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-rw-r--r--servers/physics/joints/cone_twist_joint_sw.cpp6
-rw-r--r--servers/physics/joints/generic_6dof_joint_sw.cpp3
-rw-r--r--servers/physics/joints/hinge_joint_sw.cpp6
3 files changed, 7 insertions, 8 deletions
diff --git a/servers/physics/joints/cone_twist_joint_sw.cpp b/servers/physics/joints/cone_twist_joint_sw.cpp
index 268b9eefeb..1b3de3e913 100644
--- a/servers/physics/joints/cone_twist_joint_sw.cpp
+++ b/servers/physics/joints/cone_twist_joint_sw.cpp
@@ -127,10 +127,10 @@ bool ConeTwistJointSW::setup(real_t p_timestep) {
Vector3 relPos = pivotBInW - pivotAInW;
Vector3 normal[3];
- if (relPos.length_squared() > CMP_EPSILON) {
- normal[0] = relPos.normalized();
- } else {
+ if (Math::is_zero_approx(relPos.length_squared())) {
normal[0] = Vector3(real_t(1.0), 0, 0);
+ } else {
+ normal[0] = relPos.normalized();
}
plane_space(normal[0], normal[1], normal[2]);
diff --git a/servers/physics/joints/generic_6dof_joint_sw.cpp b/servers/physics/joints/generic_6dof_joint_sw.cpp
index 756348f448..a9fe045856 100644
--- a/servers/physics/joints/generic_6dof_joint_sw.cpp
+++ b/servers/physics/joints/generic_6dof_joint_sw.cpp
@@ -107,7 +107,7 @@ real_t G6DOFRotationalLimitMotorSW::solveAngularLimits(
// correction velocity
real_t motor_relvel = m_limitSoftness * (target_velocity - m_damping * rel_vel);
- if (motor_relvel < CMP_EPSILON && motor_relvel > -CMP_EPSILON) {
+ if (Math::is_zero_approx(motor_relvel)) {
return 0.0f; //no need for applying force
}
@@ -421,7 +421,6 @@ void Generic6DOFJointSW::calcAnchorPos(void) {
const Vector3 &pA = m_calculatedTransformA.origin;
const Vector3 &pB = m_calculatedTransformB.origin;
m_AnchorPos = pA * weight + pB * (real_t(1.0) - weight);
- return;
} // Generic6DOFJointSW::calcAnchorPos()
void Generic6DOFJointSW::set_param(Vector3::Axis p_axis, PhysicsServer::G6DOFJointAxisParam p_param, real_t p_value) {
diff --git a/servers/physics/joints/hinge_joint_sw.cpp b/servers/physics/joints/hinge_joint_sw.cpp
index e972496b2b..1d1b30286e 100644
--- a/servers/physics/joints/hinge_joint_sw.cpp
+++ b/servers/physics/joints/hinge_joint_sw.cpp
@@ -167,10 +167,10 @@ bool HingeJointSW::setup(real_t p_step) {
Vector3 relPos = pivotBInW - pivotAInW;
Vector3 normal[3];
- if (relPos.length_squared() > CMP_EPSILON) {
- normal[0] = relPos.normalized();
- } else {
+ if (Math::is_zero_approx(relPos.length_squared())) {
normal[0] = Vector3(real_t(1.0), 0, 0);
+ } else {
+ normal[0] = relPos.normalized();
}
plane_space(normal[0], normal[1], normal[2]);