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Diffstat (limited to 'servers/physics_2d/body_pair_2d_sw.cpp')
-rw-r--r--servers/physics_2d/body_pair_2d_sw.cpp23
1 files changed, 0 insertions, 23 deletions
diff --git a/servers/physics_2d/body_pair_2d_sw.cpp b/servers/physics_2d/body_pair_2d_sw.cpp
index f38a76cff6..32a3dd2504 100644
--- a/servers/physics_2d/body_pair_2d_sw.cpp
+++ b/servers/physics_2d/body_pair_2d_sw.cpp
@@ -36,14 +36,12 @@
#define ACCUMULATE_IMPULSES
void BodyPair2DSW::_add_contact(const Vector2 &p_point_A, const Vector2 &p_point_B, void *p_self) {
-
BodyPair2DSW *self = (BodyPair2DSW *)p_self;
self->_contact_added_callback(p_point_A, p_point_B);
}
void BodyPair2DSW::_contact_added_callback(const Vector2 &p_point_A, const Vector2 &p_point_B) {
-
// check if we already have the contact
Vector2 local_A = A->get_inv_transform().basis_xform(p_point_A);
@@ -69,12 +67,10 @@ void BodyPair2DSW::_contact_added_callback(const Vector2 &p_point_A, const Vecto
real_t recycle_radius_2 = space->get_contact_recycle_radius() * space->get_contact_recycle_radius();
for (int i = 0; i < contact_count; i++) {
-
Contact &c = contacts[i];
if (
c.local_A.distance_squared_to(local_A) < (recycle_radius_2) &&
c.local_B.distance_squared_to(local_B) < (recycle_radius_2)) {
-
contact.acc_normal_impulse = c.acc_normal_impulse;
contact.acc_tangent_impulse = c.acc_tangent_impulse;
contact.acc_bias_impulse = c.acc_bias_impulse;
@@ -86,14 +82,12 @@ void BodyPair2DSW::_contact_added_callback(const Vector2 &p_point_A, const Vecto
// figure out if the contact amount must be reduced to fit the new contact
if (new_index == MAX_CONTACTS) {
-
// remove the contact with the minimum depth
int least_deep = -1;
real_t min_depth = 1e10;
for (int i = 0; i <= contact_count; i++) {
-
Contact &c = (i == contact_count) ? contact : contacts[i];
Vector2 global_A = A->get_transform().basis_xform(c.local_A);
Vector2 global_B = B->get_transform().basis_xform(c.local_B) + offset_B;
@@ -102,7 +96,6 @@ void BodyPair2DSW::_contact_added_callback(const Vector2 &p_point_A, const Vecto
real_t depth = axis.dot(c.normal);
if (depth < min_depth) {
-
min_depth = depth;
least_deep = i;
}
@@ -121,20 +114,17 @@ void BodyPair2DSW::_contact_added_callback(const Vector2 &p_point_A, const Vecto
contacts[new_index] = contact;
if (new_index == contact_count) {
-
contact_count++;
}
}
void BodyPair2DSW::_validate_contacts() {
-
//make sure to erase contacts that are no longer valid
real_t max_separation = space->get_contact_max_separation();
real_t max_separation2 = max_separation * max_separation;
for (int i = 0; i < contact_count; i++) {
-
Contact &c = contacts[i];
bool erase = false;
@@ -169,7 +159,6 @@ void BodyPair2DSW::_validate_contacts() {
}
bool BodyPair2DSW::_test_ccd(real_t p_step, Body2DSW *p_A, int p_shape_A, const Transform2D &p_xform_A, Body2DSW *p_B, int p_shape_B, const Transform2D &p_xform_B, bool p_swap_result) {
-
Vector2 motion = p_A->get_linear_velocity() * p_step;
real_t mlen = motion.length();
if (mlen < CMP_EPSILON)
@@ -228,7 +217,6 @@ real_t combine_friction(Body2DSW *A, Body2DSW *B) {
}
bool BodyPair2DSW::setup(real_t p_step) {
-
