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-rw-r--r--servers/physics/area_sw.cpp6
-rw-r--r--servers/physics/body_pair_sw.cpp4
-rw-r--r--servers/physics/body_sw.cpp36
-rw-r--r--servers/physics/body_sw.h6
-rw-r--r--servers/physics/collision_object_sw.cpp4
-rw-r--r--servers/physics/collision_solver_sat.cpp3
-rw-r--r--servers/physics/joints/cone_twist_joint_sw.cpp4
-rw-r--r--servers/physics/joints/generic_6dof_joint_sw.cpp8
-rw-r--r--servers/physics/joints/hinge_joint_sw.cpp8
-rw-r--r--servers/physics/joints/jacobian_entry_sw.h18
-rw-r--r--servers/physics/joints/pin_joint_sw.cpp4
-rw-r--r--servers/physics/joints/slider_joint_sw.cpp6
-rw-r--r--servers/physics/joints_sw.h4
-rw-r--r--servers/physics/physics_server_sw.cpp8
-rw-r--r--servers/physics/physics_server_sw.h4
15 files changed, 66 insertions, 57 deletions
diff --git a/servers/physics/area_sw.cpp b/servers/physics/area_sw.cpp
index 387230a478..9615708f1d 100644
--- a/servers/physics/area_sw.cpp
+++ b/servers/physics/area_sw.cpp
@@ -237,8 +237,10 @@ void AreaSW::call_queries() {
//get_space()->area_remove_from_monitor_query_list(&monitor_query_list);
}
-AreaSW::AreaSW()
- : CollisionObjectSW(TYPE_AREA), monitor_query_list(this), moved_list(this) {
+AreaSW::AreaSW() :
+ CollisionObjectSW(TYPE_AREA),
+ monitor_query_list(this),
+ moved_list(this) {
_set_static(true); //areas are never active
space_override_mode = PhysicsServer::AREA_SPACE_OVERRIDE_DISABLED;
diff --git a/servers/physics/body_pair_sw.cpp b/servers/physics/body_pair_sw.cpp
index ef54eb58cf..80e0ad1b07 100644
--- a/servers/physics/body_pair_sw.cpp
+++ b/servers/physics/body_pair_sw.cpp
@@ -464,8 +464,8 @@ void BodyPairSW::solve(real_t p_step) {
}
}
-BodyPairSW::BodyPairSW(BodySW *p_A, int p_shape_A, BodySW *p_B, int p_shape_B)
- : ConstraintSW(_arr, 2) {
+BodyPairSW::BodyPairSW(BodySW *p_A, int p_shape_A, BodySW *p_B, int p_shape_B) :
+ ConstraintSW(_arr, 2) {
A = p_A;
B = p_B;
diff --git a/servers/physics/body_sw.cpp b/servers/physics/body_sw.cpp
index f8cd6ca858..bba4d7a147 100644
--- a/servers/physics/body_sw.cpp
+++ b/servers/physics/body_sw.cpp
@@ -559,32 +559,30 @@ void BodySW::integrate_velocities(real_t p_step) {
if (fi_callback)
get_space()->body_add_to_state_query_list(&direct_state_query_list);
- if (mode == PhysicsServer::BODY_MODE_KINEMATIC) {
-
- _set_transform(new_transform, false);
- _set_inv_transform(new_transform.affine_inverse());
- if (contacts.size() == 0 && linear_velocity == Vector3() && angular_velocity == Vector3())
- set_active(false); //stopped moving, deactivate
-
- return;
- }
-
//apply axis lock
- if (axis_lock != PhysicsServer::BODY_AXIS_LOCK_DISABLED) {
-
- int axis = axis_lock - 1;
+ if (locked_axis[0] || locked_axis[1] || locked_axis[2]) {
for (int i = 0; i < 3; i++) {
- if (i == axis) {
+ if (locked_axis[i]) {
linear_velocity[i] = 0;
