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-rw-r--r--servers/physics/area_pair_sw.cpp2
-rw-r--r--servers/physics/body_sw.cpp54
-rw-r--r--servers/physics/collision_solver_sat.cpp24
-rw-r--r--servers/physics/collision_solver_sw.cpp2
-rw-r--r--servers/physics/joints/cone_twist_joint_sw.cpp4
-rw-r--r--servers/physics/joints/generic_6dof_joint_sw.cpp29
-rw-r--r--servers/physics/joints/hinge_joint_sw.cpp8
-rw-r--r--servers/physics/joints/pin_joint_sw.cpp4
-rw-r--r--servers/physics/physics_server_sw.cpp16
-rw-r--r--servers/physics/physics_server_sw.h2
-rw-r--r--servers/physics/shape_sw.cpp10
-rw-r--r--servers/physics/shape_sw.h4
-rw-r--r--servers/physics/space_sw.cpp6
-rw-r--r--servers/physics/step_sw.cpp2
14 files changed, 96 insertions, 71 deletions
diff --git a/servers/physics/area_pair_sw.cpp b/servers/physics/area_pair_sw.cpp
index 1131aa90d3..e95c85d751 100644
--- a/servers/physics/area_pair_sw.cpp
+++ b/servers/physics/area_pair_sw.cpp
@@ -110,7 +110,7 @@ bool Area2PairSW::setup(float p_step) {
return false;
}
-// bool result = area_a->test_collision_mask(area_b) && CollisionSolverSW::solve(area_a->get_shape(shape_a),area_a->get_transform() * area_a->get_shape_transform(shape_a),Vector2(),area_b->get_shape(shape_b),area_b->get_transform() * area_b->get_shape_transform(shape_b),Vector2(),NULL,this);
+ //bool result = area_a->test_collision_mask(area_b) && CollisionSolverSW::solve(area_a->get_shape(shape_a),area_a->get_transform() * area_a->get_shape_transform(shape_a),Vector2(),area_b->get_shape(shape_b),area_b->get_transform() * area_b->get_shape_transform(shape_b),Vector2(),NULL,this);
bool result = CollisionSolverSW::solve_static(area_a->get_shape(shape_a),area_a->get_transform() * area_a->get_shape_transform(shape_a),area_b->get_shape(shape_b),area_b->get_transform() * area_b->get_shape_transform(shape_b),NULL,this);
if (result!=colliding) {
diff --git a/servers/physics/body_sw.cpp b/servers/physics/body_sw.cpp
index ceeeafe04a..81604dd5e1 100644
--- a/servers/physics/body_sw.cpp
+++ b/servers/physics/body_sw.cpp
@@ -270,8 +270,10 @@ void BodySW::set_mode(PhysicsServer::BodyMode p_mode) {
}
_update_inertia();
- //if (get_space())
-// _update_queries();
+ /*
+ if (get_space())
+ _update_queries();
+ */
}
PhysicsServer::BodyMode BodySW::get_mode() const {
@@ -319,14 +321,18 @@ void BodySW::set_state(PhysicsServer::BodyState p_state, const Variant& p_varian
} break;
case PhysicsServer::BODY_STATE_LINEAR_VELOCITY: {
- //if (mode==PhysicsServer::BODY_MODE_STATIC)
- // break;
+ /*
+ if (mode==PhysicsServer::BODY_MODE_STATIC)
+ break;
+ */
linear_velocity=p_variant;
wakeup();
} break;
case PhysicsServer::BODY_STATE_ANGULAR_VELOCITY: {
- //if (mode!=PhysicsServer::BODY_MODE_RIGID)
- // break;
+ /*
+ if (mode!=PhysicsServer::BODY_MODE_RIGID)
+ break;
+ */
angular_velocity=p_variant;
wakeup();
@@ -400,11 +406,13 @@ void BodySW::set_space(SpaceSW *p_space){
_update_inertia();
if (active)
get_space()->body_add_to_active_list(&active_list);
-// _update_queries();
- //if (is_active()) {
- // active=false;
- // set_active(true);
- //}
+ /*
+ _update_queries();
+ if (is_active()) {
+ active=false;
+ set_active(true);
+ }
+ */
}
@@ -479,13 +487,17 @@ void BodySW::integrate_forces(real_t p_step) {
// If less than 0, override dampenings with that of the Body
if (angular_damp>=0)
