diff options
Diffstat (limited to 'servers/physics/joints/slider_joint_sw.cpp')
| -rw-r--r-- | servers/physics/joints/slider_joint_sw.cpp | 20 |
1 files changed, 10 insertions, 10 deletions
diff --git a/servers/physics/joints/slider_joint_sw.cpp b/servers/physics/joints/slider_joint_sw.cpp index a9072e5de3..fc728ed0ba 100644 --- a/servers/physics/joints/slider_joint_sw.cpp +++ b/servers/physics/joints/slider_joint_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 */ @@ -112,7 +112,7 @@ SliderJointSW::SliderJointSW(BodySW* rbA, BodySW* rbB, const Transform& frameInA //----------------------------------------------------------------------------- -bool SliderJointSW::setup(float p_step) +bool SliderJointSW::setup(real_t p_step) { //calculate transforms @@ -132,10 +132,10 @@ bool SliderJointSW::setup(float p_step) { normalWorld = m_calculatedTransformA.basis.get_axis(i); memnew_placement(&m_jacLin[i], JacobianEntrySW( - A->get_transform().basis.transposed(), - B->get_transform().basis.transposed(), - m_relPosA, - m_relPosB, + A->get_principal_inertia_axes().transposed(), + B->get_principal_inertia_axes().transposed(), + m_relPosA - A->get_center_of_mass(), + m_relPosB - B->get_center_of_mass(), normalWorld, A->get_inv_inertia(), A->get_inv_mass(), @@ -152,8 +152,8 @@ bool SliderJointSW::setup(float p_step) normalWorld = m_calculatedTransformA.basis.get_axis(i); memnew_placement(&m_jacAng[i], JacobianEntrySW( normalWorld, - A->get_transform().basis.transposed(), - B->get_transform().basis.transposed(), + A->get_principal_inertia_axes().transposed(), + B->get_principal_inertia_axes().transposed(), A->get_inv_inertia(), B->get_inv_inertia() )); @@ -406,7 +406,7 @@ Vector3 SliderJointSW::getAncorInB(void) return ancorInB; } // SliderJointSW::getAncorInB(); -void SliderJointSW::set_param(PhysicsServer::SliderJointParam p_param, float p_value) { +void SliderJointSW::set_param(PhysicsServer::SliderJointParam p_param, real_t p_value) { switch(p_param) { case PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_UPPER: m_upperLinLimit=p_value; break; @@ -437,7 +437,7 @@ void SliderJointSW::set_param(PhysicsServer::SliderJointParam p_param, float p_v } -float SliderJointSW::get_param(PhysicsServer::SliderJointParam p_param) const { +real_t SliderJointSW::get_param(PhysicsServer::SliderJointParam p_param) const { switch(p_param) { case PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_UPPER: return m_upperLinLimit; |