diff options
Diffstat (limited to 'servers/physics_2d/collision_solver_2d_sat.cpp')
| -rw-r--r-- | servers/physics_2d/collision_solver_2d_sat.cpp | 64 |
1 files changed, 0 insertions, 64 deletions
diff --git a/servers/physics_2d/collision_solver_2d_sat.cpp b/servers/physics_2d/collision_solver_2d_sat.cpp index a954cb3de3..58cba28fe1 100644 --- a/servers/physics_2d/collision_solver_2d_sat.cpp +++ b/servers/physics_2d/collision_solver_2d_sat.cpp @@ -33,7 +33,6 @@ #include "core/math/geometry.h" struct _CollectorCallback2D { - CollisionSolver2DSW::CallbackResult callback; void *userdata; bool swap; @@ -42,7 +41,6 @@ struct _CollectorCallback2D { Vector2 *sep_axis; _FORCE_INLINE_ void call(const Vector2 &p_point_A, const Vector2 &p_point_B) { - /* if (normal.dot(p_point_A) >= normal.dot(p_point_B)) return; @@ -57,7 +55,6 @@ struct _CollectorCallback2D { typedef void (*GenerateContactsFunc)(const Vector2 *, int, const Vector2 *, int, _CollectorCallback2D *); _FORCE_INLINE_ static void _generate_contacts_point_point(const Vector2 *p_points_A, int p_point_count_A, const Vector2 *p_points_B, int p_point_count_B, _CollectorCallback2D *p_collector) { - #ifdef DEBUG_ENABLED ERR_FAIL_COND(p_point_count_A != 1); ERR_FAIL_COND(p_point_count_B != 1); @@ -67,7 +64,6 @@ _FORCE_INLINE_ static void _generate_contacts_point_point(const Vector2 *p_point } _FORCE_INLINE_ static void _generate_contacts_point_edge(const Vector2 *p_points_A, int p_point_count_A, const Vector2 *p_points_B, int p_point_count_B, _CollectorCallback2D *p_collector) { - #ifdef DEBUG_ENABLED ERR_FAIL_COND(p_point_count_A != 1); ERR_FAIL_COND(p_point_count_B != 2); @@ -85,7 +81,6 @@ struct _generate_contacts_Pair { }; _FORCE_INLINE_ static void _generate_contacts_edge_edge(const Vector2 *p_points_A, int p_point_count_A, const Vector2 *p_points_B, int p_point_count_B, _CollectorCallback2D *p_collector) { - #ifdef DEBUG_ENABLED ERR_FAIL_COND(p_point_count_A != 2); ERR_FAIL_COND(p_point_count_B != 2); // circle is actually a 4x3 matrix @@ -115,7 +110,6 @@ _FORCE_INLINE_ static void _generate_contacts_edge_edge(const Vector2 *p_points_ sa.sort(dvec, 4); for (int i = 1; i <= 2; i++) { - if (dvec[i].a) { Vector2 a = p_points_A[dvec[i].idx]; Vector2 b = n.plane_project(dB, a); @@ -133,7 +127,6 @@ _FORCE_INLINE_ static void _generate_contacts_edge_edge(const Vector2 *p_points_ } static void _generate_contacts_from_supports(const Vector2 *p_points_A, int p_point_count_A, const Vector2 *p_points_B, int p_point_count_B, _CollectorCallback2D *p_collector) { - #ifdef DEBUG_ENABLED ERR_FAIL_COND(p_point_count_A < 1); ERR_FAIL_COND(p_point_count_B < 1); @@ -165,7 +158,6 @@ static void _generate_contacts_from_supports(const Vector2 *p_points_A, int p_po points_A = p_points_B; points_B = p_points_A; } else { - pointcount_B = p_point_count_B; pointcount_A = p_point_count_A; points_A = p_points_A; @@ -182,7 +174,6 @@ static void _generate_contacts_from_supports(const Vector2 *p_points_A, int p_po template <class ShapeA, class ShapeB, bool castA = false, bool castB = false, bool withMargin = false> class SeparatorAxisTest2D { - const ShapeA *shape_A; const ShapeB *shape_B; const Transform2D *transform_A; @@ -199,7 +190,6 @@ class SeparatorAxisTest2D { public: _FORCE_INLINE_ bool test_previous_axis() { - if (callback && callback->sep_axis && *callback->sep_axis != Vector2()) { return test_axis(*callback->sep_axis); } else { @@ -211,9 +201,7 @@ public: } _FORCE_INLINE_ bool test_cast() { - if (castA) { - Vector2 na = motion_A.normalized(); if (!test_axis(na)) return false; @@ -222,7 +210,6 @@ public: } if (castB) { - Vector2 nb = motion_B.normalized(); if (!test_axis(nb)) return false; @@ -234,7 +221,6 @@ public: } _FORCE_INLINE_ bool test_axis(const Vector2 &p_axis) { - Vector2 axis = p_axis; if (Math::is_zero_approx(axis.x) && @@ -308,7 +294,6 @@ public: } _FORCE_INLINE_ void generate_contacts() { - // nothing to do, don't generate if (best_axis == Vector2(0.0, 0.0)) return; @@ -333,7 +318,6 @@ public: } if (withMargin) { - for (int i = 0; i < support_count_A; i++) { supports_A[i] += -best_axis * margin_A; } @@ -351,7 +335,6 @@ public: } if (withMargin) { - for (int i = 0; i < support_count_B; i++) { supports_B[i] += best_axis * margin_B; } @@ -366,7 +349,6 @@ public: } _FORCE_INLINE_ SeparatorAxisTest2D(const ShapeA *p_shape_A, const Transform2D &p_transform_a, const ShapeB *p_shape_B, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_A = Vector2(), const Vector2 &p_motion_B = Vector2(), real_t p_margin_A = 0, real_t p_margin_B = 0) { - margin_A = p_margin_A; margin_B = p_margin_B; best_depth = 1e15; @@ -397,7 +379,6 @@ typedef void (*CollisionFunc)(const Shape2DSW *, const Transform2D &, const Shap template <bool castA, bool castB, bool withMargin> static void _collision_segment_segment(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { - const SegmentShape2DSW *segment_A = static_cast<const SegmentShape2DSW *>(p_a); const SegmentShape2DSW *segment_B = static_cast<const SegmentShape2DSW *>(p_b); @@ -433,7 +414,6 @@ static void _collision_segment_segment(const Shape2DSW *p_a, const Transform2D & template <bool castA, bool castB, bool withMargin> static void _collision_segment_circle(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { - const SegmentShape2DSW *segment_A = static_cast<const SegmentShape2DSW *>(p_a); const CircleShape2DSW *circle_B = static_cast<const CircleShape2DSW *>(p_b); @@ -462,7 +442,6 @@ static void _collision_segment_circle(const Shape2DSW *p_a, const Transform2D &p template <bool castA, bool castB, bool withMargin> static void _collision_segment_rectangle(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { - const SegmentShape2DSW *segment_A = static_cast<const SegmentShape2DSW *>(p_a); const RectangleShape2DSW *rectangle_B = static_cast<const RectangleShape2DSW *>(p_b); @@ -484,7 +463,6 @@ static void _collision_segment_rectangle(const Shape2DSW *p_a, const Transform2D return; if (withMargin) { - Transform2D inv = p_transform_b.affine_inverse(); Vector2 a = p_transform_a.xform(segment_A->get_a()); @@ -496,7 +474,6 @@ static void _collision_segment_rectangle(const Shape2DSW *p_a, const Transform2D return; if (castA) { - if (!separator.test_axis(rectangle_B->get_circle_axis(p_transform_b, inv, a + p_motion_a))) return; if (!separator.test_axis(rectangle_B->get_circle_axis(p_transform_b, inv, b + p_motion_a))) @@ -504,7 +481,6 @@ static void _collision_segment_rectangle(const Shape2DSW *p_a, const Transform2D } if (castB) { - if (!separator.test_axis(rectangle_B->get_circle_axis(p_transform_b, inv, a - p_motion_b))) return; if (!separator.test_axis(rectangle_B->get_circle_axis(p_transform_b, inv, b - p_motion_b))) @@ -512,7 +488,6 @@ static void _collision_segment_rectangle(const Shape2DSW *p_a, const Transform2D } if (castA && castB) { - if (!separator.test_axis(rectangle_B->get_circle_axis(p_transform_b, inv, a - p_motion_b + p_motion_a))) return; if (!separator.test_axis(rectangle_B->get_circle_axis(p_transform_b, inv, b - p_motion_b + p_motion_a))) @@ -525,7 +500,6 @@ static void _collision_segment_rectangle(const Shape2DSW *p_a, const Transform2D template <bool castA, bool castB, bool withMargin> static void _collision_segment_capsule(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { - const SegmentShape2DSW *segment_A = static_cast<const SegmentShape2DSW *>(p_a); const CapsuleShape2DSW *capsule_B = static_cast<const CapsuleShape2DSW *>(p_b); @@ -557,7 +531,6 @@ static void _collision_segment_capsule(const Shape2DSW *p_a, const Transform2D & template <bool castA, bool castB, bool withMargin> static void _collision_segment_convex_polygon(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { - const SegmentShape2DSW *segment_A = static_cast<const SegmentShape2DSW *>(p_a); const ConvexPolygonShape2DSW *convex_B = static_cast<const ConvexPolygonShape2DSW *>(p_b); @@ -573,12 +546,10 @@ static void _collision_segment_convex_polygon(const Shape2DSW *p_a, const Transf return; for (int i = 0; i < convex_B->get_point_count(); i++) { - if (!separator.test_axis(convex_B->get_xformed_segment_normal(p_transform_b, i))) return; if (withMargin) { - if (TEST_POINT(p_transform_a.xform(segment_A->get_a()), p_transform_b.xform(convex_B->get_point(i)))) return; if (TEST_POINT(p_transform_a.xform(segment_A->get_b()), p_transform_b.xform(convex_B->get_point(i)))) @@ -593,7 +564,6 @@ static void _collision_segment_convex_polygon(const Shape2DSW *p_a, const Transf template <bool castA, bool castB, bool withMargin> static void _collision_circle_circle(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { - const CircleShape2DSW *circle_A = static_cast<const CircleShape2DSW *>(p_a); const CircleShape2DSW *circle_B = static_cast<const CircleShape2DSW *>(p_b); @@ -613,7 +583,6 @@ static void _collision_circle_circle(const Shape2DSW *p_a, const Transform2D &p_ template <bool castA, bool castB, bool withMargin> static void _collision_circle_rectangle(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { - const CircleShape2DSW *circle_A = static_cast<const CircleShape2DSW *>(p_a); const RectangleShape2DSW *rectangle_B = static_cast<const RectangleShape2DSW *>(p_b); @@ -637,27 +606,23 @@ static void _collision_circle_rectangle(const Shape2DSW *p_a, const Transform2D Transform2D binv = p_transform_b.affine_inverse(); { - if (!separator.test_axis(rectangle_B->get_circle_axis(p_transform_b, binv, sphere))) return; } if (castA) { - Vector2 sphereofs = sphere + p_motion_a; if (!separator.test_axis(rectangle_B->get_circle_axis(p_transform_b, binv, sphereofs))) return; } if (castB) { - Vector2 sphereofs = sphere - p_motion_b; if (!separator.test_axis(rectangle_B->get_circle_axis(p_transform_b, binv, sphereofs))) return; } if (castA && castB) { - Vector2 sphereofs = sphere - p_motion_b + p_motion_a; if (!separator.test_axis(rectangle_B->get_circle_axis(p_transform_b, binv, sphereofs))) return; @@ -668,7 +633,6 @@ static void _collision_circle_rectangle(const Shape2DSW *p_a, const Transform2D template <bool castA, bool castB, bool withMargin> static void _collision_circle_capsule(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { - const CircleShape2DSW *circle_A = static_cast<const CircleShape2DSW *>(p_a); const CapsuleShape2DSW *capsule_B = static_cast<const CapsuleShape2DSW *>(p_b); @@ -695,7 +659,6 @@ static void _collision_circle_capsule(const Shape2DSW *p_a, const Transform2D &p template <bool castA, bool castB, bool withMargin> static void _collision_circle_convex_polygon(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { - const CircleShape2DSW *circle_A = static_cast<const CircleShape2DSW *>(p_a); const ConvexPolygonShape2DSW *convex_B = static_cast<const ConvexPolygonShape2DSW *>(p_b); @@ -709,7 +672,6 @@ static void _collision_circle_convex_polygon(const Shape2DSW *p_a, const Transfo //poly faces and poly points vs circle for (int i = 0; i < convex_B->get_point_count(); i++) { - if (TEST_POINT(p_transform_a.get_origin(), p_transform_b.xform(convex_B->get_point(i)))) return; @@ -724,7 +686,6 @@ static void _collision_circle_convex_polygon(const Shape2DSW *p_a, const Transfo template <bool castA, bool castB, bool withMargin> static void _collision_rectangle_rectangle(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { - const RectangleShape2DSW *rectangle_A = static_cast<const RectangleShape2DSW *>(p_a); const RectangleShape2DSW *rectangle_B = static_cast<const RectangleShape2DSW *>(p_b); @@ -751,7 +712,6 @@ static void _collision_rectangle_rectangle(const Shape2DSW *p_a, const Transform return; if (withMargin) { - Transform2D invA = p_transform_a.affine_inverse(); Transform2D invB = p_transform_b.affine_inverse(); @@ -759,7 +719,6 @@ static void _collision_rectangle_rectangle(const Shape2DSW *p_a, const Transform return; if (castA || castB) { - Transform2D aofs = p_transform_a; aofs.elements[2] += p_motion_a; @@ -770,19 +729,16 @@ static void _collision_rectangle_rectangle(const Shape2DSW *p_a, const Transform Transform2D bofsinv = bofs.affine_inverse(); if (castA) { - if (!separator.test_axis(rectangle_A->get_box_axis(aofs, aofsinv, rectangle_B, p_transform_b, invB))) return; } if (castB) { - if (!separator.test_axis(rectangle_A->get_box_axis(p_transform_a, invA, rectangle_B, bofs, bofsinv))) return; } if (castA && castB) { - if (!separator.test_axis(rectangle_A->get_box_axis(aofs, aofsinv, rectangle_B, bofs, bofsinv))) return; } @@ -794,7 +750,6 @@ static void _collision_rectangle_rectangle(const Shape2DSW *p_a, const Transform template <bool castA, bool castB, bool withMargin> static void _collision_rectangle_capsule(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { - const RectangleShape2DSW *rectangle_A = static_cast<const RectangleShape2DSW *>(p_a); const CapsuleShape2DSW *capsule_B = static_cast<const CapsuleShape2DSW *>(p_b); @@ -822,7 +777,6 @@ static void _collision_rectangle_capsule(const Shape2DSW *p_a, const Transform2D Transform2D boxinv = p_transform_a.affine_inverse(); for (int i = 0; i < 2; i++) { - { Vector2 capsule_endpoint = p_transform_b.get_origin() + p_transform_b.elements[1] * capsule_B->get_height() * (i == 0 ? 0.5 : -0.5); @@ -861,7 +815,6 @@ static void _collision_rectangle_capsule(const Shape2DSW *p_a, const Transform2D template <bool castA, bool castB, bool withMargin> static void _collision_rectangle_convex_polygon(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { - const RectangleShape2DSW *rectangle_A = static_cast<const RectangleShape2DSW *>(p_a); const ConvexPolygonShape2DSW *convex_B = static_cast<const ConvexPolygonShape2DSW *>(p_b); @@ -886,7 +839,6 @@ static void _collision_rectangle_convex_polygon(const Shape2DSW *p_a, const Tran boxinv = p_transform_a.affine_inverse(); } for (int i = 0; i < convex_B->get_point_count(); i++) { - if (!separator.test_axis(convex_B->get_xformed_segment_normal(p_transform_b, i))) return; @@ -895,17 +847,14 @@ static void _collision_rectangle_convex_polygon(const Shape2DSW *p_a, const Tran if (!separator.test_axis(rectangle_A->get_circle_axis(p_transform_a, boxinv, p_transform_b.xform(convex_B->get_point(i))))) return; if (castA) { - if (!separator.test_axis(rectangle_A->get_circle_axis(p_transform_a, boxinv, p_transform_b.xform(convex_B->get_point(i)) - p_motion_a))) return; } if (castB) { - if (!separator.test_axis(rectangle_A->get_circle_axis(p_transform_a, boxinv, p_transform_b.xform(convex_B->get_point(i)) + p_motion_b))) return; } if (castA && castB) { - if (!separator.test_axis(rectangle_A->get_circle_axis(p_transform_a, boxinv, p_transform_b.xform(convex_B->get_point(i)) + p_motion_b - p_motion_a))) return; } @@ -919,7 +868,6 @@ static void _collision_rectangle_convex_polygon(const Shape2DSW *p_a, const Tran template <bool castA, bool castB, bool withMargin> static void _collision_capsule_capsule(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { - const CapsuleShape2DSW *capsule_A = static_cast<const CapsuleShape2DSW *>(p_a); const CapsuleShape2DSW *capsule_B = static_cast<const CapsuleShape2DSW *>(p_b); @@ -942,11 +890,9 @@ static void _collision_capsule_capsule(const Shape2DSW *p_a, const Transform2D & //capsule endpoints for (int i = 0; i < 2; i++) { - Vector2 capsule_endpoint_A = p_transform_a.get_origin() + p_transform_a.elements[1] * capsule_A->get_height() * (i == 0 ? 