summaryrefslogtreecommitdiff
path: root/servers/physics
diff options
context:
space:
mode:
Diffstat (limited to 'servers/physics')
-rw-r--r--servers/physics/collision_object_sw.cpp3
-rw-r--r--servers/physics/collision_object_sw.h2
-rw-r--r--servers/physics/collision_solver_sat.cpp6
-rw-r--r--servers/physics/joints/cone_twist_joint_sw.cpp6
-rw-r--r--servers/physics/joints/generic_6dof_joint_sw.cpp2
-rw-r--r--servers/physics/joints/hinge_joint_sw.cpp6
-rw-r--r--servers/physics/physics_server_sw.cpp8
-rw-r--r--servers/physics/physics_server_sw.h4
-rw-r--r--servers/physics/space_sw.cpp2
9 files changed, 20 insertions, 19 deletions
diff --git a/servers/physics/collision_object_sw.cpp b/servers/physics/collision_object_sw.cpp
index 085ad4f9ea..b1c21290ab 100644
--- a/servers/physics/collision_object_sw.cpp
+++ b/servers/physics/collision_object_sw.cpp
@@ -32,13 +32,14 @@
#include "servers/physics/physics_server_sw.h"
#include "space_sw.h"
-void CollisionObjectSW::add_shape(ShapeSW *p_shape, const Transform &p_transform) {
+void CollisionObjectSW::add_shape(ShapeSW *p_shape, const Transform &p_transform, bool p_disabled) {
Shape s;
s.shape = p_shape;
s.xform = p_transform;
s.xform_inv = s.xform.affine_inverse();
s.bpid = 0; //needs update
+ s.disabled = p_disabled;
shapes.push_back(s);
p_shape->add_owner(this);
diff --git a/servers/physics/collision_object_sw.h b/servers/physics/collision_object_sw.h
index 5c14d5aaf9..c2c3fe0e5a 100644
--- a/servers/physics/collision_object_sw.h
+++ b/servers/physics/collision_object_sw.h
@@ -118,7 +118,7 @@ public:
void _shape_changed();
_FORCE_INLINE_ Type get_type() const { return type; }
- void add_shape(ShapeSW *p_shape, const Transform &p_transform = Transform());
+ void add_shape(ShapeSW *p_shape, const Transform &p_transform = Transform(), bool p_disabled = false);
void set_shape(int p_index, ShapeSW *p_shape);
void set_shape_transform(int p_index, const Transform &p_transform);
_FORCE_INLINE_ int get_shape_count() const { return shapes.size(); }
diff --git a/servers/physics/collision_solver_sat.cpp b/servers/physics/collision_solver_sat.cpp
index baf7431e28..3073cc8b11 100644
--- a/servers/physics/collision_solver_sat.cpp
+++ b/servers/physics/collision_solver_sat.cpp
@@ -98,7 +98,7 @@ static void _generate_contacts_edge_edge(const Vector3 *p_points_A, int p_point_
Vector3 c = rel_A.cross(rel_B).cross(rel_B);
- if (Math::abs(rel_A.dot(c)) < CMP_EPSILON) {
+ if (Math::is_zero_approx(rel_A.dot(c))) {
// should handle somehow..
