5 files changed, 4 insertions, 8 deletions
diff --git a/servers/physics/collision_solver_sat.cpp b/servers/physics/collision_solver_sat.cpp
index 087ae570fb..f17f6f7014 100644
--- a/servers/physics/collision_solver_sat.cpp
+++ b/servers/physics/collision_solver_sat.cpp
@@ -98,7 +98,6 @@ 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)) < CMP_EPSILON) {
 
 		// should handle somehow..
diff --git a/servers/physics/collision_solver_sw.cpp b/servers/physics/collision_solver_sw.cpp
index 2f2f6d2908..86ef719f6f 100644
--- a/servers/physics/collision_solver_sw.cpp
+++ b/servers/physics/collision_solver_sw.cpp
@@ -31,7 +31,6 @@
 #include "collision_solver_sw.h"
 #include "collision_solver_sat.h"
 
-#include "collision_solver_sat.h"
 #include "gjk_epa.h"
 
 #define collision_solver sat_calculate_penetration
diff --git a/servers/physics/joints/generic_6dof_joint_sw.cpp b/servers/physics/joints/generic_6dof_joint_sw.cpp
index 9b1a41e80d..60505c08c5 100644
--- a/servers/physics/joints/generic_6dof_joint_sw.cpp
+++ b/servers/physics/joints/generic_6dof_joint_sw.cpp
@@ -83,7 +83,7 @@ int G6DOFRotationalLimitMotorSW::testLimitValue(real_t test_value) {
 real_t G6DOFRotationalLimitMotorSW::solveAngularLimits(
 		real_t timeStep, Vector3 &axis, real_t jacDiagABInv,
 		BodySW *body0, BodySW *body1) {
-	if (needApplyTorques() == false) return 0.0f;
+	if (!needApplyTorques()) return 0.0f;
 
 	real_t target_velocity = m_targetVelocity;
 	real_t maxMotorForce = m_maxMotorForce;
diff --git a/servers/physics/joints/generic_6dof_joint_sw.h b/servers/physics/joints/generic_6dof_joint_sw.h
index b350546c5d..035525c9e6 100644
--- a/servers/physics/joints/generic_6dof_joint_sw.h
+++ b/servers/physics/joints/generic_6dof_joint_sw.h
@@ -118,14 +118,12 @@ public:
 
 	//! Is limited
 	bool isLimited() {
-		if (m_loLimit >= m_hiLimit) return false;
-		return true;
+		return (m_loLimit < m_hiLimit);
 	}
 
 	//! Need apply correction
 	bool needApplyTorques() {
-		if (m_currentLimit == 0 && m_enableMotor == false) return false;
-		return true;
+		return (m_enableMotor || m_currentLimit != 0);
 	}
 
 	//! calculates  error
diff --git a/servers/physics/shape_sw.cpp b/servers/physics/shape_sw.cpp
index e1c985f44f..e7fc821c2c 100644
--- a/servers/physics/shape_sw.cpp
+++ b/servers/physics/shape_sw.cpp
@@ -1047,7 +1047,7 @@ void FaceShapeSW::get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_su
 	/** FIND SUPPORT VERTEX **/
 
 	int vert_support_idx = -1;
-	real_t support_max;
+	real_t support_max = 0;
 
 	for (int i = 0; i < 3; i++) {