6DOFJoint3D(GodotGeneric6DOFJoint3D const &) = delete;
+	void operator=(GodotGeneric6DOFJoint3D const &) = delete;
 
 	void buildLinearJacobian(
-			JacobianEntry3DSW &jacLinear, const Vector3 &normalWorld,
+			GodotJacobianEntry3D &jacLinear, const Vector3 &normalWorld,
 			const Vector3 &pivotAInW, const Vector3 &pivotBInW);
 
-	void buildAngularJacobian(JacobianEntry3DSW &jacAngular, const Vector3 &jointAxisW);
+	void buildAngularJacobian(GodotJacobianEntry3D &jacAngular, const Vector3 &jointAxisW);
 
 	//! calcs the euler angles between the two bodies.
 	void calculateAngleInfo();
 
 public:
-	Generic6DOFJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Transform3D &frameInA, const Transform3D &frameInB, bool useLinearReferenceFrameA);
+	GodotGeneric6DOFJoint3D(GodotBody3D *rbA, GodotBody3D *rbB, const Transform3D &frameInA, const Transform3D &frameInB, bool useLinearReferenceFrameA);
 
 	virtual PhysicsServer3D::JointType get_type() const override { return PhysicsServer3D::JOINT_TYPE_6DOF; }
 
 	virtual bool setup(real_t p_step) override;
 	virtual void solve(real_t p_step) override;
 
-	//! Calcs global transform of the offsets
-	/*!
-	Calcs the global transform for the joint offset for body A an B, and also calcs the agle differences between the bodies.
-	\sa Generic6DOFJointSW.getCalculatedTransformA , Generic6DOFJointSW.getCalculatedTransformB, Generic6DOFJointSW.calculateAngleInfo
-	*/
+	// Calcs the global transform for the joint offset for body A an B, and also calcs the angle differences between the bodies.
 	void calculateTransforms();
 
-	//! Gets the global transform of the offset for body A
-	/*!
-    \sa Generic6DOFJointSW.getFrameOffsetA, Generic6DOFJointSW.getFrameOffsetB, Generic6DOFJointSW.calculateAngleInfo.
-    */
+	// Gets the global transform of the offset for body A.
 	const Transform3D &getCalculatedTransformA() const {
 		return m_calculatedTransformA;
 	}
 
-	//! Gets the global transform of the offset for body B
-	/*!
-    \sa Generic6DOFJointSW.getFrameOffsetA, Generic6DOFJointSW.getFrameOffsetB, Generic6DOFJointSW.calculateAngleInfo.
-    */
+	// Gets the global transform of the offset for body B.
 	const Transform3D &getCalculatedTransformB() const {
 		return m_calculatedTransformB;
 	}
@@ -250,27 +236,16 @@ public:
 		return m_frameInB;
 	}
 
-	//! performs Jacobian calculation, and also calculates angle differences and axis
-
+	// Performs Jacobian calculation, and also calculates angle differences and axis.
 	void updateRHS(real_t timeStep);
 
-	//! Get the rotation axis in global coordinates
-	/*!
-	\pre Generic6DOFJointSW.buildJacobian must be called previously.
-	*/
+	// Get the rotation axis in global coordinates.
 	Vector3 getAxis(int axis_index) const;
 
-	//! Get the relative Euler angle
-	/*!
-	\pre Generic6DOFJointSW.buildJacobian must be called previously.
-	*/
+	// Get the relative Euler angle.
 	real_t getAngle(int axis_index) const;
 
-	//! Test angular limit.
-	/*!
-	Calculates angular correction and returns true if limit needs to be corrected.
-	\pre Generic6DOFJointSW.buildJacobian must be called previously.
-	*/
+	// Calculates angular correction and returns true if limit needs to be corrected.
 	bool testAngularLimitMotor(int axis_index);
 
 	void setLinearLowerLimit(const Vector3 &linearLower) {
@@ -293,17 +268,17 @@ public:
 		m_angularLimits[2].m_hiLimit = angularUpper.z;
 	}
 
-	//! Retrieves the angular limit information.
-	G6DOFRotationalLimitMotor3DSW *getRotationalLimitMotor(int index) {
+	// Retrieves the angular limit information.
+	GodotG6DOFRotationalLimitMotor3D *getRotationalLimitMotor(int index) {
 		return &m_angularLimits[index];
 	}
 
-	//! Retrieves the limit information.
-	G6DOFTranslationalLimitMotor3DSW *getTranslationalLimitMotor() {
+	// Retrieves the limit information.
+	GodotG6DOFTranslationalLimitMotor3D *getTranslationalLimitMotor() {
 		return &m_linearLimits;
 	}
 