//ERR_PRINT("TODO FIX");
@@ -678,7 +678,7 @@ static void _collision_box_box(const ShapeSW *p_a, const Transform &p_transform_
Vector3 axis = p_transform_a.basis.get_axis(i).cross(p_transform_b.basis.get_axis(j));
- if (axis.length_squared() < CMP_EPSILON)
+ if (Math::is_zero_approx(axis.length_squared()))
continue;
axis.normalize();
@@ -767,7 +767,7 @@ static void _collision_box_capsule(const ShapeSW *p_a, const Transform &p_transf
// cylinder
Vector3 box_axis = p_transform_a.basis.get_axis(i);
Vector3 axis = box_axis.cross(cyl_axis);
- if (axis.length_squared() < CMP_EPSILON)
+ if (Math::is_zero_approx(axis.length_squared()))
continue;
if (!separator.test_axis(axis.normalized()))
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..813d9b7704 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
}
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]);
diff --git a/servers/physics/physics_server_sw.cpp b/servers/physics/physics_server_sw.cpp
index 36d18e8901..66170f5a2e 100644
--- a/servers/physics/physics_server_sw.cpp
+++ b/servers/physics/physics_server_sw.cpp
@@ -283,7 +283,7 @@ PhysicsServer::AreaSpaceOverrideMode PhysicsServerSW::area_get_space_override_mo
return area->get_space_override_mode();
}
-void PhysicsServerSW::area_add_shape(RID p_area, RID p_shape, const Transform &p_transform) {
+void PhysicsServerSW::area_add_shape(RID p_area, RID p_shape, const Transform &p_transform, bool p_disabled) {
AreaSW *area = area_owner.get(p_area);
ERR_FAIL_COND(!area);
@@ -291,7 +291,7 @@ void PhysicsServerSW::area_add_shape(RID p_area, RID p_shape, const Transform &p
ShapeSW *shape = shape_owner.get(p_shape);
ERR_FAIL_COND(!shape);
- area->add_shape(shape, p_transform);
+ area->add_shape(shape, p_transform, p_disabled);
}
void PhysicsServerSW::area_set_shape(RID p_area, int p_shape_idx, RID p_shape) {
@@ -540,7 +540,7 @@ PhysicsServer::BodyMode PhysicsServerSW::body_get_mode(RID p_body) const {
return body->get_mode();
};
-void PhysicsServerSW::body_add_shape(RID p_body, RID p_shape, const Transform &p_transform) {
+void PhysicsServerSW::body_add_shape(RID p_body, RID p_shape, const Transform &p_transform, bool p_disabled) {
BodySW *body = body_owner.get(p_body);
ERR_FAIL_COND(!body);
@@ -548,7 +548,7 @@ void PhysicsServerSW::body_add_shape(RID p_body, RID p_shape, const Transform &p
ShapeSW *shape = shape_owner.get(p_shape);
ERR_FAIL_COND(!shape);
- body->add_shape(shape, p_transform);
+ body->add_shape(shape, p_transform, p_disabled);
}
void PhysicsServerSW::body_set_shape(RID p_body, int p_shape_idx, RID p_shape) {
diff --git a/servers/physics/physics_server_sw.h b/servers/physics/physics_server_sw.h
index 5d0ba3628e..dc1cbca94d 100644
--- a/servers/physics/physics_server_sw.h
+++ b/servers/physics/physics_server_sw.h
@@ -119,7 +119,7 @@ public:
virtual void area_set_space(RID p_area, RID p_space);
virtual RID area_get_space(RID p_area) const;
- virtual void area_add_shape(RID p_area, RID p_shape, const Transform &p_transform = Transform());
+ virtual void area_add_shape(RID p_area, RID p_shape, const Transform &p_transform = Transform(), bool p_disabled = false);
virtual void area_set_shape(RID p_area, int p_shape_idx, RID p_shape);
virtual void area_set_shape_transform(RID p_area, int p_shape_idx, const Transform &p_transform);
@@ -163,7 +163,7 @@ public:
virtual void body_set_mode(RID p_body, BodyMode p_mode);
virtual BodyMode body_get_mode(RID p_body) const;
- virtual void body_add_shape(RID p_body, RID p_shape, const Transform &p_transform = Transform());
+ virtual void body_add_shape(RID p_body, RID p_shape, const Transform &p_transform = Transform(), bool p_disabled = false);
virtual void body_set_shape(RID p_body, int p_shape_idx, RID p_shape);
virtual void body_set_shape_transform(RID p_body, int p_shape_idx, const Transform &p_transform);
diff --git a/servers/physics/space_sw.cpp b/servers/physics/space_sw.cpp
index e52cc376c0..8b9f210850 100644
--- a/servers/physics/space_sw.cpp
+++ b/servers/physics/space_sw.cpp
@@ -630,7 +630,7 @@ int SpaceSW::test_body_ray_separation(BodySW *p_body, const Transform &p_transfo
int ray_index = -1; //reuse shape
for (int k = 0; k < rays_found; k++) {
- if (r_results[ray_index].collision_local_shape == j) {
+ if (r_results[k].collision_local_shape == j) {
ray_index = k;
}
}
generated by cgit v1.2.3 (git 2.25.1) at 2024-12-20 00:32:54 +0000