//cannot collide
if (!A->test_collision_mask(B) || A->has_exception(B->get_self()) || B->has_exception(A->get_self()) || (A->get_mode() <= PhysicsServer2D::BODY_MODE_KINEMATIC && B->get_mode() <= PhysicsServer2D::BODY_MODE_KINEMATIC && A->get_max_contacts_reported() == 0 && B->get_max_contacts_reported() == 0)) {
collided = false;
@@ -270,7 +258,6 @@ bool BodyPair2DSW::setup(real_t p_step) {
collided = CollisionSolver2DSW::solve(shape_A_ptr, xform_A, motion_A, shape_B_ptr, xform_B, motion_B, _add_contact, this, &sep_axis);
if (!collided) {
-
//test ccd (currently just a raycast)
if (A->get_continuous_collision_detection_mode() == PhysicsServer2D::CCD_MODE_CAST_RAY && A->get_mode() > PhysicsServer2D::BODY_MODE_KINEMATIC) {
@@ -294,7 +281,6 @@ bool BodyPair2DSW::setup(real_t p_step) {
//if (!prev_collided) {
{
-
if (A->is_shape_set_as_one_way_collision(shape_A)) {
Vector2 direction = xform_A.get_axis(1).normalized();
bool valid = false;
@@ -345,7 +331,6 @@ bool BodyPair2DSW::setup(real_t p_step) {
real_t bias = 0.3;
if (shape_A_ptr->get_custom_bias() || shape_B_ptr->get_custom_bias()) {
-
if (shape_A_ptr->get_custom_bias() == 0)
bias = shape_B_ptr->get_custom_bias();
else if (shape_B_ptr->get_custom_bias() == 0)
@@ -361,7 +346,6 @@ bool BodyPair2DSW::setup(real_t p_step) {
bool do_process = false;
for (int i = 0; i < contact_count; i++) {
-
Contact &c = contacts[i];
Vector2 global_A = xform_Au.xform(c.local_A);
@@ -388,7 +372,6 @@ bool BodyPair2DSW::setup(real_t p_step) {
c.rB = global_B - offset_B;
if (gather_A | gather_B) {
-
//Vector2 crB( -B->get_angular_velocity() * c.rB.y, B->get_angular_velocity() * c.rB.x );
global_A += offset_A;
@@ -399,7 +382,6 @@ bool BodyPair2DSW::setup(real_t p_step) {
A->add_contact(global_A, -c.normal, depth, shape_A, global_B, shape_B, B->get_instance_id(), B->get_self(), crB + B->get_linear_velocity());
}
if (gather_B) {
-
Vector2 crA(-A->get_angular_velocity() * c.rA.y, A->get_angular_velocity() * c.rA.x);
B->add_contact(global_B, c.normal, depth, shape_B, global_A, shape_A, A->get_instance_id(), A->get_self(), crA + A->get_linear_velocity());
}
@@ -442,7 +424,6 @@ bool BodyPair2DSW::setup(real_t p_step) {
c.bounce = combine_bounce(A, B);
if (c.bounce) {
-
Vector2 crA(-A->get_angular_velocity() * c.rA.y, A->get_angular_velocity() * c.rA.x);
Vector2 crB(-B->get_angular_velocity() * c.rB.y, B->get_angular_velocity() * c.rB.x);
Vector2 dv = B->get_linear_velocity() + crB - A->get_linear_velocity() - crA;
@@ -456,12 +437,10 @@ bool BodyPair2DSW::setup(real_t p_step) {
}
void BodyPair2DSW::solve(real_t p_step) {
-
if (!collided)
return;
for (int i = 0; i < contact_count; ++i) {
-
Contact &c = contacts[i];
cc++;
@@ -512,7 +491,6 @@ void BodyPair2DSW::solve(real_t p_step) {
BodyPair2DSW::BodyPair2DSW(Body2DSW *p_A, int p_shape_A, Body2DSW *p_B, int p_shape_B) :
Constraint2DSW(_arr, 2) {
-
A = p_A;
B = p_B;
shape_A = p_shape_A;
@@ -526,7 +504,6 @@ BodyPair2DSW::BodyPair2DSW(Body2DSW *p_A, int p_shape_A, Body2DSW *p_B, int p_sh
}
BodyPair2DSW::~BodyPair2DSW() {
-
A->remove_constraint(this);
B->remove_constraint(this);
}
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-22 02:07:46 +0000