diff options
53 files changed, 363 insertions, 625 deletions
diff --git a/servers/physics_2d/area_2d_sw.cpp b/servers/physics_2d/area_2d_sw.cpp index 663a47f273..c85b1575e3 100644 --- a/servers/physics_2d/area_2d_sw.cpp +++ b/servers/physics_2d/area_2d_sw.cpp @@ -299,17 +299,6 @@ Area2DSW::Area2DSW() : monitor_query_list(this), moved_list(this) { _set_static(true); //areas are not active by default - space_override_mode = PhysicsServer2D::AREA_SPACE_OVERRIDE_DISABLED; - gravity = 9.80665; - gravity_vector = Vector2(0, -1); - gravity_is_point = false; - gravity_distance_scale = 0; - point_attenuation = 1; - - angular_damp = 1.0; - linear_damp = 0.1; - priority = 0; - monitorable = false; } Area2DSW::~Area2DSW() { diff --git a/servers/physics_2d/area_2d_sw.h b/servers/physics_2d/area_2d_sw.h index d9147d6f1d..0b7c791ed5 100644 --- a/servers/physics_2d/area_2d_sw.h +++ b/servers/physics_2d/area_2d_sw.h @@ -40,16 +40,16 @@ class Body2DSW; class Constraint2DSW; class Area2DSW : public CollisionObject2DSW { - PhysicsServer2D::AreaSpaceOverrideMode space_override_mode; - real_t gravity; - Vector2 gravity_vector; - bool gravity_is_point; - real_t gravity_distance_scale; - real_t point_attenuation; - real_t linear_damp; - real_t angular_damp; - int priority; - bool monitorable; + PhysicsServer2D::AreaSpaceOverrideMode space_override_mode = PhysicsServer2D::AREA_SPACE_OVERRIDE_DISABLED; + real_t gravity = 9.80665; + Vector2 gravity_vector = Vector2(0, -1); + bool gravity_is_point = false; + real_t gravity_distance_scale = 0.0; + real_t point_attenuation = 1.0; + real_t linear_damp = 0.1; + real_t angular_damp = 1.0; + int priority = 0; + bool monitorable = false; ObjectID monitor_callback_id; StringName monitor_callback_method; @@ -63,8 +63,8 @@ class Area2DSW : public CollisionObject2DSW { struct BodyKey { RID rid; ObjectID instance_id; - uint32_t body_shape; - uint32_t area_shape; + uint32_t body_shape = 0; + uint32_t area_shape = 0; _FORCE_INLINE_ bool operator<(const BodyKey &p_key) const { if (rid == p_key.rid) { @@ -84,10 +84,9 @@ class Area2DSW : public CollisionObject2DSW { }; struct BodyState { - int state; + int state = 0; _FORCE_INLINE_ void inc() { state++; } _FORCE_INLINE_ void dec() { state--; } - _FORCE_INLINE_ BodyState() { state = 0; } }; Map<BodyKey, BodyState> monitored_bodies; diff --git a/servers/physics_2d/body_2d_sw.h b/servers/physics_2d/body_2d_sw.h index 95e89786cd..822ff76fae 100644 --- a/servers/physics_2d/body_2d_sw.h +++ b/servers/physics_2d/body_2d_sw.h @@ -96,8 +96,8 @@ class Body2DSW : public CollisionObject2DSW { List<Pair<Constraint2DSW *, int>> constraint_list; struct AreaCMP { - Area2DSW *area; - int refCount; + Area2DSW *area = nullptr; + int refCount = 0; _FORCE_INLINE_ bool operator==(const AreaCMP &p_cmp) const { return area->get_self() == p_cmp.area->get_self(); } _FORCE_INLINE_ bool operator<(const AreaCMP &p_cmp) const { return area->get_priority() < p_cmp.area->get_priority(); } _FORCE_INLINE_ AreaCMP() {} @@ -112,10 +112,10 @@ class Body2DSW : public CollisionObject2DSW { struct Contact { Vector2 local_pos; Vector2 local_normal; - real_t depth; - int local_shape; + real_t depth = 0.0; + int local_shape = 0; Vector2 collider_pos; - int collider_shape; + int collider_shape = 0; ObjectID collider_instance_id; RID collider; Vector2 collider_velocity_at_pos; diff --git a/servers/physics_2d/body_pair_2d_sw.h b/servers/physics_2d/body_pair_2d_sw.h index 849a7e2430..db4f3eba69 100644 --- a/servers/physics_2d/body_pair_2d_sw.h +++ b/servers/physics_2d/body_pair_2d_sw.h @@ -59,17 +59,17 @@ class BodyPair2DSW : public Constraint2DSW { Vector2 position; Vector2 normal; Vector2 local_A, local_B; - real_t acc_normal_impulse; // accumulated normal impulse (Pn) - real_t acc_tangent_impulse; // accumulated tangent impulse (Pt) - real_t acc_bias_impulse; // accumulated normal impulse for position bias (Pnb) - real_t mass_normal, mass_tangent; - real_t bias; + real_t acc_normal_impulse = 0.0; // accumulated normal impulse (Pn) + real_t acc_tangent_impulse = 0.0; // accumulated tangent impulse (Pt) + real_t acc_bias_impulse = 0.0; // accumulated normal impulse for position bias (Pnb) + real_t mass_normal, mass_tangent = 0.0; + real_t bias = 0.0; - real_t depth; - bool active; + real_t depth = 0.0; + bool active = false; Vector2 rA, rB; - bool reused; - real_t bounce; + bool reused = false; + real_t bounce = 0.0; }; Vector2 offset_B; //use local A coordinates to avoid numerical issues on collision detection diff --git a/servers/physics_2d/broad_phase_2d_bvh.cpp b/servers/physics_2d/broad_phase_2d_bvh.cpp index 5f53f4a012..0df7086c5a 100644 --- a/servers/physics_2d/broad_phase_2d_bvh.cpp +++ b/servers/physics_2d/broad_phase_2d_bvh.cpp @@ -110,7 +110,4 @@ BroadPhase2DSW *BroadPhase2DBVH::_create() { BroadPhase2DBVH::BroadPhase2DBVH() { bvh.set_pair_callback(_pair_callback, this); bvh.set_unpair_callback(_unpair_callback, this); - pair_callback = nullptr; - pair_userdata = nullptr; - unpair_userdata = nullptr; } diff --git a/servers/physics_2d/broad_phase_2d_bvh.h b/servers/physics_2d/broad_phase_2d_bvh.h index 6c11d2561b..ea02a98417 100644 --- a/servers/physics_2d/broad_phase_2d_bvh.h +++ b/servers/physics_2d/broad_phase_2d_bvh.h @@ -42,10 +42,10 @@ class BroadPhase2DBVH : public BroadPhase2DSW { static void *_pair_callback(void *, uint32_t, CollisionObject2DSW *, int, uint32_t, CollisionObject2DSW *, int); static void _unpair_callback(void *, uint32_t, CollisionObject2DSW *, int, uint32_t, CollisionObject2DSW *, int, void *); - PairCallback pair_callback; - void *pair_userdata; - UnpairCallback unpair_callback; - void *unpair_userdata; + PairCallback pair_callback = nullptr; + void *pair_userdata = nullptr; + UnpairCallback unpair_callback = nullptr; + void *unpair_userdata = nullptr; public: // 0 is an invalid ID diff --git a/servers/physics_2d/collision_object_2d_sw.cpp b/servers/physics_2d/collision_object_2d_sw.cpp index 5d1ef83165..c92f01d120 100644 --- a/servers/physics_2d/collision_object_2d_sw.cpp +++ b/servers/physics_2d/collision_object_2d_sw.cpp @@ -244,10 +244,5 @@ void CollisionObject2DSW::_shape_changed() { CollisionObject2DSW::CollisionObject2DSW(Type p_type) : pending_shape_update_list(this) { - _static = true; type = p_type; - space = nullptr; - collision_mask = 1; - collision_layer = 1; - pickable = true; } diff --git a/servers/physics_2d/collision_object_2d_sw.h b/servers/physics_2d/collision_object_2d_sw.h index 55ffa9b1b8..69487631a6 100644 --- a/servers/physics_2d/collision_object_2d_sw.h +++ b/servers/physics_2d/collision_object_2d_sw.h @@ -50,32 +50,27 @@ private: RID self; ObjectID instance_id; ObjectID canvas_instance_id; - bool pickable; + bool pickable = true; struct Shape { Transform2D xform; Transform2D xform_inv; - BroadPhase2DSW::ID bpid; + BroadPhase2DSW::ID bpid = 0; Rect2 aabb_cache; //for rayqueries - Shape2DSW *shape; + Shape2DSW *shape = nullptr; Variant metadata; - bool disabled; - bool one_way_collision; - real_t one_way_collision_margin; - Shape() { - disabled = false; - one_way_collision = false; - one_way_collision_margin = 0; - } + bool disabled = false; + bool one_way_collision = false; + real_t one_way_collision_margin = 0.0; }; Vector<Shape> shapes; - Space2DSW *space; + Space2DSW *space = nullptr; Transform2D transform; Transform2D inv_transform; - uint32_t collision_mask; - uint32_t collision_layer; - bool _static; + uint32_t collision_mask = 1; + uint32_t collision_layer = 1; + bool _static = true; SelfList<CollisionObject2DSW> pending_shape_update_list; diff --git a/servers/physics_2d/collision_solver_2d_sat.cpp b/servers/physics_2d/collision_solver_2d_sat.cpp index 5aadfdb496..2e67cc6520 100644 --- a/servers/physics_2d/collision_solver_2d_sat.cpp +++ b/servers/physics_2d/collision_solver_2d_sat.cpp @@ -34,11 +34,11 @@ struct _CollectorCallback2D { CollisionSolver2DSW::CallbackResult callback; - void *userdata; - bool swap; - bool collided; + void *userdata = nullptr; + bool swap = false; + bool collided = false; Vector2 normal; - Vector2 *sep_axis; + Vector2 *sep_axis = nullptr; _FORCE_INLINE_ void call(const Vector2 &p_point_A, const Vector2 &p_point_B) { /* @@ -75,9 +75,9 @@ _FORCE_INLINE_ static void _generate_contacts_point_edge(const Vector2 *p_points } struct _generate_contacts_Pair { - bool a; - int idx; - real_t d; + bool a = false; + int idx = 0; + real_t d = 0.0; _FORCE_INLINE_ bool operator<(const _generate_contacts_Pair &l) const { return d < l.d; } }; @@ -146,10 +146,10 @@ static void _generate_contacts_from_supports(const Vector2 *p_points_A, int p_po } }; - int pointcount_B; - int pointcount_A; - const Vector2 *points_A; - const Vector2 *points_B; + int pointcount_B = 0; + int pointcount_A = 0; + const Vector2 *points_A = nullptr; + const Vector2 *points_B = nullptr; if (p_point_count_A > p_point_count_B) { //swap @@ -177,18 +177,20 @@ static void _generate_contacts_from_supports(const Vector2 *p_points_A, int p_po template <class ShapeA, class ShapeB, bool castA = false, bool castB = false, bool withMargin = false> class SeparatorAxisTest2D { - const ShapeA *shape_A; - const ShapeB *shape_B; - const Transform2D *transform_A; - const Transform2D *transform_B; - real_t best_depth; + const ShapeA *shape_A = nullptr; + const ShapeB *shape_B = nullptr; + const Transform2D *transform_A = nullptr; + const Transform2D *transform_B = nullptr; + real_t best_depth = 1e15; Vector2 best_axis; - int best_axis_count; - int best_axis_index; +#ifdef DEBUG_ENABLED + int best_axis_count = 0; + int best_axis_index = -1; +#endif Vector2 motion_A; Vector2 motion_B; - real_t margin_A; - real_t margin_B; + real_t margin_A = 0.0; + real_t margin_B = 0.0; _CollectorCallback2D *callback; public: @@ -364,19 +366,13 @@ public: _FORCE_INLINE_ SeparatorAxisTest2D(const ShapeA *p_shape_A, const Transform2D &p_transform_a, const ShapeB *p_shape_B, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_A = Vector2(), const Vector2 &p_motion_B = Vector2(), real_t p_margin_A = 0, real_t p_margin_B = 0) { margin_A = p_margin_A; margin_B = p_margin_B; - best_depth = 1e15; shape_A = p_shape_A; shape_B = p_shape_B; transform_A = &p_transform_a; transform_B = &p_transform_b; motion_A = p_motion_A; motion_B = p_motion_B; - callback = p_collector; -#ifdef DEBUG_ENABLED - best_axis_count = 0; - best_axis_index = -1; -#endif } }; diff --git a/servers/physics_2d/collision_solver_2d_sw.cpp b/servers/physics_2d/collision_solver_2d_sw.cpp index b07b9a86e8..527bb1b0b2 100644 --- a/servers/physics_2d/collision_solver_2d_sw.cpp +++ b/servers/physics_2d/collision_solver_2d_sw.cpp @@ -133,20 +133,20 @@ bool CollisionSolver2DSW::solve_separation_ray(const Shape2DSW *p_shape_A, const } struct _ConcaveCollisionInfo2D { - const Transform2D *transform_A; - const Shape2DSW *shape_A; - const Transform2D *transform_B; + const Transform2D *transform_A = nullptr; + const Shape2DSW *shape_A = nullptr; + const Transform2D *transform_B = nullptr; Vector2 motion_A; Vector2 motion_B; - real_t margin_A; - real_t margin_B; + real_t margin_A = 0.0; + real_t margin_B = 0.0; CollisionSolver2DSW::CallbackResult result_callback; - void *userdata; - bool swap_result; - bool collided; - int aabb_tests; - int collisions; - Vector2 *sep_axis; + void *userdata = nullptr; + bool swap_result = false; + bool collided = false; + int aabb_tests = 0; + int collisions = 0; + Vector2 *sep_axis = nullptr; }; bool CollisionSolver2DSW::concave_callback(void *p_userdata, Shape2DSW *p_convex) { diff --git a/servers/physics_2d/constraint_2d_sw.h b/servers/physics_2d/constraint_2d_sw.h index 5e8dfbe570..df300d666d 100644 --- a/servers/physics_2d/constraint_2d_sw.h +++ b/servers/physics_2d/constraint_2d_sw.h @@ -36,8 +36,8 @@ class Constraint2DSW { Body2DSW **_body_ptr; int _body_count; - uint64_t island_step; - bool disabled_collisions_between_bodies; + uint64_t island_step = 0; + bool disabled_collisions_between_bodies = true; RID self; @@ -45,8 +45,6 @@ protected: Constraint2DSW(Body2DSW **p_body_ptr = nullptr, int p_body_count = 0) { _body_ptr = p_body_ptr; _body_count = p_body_count; - island_step = 0; - disabled_collisions_between_bodies = true; } public: diff --git a/servers/physics_2d/joints_2d_sw.cpp b/servers/physics_2d/joints_2d_sw.cpp index fa8499a81d..b46397b8e6 100644 --- a/servers/physics_2d/joints_2d_sw.cpp +++ b/servers/physics_2d/joints_2d_sw.cpp @@ -64,7 +64,7 @@ void Joint2DSW::copy_settings_from(Joint2DSW *p_joint) { } static inline real_t k_scalar(Body2DSW *a, Body2DSW *b, const Vector2 &rA, const Vector2 &rB, const Vector2 &n) { - real_t value = 0; + real_t value = 0.0; { value += a->get_inv_mass(); @@ -213,8 +213,6 @@ PinJoint2DSW::PinJoint2DSW(const Vector2 &p_pos, Body2DSW *p_body_a, Body2DSW *p anchor_A = p_body_a->get_inv_transform().xform(p_pos); anchor_B = p_body_b ? p_body_b->get_inv_transform().xform(p_pos) : p_pos; - softness = 0; - p_body_a->add_constraint(this, 0); if (p_body_b) { p_body_b->add_constraint(this, 1); @@ -482,8 +480,6 @@ DampedSpringJoint2DSW::DampedSpringJoint2DSW(const Vector2 &p_anchor_a, const Ve anchor_B = B->get_inv_transform().xform(p_anchor_b); rest_length = p_anchor_a.distance_to(p_anchor_b); - stiffness = 20; - damping = 1.5; A->add_constraint(this, 0); B->add_constraint(this, 1); diff --git a/servers/physics_2d/joints_2d_sw.h b/servers/physics_2d/joints_2d_sw.h index ccc5c585a0..e2a7c0c91e 100644 --- a/servers/physics_2d/joints_2d_sw.h +++ b/servers/physics_2d/joints_2d_sw.h @@ -35,9 +35,9 @@ #include "constraint_2d_sw.h" class Joint2DSW : public Constraint2DSW { - real_t max_force; - real_t bias; - real_t max_bias; + real_t bias = 0; + real_t max_bias = 3.40282e+38; + real_t max_force = 3.40282e+38; protected: bool dynamic_A = false; @@ -61,10 +61,7 @@ public: virtual PhysicsServer2D::JointType get_type() const { return PhysicsServer2D::JOINT_TYPE_MAX; } Joint2DSW(Body2DSW **p_body_ptr = nullptr, int p_body_count = 0) : - Constraint2DSW(p_body_ptr, p_body_count) { - bias = 0; - max_force = max_bias = 3.40282e+38; - }; + Constraint2DSW(p_body_ptr, p_body_count) {} virtual ~Joint2DSW() { for (int i = 0; i < get_body_count(); i++) { @@ -83,7 +80,7 @@ class PinJoint2DSW : public Joint2DSW { Body2DSW *B; }; - Body2DSW *_arr[2]; + Body2DSW *_arr[2] = { nullptr, nullptr }; }; Transform2D M; @@ -92,7 +89,7 @@ class PinJoint2DSW : public Joint2DSW { Vector2 anchor_B; Vector2 bias; Vector2 P; - real_t softness; + real_t softness = 0.0; public: virtual PhysicsServer2D::JointType get_type() const override { return PhysicsServer2D::JOINT_TYPE_PIN; } @@ -114,7 +111,7 @@ class GrooveJoint2DSW : public Joint2DSW { Body2DSW *B; }; - Body2DSW *_arr[2]; + Body2DSW *_arr[2] = { nullptr, nullptr }; }; Vector2 A_groove_1; @@ -123,13 +120,13 @@ class GrooveJoint2DSW : public Joint2DSW { Vector2 B_anchor; Vector2 jn_acc; Vector2 gbias; - real_t jn_max; - real_t clamp; + real_t jn_max = 0.0; + real_t clamp = 0.0; Vector2 xf_normal; Vector2 rA, rB; Vector2 k1, k2; - bool correct; + bool correct = false; public: virtual PhysicsServer2D::JointType get_type() const override { return PhysicsServer2D::JOINT_TYPE_GROOVE; } @@ -148,22 +145,22 @@ class DampedSpringJoint2DSW : public Joint2DSW { Body2DSW *B; }; - Body2DSW *_arr[2]; + Body2DSW *_arr[2] = { nullptr, nullptr }; }; Vector2 anchor_A; Vector2 anchor_B; - real_t rest_length; - real_t damping; - real_t stiffness; + real_t rest_length = 0.0; + real_t damping = 1.5; + real_t stiffness = 20.0; Vector2 rA, rB; Vector2 n; Vector2 j; - real_t n_mass; - real_t target_vrn; - real_t v_coef; + real_t n_mass = 0.0; + real_t target_vrn = 0.0; + real_t v_coef = 0.0; public: virtual PhysicsServer2D::JointType get_type() const override { return PhysicsServer2D::JOINT_TYPE_DAMPED_SPRING; } diff --git a/servers/physics_2d/physics_server_2d_sw.cpp b/servers/physics_2d/physics_server_2d_sw.cpp index edac8aef8d..e052258a92 100644 --- a/servers/physics_2d/physics_server_2d_sw.cpp +++ b/servers/physics_2d/physics_server_2d_sw.cpp @@ -1357,10 +1357,5 @@ PhysicsServer2DSW::PhysicsServer2DSW(bool p_using_threads) { singletonsw = this; BroadPhase2DSW::create_func = BroadPhase2DBVH::_create; - active = true; - island_count = 0; - active_objects = 0; - collision_pairs = 0; using_threads = p_using_threads; - flushing_queries = false; }; diff --git a/servers/physics_2d/physics_server_2d_sw.h b/servers/physics_2d/physics_server_2d_sw.h index 000b2f7031..1db4dd8343 100644 --- a/servers/physics_2d/physics_server_2d_sw.h +++ b/servers/physics_2d/physics_server_2d_sw.h @@ -43,19 +43,19 @@ class PhysicsServer2DSW : public PhysicsServer2D { friend class PhysicsDirectSpaceState2DSW; friend class PhysicsDirectBodyState2DSW; - bool active; - int iterations; - bool doing_sync; + bool active = true; + int iterations = 0; + bool doing_sync = false; - int island_count; - int active_objects; - int collision_pairs; + int island_count = 0; + int active_objects = 0; + int collision_pairs = 0; - bool using_threads; + bool using_threads = false; - bool flushing_queries; + bool flushing_queries = false; - Step2DSW *stepper; + Step2DSW *stepper = nullptr; Set<const Space2DSW *> active_spaces; mutable RID_PtrOwner<Shape2DSW, true> shape_owner; @@ -76,12 +76,12 @@ class PhysicsServer2DSW : public PhysicsServer2D { public: struct CollCbkData { Vector2 valid_dir; - real_t valid_depth; - int max; - int amount; - int passed; - int invalid_by_dir; - Vector2 *ptr; + real_t valid_depth = 0.0; + int max = 0; + int amount = 0; + int passed = 0; + int invalid_by_dir = 0; + Vector2 *ptr = nullptr; }; virtual RID world_boundary_shape_create() override; diff --git a/servers/physics_2d/physics_server_2d_wrap_mt.cpp b/servers/physics_2d/physics_server_2d_wrap_mt.cpp index 930b19c2cb..33070bf42d 100644 --- a/servers/physics_2d/physics_server_2d_wrap_mt.cpp +++ b/servers/physics_2d/physics_server_2d_wrap_mt.cpp @@ -119,7 +119,6 @@ PhysicsServer2DWrapMT::PhysicsServer2DWrapMT(PhysicsServer2D *p_contained, bool command_queue(p_create_thread) { physics_2d_server = p_contained; create_thread = p_create_thread; - step_pending = 0; pool_max_size = GLOBAL_GET("memory/limits/multithreaded_server/rid_pool_prealloc"); @@ -130,7 +129,6 @@ PhysicsServer2DWrapMT::PhysicsServer2DWrapMT(PhysicsServer2D *p_contained, bool } main_thread = Thread::get_caller_id(); - first_frame = true; } PhysicsServer2DWrapMT::~PhysicsServer2DWrapMT() { diff --git a/servers/physics_2d/physics_server_2d_wrap_mt.h b/servers/physics_2d/physics_server_2d_wrap_mt.h index 16ea6e022e..f8733863aa 100644 --- a/servers/physics_2d/physics_server_2d_wrap_mt.h +++ b/servers/physics_2d/physics_server_2d_wrap_mt.h @@ -56,19 +56,19 @@ class PhysicsServer2DWrapMT : public PhysicsServer2D { SafeFlag exit; Thread thread; SafeFlag step_thread_up; - bool create_thread; + bool create_thread = false; Semaphore step_sem; - int step_pending; + int step_pending = 0; void thread_step(real_t p_delta); void thread_flush(); void thread_exit(); - bool first_frame; + bool first_frame = true; Mutex alloc_mutex; - int pool_max_size; + int pool_max_size = 0; public: #define ServerName PhysicsServer2D diff --git a/servers/physics_2d/shape_2d_sw.cpp b/servers/physics_2d/shape_2d_sw.cpp index 3fe84a0f14..b5953bfdaf 100644 --- a/servers/physics_2d/shape_2d_sw.cpp +++ b/servers/physics_2d/shape_2d_sw.cpp @@ -75,11 +75,6 @@ const Map<ShapeOwner2DSW *, int> &Shape2DSW::get_owners() const { return owners; } -Shape2DSW::Shape2DSW() { - custom_bias = 0; - configured = false; -} - Shape2DSW::~Shape2DSW() { ERR_FAIL_COND(owners.size()); } @@ -652,11 +647,6 @@ Variant ConvexPolygonShape2DSW::get_data() const { return dvr; } -ConvexPolygonShape2DSW::ConvexPolygonShape2DSW() { - points = nullptr; - point_count = 0; -} - ConvexPolygonShape2DSW::~ConvexPolygonShape2DSW() { if (points) { memdelete_arr(points); diff --git a/servers/physics_2d/shape_2d_sw.h b/servers/physics_2d/shape_2d_sw.h index ecc829f962..c118826284 100644 --- a/servers/physics_2d/shape_2d_sw.h +++ b/servers/physics_2d/shape_2d_sw.h @@ -47,8 +47,8 @@ public: class Shape2DSW { RID self; Rect2 aabb; - bool configured; - real_t custom_bias; + bool configured = false; + real_t custom_bias = 0.0; Map<ShapeOwner2DSW *, int> owners; @@ -121,8 +121,7 @@ public: } } } - - Shape2DSW(); + Shape2DSW() {} virtual ~Shape2DSW(); }; @@ -144,7 +143,7 @@ public: class WorldBoundaryShape2DSW : public Shape2DSW { Vector2 normal; - real_t d; + real_t d = 0.0; public: _FORCE_INLINE_ Vector2 get_normal() const { return normal; } @@ -180,8 +179,8 @@ public: }; class SeparationRayShape2DSW : public Shape2DSW { - real_t length; - bool slide_on_slope; + real_t length = 0.0; + bool slide_on_slope = false; public: _FORCE_INLINE_ real_t get_length() const { return length; } @@ -366,8 +365,8 @@ public: }; class CapsuleShape2DSW : public Shape2DSW { - real_t radius; - real_t height; + real_t radius = 0.0; + real_t height = 0.0; public: _FORCE_INLINE_ const real_t &get_radius() const { return radius; } @@ -412,8 +411,8 @@ class ConvexPolygonShape2DSW : public Shape2DSW { Vector2 normal; //normal to next segment }; - Point *points; - int point_count; + Point *points = nullptr; + int point_count = 0; public: _FORCE_INLINE_ int get_point_count() const { return point_count; } @@ -458,7 +457,7 @@ public: DEFAULT_PROJECT_RANGE_CAST - ConvexPolygonShape2DSW(); + ConvexPolygonShape2DSW() {} ~ConvexPolygonShape2DSW(); }; @@ -474,7 +473,7 @@ public: class ConcavePolygonShape2DSW : public ConcaveShape2DSW { struct Segment { - int points[2]; + int points[2] = {}; }; Vector<Segment> segments; @@ -482,11 +481,11 @@ class ConcavePolygonShape2DSW : public ConcaveShape2DSW { struct BVH { Rect2 aabb; - int left, right; + int left = 0, right = 0; }; Vector<BVH> bvh; - int bvh_depth; + int bvh_depth = 0; struct BVH_CompareX { _FORCE_INLINE_ bool operator()(const BVH &a, const BVH &b) const { diff --git a/servers/physics_2d/space_2d_sw.cpp b/servers/physics_2d/space_2d_sw.cpp index 7dbd1243cc..b9b26eb21d 100644 --- a/servers/physics_2d/space_2d_sw.cpp +++ b/servers/physics_2d/space_2d_sw.cpp @@ -383,18 +383,18 @@ bool PhysicsDirectSpaceState2DSW::collide_shape(RID p_shape, const Transform2D & } struct _RestCallbackData2D { - const CollisionObject2DSW *object; - const CollisionObject2DSW *best_object; - int local_shape; - int best_local_shape; - int shape; - int best_shape; + const CollisionObject2DSW *object = nullptr; + const CollisionObject2DSW *best_object = nullptr; + int local_shape = 0; + int best_local_shape = 0; + int shape = 0; + int best_shape = 0; Vector2 best_contact; Vector2 best_normal; - real_t best_len; + real_t best_len = 0.0; Vector2 valid_dir; - real_t valid_depth; - real_t min_allowed_depth; + real_t valid_depth = 0.0; + real_t min_allowed_depth = 0.0; }; static void _rest_cbk_result(const Vector2 &p_point_A, const Vector2 &p_point_B, void *p_userdata) { @@ -492,10 +492,6 @@ bool PhysicsDirectSpaceState2DSW::rest_info(RID p_shape, const Transform2D &p_sh return true; } -PhysicsDirectSpaceState2DSW::PhysicsDirectSpaceState2DSW() { - space = nullptr; -} - //////////////////////////////////////////////////////////////////////////////////////////////////////////// int Space2DSW::_cull_aabb_for_body(Body2DSW *p_body, const Rect2 &p_aabb) { @@ -1190,19 +1186,6 @@ PhysicsDirectSpaceState2DSW *Space2DSW::get_direct_state() { } Space2DSW::Space2DSW() { - collision_pairs = 0; - active_objects = 0; - island_count = 0; - - contact_debug_count = 0; - - locked = false; - contact_recycle_radius = 1.0; - contact_max_separation = 1.5; - contact_max_allowed_penetration = 0.3; - test_motion_min_contact_depth = 0.005; - - constraint_bias = 0.2; body_linear_velocity_sleep_threshold = GLOBAL_DEF("physics/2d/sleep_threshold_linear", 2.0); body_angular_velocity_sleep_threshold = GLOBAL_DEF("physics/2d/sleep_threshold_angular", Math::deg2rad(8.0)); body_time_to_sleep = GLOBAL_DEF("physics/2d/time_before_sleep", 0.5); @@ -1211,14 +1194,9 @@ Space2DSW::Space2DSW() { broadphase = BroadPhase2DSW::create_func(); broadphase->set_pair_callback(_broadphase_pair, this); broadphase->set_unpair_callback(_broadphase_unpair, this); - area = nullptr; direct_access = memnew(PhysicsDirectSpaceState2DSW); direct_access->space = this; - - for (int i = 0; i < ELAPSED_TIME_MAX; i++) { - elapsed_time[i] = 0; - } } Space2DSW::~Space2DSW() { diff --git a/servers/physics_2d/space_2d_sw.h b/servers/physics_2d/space_2d_sw.h index ad82a14af5..30c6b4cf55 100644 --- a/servers/physics_2d/space_2d_sw.h +++ b/servers/physics_2d/space_2d_sw.h @@ -47,7 +47,7 @@ class PhysicsDirectSpaceState2DSW : public PhysicsDirectSpaceState2D { int _intersect_point_impl(const Vector2 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, bool p_pick_point, bool p_filter_by_canvas = false, ObjectID p_canvas_instance_id = ObjectID()); public: - Space2DSW *space; + Space2DSW *space = nullptr; virtual int intersect_point(const Vector2 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = UINT32_MAX, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, bool p_pick_point = false) override; virtual int intersect_point_on_canvas(const Vector2 &p_point, ObjectID p_canvas_instance_id, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = UINT32_MAX, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, bool p_pick_point = false) override; @@ -57,7 +57,7 @@ public: virtual bool collide_shape(RID p_shape, const Transform2D &p_shape_xform, const Vector2 &p_motion, real_t p_margin, Vector2 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = UINT32_MAX, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override; virtual bool rest_info(RID p_shape, const Transform2D &p_shape_xform, const Vector2 &p_motion, real_t p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = UINT32_MAX, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override; - PhysicsDirectSpaceState2DSW(); + PhysicsDirectSpaceState2DSW() {} }; class Space2DSW { @@ -74,14 +74,14 @@ public: private: struct ExcludedShapeSW { - Shape2DSW *local_shape; - const CollisionObject2DSW *against_object; - int against_shape_index; + Shape2DSW *local_shape = nullptr; + const CollisionObject2DSW *against_object = nullptr; + int against_shape_index = 0; }; - uint64_t elapsed_time[ELAPSED_TIME_MAX]; + uint64_t elapsed_time[ELAPSED_TIME_MAX] = {}; - PhysicsDirectSpaceState2DSW *direct_access; + PhysicsDirectSpaceState2DSW *direct_access = nullptr; RID self; BroadPhase2DSW *broadphase; @@ -96,13 +96,13 @@ private: Set<CollisionObject2DSW *> objects; - Area2DSW *area; + Area2DSW *area = nullptr; - real_t contact_recycle_radius; - real_t contact_max_separation; - real_t contact_max_allowed_penetration; - real_t constraint_bias; - real_t test_motion_min_contact_depth; + real_t contact_recycle_radius = 1.0; + real_t contact_max_separation = 1.5; + real_t contact_max_allowed_penetration = 0.3; + real_t constraint_bias = 0.2; + real_t test_motion_min_contact_depth = 0.005; enum { INTERSECTION_QUERY_MAX = 2048 @@ -111,22 +111,22 @@ private: CollisionObject2DSW *intersection_query_results[INTERSECTION_QUERY_MAX]; int intersection_query_subindex_results[INTERSECTION_QUERY_MAX]; - real_t body_linear_velocity_sleep_threshold; - real_t body_angular_velocity_sleep_threshold; - real_t body_time_to_sleep; + real_t body_linear_velocity_sleep_threshold = 0.0; + real_t body_angular_velocity_sleep_threshold = 0.0; + real_t body_time_to_sleep = 0.0; - bool locked; + bool locked = false; real_t last_step = 0.001; - int island_count; - int active_objects; - int collision_pairs; + int island_count = 0; + int active_objects = 0; + int collision_pairs = 0; int _cull_aabb_for_body(Body2DSW *p_body, const Rect2 &p_aabb); Vector<Vector2> contact_debug; - int contact_debug_count; + int contact_debug_count = 0; friend class PhysicsDirectSpaceState2DSW; diff --git a/servers/physics_2d/step_2d_sw.cpp b/servers/physics_2d/step_2d_sw.cpp index 0306ec5050..a03e30f850 100644 --- a/servers/physics_2d/step_2d_sw.cpp +++ b/servers/physics_2d/step_2d_sw.cpp @@ -296,8 +296,6 @@ void Step2DSW::step(Space2DSW *p_space, real_t p_delta, int p_iterations) { } Step2DSW::Step2DSW() { - _step = 1; - body_islands.reserve(BODY_ISLAND_COUNT_RESERVE); constraint_islands.reserve(ISLAND_COUNT_RESERVE); all_constraints.reserve(CONSTRAINT_COUNT_RESERVE); diff --git a/servers/physics_2d/step_2d_sw.h b/servers/physics_2d/step_2d_sw.h index c51fd73a79..de8e76cc99 100644 --- a/servers/physics_2d/step_2d_sw.h +++ b/servers/physics_2d/step_2d_sw.h @@ -37,7 +37,7 @@ #include "core/templates/thread_work_pool.h" class Step2DSW { - uint64_t _step; + uint64_t _step = 1; int iterations = 0; real_t delta = 0.0; diff --git a/servers/physics_3d/area_3d_sw.cpp b/servers/physics_3d/area_3d_sw.cpp index c9e8bcb8ca..630ab7e229 100644 --- a/servers/physics_3d/area_3d_sw.cpp +++ b/servers/physics_3d/area_3d_sw.cpp @@ -329,17 +329,7 @@ Area3DSW::Area3DSW() : monitor_query_list(this), moved_list(this) { _set_static(true); //areas are never active - space_override_mode = PhysicsServer3D::AREA_SPACE_OVERRIDE_DISABLED; - gravity = 9.80665; - gravity_vector = Vector3(0, -1, 0); - gravity_is_point = false; - gravity_distance_scale = 0; - point_attenuation = 1; - angular_damp = 0.1; - linear_damp = 0.1; - priority = 0; set_ray_pickable(false); - monitorable = false; } Area3DSW::~Area3DSW() { diff --git a/servers/physics_3d/area_3d_sw.h b/servers/physics_3d/area_3d_sw.h index d5f1e60119..af5c23949c 100644 --- a/servers/physics_3d/area_3d_sw.h +++ b/servers/physics_3d/area_3d_sw.h @@ -41,20 +41,20 @@ class SoftBody3DSW; class Constraint3DSW; class Area3DSW : public CollisionObject3DSW { - PhysicsServer3D::AreaSpaceOverrideMode space_override_mode; - real_t gravity; - Vector3 gravity_vector; - bool gravity_is_point; - real_t gravity_distance_scale; - real_t point_attenuation; - real_t linear_damp; - real_t angular_damp; + PhysicsServer3D::AreaSpaceOverrideMode space_override_mode = PhysicsServer3D::AREA_SPACE_OVERRIDE_DISABLED; + real_t gravity = 9.80665; + Vector3 gravity_vector = Vector3(0, -1, 0); + bool gravity_is_point = false; + real_t gravity_distance_scale = 0.0; + real_t point_attenuation = 1.0; + real_t linear_damp = 0.1; + real_t angular_damp = 0.1; real_t wind_force_magnitude = 0.0; real_t wind_attenuation_factor = 0.0; Vector3 wind_source; Vector3 wind_direction; - int priority; - bool monitorable; + int priority = 0; + bool monitorable = false; ObjectID monitor_callback_id; StringName monitor_callback_method; @@ -68,8 +68,8 @@ class Area3DSW : public CollisionObject3DSW { struct BodyKey { RID rid; ObjectID instance_id; - uint32_t body_shape; - uint32_t area_shape; + uint32_t body_shape = 0; + uint32_t area_shape = 0; _FORCE_INLINE_ bool operator<(const BodyKey &p_key) const { if (rid == p_key.rid) { @@ -90,10 +90,9 @@ class Area3DSW : public CollisionObject3DSW { }; struct BodyState { - int state; + int state = 0; _FORCE_INLINE_ void inc() { state++; } _FORCE_INLINE_ void dec() { state--; } - _FORCE_INLINE_ BodyState() { state = 0; } }; Map<BodyKey, BodyState> monitored_soft_bodies; @@ -232,8 +231,8 @@ void Area3DSW::remove_area_from_query(Area3DSW *p_area, uint32_t p_area_shape, u } struct AreaCMP { - Area3DSW *area; - int refCount; + Area3DSW *area = nullptr; + int refCount = 0; _FORCE_INLINE_ bool operator==(const AreaCMP &p_cmp) const { return area->get_self() == p_cmp.area->get_self(); } _FORCE_INLINE_ bool operator<(const AreaCMP &p_cmp) const { return area->get_priority() < p_cmp.area->get_priority(); } _FORCE_INLINE_ AreaCMP() {} diff --git a/servers/physics_3d/body_3d_sw.h b/servers/physics_3d/body_3d_sw.h index 8b74c7e5b9..fc47040389 100644 --- a/servers/physics_3d/body_3d_sw.h +++ b/servers/physics_3d/body_3d_sw.h @@ -108,10 +108,10 @@ class Body3DSW : public CollisionObject3DSW { struct Contact { Vector3 local_pos; Vector3 local_normal; - real_t depth; - int local_shape; + real_t depth = 0.0; + int local_shape = 0; Vector3 collider_pos; - int collider_shape; + int collider_shape = 0; ObjectID collider_instance_id; RID collider; Vector3 collider_velocity_at_pos; diff --git a/servers/physics_3d/body_pair_3d_sw.h b/servers/physics_3d/body_pair_3d_sw.h index 19d6a46880..01afb07e13 100644 --- a/servers/physics_3d/body_pair_3d_sw.h +++ b/servers/physics_3d/body_pair_3d_sw.h @@ -41,18 +41,18 @@ protected: struct Contact { Vector3 position; Vector3 normal; - int index_A, index_B; + int index_A = 0, index_B = 0; Vector3 local_A, local_B; - real_t acc_normal_impulse; // accumulated normal impulse (Pn) + real_t acc_normal_impulse = 0.0; // accumulated normal impulse (Pn) Vector3 acc_tangent_impulse; // accumulated tangent impulse (Pt) - real_t acc_bias_impulse; // accumulated normal impulse for position bias (Pnb) - real_t acc_bias_impulse_center_of_mass; // accumulated normal impulse for position bias applied to com - real_t mass_normal; - real_t bias; - real_t bounce; - - real_t depth; - bool active; + real_t acc_bias_impulse = 0.0; // accumulated normal impulse for position bias (Pnb) + real_t acc_bias_impulse_center_of_mass = 0.0; // accumulated normal impulse for position bias applied to com + real_t mass_normal = 0.0; + real_t bias = 0.0; + real_t bounce = 0.0; + + real_t depth = 0.0; + bool active = false; Vector3 rA, rB; // Offset in world orientation with respect to center of mass }; diff --git a/servers/physics_3d/broad_phase_3d_bvh.cpp b/servers/physics_3d/broad_phase_3d_bvh.cpp index f9f64f786d..d89e0e1f6d 100644 --- a/servers/physics_3d/broad_phase_3d_bvh.cpp +++ b/servers/physics_3d/broad_phase_3d_bvh.cpp @@ -114,7 +114,4 @@ BroadPhase3DSW *BroadPhase3DBVH::_create() { BroadPhase3DBVH::BroadPhase3DBVH() { bvh.set_pair_callback(_pair_callback, this); bvh.set_unpair_callback(_unpair_callback, this); - pair_callback = nullptr; - pair_userdata = nullptr; - unpair_userdata = nullptr; } diff --git a/servers/physics_3d/broad_phase_3d_bvh.h b/servers/physics_3d/broad_phase_3d_bvh.h index 30b8b7f2aa..03131c9db2 100644 --- a/servers/physics_3d/broad_phase_3d_bvh.h +++ b/servers/physics_3d/broad_phase_3d_bvh.h @@ -40,10 +40,10 @@ class BroadPhase3DBVH : public BroadPhase3DSW { static void *_pair_callback(void *, uint32_t, CollisionObject3DSW *, int, uint32_t, CollisionObject3DSW *, int); static void _unpair_callback(void *, uint32_t, CollisionObject3DSW *, int, uint32_t, CollisionObject3DSW *, int, void *); - PairCallback pair_callback; - void *pair_userdata; - UnpairCallback unpair_callback; - void *unpair_userdata; + PairCallback pair_callback = nullptr; + void *pair_userdata = nullptr; + UnpairCallback unpair_callback = nullptr; + void *unpair_userdata = nullptr; public: // 0 is an invalid ID diff --git a/servers/physics_3d/collision_object_3d_sw.cpp b/servers/physics_3d/collision_object_3d_sw.cpp index 24c7d7b85c..098f627d11 100644 --- a/servers/physics_3d/collision_object_3d_sw.cpp +++ b/servers/physics_3d/collision_object_3d_sw.cpp @@ -236,11 +236,5 @@ void CollisionObject3DSW::_shape_changed() { CollisionObject3DSW::CollisionObject3DSW(Type p_type) : pending_shape_update_list(this) { - _static = true; type = p_type; - space = nullptr; - - collision_layer = 1; - collision_mask = 1; - ray_pickable = true; } diff --git a/servers/physics_3d/collision_object_3d_sw.h b/servers/physics_3d/collision_object_3d_sw.h index 6ffab54645..3aa48946b7 100644 --- a/servers/physics_3d/collision_object_3d_sw.h +++ b/servers/physics_3d/collision_object_3d_sw.h @@ -56,26 +56,24 @@ private: Type type; RID self; ObjectID instance_id; - uint32_t collision_layer; - uint32_t collision_mask; + uint32_t collision_layer = 1; + uint32_t collision_mask = 1; struct Shape { Transform3D xform; Transform3D xform_inv; BroadPhase3DSW::ID bpid; AABB aabb_cache; //for rayqueries - real_t area_cache; - Shape3DSW *shape; - bool disabled; - - Shape() { disabled = false; } + real_t area_cache = 0.0; + Shape3DSW *shape = nullptr; + bool disabled = false; }; Vector<Shape> shapes; - Space3DSW *space; + Space3DSW *space = nullptr; Transform3D transform; Transform3D inv_transform; - bool _static; + bool _static = true; SelfList<CollisionObject3DSW> pending_shape_update_list; @@ -102,7 +100,7 @@ protected: virtual void _shapes_changed() = 0; void _set_space(Space3DSW *p_space); - bool ray_pickable; + bool ray_pickable = true; CollisionObject3DSW(Type p_type); diff --git a/servers/physics_3d/collision_solver_3d_sat.cpp b/servers/physics_3d/collision_solver_3d_sat.cpp index 30862925d6..76738bb746 100644 --- a/servers/physics_3d/collision_solver_3d_sat.cpp +++ b/servers/physics_3d/collision_solver_3d_sat.cpp @@ -66,11 +66,11 @@ struct _CollectorCallback { CollisionSolver3DSW::CallbackResult callback; - void *userdata; - bool swap; - bool collided; + void *userdata = nullptr; + bool swap = false; + bool collided = false; Vector3 normal; - Vector3 *prev_axis; + Vector3 *prev_axis = nullptr; _FORCE_INLINE_ void call(const Vector3 &p_point_A, const Vector3 &p_point_B) { if (swap) { @@ -606,15 +606,15 @@ static void _generate_contacts_from_supports(const Vector3 *p_points_A, int p_po template <class ShapeA, class ShapeB, bool withMargin = false> class SeparatorAxisTest { - const ShapeA *shape_A; - const ShapeB *shape_B; - const Transform3D *transform_A; - const Transform3D *transform_B; - real_t best_depth; + const ShapeA *shape_A = nullptr; + const ShapeB *shape_B = nullptr; + const Transform3D *transform_A = nullptr; + const Transform3D *transform_B = nullptr; + real_t best_depth = 1e15; Vector3 best_axis; - _CollectorCallback *callback; - real_t margin_A; - real_t margin_B; + _CollectorCallback *callback = nullptr; + real_t margin_A = 0.0; + real_t margin_B = 0.0; Vector3 separator_axis; public: @@ -749,7 +749,6 @@ public: } _FORCE_INLINE_ SeparatorAxisTest(const ShapeA *p_shape_A, const Transform3D &p_transform_A, const ShapeB *p_shape_B, const Transform3D &p_transform_B, _CollectorCallback *p_callback, real_t p_margin_A = 0, real_t p_margin_B = 0) { - best_depth = 1e15; shape_A = p_shape_A; shape_B = p_shape_B; transform_A = &p_transform_A; diff --git a/servers/physics_3d/gjk_epa.cpp b/servers/physics_3d/gjk_epa.cpp index 2df991563d..a1dbdd0a70 100644 --- a/servers/physics_3d/gjk_epa.cpp +++ b/servers/physics_3d/gjk_epa.cpp @@ -96,7 +96,7 @@ struct sResults { Vector3 witnesses[2]; Vector3 normal; - real_t distance; + real_t distance = 0.0; }; // Shorthands 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 diff --git a/servers/physics_3d/physics_server_3d_sw.cpp b/servers/physics_3d/physics_server_3d_sw.cpp index 9393d671c9..8bfadeb356 100644 --- a/servers/physics_3d/physics_server_3d_sw.cpp +++ b/servers/physics_3d/physics_server_3d_sw.cpp @@ -1744,11 +1744,5 @@ PhysicsServer3DSW::PhysicsServer3DSW(bool p_using_threads) { singletonsw = this; BroadPhase3DSW::create_func = BroadPhase3DBVH::_create; - island_count = 0; - active_objects = 0; - collision_pairs = 0; using_threads = p_using_threads; - active = true; - flushing_queries = false; - doing_sync = false; }; diff --git a/servers/physics_3d/physics_server_3d_sw.h b/servers/physics_3d/physics_server_3d_sw.h index 3beffb3604..c34f8bff7a 100644 --- a/servers/physics_3d/physics_server_3d_sw.h +++ b/servers/physics_3d/physics_server_3d_sw.h @@ -42,18 +42,18 @@ class PhysicsServer3DSW : public PhysicsServer3D { GDCLASS(PhysicsServer3DSW, PhysicsServer3D); friend class PhysicsDirectSpaceState3DSW; - bool active; - int iterations; + bool active = true; + int iterations = 0; - int island_count; - int active_objects; - int collision_pairs; + int island_count = 0; + int active_objects = 0; + int collision_pairs = 0; - bool using_threads; - bool doing_sync; - bool flushing_queries; + bool using_threads = false; + bool doing_sync = false; + bool flushing_queries = false; - Step3DSW *stepper; + Step3DSW *stepper = nullptr; Set<const Space3DSW *> active_spaces; mutable RID_PtrOwner<Shape3DSW, true> shape_owner; diff --git a/servers/physics_3d/physics_server_3d_wrap_mt.cpp b/servers/physics_3d/physics_server_3d_wrap_mt.cpp index 0a89c1a9c9..c424100bba 100644 --- a/servers/physics_3d/physics_server_3d_wrap_mt.cpp +++ b/servers/physics_3d/physics_server_3d_wrap_mt.cpp @@ -119,8 +119,6 @@ PhysicsServer3DWrapMT::PhysicsServer3DWrapMT(PhysicsServer3D *p_contained, bool command_queue(p_create_thread) { physics_3d_server = p_contained; create_thread = p_create_thread; - step_pending = 0; - step_thread_up = false; pool_max_size = GLOBAL_GET("memory/limits/multithreaded_server/rid_pool_prealloc"); @@ -131,7 +129,6 @@ PhysicsServer3DWrapMT::PhysicsServer3DWrapMT(PhysicsServer3D *p_contained, bool } main_thread = Thread::get_caller_id(); - first_frame = true; } PhysicsServer3DWrapMT::~PhysicsServer3DWrapMT() { diff --git a/servers/physics_3d/physics_server_3d_wrap_mt.h b/servers/physics_3d/physics_server_3d_wrap_mt.h index d2ce06a998..a5683b99c3 100644 --- a/servers/physics_3d/physics_server_3d_wrap_mt.h +++ b/servers/physics_3d/physics_server_3d_wrap_mt.h @@ -58,7 +58,7 @@ class PhysicsServer3DWrapMT : public PhysicsServer3D { bool create_thread = false; Semaphore step_sem; - int step_pending; + int step_pending = 0; void thread_step(real_t p_delta); void thread_flush(); diff --git a/servers/physics_3d/shape_3d_sw.cpp b/servers/physics_3d/shape_3d_sw.cpp index c28ea92fb6..1533d6e592 100644 --- a/servers/physics_3d/shape_3d_sw.cpp +++ b/servers/physics_3d/shape_3d_sw.cpp @@ -101,11 +101,6 @@ const Map<ShapeOwner3DSW *, int> &Shape3DSW::get_owners() const { return owners; } -Shape3DSW::Shape3DSW() { - custom_bias = 0; - configured = false; -} - Shape3DSW::~Shape3DSW() { ERR_FAIL_COND(owners.size()); } @@ -244,10 +239,7 @@ Variant SeparationRayShape3DSW::get_data() const { return d; } -SeparationRayShape3DSW::SeparationRayShape3DSW() { - length = 1; - slide_on_slope = false; -} +SeparationRayShape3DSW::SeparationRayShape3DSW() {} /********** SPHERE *************/ @@ -311,9 +303,7 @@ Variant SphereShape3DSW::get_data() const { return radius; } -SphereShape3DSW::SphereShape3DSW() { - radius = 0; -} +SphereShape3DSW::SphereShape3DSW() {} /********** BOX *************/ @@ -502,8 +492,7 @@ Variant BoxShape3DSW::get_data() const { return half_extents; } -BoxShape3DSW::BoxShape3DSW() { -} +BoxShape3DSW::BoxShape3DSW() {} /********** CAPSULE *************/ @@ -668,9 +657,7 @@ Variant CapsuleShape3DSW::get_data() const { return d; } -CapsuleShape3DSW::CapsuleShape3DSW() { - height = radius = 0; -} +CapsuleShape3DSW::CapsuleShape3DSW() {} /********** CYLINDER *************/ @@ -848,9 +835,7 @@ Variant CylinderShape3DSW::get_data() const { return d; } -CylinderShape3DSW::CylinderShape3DSW() { - height = radius = 0; -} +CylinderShape3DSW::CylinderShape3DSW() {} /********** CONVEX POLYGON *************/ diff --git a/servers/physics_3d/shape_3d_sw.h b/servers/physics_3d/shape_3d_sw.h index b37d35986e..061d66a085 100644 --- a/servers/physics_3d/shape_3d_sw.h +++ b/servers/physics_3d/shape_3d_sw.h @@ -48,8 +48,8 @@ public: class Shape3DSW { RID self; AABB aabb; - bool configured; - real_t custom_bias; + bool configured = false; + real_t custom_bias = 0.0; Map<ShapeOwner3DSW *, int> owners; @@ -95,7 +95,7 @@ public: bool is_owner(ShapeOwner3DSW *p_owner) const; const Map<ShapeOwner3DSW *, int> &get_owners() const; - Shape3DSW(); + Shape3DSW() {} virtual ~Shape3DSW(); }; @@ -138,8 +138,8 @@ public: }; class SeparationRayShape3DSW : public Shape3DSW { - real_t length; - bool slide_on_slope; + real_t length = 1.0; + bool slide_on_slope = false; void _setup(real_t p_length, bool p_slide_on_slope); @@ -166,7 +166,7 @@ public: }; class SphereShape3DSW : public Shape3DSW { - real_t radius; + real_t radius = 0.0; void _setup(real_t p_radius); @@ -218,8 +218,8 @@ public: }; class CapsuleShape3DSW : public Shape3DSW { - real_t height; - real_t radius; + real_t height = 0.0; + real_t radius = 0.0; void _setup(real_t p_height, real_t p_radius); @@ -247,8 +247,8 @@ public: }; class CylinderShape3DSW : public Shape3DSW { - real_t height; - real_t radius; + real_t height = 0.0; + real_t radius = 0.0; void _setup(real_t p_height, real_t p_radius); @@ -308,7 +308,7 @@ struct ConcavePolygonShape3DSW : public ConcaveShape3DSW { struct Face { Vector3 normal; - int indices[3]; + int indices[3] = {}; }; Vector<Face> faces; @@ -316,10 +316,10 @@ struct ConcavePolygonShape3DSW : public ConcaveShape3DSW { struct BVH { AABB aabb; - int left; - int right; + int left = 0; + int right = 0; - int face_index; + int face_index = 0; }; Vector<BVH> bvh; @@ -469,7 +469,7 @@ struct FaceShape3DSW : public Shape3DSW { }; struct MotionShape3DSW : public Shape3DSW { - Shape3DSW *shape; + Shape3DSW *shape = nullptr; Vector3 motion; virtual PhysicsServer3D::ShapeType get_type() const override { return PhysicsServer3D::SHAPE_CONVEX_POLYGON; } diff --git a/servers/physics_3d/space_3d_sw.cpp b/servers/physics_3d/space_3d_sw.cpp index 3b08184e00..bf72e90932 100644 --- a/servers/physics_3d/space_3d_sw.cpp +++ b/servers/physics_3d/space_3d_sw.cpp @@ -1142,18 +1142,6 @@ PhysicsDirectSpaceState3DSW *Space3DSW::get_direct_state() { } Space3DSW::Space3DSW() { - collision_pairs = 0; - active_objects = 0; - island_count = 0; - contact_debug_count = 0; - - locked = false; - contact_recycle_radius = 0.01; - contact_max_separation = 0.05; - contact_max_allowed_penetration = 0.01; - test_motion_min_contact_depth = 0.00001; - - constraint_bias = 0.01; body_linear_velocity_sleep_threshold = GLOBAL_DEF("physics/3d/sleep_threshold_linear", 0.1); body_angular_velocity_sleep_threshold = GLOBAL_DEF("physics/3d/sleep_threshold_angular", Math::deg2rad(8.0)); body_time_to_sleep = GLOBAL_DEF("physics/3d/time_before_sleep", 0.5); @@ -1163,14 +1151,9 @@ Space3DSW::Space3DSW() { broadphase = BroadPhase3DSW::create_func(); broadphase->set_pair_callback(_broadphase_pair, this); broadphase->set_unpair_callback(_broadphase_unpair, this); - area = nullptr; direct_access = memnew(PhysicsDirectSpaceState3DSW); direct_access->space = this; - - for (int i = 0; i < ELAPSED_TIME_MAX; i++) { - elapsed_time[i] = 0; - } } Space3DSW::~Space3DSW() { diff --git a/servers/physics_3d/space_3d_sw.h b/servers/physics_3d/space_3d_sw.h index 98c335cb80..aa4557d136 100644 --- a/servers/physics_3d/space_3d_sw.h +++ b/servers/physics_3d/space_3d_sw.h @@ -72,7 +72,7 @@ public: }; private: - uint64_t elapsed_time[ELAPSED_TIME_MAX]; + uint64_t elapsed_time[ELAPSED_TIME_MAX] = {}; PhysicsDirectSpaceState3DSW *direct_access; RID self; @@ -90,13 +90,13 @@ private: Set<CollisionObject3DSW *> objects; - Area3DSW *area; + Area3DSW *area = nullptr; - real_t contact_recycle_radius; - real_t contact_max_separation; - real_t contact_max_allowed_penetration; - real_t constraint_bias; - real_t test_motion_min_contact_depth; + real_t contact_recycle_radius = 0.01; + real_t contact_max_separation = 0.05; + real_t contact_max_allowed_penetration = 0.01; + real_t constraint_bias = 0.01; + real_t test_motion_min_contact_depth = 0.00001; enum { INTERSECTION_QUERY_MAX = 2048 @@ -110,18 +110,18 @@ private: real_t body_time_to_sleep; real_t body_angular_velocity_damp_ratio; - bool locked; + bool locked = false; real_t last_step = 0.001; - int island_count; - int active_objects; - int collision_pairs; + int island_count = 0; + int active_objects = 0; + int collision_pairs = 0; RID static_global_body; Vector<Vector3> contact_debug; - int contact_debug_count; + int contact_debug_count = 0; friend class PhysicsDirectSpaceState3DSW; diff --git a/servers/physics_3d/step_3d_sw.cpp b/servers/physics_3d/step_3d_sw.cpp index d0604b0aa0..7c18944b4d 100644 --- a/servers/physics_3d/step_3d_sw.cpp +++ b/servers/physics_3d/step_3d_sw.cpp @@ -407,8 +407,6 @@ void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) { } Step3DSW::Step3DSW() { - _step = 1; - body_islands.reserve(BODY_ISLAND_COUNT_RESERVE); constraint_islands.reserve(ISLAND_COUNT_RESERVE); all_constraints.reserve(CONSTRAINT_COUNT_RESERVE); diff --git a/servers/physics_3d/step_3d_sw.h b/servers/physics_3d/step_3d_sw.h index 9c60004b24..f2f879104a 100644 --- a/servers/physics_3d/step_3d_sw.h +++ b/servers/physics_3d/step_3d_sw.h @@ -37,7 +37,7 @@ #include "core/templates/thread_work_pool.h" class Step3DSW { - uint64_t _step; + uint64_t _step = 1; int iterations = 0; real_t delta = 0.0; |