area_angular_damp=angular_damp;
- //else
- // area_angular_damp=damp_area->get_angular_damp();
+ /*
+ else
+ area_angular_damp=damp_area->get_angular_damp();
+ */
if (linear_damp>=0)
area_linear_damp=linear_damp;
- //else
- // area_linear_damp=damp_area->get_linear_damp();
+ /*
+ else
+ area_linear_damp=damp_area->get_linear_damp();
+ */
Vector3 motion;
@@ -630,10 +642,10 @@ void BodySW::integrate_velocities(real_t p_step) {
_update_transform_dependant();
- //if (fi_callback) {
-
- // get_space()->body_add_to_state_query_list(&direct_state_query_list);
- //
+ /*
+ if (fi_callback) {
+ get_space()->body_add_to_state_query_list(&direct_state_query_list);
+ */
}
/*
@@ -772,12 +784,12 @@ BodySW::BodySW() : CollisionObjectSW(TYPE_BODY), active_list(this), inertia_upda
active=true;
mass=1;
-// _inv_inertia=Transform();
+ //_inv_inertia=Transform();
_inv_mass=1;
bounce=0;
friction=1;
omit_force_integration=false;
-// applied_torque=0;
+ //applied_torque=0;
island_step=0;
island_next=NULL;
island_list_next=NULL;
diff --git a/servers/physics/collision_solver_sat.cpp b/servers/physics/collision_solver_sat.cpp
index 7f8153611f..d02303e23d 100644
--- a/servers/physics/collision_solver_sat.cpp
+++ b/servers/physics/collision_solver_sat.cpp
@@ -42,9 +42,11 @@ struct _CollectorCallback {
_FORCE_INLINE_ void call(const Vector3& p_point_A, const Vector3& p_point_B) {
- //if (normal.dot(p_point_A) >= normal.dot(p_point_B))
- // return;
-// print_line("** A: "+p_point_A+" B: "+p_point_B+" D: "+rtos(p_point_A.distance_to(p_point_B)));
+ /*
+ if (normal.dot(p_point_A) >= normal.dot(p_point_B))
+ return;
+ print_line("** A: "+p_point_A+" B: "+p_point_B+" D: "+rtos(p_point_A.distance_to(p_point_B)));
+ */
if (swap)
callback(p_point_B,p_point_A,userdata);
@@ -108,7 +110,7 @@ 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) )<_EDGE_IS_VALID_SUPPORT_TRESHOLD ) {
+ //if ( Math::abs(rel_A.dot(c) )<_EDGE_IS_VALID_SUPPORT_TRESHOLD ) {
if ( Math::abs(rel_A.dot(c) )<CMP_EPSILON ) {
// should handle somehow..
@@ -205,7 +207,7 @@ static void _generate_contacts_face_face(const Vector3 * p_points_A,int p_point_
// check for different sides and non coplanar
-// if ( (dist0*dist1) < -CMP_EPSILON && !(edge && j)) {
+ //if ( (dist0*dist1) < -CMP_EPSILON && !(edge && j)) {
if ( (dist0*dist1) < 0 && !(edge && j)) {
// calculate intersection
@@ -233,8 +235,10 @@ 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]);
- //if (d>CMP_EPSILON)
- // continue;
+ /*
+ if (d>CMP_EPSILON)
+ continue;
+ */
Vector3 closest_B=clipbuf_src[i] - plane_B.normal*d;
@@ -1379,7 +1383,7 @@ static void _collision_convex_polygon_convex_polygon(const ShapeSW *p_a,const Tr
for (int i=0;i<face_count_A;i++) {
Vector3 axis = p_transform_a.xform( faces_A[i].plane ).normal;
-// Vector3 axis = p_transform_a.basis.xform( faces_A[i].plane.normal ).normalized();
+ //Vector3 axis = p_transform_a.basis.xform( faces_A[i].plane.normal ).normalized();
if (!separator.test_axis( axis ))
return;
@@ -1389,7 +1393,7 @@ static void _collision_convex_polygon_convex_polygon(const ShapeSW *p_a,const Tr
for (int i=0;i<face_count_B;i++) {
Vector3 axis = p_transform_b.xform( faces_B[i].plane ).normal;
-// Vector3 axis = p_transform_b.basis.xform( faces_B[i].plane.normal ).normalized();
+ //Vector3 axis = p_transform_b.basis.xform( faces_B[i].plane.normal ).normalized();