-	//first 3 are linear, next 3 are angular
+	// First 3 are linear, next 3 are angular.
 	void setLimit(int axis, real_t lo, real_t hi) {
 		if (axis < 3) {
 			m_linearLimits.m_lowerLimit[axis] = lo;
@@ -328,10 +303,10 @@ public:
 		return m_angularLimits[limitIndex - 3].isLimited();
 	}
 
-	const Body3DSW *getRigidBodyA() const {
+	const GodotBody3D *getRigidBodyA() const {
 		return A;
 	}
-	const Body3DSW *getRigidBodyB() const {
+	const GodotBody3D *getRigidBodyB() const {
 		return B;
 	}
 
@@ -344,4 +319,4 @@ public:
 	bool get_flag(Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisFlag p_flag) const;
 };
 
-#endif // GENERIC_6DOF_JOINT_SW_H
+#endif // GODOT_GENERIC_6DOF_JOINT_3D_H
diff --git a/servers/physics_3d/joints/hinge_joint_3d_sw.cpp b/servers/physics_3d/joints/godot_hinge_joint_3d.cpp
index a45fcf7eb5..7b7ca1b3ac 100644
--- a/servers/physics_3d/joints/hinge_joint_3d_sw.cpp
+++ b/servers/physics_3d/joints/godot_hinge_joint_3d.cpp
@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  hinge_joint_3d_sw.cpp                                                */
+/*  godot_hinge_joint_3d.cpp                                             */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -47,7 +47,7 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-#include "hinge_joint_3d_sw.h"
+#include "godot_hinge_joint_3d.h"
 
 static void plane_space(const Vector3 &n, Vector3 &p, Vector3 &q) {
 	if (Math::abs(n.z) > Math_SQRT12) {
@@ -67,8 +67,8 @@ static void plane_space(const Vector3 &n, Vector3 &p, Vector3 &q) {
 	}
 }
 
-HingeJoint3DSW::HingeJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Transform3D &frameA, const Transform3D &frameB) :
-		Joint3DSW(_arr, 2) {
+GodotHingeJoint3D::GodotHingeJoint3D(GodotBody3D *rbA, GodotBody3D *rbB, const Transform3D &frameA, const Transform3D &frameB) :
+		GodotJoint3D(_arr, 2) {
 	A = rbA;
 	B = rbB;
 
@@ -83,9 +83,9 @@ HingeJoint3DSW::HingeJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Transform3D &
 	B->add_constraint(this, 1);
 }
 
-HingeJoint3DSW::HingeJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Vector3 &pivotInA, const Vector3 &pivotInB,
+GodotHingeJoint3D::GodotHingeJoint3D(GodotBody3D *rbA, GodotBody3D *rbB, const Vector3 &pivotInA, const Vector3 &pivotInB,
 		const Vector3 &axisInA, const Vector3 &axisInB) :
-		Joint3DSW(_arr, 2) {
+		GodotJoint3D(_arr, 2) {
 	A = rbA;
 	B = rbB;
 
@@ -124,7 +124,7 @@ HingeJoint3DSW::HingeJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Vector3 &pivo
 	B->add_constraint(this, 1);
 }
 
-bool HingeJoint3DSW::setup(real_t p_step) {
+bool GodotHingeJoint3D::setup(real_t p_step) {
 	dynamic_A = (A->get_mode() > PhysicsServer3D::BODY_MODE_KINEMATIC);
 	dynamic_B = (B->get_mode() > PhysicsServer3D::BODY_MODE_KINEMATIC);
 
@@ -149,7 +149,7 @@ bool HingeJoint3DSW::setup(real_t p_step) {
 		plane_space(normal[0], normal[1], normal[2]);
 
 		for (int i = 0; i < 3; i++) {
-			memnew_placement(&m_jac[i], JacobianEntry3DSW(
+			memnew_placement(&m_jac[i], GodotJacobianEntry3D(
 												A->get_principal_inertia_axes().transposed(),
 												B->get_principal_inertia_axes().transposed(),
 												pivotAInW - A->get_transform().origin - A->get_center_of_mass(),
@@ -175,19 +175,19 @@ bool HingeJoint3DSW::setup(real_t p_step) {
 	Vector3 jointAxis1 = A->get_transform().basis.xform(jointAxis1local);
 	Vector3 hingeAxisWorld = A->get_transform().basis.xform(m_rbAFrame.basis.get_axis(2));
 
-	memnew_placement(&m_jacAng[0], JacobianEntry3DSW(jointAxis0,
+	memnew_placement(&m_jacAng[0], GodotJacobianEntry3D(jointAxis0,
 										   A->get_principal_inertia_axes().transposed(),
 										   B->get_principal_inertia_axes().transposed(),
 										   A->get_inv_inertia(),
 										   B->get_inv_inertia()));
 
