diff options
| -rw-r--r-- | servers/physics_3d/collision_solver_3d_sat.cpp | 16 | ||||
| -rw-r--r-- | servers/physics_3d/shape_3d_sw.cpp | 36 |
2 files changed, 26 insertions, 26 deletions
diff --git a/servers/physics_3d/collision_solver_3d_sat.cpp b/servers/physics_3d/collision_solver_3d_sat.cpp index f507cacdc3..651961433c 100644 --- a/servers/physics_3d/collision_solver_3d_sat.cpp +++ b/servers/physics_3d/collision_solver_3d_sat.cpp @@ -845,7 +845,7 @@ static void _collision_sphere_capsule(const Shape3DSW *p_a, const Transform &p_t //capsule sphere 1, sphere - Vector3 capsule_axis = p_transform_b.basis.get_axis(2) * (capsule_B->get_height() * 0.5); + Vector3 capsule_axis = p_transform_b.basis.get_axis(1) * (capsule_B->get_height() * 0.5); Vector3 capsule_ball_1 = p_transform_b.origin + capsule_axis; @@ -1148,7 +1148,7 @@ static void _collision_box_capsule(const Shape3DSW *p_a, const Transform &p_tran } } - Vector3 cyl_axis = p_transform_b.basis.get_axis(2).normalized(); + Vector3 cyl_axis = p_transform_b.basis.get_axis(1).normalized(); // edges of A, capsule cylinder @@ -1193,7 +1193,7 @@ static void _collision_box_capsule(const Shape3DSW *p_a, const Transform &p_tran // capsule balls, edges of A for (int i = 0; i < 2; i++) { - Vector3 capsule_axis = p_transform_b.basis.get_axis(2) * (capsule_B->get_height() * 0.5); + Vector3 capsule_axis = p_transform_b.basis.get_axis(1) * (capsule_B->get_height() * 0.5); Vector3 sphere_pos = p_transform_b.origin + ((i == 0) ? capsule_axis : -capsule_axis); @@ -1569,8 +1569,8 @@ static void _collision_capsule_capsule(const Shape3DSW *p_a, const Transform &p_ // some values - Vector3 capsule_A_axis = p_transform_a.basis.get_axis(2) * (capsule_A->get_height() * 0.5); - Vector3 capsule_B_axis = p_transform_b.basis.get_axis(2) * (capsule_B->get_height() * 0.5); + Vector3 capsule_A_axis = p_transform_a.basis.get_axis(1) * (capsule_A->get_height() * 0.5); + Vector3 capsule_B_axis = p_transform_b.basis.get_axis(1) * (capsule_B->get_height() * 0.5); Vector3 capsule_A_ball_1 = p_transform_a.origin + capsule_A_axis; Vector3 capsule_A_ball_2 = p_transform_a.origin - capsule_A_axis; @@ -1670,7 +1670,7 @@ static void _collision_capsule_convex_polygon(const Shape3DSW *p_a, const Transf for (int i = 0; i < edge_count; i++) { // cylinder Vector3 edge_axis = p_transform_b.basis.xform(vertices[edges[i].a]) - p_transform_b.basis.xform(vertices[edges[i].b]); - Vector3 axis = edge_axis.cross(p_transform_a.basis.get_axis(2)).normalized(); + Vector3 axis = edge_axis.cross(p_transform_a.basis.get_axis(1)).normalized(); if (!separator.test_axis(axis)) { return; @@ -1682,7 +1682,7 @@ static void _collision_capsule_convex_polygon(const Shape3DSW *p_a, const Transf for (int i = 0; i < 2; i++) { // edges of B, capsule cylinder - Vector3 capsule_axis = p_transform_a.basis.get_axis(2) * (capsule_A->get_height() * 0.5); + Vector3 capsule_axis = p_transform_a.basis.get_axis(1) * (capsule_A->get_height() * 0.5); Vector3 sphere_pos = p_transform_a.origin + ((i == 0) ? capsule_axis : -capsule_axis); @@ -1720,7 +1720,7 @@ static void _collision_capsule_face(const Shape3DSW *p_a, const Transform &p_tra // edges of B, capsule cylinder - Vector3 capsule_axis = p_transform_a.basis.get_axis(2) * (capsule_A->get_height() * 0.5); + Vector3 capsule_axis = p_transform_a.basis.get_axis(1) * (capsule_A->get_height() * 0.5); for (int i = 0; i < 3; i++) { // edge-cylinder diff --git a/servers/physics_3d/shape_3d_sw.cpp b/servers/physics_3d/shape_3d_sw.cpp index 5bac4f19b9..02d0c66215 100644 --- a/servers/physics_3d/shape_3d_sw.cpp +++ b/servers/physics_3d/shape_3d_sw.cpp @@ -491,10 +491,10 @@ BoxShape3DSW::BoxShape3DSW() { void CapsuleShape3DSW::project_range(const Vector3 &p_normal, const Transform &p_transform, real_t &r_min, real_t &r_max) const { Vector3 n = p_transform.basis.xform_inv(p_normal).normalized(); - real_t h = (n.z > 0) ? height : -height; + real_t h = (n.y > 0) ? height : -height; n *= radius; - n.z += h * 0.5; + n.y += h * 0.5; r_max = p_normal.dot(p_transform.xform(n)); r_min = p_normal.dot(p_transform.xform(-n)); @@ -503,36 +503,36 @@ void CapsuleShape3DSW::project_range(const Vector3 &p_normal, const Transform &p Vector3 CapsuleShape3DSW::get_support(const Vector3 &p_normal) const { Vector3 n = p_normal; - real_t h = (n.z > 0) ? height : -height; + real_t h = (n.y > 0) ? height : -height; n *= radius; - n.z += h * 0.5; + n.y += h * 0.5; return n; } void CapsuleShape3DSW::get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const { Vector3 n = p_normal; - real_t d = n.z; + real_t d = n.y; if (Math::abs(d) < _EDGE_IS_VALID_SUPPORT_THRESHOLD) { // make it flat - n.z = 0.0; + n.y = 0.0; n.normalize(); n *= radius; r_amount = 2; r_type = FEATURE_EDGE; r_supports[0] = n; - r_supports[0].z += height * 0.5; + r_supports[0].y += height * 0.5; r_supports[1] = n; - r_supports[1].z -= height * 0.5; + r_supports[1].y -= height * 0.5; } else { real_t h = (d > 0) ? height : -height; n *= radius; - n.z += h * 0.5; + n.y += h * 0.5; r_amount = 1; r_type = FEATURE_POINT; *r_supports = n; @@ -551,7 +551,7 @@ bool CapsuleShape3DSW::intersect_segment(const Vector3 &p_begin, const Vector3 & // test against cylinder and spheres :-| - collided = Geometry3D::segment_intersects_cylinder(p_begin, p_end, height, radius, &auxres, &auxn); + collided = Geometry3D::segment_intersects_cylinder(p_begin, p_end, height, radius, &auxres, &auxn, 1); if (collided) { real_t d = norm.dot(auxres); @@ -563,7 +563,7 @@ bool CapsuleShape3DSW::intersect_segment(const Vector3 &p_begin, const Vector3 & } } - collided = Geometry3D::segment_intersects_sphere(p_begin, p_end, Vector3(0, 0, height * 0.5), radius, &auxres, &auxn); + collided = Geometry3D::segment_intersects_sphere(p_begin, p_end, Vector3(0, height * 0.5, 0), radius, &auxres, &auxn); if (collided) { real_t d = norm.dot(auxres); @@ -575,7 +575,7 @@ bool CapsuleShape3DSW::intersect_segment(const Vector3 &p_begin, const Vector3 & } } - collided = Geometry3D::segment_intersects_sphere(p_begin, p_end, Vector3(0, 0, height * -0.5), radius, &auxres, &auxn); + collided = Geometry3D::segment_intersects_sphere(p_begin, p_end, Vector3(0, height * -0.5, 0), radius, &auxres, &auxn); if (collided) { real_t d = norm.dot(auxres); @@ -596,19 +596,19 @@ bool CapsuleShape3DSW::intersect_segment(const Vector3 &p_begin, const Vector3 & } bool CapsuleShape3DSW::intersect_point(const Vector3 &p_point) const { - if (Math::abs(p_point.z) < height * 0.5) { - return Vector3(p_point.x, p_point.y, 0).length() < radius; + if (Math::abs(p_point.y) < height * 0.5) { + return Vector3(p_point.x, 0, p_point.z).length() < radius; } else { Vector3 p = p_point; - p.z = Math::abs(p.z) - height * 0.5; + p.y = Math::abs(p.y) - height * 0.5; return p.length() < radius; } } Vector3 CapsuleShape3DSW::get_closest_point_to(const Vector3 &p_point) const { Vector3 s[2] = { - Vector3(0, 0, -height * 0.5), - Vector3(0, 0, height * 0.5), + Vector3(0, -height * 0.5, 0), + Vector3(0, height * 0.5, 0), }; Vector3 p = Geometry3D::get_closest_point_to_segment(p_point, s); @@ -633,7 +633,7 @@ Vector3 CapsuleShape3DSW::get_moment_of_inertia(real_t p_mass) const { void CapsuleShape3DSW::_setup(real_t p_height, real_t p_radius) { height = p_height; radius = p_radius; - configure(AABB(Vector3(-radius, -radius, -height * 0.5 - radius), Vector3(radius * 2, radius * 2, height + radius * 2.0))); + configure(AABB(Vector3(-radius, -height * 0.5 - radius, -radius), Vector3(radius * 2, height + radius * 2.0, radius * 2))); } void CapsuleShape3DSW::set_data(const Variant &p_data) { |