if (!separator.test_axis( axis ))
@@ -1502,7 +1506,7 @@ static void _collision_convex_polygon_face(const ShapeSW *p_a,const Transform &p
// faces of A
for (int i=0;i<face_count;i++) {
-// Vector3 axis = p_transform_a.xform( faces[i].plane ).normal;
+ //Vector3 axis = p_transform_a.xform( faces[i].plane ).normal;
Vector3 axis = p_transform_a.basis.xform( faces[i].plane.normal ).normalized();
if (!separator.test_axis( axis ))
diff --git a/servers/physics/collision_solver_sw.cpp b/servers/physics/collision_solver_sw.cpp
index 91ef7913cf..3399849ab7 100644
--- a/servers/physics/collision_solver_sw.cpp
+++ b/servers/physics/collision_solver_sw.cpp
@@ -383,7 +383,7 @@ bool CollisionSolverSW::solve_distance(const ShapeSW *p_shape_A,const Transform&
concave_B->cull(local_aabb,concave_distance_callback,&cinfo);
if (!cinfo.collided) {
-// print_line(itos(cinfo.tested));
+ //print_line(itos(cinfo.tested));
r_point_A=cinfo.close_A;
r_point_B=cinfo.close_B;
diff --git a/servers/physics/joints/cone_twist_joint_sw.cpp b/servers/physics/joints/cone_twist_joint_sw.cpp
index 5036a1d8a3..cbf444f1e8 100644
--- a/servers/physics/joints/cone_twist_joint_sw.cpp
+++ b/servers/physics/joints/cone_twist_joint_sw.cpp
@@ -156,7 +156,7 @@ bool ConeTwistJointSW::setup(float p_step) {
if (m_swingSpan1 >= real_t(0.05f))
{
b1Axis2 = A->get_transform().basis.xform( this->m_rbAFrame.basis.get_axis(1) );
-// swing1 = btAtan2Fast( b2Axis1.dot(b1Axis2),b2Axis1.dot(b1Axis1) );
+ //swing1 = btAtan2Fast( b2Axis1.dot(b1Axis2),b2Axis1.dot(b1Axis1) );
swx = b2Axis1.dot(b1Axis1);
swy = b2Axis1.dot(b1Axis2);
swing1 = atan2fast(swy, swx);
@@ -169,7 +169,7 @@ bool ConeTwistJointSW::setup(float p_step) {
if (m_swingSpan2 >= real_t(0.05f))
{
b1Axis3 = A->get_transform().basis.xform( this->m_rbAFrame.basis.get_axis(2) );
-// swing2 = btAtan2Fast( b2Axis1.dot(b1Axis3),b2Axis1.dot(b1Axis1) );
+ //swing2 = btAtan2Fast( b2Axis1.dot(b1Axis3),b2Axis1.dot(b1Axis1) );
swx = b2Axis1.dot(b1Axis1);
swy = b2Axis1.dot(b1Axis3);
swing2 = atan2fast(swy, swx);
diff --git a/servers/physics/joints/generic_6dof_joint_sw.cpp b/servers/physics/joints/generic_6dof_joint_sw.cpp
index 5824de0127..48f70d9077 100644
--- a/servers/physics/joints/generic_6dof_joint_sw.cpp
+++ b/servers/physics/joints/generic_6dof_joint_sw.cpp
@@ -50,10 +50,9 @@ real_t btGetMatrixElem(const Basis& mat, int index)
bool matrixToEulerXYZ(const Basis& mat,Vector3& xyz);
bool matrixToEulerXYZ(const Basis& mat,Vector3& xyz)
{
-// // rot = cy*cz -cy*sz sy
-// // cz*sx*sy+cx*sz cx*cz-sx*sy*sz -cy*sx
-// // -cx*cz*sy+sx*sz cz*sx+cx*sy*sz cx*cy
-//
+ // rot = cy*cz -cy*sz sy
+ // cz*sx*sy+cx*sz cx*cz-sx*sy*sz -cy*sx
+ // -cx*cz*sy+sx*sz cz*sx+cx*sy*sz cx*cy
if (btGetMatrixElem(mat,2) < real_t(1.0))
{
@@ -325,16 +324,18 @@ void Generic6DOFJointSW::calculateAngleInfo()
m_calculatedAxis[2] = axis0.cross(m_calculatedAxis[1]);
-// if(m_debugDrawer)
-// {
-//
-// char buff[300];
-// sprintf(buff,"\n X: %.2f ; Y: %.2f ; Z: %.2f ",
-// m_calculatedAxisAngleDiff[0],
-// m_calculatedAxisAngleDiff[1],
-// m_calculatedAxisAngleDiff[2]);
-// m_debugDrawer->reportErrorWarning(buff);
-// }
+ /*
+ if(m_debugDrawer)
+ {
+
+ char buff[300];
+ sprintf(buff,"\n X: %.2f ; Y: %.2f ; Z: %.2f ",
+ m_calculatedAxisAngleDiff[0],
+ m_calculatedAxisAngleDiff[1],
+ m_calculatedAxisAngleDiff[2]);
+ m_debugDrawer->reportErrorWarning(buff);
