diff options
Diffstat (limited to 'servers/physics/joints')
-rw-r--r-- | servers/physics/joints/cone_twist_joint_sw.cpp | 6 | ||||
-rw-r--r-- | servers/physics/joints/generic_6dof_joint_sw.cpp | 3 | ||||
-rw-r--r-- | servers/physics/joints/hinge_joint_sw.cpp | 6 |
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]); |