-	memnew_placement(&m_jacAng[1], JacobianEntry3DSW(jointAxis1,
+	memnew_placement(&m_jacAng[1], GodotJacobianEntry3D(jointAxis1,
 										   A->get_principal_inertia_axes().transposed(),
 										   B->get_principal_inertia_axes().transposed(),
 										   A->get_inv_inertia(),
 										   B->get_inv_inertia()));
 
-	memnew_placement(&m_jacAng[2], JacobianEntry3DSW(hingeAxisWorld,
+	memnew_placement(&m_jacAng[2], GodotJacobianEntry3D(hingeAxisWorld,
 										   A->get_principal_inertia_axes().transposed(),
 										   B->get_principal_inertia_axes().transposed(),
 										   A->get_inv_inertia(),
@@ -226,7 +226,7 @@ bool HingeJoint3DSW::setup(real_t p_step) {
 	return true;
 }
 
-void HingeJoint3DSW::solve(real_t p_step) {
+void GodotHingeJoint3D::solve(real_t p_step) {
 	Vector3 pivotAInW = A->get_transform().xform(m_rbAFrame.origin);
 	Vector3 pivotBInW = B->get_transform().xform(m_rbBFrame.origin);
 
@@ -377,7 +377,7 @@ static _FORCE_INLINE_ real_t atan2fast(real_t y, real_t x) {
 	return (y < 0.0f) ? -angle : angle;
 }
 
-real_t HingeJoint3DSW::get_hinge_angle() {
+real_t GodotHingeJoint3D::get_hinge_angle() {
 	const Vector3 refAxis0 = A->get_transform().basis.xform(m_rbAFrame.basis.get_axis(0));
 	const Vector3 refAxis1 = A->get_transform().basis.xform(m_rbAFrame.basis.get_axis(1));
 	const Vector3 swingAxis = B->get_transform().basis.xform(m_rbBFrame.basis.get_axis(1));
@@ -385,7 +385,7 @@ real_t HingeJoint3DSW::get_hinge_angle() {
 	return atan2fast(swingAxis.dot(refAxis0), swingAxis.dot(refAxis1));
 }
 
-void HingeJoint3DSW::set_param(PhysicsServer3D::HingeJointParam p_param, real_t p_value) {
+void GodotHingeJoint3D::set_param(PhysicsServer3D::HingeJointParam p_param, real_t p_value) {
 	switch (p_param) {
 		case PhysicsServer3D::HINGE_JOINT_BIAS:
 			tau = p_value;
@@ -416,7 +416,7 @@ void HingeJoint3DSW::set_param(PhysicsServer3D::HingeJointParam p_param, real_t
 	}
 }
 
-real_t HingeJoint3DSW::get_param(PhysicsServer3D::HingeJointParam p_param) const {
+real_t GodotHingeJoint3D::get_param(PhysicsServer3D::HingeJointParam p_param) const {
 	switch (p_param) {
 		case PhysicsServer3D::HINGE_JOINT_BIAS:
 			return tau;
@@ -441,7 +441,7 @@ real_t HingeJoint3DSW::get_param(PhysicsServer3D::HingeJointParam p_param) const
 	return 0;
 }
 
-void HingeJoint3DSW::set_flag(PhysicsServer3D::HingeJointFlag p_flag, bool p_value) {
+void GodotHingeJoint3D::set_flag(PhysicsServer3D::HingeJointFlag p_flag, bool p_value) {
 	switch (p_flag) {
 		case PhysicsServer3D::HINGE_JOINT_FLAG_USE_LIMIT:
 			m_useLimit = p_value;
@@ -454,7 +454,7 @@ void HingeJoint3DSW::set_flag(PhysicsServer3D::HingeJointFlag p_flag, bool p_val
 	}
 }
 
-bool HingeJoint3DSW::get_flag(PhysicsServer3D::HingeJointFlag p_flag) const {
+bool GodotHingeJoint3D::get_flag(PhysicsServer3D::HingeJointFlag p_flag) const {
 	switch (p_flag) {
 		case PhysicsServer3D::HINGE_JOINT_FLAG_USE_LIMIT:
 			return m_useLimit;
diff --git a/servers/physics_3d/joints/hinge_joint_3d_sw.h b/servers/physics_3d/joints/godot_hinge_joint_3d.h
index a4ceff9ffe..ff1fbe0f25 100644
--- a/servers/physics_3d/joints/hinge_joint_3d_sw.h
+++ b/servers/physics_3d/joints/godot_hinge_joint_3d.h
@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  hinge_joint_3d_sw.h                                                  */
+/*  godot_hinge_joint_3d.h                                               */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -32,11 +32,11 @@
 Adapted to Godot from the Bullet library.
 */
 