+ }
+ */
}
diff --git a/servers/physics/joints/hinge_joint_sw.cpp b/servers/physics/joints/hinge_joint_sw.cpp
index 2f07779131..277346fbbb 100644
--- a/servers/physics/joints/hinge_joint_sw.cpp
+++ b/servers/physics/joints/hinge_joint_sw.cpp
@@ -221,7 +221,7 @@ bool HingeJointSW::setup(float p_step) {
// Compute limit information
real_t hingeAngle = get_hinge_angle();
-// print_line("angle: "+rtos(hingeAngle));
+ //print_line("angle: "+rtos(hingeAngle));
//set bias, sign, clear accumulator
m_correction = real_t(0.);
m_limitSign = real_t(0.);
@@ -235,17 +235,17 @@ bool HingeJointSW::setup(float p_step) {
print_line("hi: "+rtos(m_upperLimit));
}*/
-// if (m_lowerLimit < m_upperLimit)
+ //if (m_lowerLimit < m_upperLimit)
if (m_useLimit && m_lowerLimit <= m_upperLimit)
{
-// if (hingeAngle <= m_lowerLimit*m_limitSoftness)
+ //if (hingeAngle <= m_lowerLimit*m_limitSoftness)
if (hingeAngle <= m_lowerLimit)
{
m_correction = (m_lowerLimit - hingeAngle);
m_limitSign = 1.0f;
m_solveLimit = true;
}
-// else if (hingeAngle >= m_upperLimit*m_limitSoftness)
+ //else if (hingeAngle >= m_upperLimit*m_limitSoftness)
else if (hingeAngle >= m_upperLimit)
{
m_correction = m_upperLimit - hingeAngle;
diff --git a/servers/physics/joints/pin_joint_sw.cpp b/servers/physics/joints/pin_joint_sw.cpp
index 292d30443c..9c7fe65684 100644
--- a/servers/physics/joints/pin_joint_sw.cpp
+++ b/servers/physics/joints/pin_joint_sw.cpp
@@ -68,8 +68,8 @@ void PinJointSW::solve(float p_step){
Vector3 normal(0,0,0);
-// Vector3 angvelA = A->get_transform().origin.getBasis().transpose() * A->getAngularVelocity();
-// Vector3 angvelB = B->get_transform().origin.getBasis().transpose() * B->getAngularVelocity();
+ //Vector3 angvelA = A->get_transform().origin.getBasis().transpose() * A->getAngularVelocity();
+ //Vector3 angvelB = B->get_transform().origin.getBasis().transpose() * B->getAngularVelocity();
for (int i=0;i<3;i++)
{
diff --git a/servers/physics/physics_server_sw.cpp b/servers/physics/physics_server_sw.cpp
index 4069ccdccb..b71eae54b0 100644
--- a/servers/physics/physics_server_sw.cpp
+++ b/servers/physics/physics_server_sw.cpp
@@ -1395,11 +1395,13 @@ void PhysicsServerSW::free(RID p_rid) {
BodySW *body = body_owner.get(p_rid);
-// if (body->get_state_query())
-// _clear_query(body->get_state_query());
+ /*
+ if (body->get_state_query())
+ _clear_query(body->get_state_query());
-// if (body->get_direct_state_query())
-// _clear_query(body->get_direct_state_query());
+ if (body->get_direct_state_query())
+ _clear_query(body->get_direct_state_query());
+ */
body->set_space(NULL);
@@ -1422,8 +1424,10 @@ void PhysicsServerSW::free(RID p_rid) {
AreaSW *area = area_owner.get(p_rid);
-// if (area->get_monitor_query())
-// _clear_query(area->get_monitor_query());
+ /*
+ if (area->get_monitor_query())
+ _clear_query(area->get_monitor_query());
+ */
area->set_space(NULL);
diff --git a/servers/physics/physics_server_sw.h b/servers/physics/physics_server_sw.h
index a3f98392fc..72b133c4b9 100644
--- a/servers/physics/physics_server_sw.h
+++ b/servers/physics/physics_server_sw.h
@@ -62,7 +62,7 @@ friend class PhysicsDirectSpaceStateSW;
mutable RID_Owner<BodySW> body_owner;
mutable RID_Owner<JointSW> joint_owner;
-// void _clear_query(QuerySW *p_query);
+ //void _clear_query(QuerySW *p_query);
public:
struct CollCbkData {