biased_linear_velocity[i] = 0;
+ new_transform.origin[i] = get_transform().origin[i];
} else {
-
angular_velocity[i] = 0;
biased_angular_velocity[i] = 0;
}
}
}
+ if (mode == PhysicsServer::BODY_MODE_KINEMATIC) {
+
+ _set_transform(new_transform, false);
+ _set_inv_transform(new_transform.affine_inverse());
+ if (contacts.size() == 0 && linear_velocity == Vector3() && angular_velocity == Vector3())
+ set_active(false); //stopped moving, deactivate
+
+ return;
+ }
+
Vector3 total_angular_velocity = angular_velocity + biased_angular_velocity;
real_t ang_vel = total_angular_velocity.length();
@@ -740,8 +738,11 @@ void BodySW::set_kinematic_margin(real_t p_margin) {
kinematic_safe_margin = p_margin;
}
-BodySW::BodySW()
- : CollisionObjectSW(TYPE_BODY), active_list(this), inertia_update_list(this), direct_state_query_list(this) {
+BodySW::BodySW() :
+ CollisionObjectSW(TYPE_BODY),
+ active_list(this),
+ inertia_update_list(this),
+ direct_state_query_list(this) {
mode = PhysicsServer::BODY_MODE_RIGID;
active = true;
@@ -772,7 +773,6 @@ BodySW::BodySW()
continuous_cd = false;
can_sleep = false;
fi_callback = NULL;
- axis_lock = PhysicsServer::BODY_AXIS_LOCK_DISABLED;
}
BodySW::~BodySW() {
diff --git a/servers/physics/body_sw.h b/servers/physics/body_sw.h
index 738d99c764..aab6def1a9 100644
--- a/servers/physics/body_sw.h
+++ b/servers/physics/body_sw.h
@@ -53,7 +53,7 @@ class BodySW : public CollisionObjectSW {
real_t angular_damp;
real_t gravity_scale;
- PhysicsServer::BodyAxisLock axis_lock;
+ bool locked_axis[3] = { false, false, false };
real_t kinematic_safe_margin;
real_t _inv_mass;
@@ -288,8 +288,8 @@ public:
_FORCE_INLINE_ Vector3 get_gravity() const { return gravity; }
_FORCE_INLINE_ real_t get_bounce() const { return bounce; }
- _FORCE_INLINE_ void set_axis_lock(PhysicsServer::BodyAxisLock p_lock) { axis_lock = p_lock; }
- _FORCE_INLINE_ PhysicsServer::BodyAxisLock get_axis_lock() const { return axis_lock; }
+ _FORCE_INLINE_ void set_axis_lock(int axis, bool lock) { locked_axis[axis] = lock; }
+ _FORCE_INLINE_ bool get_axis_lock() const { return locked_axis; }
void integrate_forces(real_t p_step);
void integrate_velocities(real_t p_step);
diff --git a/servers/physics/collision_object_sw.cpp b/servers/physics/collision_object_sw.cpp
index 126f8141ff..ef7cd0780f 100644
--- a/servers/physics/collision_object_sw.cpp
+++ b/servers/physics/collision_object_sw.cpp
@@ -217,8 +217,8 @@ void CollisionObjectSW::_shape_changed() {
_shapes_changed();
}
-CollisionObjectSW::CollisionObjectSW(Type p_type)
- : pending_shape_update_list(this) {
+CollisionObjectSW::CollisionObjectSW(Type p_type) :
+ pending_shape_update_list(this) {
_static = true;
type = p_type;
diff --git a/servers/physics/collision_solver_sat.cpp b/servers/physics/collision_solver_sat.cpp
index a044df7f31..f56d311a59 100644
