diff options
Diffstat (limited to 'servers/physics/collision_solver_sat.cpp')
| -rw-r--r-- | servers/physics/collision_solver_sat.cpp | 42 |
1 files changed, 21 insertions, 21 deletions
diff --git a/servers/physics/collision_solver_sat.cpp b/servers/physics/collision_solver_sat.cpp index d41012caa4..9d3e1db47b 100644 --- a/servers/physics/collision_solver_sat.cpp +++ b/servers/physics/collision_solver_sat.cpp @@ -122,9 +122,9 @@ static void _generate_contacts_edge_edge(const Vector3 * p_points_A,int p_point_ Vector3 base_B = p_points_B[0] - axis * axis.dot(p_points_B[0]); //sort all 4 points in axis - float dvec[4]={ axis.dot(p_points_A[0]), axis.dot(p_points_A[1]), axis.dot(p_points_B[0]), axis.dot(p_points_B[1]) }; + real_t dvec[4]={ axis.dot(p_points_A[0]), axis.dot(p_points_A[1]), axis.dot(p_points_B[0]), axis.dot(p_points_B[1]) }; - SortArray<float> sa; + SortArray<real_t> sa; sa.sort(dvec,4); //use the middle ones as contacts @@ -234,7 +234,7 @@ static void _generate_contacts_face_face(const Vector3 * p_points_A,int p_point_ for (int i=0;i<clipbuf_len;i++) { - float d = plane_B.distance_to(clipbuf_src[i]); + real_t d = plane_B.distance_to(clipbuf_src[i]); /* if (d>CMP_EPSILON) continue; @@ -476,11 +476,11 @@ public: /****** SAT TESTS *******/ -typedef void (*CollisionFunc)(const ShapeSW*,const Transform&,const ShapeSW*,const Transform&,_CollectorCallback *p_callback,float,float); +typedef void (*CollisionFunc)(const ShapeSW*,const Transform&,const ShapeSW*,const Transform&,_CollectorCallback *p_callback,real_t,real_t); template<bool withMargin> -static void _collision_sphere_sphere(const ShapeSW *p_a,const Transform &p_transform_a,const ShapeSW *p_b,const Transform &p_transform_b,_CollectorCallback *p_collector,float p_margin_a,float p_margin_b) { +static void _collision_sphere_sphere(const ShapeSW *p_a,const Transform &p_transform_a,const ShapeSW *p_b,const Transform &p_transform_b,_CollectorCallback *p_collector,real_t p_margin_a,real_t p_margin_b) { const SphereShapeSW *sphere_A = static_cast<const SphereShapeSW*>(p_a); @@ -500,7 +500,7 @@ static void _collision_sphere_sphere(const ShapeSW *p_a,const Transform &p_trans } template<bool withMargin> -static void _collision_sphere_box(const ShapeSW *p_a,const Transform &p_transform_a,const ShapeSW *p_b,const Transform &p_transform_b,_CollectorCallback *p_collector,float p_margin_a,float p_margin_b) { +static void _collision_sphere_box(const ShapeSW *p_a,const Transform &p_transform_a,const ShapeSW *p_b,const Transform &p_transform_b,_CollectorCallback *p_collector,real_t p_margin_a,real_t p_margin_b) { const SphereShapeSW *sphere_A = static_cast<const SphereShapeSW*>(p_a); @@ -555,7 +555,7 @@ static void _collision_sphere_box(const ShapeSW *p_a,const Transform &p_transfor } template<bool withMargin> -static void _collision_sphere_capsule(const ShapeSW *p_a,const Transform &p_transform_a,const ShapeSW *p_b,const Transform &p_transform_b,_CollectorCallback *p_collector,float p_margin_a,float p_margin_b) { +static void _collision_sphere_capsule(const ShapeSW *p_a,const Transform &p_transform_a,const ShapeSW *p_b,const Transform &p_transform_b,_CollectorCallback *p_collector,real_t p_margin_a,real_t p_margin_b) { const SphereShapeSW *sphere_A = static_cast<const SphereShapeSW*>(p_a); const CapsuleShapeSW *capsule_B = static_cast<const CapsuleShapeSW*>(p_b); @@ -595,7 +595,7 @@ static void _collision_sphere_capsule(const ShapeSW *p_a,const Transform &p_tran } template<bool withMargin> -static void _collision_sphere_convex_polygon(const ShapeSW *p_a,const Transform &p_transform_a,const ShapeSW *p_b,const Transform &p_transform_b,_CollectorCallback *p_collector,float p_margin_a,float p_margin_b) { +static void _collision_sphere_convex_polygon(const ShapeSW *p_a,const Transform &p_transform_a,const ShapeSW *p_b,const Transform &p_transform_b,_CollectorCallback *p_collector,real_t p_margin_a,real_t p_margin_b) { const SphereShapeSW *sphere_A = static_cast<const SphereShapeSW*>(p_a); @@ -666,7 +666,7 @@ static void _collision_sphere_convex_polygon(const ShapeSW *p_a,const Transform } template<bool withMargin> -static void _collision_sphere_face(const ShapeSW *p_a,const Transform &p_transform_a, const ShapeSW *p_b,const Transform& p_transform_b,_CollectorCallback *p_collector,float p_margin_a,float p_margin_b) { +static void _collision_sphere_face(const ShapeSW *p_a,const Transform &p_transform_a, const ShapeSW *p_b,const Transform& p_transform_b,_CollectorCallback *p_collector,real_t p_margin_a,real_t p_margin_b) { const SphereShapeSW *sphere_A = static_cast<const SphereShapeSW*>(p_a); const FaceShapeSW *face_B = static_cast<const FaceShapeSW*>(p_b); @@ -710,7 +710,7 @@ static void _collision_sphere_face(const ShapeSW *p_a,const Transform &p_transfo template<bool withMargin> -static void _collision_box_box(const ShapeSW *p_a,const Transform &p_transform_a,const ShapeSW *p_b,const Transform &p_transform_b,_CollectorCallback *p_collector,float p_margin_a,float p_margin_b) { +static void _collision_box_box(const ShapeSW *p_a,const Transform &p_transform_a,const ShapeSW *p_b,const Transform &p_transform_b,_CollectorCallback *p_collector,real_t p_margin_a,real_t p_margin_b) { const BoxShapeSW *box_A = static_cast<const BoxShapeSW*>(p_a); @@ -818,7 +818,7 @@ static void _collision_box_box(const ShapeSW *p_a,const Transform &p_transform_a } template<bool withMargin> -static void _collision_box_capsule(const ShapeSW *p_a,const Transform &p_transform_a,const ShapeSW *p_b,const Transform &p_transform_b,_CollectorCallback *p_collector,float p_margin_a,float p_margin_b) { +static void _collision_box_capsule(const ShapeSW *p_a,const Transform &p_transform_a,const ShapeSW *p_b,const Transform &p_transform_b,_CollectorCallback *p_collector,real_t p_margin_a,real_t p_margin_b) { const BoxShapeSW *box_A = static_cast<const BoxShapeSW*>(p_a); const CapsuleShapeSW *capsule_B = static_cast<const CapsuleShapeSW*>(p_b); @@ -918,7 +918,7 @@ static void _collision_box_capsule(const ShapeSW *p_a,const Transform &p_transfo } template<bool withMargin> -static void _collision_box_convex_polygon(const ShapeSW *p_a,const Transform &p_transform_a,const ShapeSW *p_b,const Transform &p_transform_b,_CollectorCallback *p_collector,float p_margin_a,float p_margin_b) { +static void _collision_box_convex_polygon(const ShapeSW *p_a,const Transform &p_transform_a,const ShapeSW *p_b,const Transform &p_transform_b,_CollectorCallback *p_collector,real_t p_margin_a,real_t p_margin_b) { @@ -1046,7 +1046,7 @@ static void _collision_box_convex_polygon(const ShapeSW *p_a,const Transform &p_ template<bool withMargin> -static void _collision_box_face(const ShapeSW *p_a,const Transform &p_transform_a, const ShapeSW *p_b,const Transform& p_transform_b,_CollectorCallback *p_collector,float p_margin_a,float p_margin_b) { +static void _collision_box_face(const ShapeSW *p_a,const Transform &p_transform_a, const ShapeSW *p_b,const Transform& p_transform_b,_CollectorCallback *p_collector,real_t p_margin_a,real_t p_margin_b) { const BoxShapeSW *box_A = static_cast<const BoxShapeSW*>(p_a); @@ -1158,7 +1158,7 @@ static void _collision_box_face(const ShapeSW *p_a,const Transform &p_transform_ template<bool withMargin> -static void _collision_capsule_capsule(const ShapeSW *p_a,const Transform &p_transform_a,const ShapeSW *p_b,const Transform &p_transform_b,_CollectorCallback *p_collector,float p_margin_a,float p_margin_b) { +static void _collision_capsule_capsule(const ShapeSW *p_a,const Transform &p_transform_a,const ShapeSW *p_b,const Transform &p_transform_b,_CollectorCallback *p_collector,real_t p_margin_a,real_t p_margin_b) { const CapsuleShapeSW *capsule_A = static_cast<const