-#ifndef HINGE_JOINT_SW_H
-#define HINGE_JOINT_SW_H
+#ifndef GODOT_HINGE_JOINT_3D_H
+#define GODOT_HINGE_JOINT_3D_H
 
-#include "servers/physics_3d/joints/jacobian_entry_3d_sw.h"
-#include "servers/physics_3d/joints_3d_sw.h"
+#include "servers/physics_3d/godot_joint_3d.h"
+#include "servers/physics_3d/joints/godot_jacobian_entry_3d.h"
 
 /*
 Bullet Continuous Collision Detection and Physics Library
@@ -53,18 +53,18 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-class HingeJoint3DSW : public Joint3DSW {
+class GodotHingeJoint3D : public GodotJoint3D {
 	union {
 		struct {
-			Body3DSW *A;
-			Body3DSW *B;
+			GodotBody3D *A;
+			GodotBody3D *B;
 		};
 
-		Body3DSW *_arr[2] = {};
+		GodotBody3D *_arr[2] = {};
 	};
 
-	JacobianEntry3DSW m_jac[3]; //3 orthogonal linear constraints
-	JacobianEntry3DSW m_jacAng[3]; //2 orthogonal angular constraints+ 1 for limit/motor
+	GodotJacobianEntry3D m_jac[3]; //3 orthogonal linear constraints
+	GodotJacobianEntry3D m_jacAng[3]; //2 orthogonal angular constraints+ 1 for limit/motor
 
 	Transform3D m_rbAFrame; // constraint axii. Assumes z is hinge axis.
 	Transform3D m_rbBFrame;
@@ -109,8 +109,8 @@ public:
 	void set_flag(PhysicsServer3D::HingeJointFlag p_flag, bool p_value);
 	bool get_flag(PhysicsServer3D::HingeJointFlag p_flag) const;
 
-	HingeJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Transform3D &frameA, const Transform3D &frameB);
-	HingeJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Vector3 &pivotInA, const Vector3 &pivotInB, const Vector3 &axisInA, const Vector3 &axisInB);
+	GodotHingeJoint3D(GodotBody3D *rbA, GodotBody3D *rbB, const Transform3D &frameA, const Transform3D &frameB);
+	GodotHingeJoint3D(GodotBody3D *rbA, GodotBody3D *rbB, const Vector3 &pivotInA, const Vector3 &pivotInB, const Vector3 &axisInA, const Vector3 &axisInB);
 };
 
-#endif // HINGE_JOINT_SW_H
+#endif // GODOT_HINGE_JOINT_3D_H
diff --git a/servers/physics_3d/joints/jacobian_entry_3d_sw.h b/servers/physics_3d/joints/godot_jacobian_entry_3d.h
index 7294ff78e3..90a77a9b61 100644
--- a/servers/physics_3d/joints/jacobian_entry_3d_sw.h
+++ b/servers/physics_3d/joints/godot_jacobian_entry_3d.h
@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  jacobian_entry_3d_sw.h                                               */
+/*  godot_jacobian_entry_3d.h                                            */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -32,8 +32,8 @@
 Adapted to Godot from the Bullet library.
 */
 
-#ifndef JACOBIAN_ENTRY_SW_H
-#define JACOBIAN_ENTRY_SW_H
+#ifndef GODOT_JACOBIAN_ENTRY_3D_H
+#define GODOT_JACOBIAN_ENTRY_3D_H
 
 /*
 Bullet Continuous Collision Detection and Physics Library
@@ -52,11 +52,11 @@ subject to the following restrictions:
 
 #include "core/math/transform_3d.h"
 
-class JacobianEntry3DSW {
+class GodotJacobianEntry3D {
 public:
-	JacobianEntry3DSW() {}
+	GodotJacobianEntry3D() {}
 	//constraint between two different rigidbodies
-	JacobianEntry3DSW(
+	GodotJacobianEntry3D(
 			const Basis &world2A,
 			const Basis &world2B,
 			const Vector3 &rel_pos1, const Vector3 &rel_pos2,
@@ -76,7 +76,7 @@ public:
 	}
 
 	//angular constraint between two different rigidbodies
-	JacobianEntry3DSW(const Vector3 &jointAxis,
+	GodotJacobianEntry3D(const Vector3 &jointAxis,
 			const Basis &world2A,
 			const Basis &world2B,
 			const Vector3 &inertiaInvA,
@@ -92,7 +92,7 @@ public:
 	}
 
 	//angular constraint between two different rigidbodies
-	JacobianEntry3DSW(const Vector3 &axisInA,
+	GodotJacobianEntry3D(const Vector3 &axisInA,
 			const Vector3 &axisInB,
 			const Vector3 &inertiaInvA,
 			const Vector3 &inertiaInvB) :
@@ -107,7 +107,7 @@ public:
 	}
 
