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-rw-r--r--servers/physics/body_pair_sw.cpp44
1 files changed, 22 insertions, 22 deletions
diff --git a/servers/physics/body_pair_sw.cpp b/servers/physics/body_pair_sw.cpp
index 43e52f26e8..7fb3def387 100644
--- a/servers/physics/body_pair_sw.cpp
+++ b/servers/physics/body_pair_sw.cpp
@@ -5,7 +5,7 @@
/* GODOT ENGINE */
/* http://www.godotengine.org */
/*************************************************************************/
-/* Copyright (c) 2007-2016 Juan Linietsky, Ariel Manzur. */
+/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */
/* */
/* Permission is hereby granted, free of charge, to any person obtaining */
/* a copy of this software and associated documentation files (the */
@@ -105,7 +105,7 @@ void BodyPairSW::contact_added_callback(const Vector3& p_point_A,const Vector3&
// remove the contact with the minimum depth
int least_deep=-1;
- float min_depth=1e10;
+ real_t min_depth=1e10;
for (int i=0;i<=contact_count;i++) {
@@ -114,7 +114,7 @@ void BodyPairSW::contact_added_callback(const Vector3& p_point_A,const Vector3&
Vector3 global_B = B->get_transform().basis.xform(c.local_B)+offset_B;
Vector3 axis = global_A - global_B;
- float depth = axis.dot( c.normal );
+ real_t depth = axis.dot( c.normal );
if (depth<min_depth) {
@@ -154,7 +154,7 @@ void BodyPairSW::validate_contacts() {
Vector3 global_A = A->get_transform().basis.xform(c.local_A);
Vector3 global_B = B->get_transform().basis.xform(c.local_B)+offset_B;
Vector3 axis = global_A - global_B;
- float depth = axis.dot( c.normal );
+ real_t depth = axis.dot( c.normal );
if (depth < -contact_max_separation || (global_B + c.normal * depth - global_A).length() > contact_max_separation) {
// contact no longer needed, remove
@@ -173,7 +173,7 @@ void BodyPairSW::validate_contacts() {
}
-bool BodyPairSW::_test_ccd(float p_step,BodySW *p_A, int p_shape_A,const Transform& p_xform_A,BodySW *p_B, int p_shape_B,const Transform& p_xform_B) {
+bool BodyPairSW::_test_ccd(real_t p_step,BodySW *p_A, int p_shape_A,const Transform& p_xform_A,BodySW *p_B, int p_shape_B,const Transform& p_xform_B) {
@@ -211,14 +211,14 @@ bool BodyPairSW::_test_ccd(float p_step,BodySW *p_A, int p_shape_A,const Transfo
//shorten the linear velocity so it does not hit, but gets close enough, next frame will hit softly or soft enough
Vector3 hitpos = p_xform_B.xform(rpos);
- float newlen = hitpos.distance_to(from)-(max-min)*0.01;
+ real_t newlen = hitpos.distance_to(from)-(max-min)*0.01;
p_A->set_linear_velocity((mnormal*newlen)/p_step);
return true;
}
-bool BodyPairSW::setup(float p_step) {
+bool BodyPairSW::setup(real_t p_step) {
//cannot collide
if (!A->test_collision_mask(B) || A->has_exception(B->get_self()) || B->has_exception(A->get_self()) || (A->get_mode()<=PhysicsServer::BODY_MODE_KINEMATIC && B->get_mode()<=PhysicsServer::BODY_MODE_KINEMATIC && A->get_max_contacts_reported()==0 && B->get_max_contacts_reported()==0)) {
@@ -264,7 +264,7 @@ bool BodyPairSW::setup(float p_step) {
real_t max_penetration = space->get_contact_max_allowed_penetration();
- float bias = 0.3f;
+ real_t bias = (real_t)0.3;
if (shape_A_ptr->get_custom_bias() || shape_B_ptr->get_custom_bias()) {
@@ -307,8 +307,8 @@ bool BodyPairSW::setup(float p_step) {
}
#endif
- c.rA = global_A;
- c.rB = global_B-offset_B;
+ 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
@@ -356,7 +356,7 @@ bool BodyPairSW::setup(float p_step) {
if (depth > max_penetration) {
c.bias = (depth - max_penetration) * (1.0/(p_step*(1.0/RELAXATION_TIMESTEPS)));
} else {
- float approach = -0.1f * (depth - max_penetration) / (CMP_EPSILON + max_penetration);
+ 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);
}
@@ -364,12 +364,12 @@ bool BodyPairSW::setup(float p_step) {
c.depth=depth;
Vector3 j_vec = c.normal * c.acc_normal_impulse + c.acc_tangent_impulse;
- A->apply_impulse( c.rA, -j_vec );
- B->apply_impulse( c.rB, j_vec );
+ A->apply_impulse( c.rA+A->get_center_of_mass(), -j_vec );
+ B->apply_impulse( c.rB+B->get_center_of_mass(), j_vec );
c.acc_bias_impulse=0;
Vector3 jb_vec = c.normal * c.acc_bias_impulse;
- A->apply_bias_impulse( c.rA, -jb_vec );
- B->apply_bias_impulse( c.rB, jb_vec );
+ A->apply_bias_impulse( c.rA+A->get_center_of_mass(), -jb_vec );
+ B->apply_bias_impulse( c.rB+B->get_center_of_mass(), jb_vec );
c.bounce = MAX(A->get_bounce(),B->get_bounce());
if (c.bounce) {
@@ -387,7 +387,7 @@ bool BodyPairSW::setup(float p_step) {
return true;
}
-void BodyPairSW::solve(float p_step) {
+void BodyPairSW::solve(real_t p_step) {
if (!collided)
return;
@@ -418,8 +418,8 @@ void BodyPairSW::solve(float p_step) {
Vector3 jb = c.normal * (c.acc_bias_impulse - jbnOld);
- A->apply_bias_impulse(c.rA,-jb);
- B->apply_bias_impulse(c.rB, jb);
+ A->apply_bias_impulse(c.rA+A->get_center_of_mass(),-jb);
+ B->apply_bias_impulse(c.rB+B->get_center_of_mass(), jb);
c.active=true;
}
@@ -442,8 +442,8 @@ void BodyPairSW::solve(float p_step) {
Vector3 j =c.normal * (c.acc_normal_impulse - jnOld);
- A->apply_impulse(c.rA,-j);
- B->apply_impulse(c.rB, j);
+ A->apply_impulse(c.rA+A->get_center_of_mass(),-j);
+ B->apply_impulse(c.rB+B->get_center_of_mass(), j);
c.active=true;
}
@@ -489,8 +489,8 @@ void BodyPairSW::solve(float p_step) {
jt = c.acc_tangent_impulse - jtOld;
- A->apply_impulse( c.rA, -jt );
- B->apply_impulse( c.rB, jt );
+ A->apply_impulse( c.rA+A->get_center_of_mass(), -jt );
+ B->apply_impulse( c.rB+B->get_center_of_mass(), jt );
c.active=true;
generated by cgit v1.2.3 (git 2.25.1) at 2025-03-01 01:00:10 +0000