--- a/servers/physics/collision_solver_sat.cpp
+++ b/servers/physics/collision_solver_sat.cpp
@@ -255,7 +255,8 @@ static void _generate_contacts_from_supports(const Vector3 *p_points_A, int p_po
_generate_contacts_face_face,
},
{
- 0, 0,
+ 0,
+ 0,
_generate_contacts_face_face,
}
};
diff --git a/servers/physics/joints/cone_twist_joint_sw.cpp b/servers/physics/joints/cone_twist_joint_sw.cpp
index 3c900d4fbe..617ce125b3 100644
--- a/servers/physics/joints/cone_twist_joint_sw.cpp
+++ b/servers/physics/joints/cone_twist_joint_sw.cpp
@@ -85,8 +85,8 @@ static _FORCE_INLINE_ real_t atan2fast(real_t y, real_t x) {
return (y < 0.0f) ? -angle : angle;
}
-ConeTwistJointSW::ConeTwistJointSW(BodySW *rbA, BodySW *rbB, const Transform &rbAFrame, const Transform &rbBFrame)
- : JointSW(_arr, 2) {
+ConeTwistJointSW::ConeTwistJointSW(BodySW *rbA, BodySW *rbB, const Transform &rbAFrame, const Transform &rbBFrame) :
+ JointSW(_arr, 2) {
A = rbA;
B = rbB;
diff --git a/servers/physics/joints/generic_6dof_joint_sw.cpp b/servers/physics/joints/generic_6dof_joint_sw.cpp
index 1e323be36c..b8234be4d9 100644
--- a/servers/physics/joints/generic_6dof_joint_sw.cpp
+++ b/servers/physics/joints/generic_6dof_joint_sw.cpp
@@ -209,9 +209,11 @@ real_t G6DOFTranslationalLimitMotorSW::solveLinearAxis(
//////////////////////////// G6DOFTranslationalLimitMotorSW ////////////////////////////////////
-Generic6DOFJointSW::Generic6DOFJointSW(BodySW *rbA, BodySW *rbB, const Transform &frameInA, const Transform &frameInB, bool useLinearReferenceFrameA)
- : JointSW(_arr, 2), m_frameInA(frameInA), m_frameInB(frameInB),
- m_useLinearReferenceFrameA(useLinearReferenceFrameA) {
+Generic6DOFJointSW::Generic6DOFJointSW(BodySW *rbA, BodySW *rbB, const Transform &frameInA, const Transform &frameInB, bool useLinearReferenceFrameA) :
+ JointSW(_arr, 2),
+ m_frameInA(frameInA),
+ m_frameInB(frameInB),
+ m_useLinearReferenceFrameA(useLinearReferenceFrameA) {
A = rbA;
B = rbB;
A->add_constraint(this, 0);
diff --git a/servers/physics/joints/hinge_joint_sw.cpp b/servers/physics/joints/hinge_joint_sw.cpp
index fe20a55b60..2edccc26c2 100644
--- a/servers/physics/joints/hinge_joint_sw.cpp
+++ b/servers/physics/joints/hinge_joint_sw.cpp
@@ -68,8 +68,8 @@ static void plane_space(const Vector3 &n, Vector3 &p, Vector3 &q) {
}
}
-HingeJointSW::HingeJointSW(BodySW *rbA, BodySW *rbB, const Transform &frameA, const Transform &frameB)
- : JointSW(_arr, 2) {
+HingeJointSW::HingeJointSW(BodySW *rbA, BodySW *rbB, const Transform &frameA, const Transform &frameB) :
+ JointSW(_arr, 2) {
A = rbA;
B = rbB;
@@ -101,8 +101,8 @@ HingeJointSW::HingeJointSW(BodySW *rbA, BodySW *rbB, const Transform &frameA, co
}
HingeJointSW::HingeJointSW(BodySW *rbA, BodySW *rbB, const Vector3 &pivotInA, const Vector3 &pivotInB,
- const Vector3 &axisInA, const Vector3 &axisInB)
- : JointSW(_arr, 2) {