CapsuleShapeSW*>(p_a); const CapsuleShapeSW *capsule_B = static_cast<const CapsuleShapeSW*>(p_b); @@ -1216,7 +1216,7 @@ static void _collision_capsule_capsule(const ShapeSW *p_a,const Transform &p_tra } template<bool withMargin> -static void _collision_capsule_convex_polygon(const ShapeSW *p_a,const Transform &p_transform_a,const ShapeSW *p_b,const Transform &p_transform_b,_CollectorCallback *p_collector,float p_margin_a,float p_margin_b) { +static void _collision_capsule_convex_polygon(const ShapeSW *p_a,const Transform &p_transform_a,const ShapeSW *p_b,const Transform &p_transform_b,_CollectorCallback *p_collector,real_t p_margin_a,real_t p_margin_b) { const CapsuleShapeSW *capsule_A = static_cast<const CapsuleShapeSW*>(p_a); @@ -1287,7 +1287,7 @@ static void _collision_capsule_convex_polygon(const ShapeSW *p_a,const Transform template<bool withMargin> -static void _collision_capsule_face(const ShapeSW *p_a,const Transform &p_transform_a, const ShapeSW *p_b,const Transform& p_transform_b,_CollectorCallback *p_collector,float p_margin_a,float p_margin_b) { +static void _collision_capsule_face(const ShapeSW *p_a,const Transform &p_transform_a, const ShapeSW *p_b,const Transform& p_transform_b,_CollectorCallback *p_collector,real_t p_margin_a,real_t p_margin_b) { const CapsuleShapeSW *capsule_A = static_cast<const CapsuleShapeSW*>(p_a); const FaceShapeSW *face_B = static_cast<const FaceShapeSW*>(p_b); @@ -1350,7 +1350,7 @@ static void _collision_capsule_face(const ShapeSW *p_a,const Transform &p_transf template<bool withMargin> -static void _collision_convex_polygon_convex_polygon(const ShapeSW *p_a,const Transform &p_transform_a,const ShapeSW *p_b,const Transform &p_transform_b,_CollectorCallback *p_collector,float p_margin_a,float p_margin_b) { +static void _collision_convex_polygon_convex_polygon(const ShapeSW *p_a,const Transform &p_transform_a,const ShapeSW *p_b,const Transform &p_transform_b,_CollectorCallback *p_collector,real_t p_margin_a,real_t p_margin_b) { const ConvexPolygonShapeSW *convex_polygon_A = static_cast<const ConvexPolygonShapeSW*>(p_a); @@ -1474,7 +1474,7 @@ static void _collision_convex_polygon_convex_polygon(const ShapeSW *p_a,const Tr template<bool withMargin> -static void _collision_convex_polygon_face(const ShapeSW *p_a,const Transform &p_transform_a, const ShapeSW *p_b,const Transform& p_transform_b,_CollectorCallback *p_collector,float p_margin_a,float p_margin_b) { +static void _collision_convex_polygon_face(const ShapeSW *p_a,const Transform &p_transform_a, const ShapeSW *p_b,const Transform& p_transform_b,_CollectorCallback *p_collector,real_t p_margin_a,real_t p_margin_b) { const ConvexPolygonShapeSW *convex_polygon_A = static_cast<const ConvexPolygonShapeSW*>(p_a); @@ -1585,7 +1585,7 @@ static void _collision_convex_polygon_face(const ShapeSW *p_a,const Transform &p } -bool sat_calculate_penetration(const ShapeSW *p_shape_A, const Transform& p_transform_A, const ShapeSW *p_shape_B, const Transform& p_transform_B, CollisionSolverSW::CallbackResult p_result_callback,void *p_userdata,bool p_swap,Vector3* r_prev_axis,float p_margin_a,float p_margin_b) { +bool sat_calculate_penetration(const ShapeSW *p_shape_A, const Transform& p_transform_A, const ShapeSW *p_shape_B, const Transform& p_transform_B, CollisionSolverSW::CallbackResult p_result_callback,void *p_userdata,bool p_swap,Vector3* r_prev_axis,real_t p_margin_a,real_t p_margin_b) { PhysicsServer::ShapeType type_A=p_shape_A->get_type(); @@ -1667,8 +1667,8 @@ bool sat_calculate_penetration(const ShapeSW *p_shape_A, const Transform& p_tran const ShapeSW *B=p_shape_B; const Transform *transform_A=&p_transform_A; const Transform *transform_B=&p_transform_B; - float margin_A=p_margin_a; - float margin_B=p_margin_b; + real_t margin_A=p_margin_a; + real_t margin_B=p_margin_b; if (type_A > type_B) { SWAP(A,B); |