diff options
Diffstat (limited to 'servers/physics_2d/joints_2d_sw.cpp')
| -rw-r--r-- | servers/physics_2d/joints_2d_sw.cpp | 28 |
1 files changed, 0 insertions, 28 deletions
diff --git a/servers/physics_2d/joints_2d_sw.cpp b/servers/physics_2d/joints_2d_sw.cpp index 4524629d50..73d916138b 100644 --- a/servers/physics_2d/joints_2d_sw.cpp +++ b/servers/physics_2d/joints_2d_sw.cpp @@ -56,7 +56,6 @@ */ static inline real_t k_scalar(Body2DSW *a, Body2DSW *b, const Vector2 &rA, const Vector2 &rB, const Vector2 &n) { - real_t value = 0; { @@ -66,7 +65,6 @@ static inline real_t k_scalar(Body2DSW *a, Body2DSW *b, const Vector2 &rA, const } if (b) { - value += b->get_inv_mass(); real_t rcn = rB.cross(n); value += b->get_inv_inertia() * rcn * rcn; @@ -90,7 +88,6 @@ normal_relative_velocity(Body2DSW *a, Body2DSW *b, Vector2 rA, Vector2 rB, Vecto } bool PinJoint2DSW::setup(real_t p_step) { - Space2DSW *space = A->get_space(); ERR_FAIL_COND_V(!space, false); rA = A->get_transform().basis_xform(anchor_A); @@ -115,7 +112,6 @@ bool PinJoint2DSW::setup(real_t p_step) { K[1] = K1[1] + K2[1]; if (B) { - Transform2D K3; K3[0].x = B->get_inv_inertia() * rB.y * rB.y; K3[1].x = -B->get_inv_inertia() * rB.x * rB.y; @@ -147,12 +143,10 @@ bool PinJoint2DSW::setup(real_t p_step) { } inline Vector2 custom_cross(const Vector2 &p_vec, real_t p_other) { - return Vector2(p_other * p_vec.y, -p_other * p_vec.x); } void PinJoint2DSW::solve(real_t p_step) { - // compute relative velocity Vector2 vA = A->get_linear_velocity() - custom_cross(rA, A->get_angular_velocity()); @@ -172,13 +166,11 @@ void PinJoint2DSW::solve(real_t p_step) { } void PinJoint2DSW::set_param(PhysicsServer2D::PinJointParam p_param, real_t p_value) { - if (p_param == PhysicsServer2D::PIN_JOINT_SOFTNESS) softness = p_value; } real_t PinJoint2DSW::get_param(PhysicsServer2D::PinJointParam p_param) const { - if (p_param == PhysicsServer2D::PIN_JOINT_SOFTNESS) return softness; ERR_FAIL_V(0); @@ -186,7 +178,6 @@ real_t PinJoint2DSW::get_param(PhysicsServer2D::PinJointParam p_param) const { PinJoint2DSW::PinJoint2DSW(const Vector2 &p_pos, Body2DSW *p_body_a, Body2DSW *p_body_b) : Joint2DSW(_arr, p_body_b ? 2 : 1) { - A = p_body_a; B = p_body_b; anchor_A = p_body_a->get_inv_transform().xform(p_pos); @@ -200,7 +191,6 @@ PinJoint2DSW::PinJoint2DSW(const Vector2 &p_pos, Body2DSW *p_body_a, Body2DSW *p } PinJoint2DSW::~PinJoint2DSW() { - if (A) A->remove_constraint(this); if (B) @@ -259,7 +249,6 @@ mult_k(const Vector2 &vr, const Vector2 &k1, const Vector2 &k2) { } bool GrooveJoint2DSW::setup(real_t p_step) { - // calculate endpoints in worldspace Vector2 ta = A->get_transform().xform(A_groove_1); Vector2 tb = A->get_transform().xform(A_groove_2); @@ -311,7 +300,6 @@ bool GrooveJoint2DSW::setup(real_t p_step) { } void GrooveJoint2DSW::solve(real_t p_step) { - // compute impulse Vector2 vr = relative_velocity(A, B, rA, rB); @@ -329,7 +317,6 @@ void GrooveJoint2DSW::solve(real_t p_step) { GrooveJoint2DSW::GrooveJoint2DSW(const Vector2 &p_a_groove1, const Vector2 &p_a_groove2, const Vector2 &p_b_anchor, Body2DSW *p_body_a, Body2DSW *p_body_b) : Joint2DSW(_arr, 2) { - A = p_body_a; B = p_body_b; @@ -343,7 +330,6 @@ GrooveJoint2DSW::GrooveJoint2DSW(const Vector2 &p_a_groove1, const Vector2 &p_a_ } GrooveJoint2DSW::~GrooveJoint2DSW() { - A->remove_constraint(this); B->remove_constraint(this); } @@ -353,7 +339,6 @@ GrooveJoint2DSW::~GrooveJoint2DSW() { ////////////////////////////////////////////// bool DampedSpringJoint2DSW::setup(real_t p_step) { - rA = A->get_transform().basis_xform(anchor_A); rB = B->get_transform().basis_xform(anchor_B); @@ -382,7 +367,6 @@ bool DampedSpringJoint2DSW::setup(real_t p_step) { } void DampedSpringJoint2DSW::solve(real_t p_step) { - // compute relative velocity real_t vrn = normal_relative_velocity(A, B, rA, rB, n) - target_vrn; @@ -397,38 +381,28 @@ void DampedSpringJoint2DSW::solve(real_t p_step) { } void DampedSpringJoint2DSW::set_param(PhysicsServer2D::DampedStringParam p_param, real_t p_value) { - switch (p_param) { - case PhysicsServer2D::DAMPED_STRING_REST_LENGTH: { - rest_length = p_value; } break; case PhysicsServer2D::DAMPED_STRING_DAMPING: { - damping = p_value; } break; case PhysicsServer2D::DAMPED_STRING_STIFFNESS: { - stiffness = p_value; } break; } } real_t DampedSpringJoint2DSW::get_param(PhysicsServer2D::DampedStringParam p_param) const { - switch (p_param) { - case PhysicsServer2D::DAMPED_STRING_REST_LENGTH: { - return rest_length; } break; case PhysicsServer2D::DAMPED_STRING_DAMPING: { - return damping; } break; case PhysicsServer2D::DAMPED_STRING_STIFFNESS: { - return stiffness; } break; } @@ -438,7 +412,6 @@ real_t DampedSpringJoint2DSW::get_param(PhysicsServer2D::DampedStringParam p_par DampedSpringJoint2DSW::DampedSpringJoint2DSW(const Vector2 &p_anchor_a, const Vector2 &p_anchor_b, Body2DSW *p_body_a, Body2DSW *p_body_b) : Joint2DSW(_arr, 2) { - A = p_body_a; B = p_body_b; anchor_A = A->get_inv_transform().xform(p_anchor_a); @@ -453,7 +426,6 @@ DampedSpringJoint2DSW::DampedSpringJoint2DSW(const Vector2 &p_anchor_a, const Ve } DampedSpringJoint2DSW::~DampedSpringJoint2DSW() { - A->remove_constraint(this); B->remove_constraint(this); } |