 	//constraint on one rigidbody
-	JacobianEntry3DSW(
+	GodotJacobianEntry3D(
 			const Basis &world2A,
 			const Vector3 &rel_pos1, const Vector3 &rel_pos2,
 			const Vector3 &jointAxis,
@@ -126,16 +126,16 @@ public:
 	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 getNonDiagonal(const GodotJacobianEntry3D &jacB, const real_t massInvA) const {
+		const GodotJacobianEntry3D &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;
+	real_t getNonDiagonal(const GodotJacobianEntry3D &jacB, const real_t massInvA, const real_t massInvB) const {
+		const GodotJacobianEntry3D &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;
@@ -166,4 +166,4 @@ public:
 	real_t m_Adiag = 1.0;
 };
 
-#endif // JACOBIAN_ENTRY_SW_H
+#endif // GODOT_JACOBIAN_ENTRY_3D_H
diff --git a/servers/physics_3d/joints/pin_joint_3d_sw.cpp b/servers/physics_3d/joints/godot_pin_joint_3d.cpp
index f41151ec0e..10d52ad5e9 100644
--- a/servers/physics_3d/joints/pin_joint_3d_sw.cpp
+++ b/servers/physics_3d/joints/godot_pin_joint_3d.cpp
@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  pin_joint_3d_sw.cpp                                                  */
+/*  godot_pin_joint_3d.cpp                                               */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -47,9 +47,9 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-#include "pin_joint_3d_sw.h"
+#include "godot_pin_joint_3d.h"
 
-bool PinJoint3DSW::setup(real_t p_step) {
+bool GodotPinJoint3D::setup(real_t p_step) {
 	dynamic_A = (A->get_mode() > PhysicsServer3D::BODY_MODE_KINEMATIC);
 	dynamic_B = (B->get_mode() > PhysicsServer3D::BODY_MODE_KINEMATIC);
 
@@ -63,7 +63,7 @@ bool PinJoint3DSW::setup(real_t p_step) {
 
 	for (int i = 0; i < 3; i++) {
 		normal[i] = 1;
-		memnew_placement(&m_jac[i], JacobianEntry3DSW(
+		memnew_placement(&m_jac[i], GodotJacobianEntry3D(
 											A->get_principal_inertia_axes().transposed(),
 											B->get_principal_inertia_axes().transposed(),
 											A->get_transform().xform(m_pivotInA) - A->get_transform().origin - A->get_center_of_mass(),
@@ -79,7 +79,7 @@ bool PinJoint3DSW::setup(real_t p_step) {
 	return true;
 }
 
-void PinJoint3DSW::solve(real_t p_step) {
+void GodotPinJoint3D::solve(real_t p_step) {
 	Vector3 pivotAInW = A->get_transform().xform(m_pivotInA);
 	Vector3 pivotBInW = B->get_transform().xform(m_pivotInB);
 
@@ -137,7 +137,7 @@ void PinJoint3DSW::solve(real_t p_step) {
 	}
 }
 
-void PinJoint3DSW::set_param(PhysicsServer3D::PinJointParam p_param, real_t p_value) {
+void GodotPinJoint3D::set_param(PhysicsServer3D::PinJointParam p_param, real_t p_value) {
 	switch (p_param) {
 		case PhysicsServer3D::PIN_JOINT_BIAS:
 			m_tau = p_value;
@@ -151,7 +151,7 @@ void PinJoint3DSW::set_param(PhysicsServer3D::PinJointParam p_param, real_t p_va
 	}
 }
 
-real_t PinJoint3DSW::get_param(PhysicsServer3D::PinJointParam p_param) const {
+real_t GodotPinJoint3D::get_param(PhysicsServer3D::PinJointParam p_param) const {
 	switch (p_param) {
 		case PhysicsServer3D::PIN_JOINT_BIAS:
 			return m_tau;
@@ -164,8 +164,8 @@ real_t PinJoint3DSW::get_param(PhysicsServer3D::PinJointParam p_param) const {
 	return 0;
 }
 
-PinJoint3DSW::PinJoint3DSW(Body3DSW *p_body_a, const Vector3 &p_pos_a, Body3DSW *p_body_b, const Vector3 &p_pos_b) :
-		Joint3DSW(_arr, 2) {
+GodotPinJoint3D::GodotPinJoint3D(GodotBody3D *p_body_a, const Vector3 &p_pos_a, GodotBody3D *p_body_b, const Vector3 &p_pos_b) :
+		GodotJoint3D(_arr, 2) {
 	A = p_body_a;
 	B = p_body_b;
 	m_pivotInA = p_pos_a;
@@ -175,5 +175,5 @@ PinJoint3DSW::PinJoint3DSW(Body3DSW *p_body_a, const Vector3 &p_pos_a, Body3DSW
 	B->add_constraint(this, 1);
 }
 