+ const Vector3 &axisInA, const Vector3 &axisInB) :
+ JointSW(_arr, 2) {
A = rbA;
B = rbB;
diff --git a/servers/physics/joints/jacobian_entry_sw.h b/servers/physics/joints/jacobian_entry_sw.h
index 79ce0e6157..7aeb06ddd8 100644
--- a/servers/physics/joints/jacobian_entry_sw.h
+++ b/servers/physics/joints/jacobian_entry_sw.h
@@ -64,8 +64,8 @@ public:
const Vector3 &inertiaInvA,
const real_t massInvA,
const Vector3 &inertiaInvB,
- const real_t massInvB)
- : m_linearJointAxis(jointAxis) {
+ const real_t massInvB) :
+ m_linearJointAxis(jointAxis) {
m_aJ = world2A.xform(rel_pos1.cross(m_linearJointAxis));
m_bJ = world2B.xform(rel_pos2.cross(-m_linearJointAxis));
m_0MinvJt = inertiaInvA * m_aJ;
@@ -80,8 +80,8 @@ public:
const Basis &world2A,
const Basis &world2B,
const Vector3 &inertiaInvA,
- const Vector3 &inertiaInvB)
- : m_linearJointAxis(Vector3(real_t(0.), real_t(0.), real_t(0.))) {
+ const Vector3 &inertiaInvB) :
+ m_linearJointAxis(Vector3(real_t(0.), real_t(0.), real_t(0.))) {
m_aJ = world2A.xform(jointAxis);
m_bJ = world2B.xform(-jointAxis);
m_0MinvJt = inertiaInvA * m_aJ;
@@ -95,8 +95,10 @@ public:
JacobianEntrySW(const Vector3 &axisInA,
const Vector3 &axisInB,
const Vector3 &inertiaInvA,
- const Vector3 &inertiaInvB)
- : m_linearJointAxis(Vector3(real_t(0.), real_t(0.), real_t(0.))), m_aJ(axisInA), m_bJ(-axisInB) {
+ const Vector3 &inertiaInvB) :
+ m_linearJointAxis(Vector3(real_t(0.), real_t(0.), real_t(0.))),
+ m_aJ(axisInA),
+ m_bJ(-axisInB) {
m_0MinvJt = inertiaInvA * m_aJ;
m_1MinvJt = inertiaInvB * m_bJ;
m_Adiag = m_0MinvJt.dot(m_aJ) + m_1MinvJt.dot(m_bJ);
@@ -110,8 +112,8 @@ public:
const Vector3 &rel_pos1, const Vector3 &rel_pos2,
const Vector3 &jointAxis,
const Vector3 &inertiaInvA,
- const real_t massInvA)
- : m_linearJointAxis(jointAxis) {
+ const real_t massInvA) :
+ m_linearJointAxis(jointAxis) {
m_aJ = world2A.xform(rel_pos1.cross(jointAxis));
m_bJ = world2A.xform(rel_pos2.cross(-jointAxis));
m_0MinvJt = inertiaInvA * m_aJ;
diff --git a/servers/physics/joints/pin_joint_sw.cpp b/servers/physics/joints/pin_joint_sw.cpp
index 779e086858..ab2ab2299a 100644
--- a/servers/physics/joints/pin_joint_sw.cpp
+++ b/servers/physics/joints/pin_joint_sw.cpp
@@ -146,8 +146,8 @@ real_t PinJointSW::get_param(PhysicsServer::PinJointParam p_param) const {
return 0;
}
-PinJointSW::PinJointSW(BodySW *p_body_a, const Vector3 &p_pos_a, BodySW *p_body_b, const Vector3 &p_pos_b)
- : JointSW(_arr, 2) {
+PinJointSW::PinJointSW(BodySW *p_body_a, const Vector3 &p_pos_a, BodySW *p_body_b, const Vector3 &p_pos_b) :
+ JointSW(_arr, 2) {
A = p_body_a;
B = p_body_b;
diff --git a/servers/physics/joints/slider_joint_sw.cpp b/servers/physics/joints/slider_joint_sw.cpp
index 66585f2605..7777de0324 100644
--- a/servers/physics/joints/slider_joint_sw.cpp
+++ b/servers/physics/joints/slider_joint_sw.cpp