0.5 : -0.5); for (int j = 0; j < 2; j++) { - Vector2 capsule_endpoint_B = p_transform_b.get_origin() + p_transform_b.elements[1] * capsule_B->get_height() * (j == 0 ? 0.5 : -0.5); if (TEST_POINT(capsule_endpoint_A, capsule_endpoint_B)) @@ -959,7 +905,6 @@ static void _collision_capsule_capsule(const Shape2DSW *p_a, const Transform2D & template <bool castA, bool castB, bool withMargin> static void _collision_capsule_convex_polygon(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { - const CapsuleShape2DSW *capsule_A = static_cast<const CapsuleShape2DSW *>(p_a); const ConvexPolygonShape2DSW *convex_B = static_cast<const ConvexPolygonShape2DSW *>(p_b); @@ -978,11 +923,9 @@ static void _collision_capsule_convex_polygon(const Shape2DSW *p_a, const Transf //poly vs capsule for (int i = 0; i < convex_B->get_point_count(); i++) { - Vector2 cpoint = p_transform_b.xform(convex_B->get_point(i)); for (int j = 0; j < 2; j++) { - Vector2 capsule_endpoint_A = p_transform_a.get_origin() + p_transform_a.elements[1] * capsule_A->get_height() * (j == 0 ? 0.5 : -0.5); if (TEST_POINT(capsule_endpoint_A, cpoint)) @@ -1000,7 +943,6 @@ static void _collision_capsule_convex_polygon(const Shape2DSW *p_a, const Transf template <bool castA, bool castB, bool withMargin> static void _collision_convex_polygon_convex_polygon(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { - const ConvexPolygonShape2DSW *convex_A = static_cast<const ConvexPolygonShape2DSW *>(p_a); const ConvexPolygonShape2DSW *convex_B = static_cast<const ConvexPolygonShape2DSW *>(p_b); @@ -1013,22 +955,18 @@ static void _collision_convex_polygon_convex_polygon(const Shape2DSW *p_a, const return; for (int i = 0; i < convex_A->get_point_count(); i++) { - if (!separator.test_axis(convex_A->get_xformed_segment_normal(p_transform_a, i))) return; } for (int i = 0; i < convex_B->get_point_count(); i++) { - if (!separator.test_axis(convex_B->get_xformed_segment_normal(p_transform_b, i))) return; } if (withMargin) { - for (int i = 0; i < convex_A->get_point_count(); i++) { for (int j = 0; j < convex_B->get_point_count(); j++) { - if (TEST_POINT(p_transform_a.xform(convex_A->get_point(i)), p_transform_b.xform(convex_B->get_point(j)))) return; } @@ -1041,7 +979,6 @@ static void _collision_convex_polygon_convex_polygon(const Shape2DSW *p_a, const //////// bool sat_2d_calculate_penetration(const Shape2DSW *p_shape_A, const Transform2D &p_transform_A, const Vector2 &p_motion_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, const Vector2 &p_motion_B, CollisionSolver2DSW::CallbackResult p_result_callback, void *p_userdata, bool p_swap, Vector2 *sep_axis, real_t p_margin_A, real_t p_margin_B) { - PhysicsServer2D::ShapeType type_A = p_shape_A->get_type(); ERR_FAIL_COND_V(type_A == PhysicsServer2D::SHAPE_LINE, false); @@ -1323,7 +1260,6 @@ bool sat_2d_calculate_penetration(const Shape2DSW *p_shape_A, const Transform2D collision_func = collision_table_castA_castB_margin[type_A - 2][type_B - 2]; } } else { - if (*motion_A == Vector2() && *motion_B == Vector2()) { collision_func = collision_table[type_A - 2][type_B - 2]; } else if (*motion_A != Vector2() && *motion_B == Vector2()) { |