-PinJoint3DSW::~PinJoint3DSW() {
+GodotPinJoint3D::~GodotPinJoint3D() {
 }
diff --git a/servers/physics_3d/joints/pin_joint_3d_sw.h b/servers/physics_3d/joints/godot_pin_joint_3d.h
index 79af48f2a5..17e2e6e973 100644
--- a/servers/physics_3d/joints/pin_joint_3d_sw.h
+++ b/servers/physics_3d/joints/godot_pin_joint_3d.h
@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  pin_joint_3d_sw.h                                                    */
+/*  godot_pin_joint_3d.h                                                 */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -32,11 +32,11 @@
 Adapted to Godot from the Bullet library.
 */
 
-#ifndef PIN_JOINT_SW_H
-#define PIN_JOINT_SW_H
+#ifndef GODOT_PIN_JOINT_3D_H
+#define GODOT_PIN_JOINT_3D_H
 
-#include "servers/physics_3d/joints/jacobian_entry_3d_sw.h"
-#include "servers/physics_3d/joints_3d_sw.h"
+#include "servers/physics_3d/godot_joint_3d.h"
+#include "servers/physics_3d/joints/godot_jacobian_entry_3d.h"
 
 /*
 Bullet Continuous Collision Detection and Physics Library
@@ -53,14 +53,14 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-class PinJoint3DSW : public Joint3DSW {
+class GodotPinJoint3D : public GodotJoint3D {
 	union {
 		struct {
-			Body3DSW *A;
-			Body3DSW *B;
+			GodotBody3D *A;
+			GodotBody3D *B;
 		};
 
-		Body3DSW *_arr[2] = {};
+		GodotBody3D *_arr[2] = {};
 	};
 
 	real_t m_tau = 0.3; //bias
@@ -68,7 +68,7 @@ class PinJoint3DSW : public Joint3DSW {
 	real_t m_impulseClamp = 0.0;
 	real_t m_appliedImpulse = 0.0;
 
-	JacobianEntry3DSW m_jac[3] = {}; //3 orthogonal linear constraints
+	GodotJacobianEntry3D m_jac[3] = {}; //3 orthogonal linear constraints
 
 	Vector3 m_pivotInA;
 	Vector3 m_pivotInB;
@@ -88,8 +88,8 @@ public:
 	Vector3 get_position_a() { return m_pivotInA; }
 	Vector3 get_position_b() { return m_pivotInB; }
 
-	PinJoint3DSW(Body3DSW *p_body_a, const Vector3 &p_pos_a, Body3DSW *p_body_b, const Vector3 &p_pos_b);
-	~PinJoint3DSW();
+	GodotPinJoint3D(GodotBody3D *p_body_a, const Vector3 &p_pos_a, GodotBody3D *p_body_b, const Vector3 &p_pos_b);
+	~GodotPinJoint3D();
 };
 
-#endif // PIN_JOINT_SW_H
+#endif // GODOT_PIN_JOINT_3D_H
diff --git a/servers/physics_3d/joints/slider_joint_3d_sw.cpp b/servers/physics_3d/joints/godot_slider_joint_3d.cpp
index e10ed436d5..3be111ac92 100644
--- a/servers/physics_3d/joints/slider_joint_3d_sw.cpp
+++ b/servers/physics_3d/joints/godot_slider_joint_3d.cpp
@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  slider_joint_3d_sw.cpp                                               */
+/*  godot_slider_joint_3d.cpp                                            */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -53,7 +53,7 @@ April 04, 2008
 
 */
 
-#include "slider_joint_3d_sw.h"
+#include "godot_slider_joint_3d.h"
 
 //-----------------------------------------------------------------------------
 
@@ -76,8 +76,8 @@ static _FORCE_INLINE_ real_t atan2fast(real_t y, real_t x) {
 
 //-----------------------------------------------------------------------------
 
-SliderJoint3DSW::SliderJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Transform3D &frameInA, const Transform3D &frameInB) :
-		Joint3DSW(_arr, 2),
+GodotSliderJoint3D::GodotSliderJoint3D(GodotBody3D *rbA, GodotBody3D *rbB, const Transform3D &frameInA, const Transform3D &frameInB) :
+		GodotJoint3D(_arr, 2),
 		m_frameInA(frameInA),
 		m_frameInB(frameInB) {
 	A = rbA;
@@ -85,11 +85,11 @@ SliderJoint3DSW::SliderJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Transform3D
 