@@ -112,8 +112,10 @@ void SliderJointSW::initParams() {
//-----------------------------------------------------------------------------
-SliderJointSW::SliderJointSW(BodySW *rbA, BodySW *rbB, const Transform &frameInA, const Transform &frameInB)
- : JointSW(_arr, 2), m_frameInA(frameInA), m_frameInB(frameInB) {
+SliderJointSW::SliderJointSW(BodySW *rbA, BodySW *rbB, const Transform &frameInA, const Transform &frameInB) :
+ JointSW(_arr, 2),
+ m_frameInA(frameInA),
+ m_frameInB(frameInB) {
A = rbA;
B = rbB;
diff --git a/servers/physics/joints_sw.h b/servers/physics/joints_sw.h
index b15ae08049..29581c7337 100644
--- a/servers/physics/joints_sw.h
+++ b/servers/physics/joints_sw.h
@@ -37,8 +37,8 @@ class JointSW : public ConstraintSW {
public:
virtual PhysicsServer::JointType get_type() const = 0;
- _FORCE_INLINE_ JointSW(BodySW **p_body_ptr = NULL, int p_body_count = 0)
- : ConstraintSW(p_body_ptr, p_body_count) {
+ _FORCE_INLINE_ JointSW(BodySW **p_body_ptr = NULL, int p_body_count = 0) :
+ ConstraintSW(p_body_ptr, p_body_count) {
}
};
diff --git a/servers/physics/physics_server_sw.cpp b/servers/physics/physics_server_sw.cpp
index ce63d84617..2909308366 100644
--- a/servers/physics/physics_server_sw.cpp
+++ b/servers/physics/physics_server_sw.cpp
@@ -794,19 +794,19 @@ void PhysicsServerSW::body_set_axis_velocity(RID p_body, const Vector3 &p_axis_v
body->wakeup();
};
-void PhysicsServerSW::body_set_axis_lock(RID p_body, BodyAxisLock p_lock) {
+void PhysicsServerSW::body_set_axis_lock(RID p_body, int axis, bool lock) {
BodySW *body = body_owner.get(p_body);
ERR_FAIL_COND(!body);
- body->set_axis_lock(p_lock);
+ body->set_axis_lock(axis, lock);
body->wakeup();
}
-PhysicsServerSW::BodyAxisLock PhysicsServerSW::body_get_axis_lock(RID p_body) const {
+bool PhysicsServerSW::body_get_axis_lock(RID p_body) const {
const BodySW *body = body_owner.get(p_body);
- ERR_FAIL_COND_V(!body, BODY_AXIS_LOCK_DISABLED);
+ ERR_FAIL_COND_V(!body, 0);
return body->get_axis_lock();
}
diff --git a/servers/physics/physics_server_sw.h b/servers/physics/physics_server_sw.h
index fa754a1c8f..fea6e34ebd 100644
--- a/servers/physics/physics_server_sw.h
+++ b/servers/physics/physics_server_sw.h
@@ -203,8 +203,8 @@ public:
virtual void body_apply_torque_impulse(RID p_body, const Vector3 &p_impulse);
virtual void body_set_axis_velocity(RID p_body, const Vector3 &p_axis_velocity);
- virtual void body_set_axis_lock(RID p_body, BodyAxisLock p_lock);
- virtual BodyAxisLock body_get_axis_lock(RID p_body) const;
+ virtual void body_set_axis_lock(RID p_body, int axis, bool p_lock);
+ virtual bool body_get_axis_lock(RID p_body) const;
virtual void body_add_collision_exception(RID p_body, RID p_body_b);
virtual void body_remove_collision_exception(RID p_body, RID p_body_b);
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-23 05:24:47 +0000