diff --git a/servers/physics/shape_sw.cpp b/servers/physics/shape_sw.cpp
index 59ade71475..9f8d1107f4 100644
--- a/servers/physics/shape_sw.cpp
+++ b/servers/physics/shape_sw.cpp
@@ -1048,8 +1048,10 @@ void ConcavePolygonShapeSW::_cull_segment(int p_idx,_SegmentCullParams *p_params
const BVH *bvh=&p_params->bvh[p_idx];
- //if (p_params->dir.dot(bvh->aabb.get_support(-p_params->dir))>p_params->min_d)
- // return; //test against whole AABB, which isn't very costly
+ /*
+ if (p_params->dir.dot(bvh->aabb.get_support(-p_params->dir))>p_params->min_d)
+ return; //test against whole AABB, which isn't very costly
+ */
//printf("addr: %p\n",bvh);
@@ -1309,7 +1311,7 @@ _VolumeSW_BVH* _volume_sw_build_bvh(_VolumeSW_BVH_Element *p_elements,int p_size
bvh->left=_volume_sw_build_bvh(p_elements,split,count);
bvh->right=_volume_sw_build_bvh(&p_elements[split],p_size-split,count);
-// printf("branch at %p - %i: %i\n",bvh,count,bvh->face_index);
+ //printf("branch at %p - %i: %i\n",bvh,count,bvh->face_index);
count++;
return bvh;
}
@@ -1322,7 +1324,7 @@ void ConcavePolygonShapeSW::_fill_bvh(_VolumeSW_BVH* p_bvh_tree,BVH* p_bvh_array
p_bvh_array[idx].aabb=p_bvh_tree->aabb;
p_bvh_array[idx].face_index=p_bvh_tree->face_index;
-// printf("%p - %i: %i(%p) -- %p:%p\n",%p_bvh_array[idx],p_idx,p_bvh_array[i]->face_index,&p_bvh_tree->face_index,p_bvh_tree->left,p_bvh_tree->right);
+ //printf("%p - %i: %i(%p) -- %p:%p\n",%p_bvh_array[idx],p_idx,p_bvh_array[i]->face_index,&p_bvh_tree->face_index,p_bvh_tree->left,p_bvh_tree->right);
if (p_bvh_tree->left) {
diff --git a/servers/physics/shape_sw.h b/servers/physics/shape_sw.h
index 3cbd1c9609..919c681105 100644
--- a/servers/physics/shape_sw.h
+++ b/servers/physics/shape_sw.h
@@ -366,8 +366,8 @@ struct HeightMapShapeSW : public ConcaveShapeSW {
int depth;
float cell_size;
-// void _cull_segment(int p_idx,_SegmentCullParams *p_params) const;
-// void _cull(int p_idx,_CullParams *p_params) const;
+ //void _cull_segment(int p_idx,_SegmentCullParams *p_params) const;
+ //void _cull(int p_idx,_CullParams *p_params) const;
void _setup(PoolVector<float> p_heights,int p_width,int p_depth,float p_cell_size);
public:
diff --git a/servers/physics/space_sw.cpp b/servers/physics/space_sw.cpp
index d73d5f140e..eaa3d3194c 100644
--- a/servers/physics/space_sw.cpp
+++ b/servers/physics/space_sw.cpp
@@ -204,8 +204,10 @@ bool PhysicsDirectSpaceStateSW::cast_motion(const RID& p_shape, const Transform&
aabb=aabb.merge(Rect3(aabb.pos+p_motion,aabb.size)); //motion
aabb=aabb.grow(p_margin);
- //if (p_motion!=Vector3())
- // print_line(p_motion);
+ /*
+ if (p_motion!=Vector3())
+ print_line(p_motion);
+ */
int amount = space->broadphase->cull_aabb(aabb,space->intersection_query_results,SpaceSW::INTERSECTION_QUERY_MAX,space->intersection_query_subindex_results);
diff --git a/servers/physics/step_sw.cpp b/servers/physics/step_sw.cpp
index e24081761b..30ee33a7de 100644
--- a/servers/physics/step_sw.cpp
+++ b/servers/physics/step_sw.cpp
@@ -233,7 +233,7 @@ void StepSW::step(SpaceSW* p_space,float p_delta,int p_iterations) {
}
-// print_line("island count: "+itos(island_count)+" active count: "+itos(active_count));
+ //print_line("island count: "+itos(island_count)+" active count: "+itos(active_count));
/* SETUP CONSTRAINT ISLANDS */
{
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-01 15:32:52 +0000