diff options
Diffstat (limited to 'servers/physics_2d/joints_2d_sw.cpp')
| -rw-r--r-- | servers/physics_2d/joints_2d_sw.cpp | 10 |
1 files changed, 5 insertions, 5 deletions
diff --git a/servers/physics_2d/joints_2d_sw.cpp b/servers/physics_2d/joints_2d_sw.cpp index 743f69d7d4..35f9d0e0c1 100644 --- a/servers/physics_2d/joints_2d_sw.cpp +++ b/servers/physics_2d/joints_2d_sw.cpp @@ -75,9 +75,9 @@ static inline real_t k_scalar(Body2DSW *a, Body2DSW *b, const Vector2 &rA, const static inline Vector2 relative_velocity(Body2DSW *a, Body2DSW *b, Vector2 rA, Vector2 rB) { - Vector2 sum = a->get_linear_velocity() - rA.tangent() * a->get_angular_velocity(); + Vector2 sum = a->get_linear_velocity() - rA.orthogonal() * a->get_angular_velocity(); if (b) { - return (b->get_linear_velocity() - rB.tangent() * b->get_angular_velocity()) - sum; + return (b->get_linear_velocity() - rB.orthogonal() * b->get_angular_velocity()) - sum; } else { return -sum; } @@ -264,7 +264,7 @@ bool GrooveJoint2DSW::setup(real_t p_step) { Space2DSW *space = A->get_space(); // calculate axis - Vector2 n = -(tb - ta).tangent().normalized(); + Vector2 n = -(tb - ta).orthogonal().normalized(); real_t d = ta.dot(n); xf_normal = n; @@ -282,7 +282,7 @@ bool GrooveJoint2DSW::setup(real_t p_step) { } else { clamp = 0.0f; //joint->r1 = cpvsub(cpvadd(cpvmult(cpvperp(n), -td), cpvmult(n, d)), a->p); - rA = ((-n.tangent() * -td) + n * d) - A->get_transform().get_origin(); + rA = ((-n.orthogonal() * -td) + n * d) - A->get_transform().get_origin(); } // Calculate mass tensor @@ -332,7 +332,7 @@ GrooveJoint2DSW::GrooveJoint2DSW(const Vector2 &p_a_groove1, const Vector2 &p_a_ A_groove_1 = A->get_inv_transform().xform(p_a_groove1); A_groove_2 = A->get_inv_transform().xform(p_a_groove2); B_anchor = B->get_inv_transform().xform(p_b_anchor); - A_groove_normal = -(A_groove_2 - A_groove_1).normalized().tangent(); + A_groove_normal = -(A_groove_2 - A_groove_1).normalized().orthogonal(); A->add_constraint(this, 0); B->add_constraint(this, 1); |