 	A->add_constraint(this, 0);
 	B->add_constraint(this, 1);
-} // SliderJointSW::SliderJointSW()
+}
 
 //-----------------------------------------------------------------------------
 
-bool SliderJoint3DSW::setup(real_t p_step) {
+bool GodotSliderJoint3D::setup(real_t p_step) {
 	dynamic_A = (A->get_mode() > PhysicsServer3D::BODY_MODE_KINEMATIC);
 	dynamic_B = (B->get_mode() > PhysicsServer3D::BODY_MODE_KINEMATIC);
 
@@ -112,7 +112,7 @@ bool SliderJoint3DSW::setup(real_t p_step) {
 	//linear part
 	for (i = 0; i < 3; i++) {
 		normalWorld = m_calculatedTransformA.basis.get_axis(i);
-		memnew_placement(&m_jacLin[i], JacobianEntry3DSW(
+		memnew_placement(&m_jacLin[i], GodotJacobianEntry3D(
 											   A->get_principal_inertia_axes().transposed(),
 											   B->get_principal_inertia_axes().transposed(),
 											   m_relPosA - A->get_center_of_mass(),
@@ -129,7 +129,7 @@ bool SliderJoint3DSW::setup(real_t p_step) {
 	// angular part
 	for (i = 0; i < 3; i++) {
 		normalWorld = m_calculatedTransformA.basis.get_axis(i);
-		memnew_placement(&m_jacAng[i], JacobianEntry3DSW(
+		memnew_placement(&m_jacAng[i], GodotJacobianEntry3D(
 											   normalWorld,
 											   A->get_principal_inertia_axes().transposed(),
 											   B->get_principal_inertia_axes().transposed(),
@@ -144,11 +144,11 @@ bool SliderJoint3DSW::setup(real_t p_step) {
 	m_accumulatedAngMotorImpulse = real_t(0.0);
 
 	return true;
-} // SliderJointSW::buildJacobianInt()
+}
 
 //-----------------------------------------------------------------------------
 
-void SliderJoint3DSW::solve(real_t p_step) {
+void GodotSliderJoint3D::solve(real_t p_step) {
 	int i;
 	// linear
 	Vector3 velA = A->get_velocity_in_local_point(m_relPosA);
@@ -284,13 +284,11 @@ void SliderJoint3DSW::solve(real_t p_step) {
 			}
 		}
 	}
-} // SliderJointSW::solveConstraint()
-
-//-----------------------------------------------------------------------------
+}
 
 //-----------------------------------------------------------------------------
 
-void SliderJoint3DSW::calculateTransforms() {
+void GodotSliderJoint3D::calculateTransforms() {
 	m_calculatedTransformA = A->get_transform() * m_frameInA;
 	m_calculatedTransformB = B->get_transform() * m_frameInB;
 	m_realPivotAInW = m_calculatedTransformA.origin;
@@ -305,11 +303,11 @@ void SliderJoint3DSW::calculateTransforms() {
 		normalWorld = m_calculatedTransformA.basis.get_axis(i);
 		m_depth[i] = m_delta.dot(normalWorld);
 	}
-} // SliderJointSW::calculateTransforms()
+}
 
 //-----------------------------------------------------------------------------
 
-void SliderJoint3DSW::testLinLimits() {
+void GodotSliderJoint3D::testLinLimits() {
 	m_solveLinLim = false;
 	m_linPos = m_depth[0];
 	if (m_lowerLinLimit <= m_upperLinLimit) {
@@ -325,11 +323,11 @@ void SliderJoint3DSW::testLinLimits() {
 	} else {
 		m_depth[0] = real_t(0.);
 	}
-} // SliderJointSW::testLinLimits()
+}
 
 //-----------------------------------------------------------------------------
 
-void SliderJoint3DSW::testAngLimits() {
+void GodotSliderJoint3D::testAngLimits() {
 	m_angDepth = real_t(0.);
 	m_solveAngLim = false;
 	if (m_lowerAngLimit <= m_upperAngLimit) {
@@ -345,26 +343,26 @@ void SliderJoint3DSW::testAngLimits() {
 			m_solveAngLim = true;
 		}
 	}
-} // SliderJointSW::testAngLimits()
+}
 
 //-----------------------------------------------------------------------------
 
-Vector3 SliderJoint3DSW::getAncorInA() {
+Vector3 GodotSliderJoint3D::getAncorInA() {
 	Vector3 ancorInA;
 	ancorInA = m_realPivotAInW + (m_lowerLinLimit + m_upperLinLimit) * real_t(0.5) * m_sliderAxis;
 	ancorInA = A->get_transform().inverse().xform(ancorInA);
 	return ancorInA;
-} // SliderJointSW::getAncorInA()
+}
 
