diff options
Diffstat (limited to 'servers/physics/body_pair_sw.cpp')
| -rw-r--r-- | servers/physics/body_pair_sw.cpp | 26 |
1 files changed, 3 insertions, 23 deletions
diff --git a/servers/physics/body_pair_sw.cpp b/servers/physics/body_pair_sw.cpp index 9ada1fbc50..a289b4b0ca 100644 --- a/servers/physics/body_pair_sw.cpp +++ b/servers/physics/body_pair_sw.cpp @@ -3,7 +3,7 @@ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ -/* http://www.godotengine.org */ +/* https://godotengine.org */ /*************************************************************************/ /* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */ /* Copyright (c) 2014-2017 Godot Engine contributors (cf. AUTHORS.md) */ @@ -28,6 +28,7 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ #include "body_pair_sw.h" + #include "collision_solver_sw.h" #include "os/os.h" #include "space_sw.h" @@ -296,17 +297,7 @@ bool BodyPairSW::setup(real_t p_step) { c.rA = global_A - A->get_center_of_mass(); c.rB = global_B - B->get_center_of_mass() - offset_B; -// contact query reporting... -#if 0 - if (A->get_body_type() == PhysicsServer::BODY_CHARACTER) - static_cast<CharacterBodySW*>(A)->report_character_contact( global_A, global_B, B ); - if (B->get_body_type() == PhysicsServer::BODY_CHARACTER) - static_cast<CharacterBodySW*>(B)->report_character_contact( global_B, global_A, A ); - if (A->has_contact_query()) - A->report_contact( global_A, global_B, B ); - if (B->has_contact_query()) - B->report_contact( global_B, global_A, A ); -#endif + // contact query reporting... if (A->can_report_contacts()) { Vector3 crA = A->get_angular_velocity().cross(c.rA) + A->get_linear_velocity(); @@ -327,18 +318,7 @@ bool BodyPairSW::setup(real_t p_step) { kNormal += c.normal.dot(inertia_A.cross(c.rA)) + c.normal.dot(inertia_B.cross(c.rB)); c.mass_normal = 1.0f / kNormal; -#if 1 c.bias = -bias * inv_dt * MIN(0.0f, -depth + max_penetration); - -#else - if (depth > max_penetration) { - c.bias = (depth - max_penetration) * (1.0 / (p_step * (1.0 / RELAXATION_TIMESTEPS))); - } else { - real_t approach = -0.1 * (depth - max_penetration) / (CMP_EPSILON + max_penetration); - approach = CLAMP(approach, CMP_EPSILON, 1.0); - c.bias = approach * (depth - max_penetration) * (1.0 / p_step); - } -#endif c.depth = depth; Vector3 j_vec = c.normal * c.acc_normal_impulse + c.acc_tangent_impulse; |