 //-----------------------------------------------------------------------------
 
-Vector3 SliderJoint3DSW::getAncorInB() {
+Vector3 GodotSliderJoint3D::getAncorInB() {
 	Vector3 ancorInB;
 	ancorInB = m_frameInB.origin;
 	return ancorInB;
-} // SliderJointSW::getAncorInB();
+}
 
-void SliderJoint3DSW::set_param(PhysicsServer3D::SliderJointParam p_param, real_t p_value) {
+void GodotSliderJoint3D::set_param(PhysicsServer3D::SliderJointParam p_param, real_t p_value) {
 	switch (p_param) {
 		case PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_UPPER:
 			m_upperLinLimit = p_value;
@@ -439,7 +437,7 @@ void SliderJoint3DSW::set_param(PhysicsServer3D::SliderJointParam p_param, real_
 	}
 }
 
-real_t SliderJoint3DSW::get_param(PhysicsServer3D::SliderJointParam p_param) const {
+real_t GodotSliderJoint3D::get_param(PhysicsServer3D::SliderJointParam p_param) const {
 	switch (p_param) {
 		case PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_UPPER:
 			return m_upperLinLimit;
diff --git a/servers/physics_3d/joints/slider_joint_3d_sw.h b/servers/physics_3d/joints/godot_slider_joint_3d.h
index d32ad9469e..9baaf1fa40 100644
--- a/servers/physics_3d/joints/slider_joint_3d_sw.h
+++ b/servers/physics_3d/joints/godot_slider_joint_3d.h
@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  slider_joint_3d_sw.h                                                 */
+/*  godot_slider_joint_3d.h                                              */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -32,11 +32,11 @@
 Adapted to Godot from the Bullet library.
 */
 
-#ifndef SLIDER_JOINT_SW_H
-#define SLIDER_JOINT_SW_H
+#ifndef GODOT_SLIDER_JOINT_3D_H
+#define GODOT_SLIDER_JOINT_3D_H
 
-#include "servers/physics_3d/joints/jacobian_entry_3d_sw.h"
-#include "servers/physics_3d/joints_3d_sw.h"
+#include "servers/physics_3d/godot_joint_3d.h"
+#include "servers/physics_3d/joints/godot_jacobian_entry_3d.h"
 
 /*
 Bullet Continuous Collision Detection and Physics Library
@@ -65,15 +65,15 @@ April 04, 2008
 
 //-----------------------------------------------------------------------------
 
-class SliderJoint3DSW : public Joint3DSW {
+class GodotSliderJoint3D : public GodotJoint3D {
 protected:
 	union {
 		struct {
-			Body3DSW *A;
-			Body3DSW *B;
+			GodotBody3D *A;
+			GodotBody3D *B;
 		};
 
-		Body3DSW *_arr[2] = { nullptr, nullptr };
+		GodotBody3D *_arr[2] = { nullptr, nullptr };
 	};
 
 	Transform3D m_frameInA;
@@ -114,10 +114,10 @@ protected:
 	bool m_solveLinLim = false;
 	bool m_solveAngLim = false;
 
-	JacobianEntry3DSW m_jacLin[3] = {};
+	GodotJacobianEntry3D m_jacLin[3] = {};
 	real_t m_jacLinDiagABInv[3] = {};
 
-	JacobianEntry3DSW m_jacAng[3] = {};
+	GodotJacobianEntry3D m_jacAng[3] = {};
 
 	real_t m_timeStep = 0.0;
 	Transform3D m_calculatedTransformA;
@@ -149,13 +149,13 @@ protected:
 
 public:
 	// constructors
-	SliderJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Transform3D &frameInA, const Transform3D &frameInB);
+	GodotSliderJoint3D(GodotBody3D *rbA, GodotBody3D *rbB, const Transform3D &frameInA, const Transform3D &frameInB);
 	//SliderJointSW();
 	// overrides
 
 	// access
-	const Body3DSW *getRigidBodyA() const { return A; }
-	const Body3DSW *getRigidBodyB() const { return B; }
+	const GodotBody3D *getRigidBodyA() const { return A; }
+	const GodotBody3D *getRigidBodyB() const { return B; }
 	const Transform3D &getCalculatedTransformA() const { return m_calculatedTransformA; }
 	const Transform3D &getCalculatedTransformB() const { return m_calculatedTransformB; }
 	const Transform3D &getFrameOffsetA() const { return m_frameInA; }
@@ -243,4 +243,4 @@ public:
 	virtual PhysicsServer3D::JointType get_type() const override { return PhysicsServer3D::JOINT_TYPE_SLIDER; }
 };
 
-#endif // SLIDER_JOINT_SW_H
+#endif // GODOT_SLIDER_JOINT_3D_H