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Diffstat (limited to 'servers/physics_2d/joints_2d_sw.cpp')
-rw-r--r--servers/physics_2d/joints_2d_sw.cpp104
1 files changed, 43 insertions, 61 deletions
diff --git a/servers/physics_2d/joints_2d_sw.cpp b/servers/physics_2d/joints_2d_sw.cpp
index 4524629d50..e7d26645e9 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;
@@ -78,10 +76,11 @@ 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();
- if (b)
+ if (b) {
return (b->get_linear_velocity() - rB.tangent() * b->get_angular_velocity()) - sum;
- else
+ } else {
return -sum;
+ }
}
static inline real_t
@@ -90,7 +89,6 @@ 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 +113,6 @@ 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;
@@ -139,54 +136,54 @@ bool PinJoint2DSW::setup(real_t p_step) {
bias = delta * -(get_bias() == 0 ? space->get_constraint_bias() : get_bias()) * (1.0 / p_step);
// apply accumulated impulse
- A->apply_impulse(rA, -P);
- if (B)
- B->apply_impulse(rB, P);
+ A->apply_impulse(-P, rA);
+ if (B) {
+ B->apply_impulse(P, rB);
+ }
return true;
}
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());
Vector2 rel_vel;
- if (B)
+ if (B) {
rel_vel = B->get_linear_velocity() - custom_cross(rB, B->get_angular_velocity()) - vA;
- else
+ } else {
rel_vel = -vA;
+ }
Vector2 impulse = M.basis_xform(bias - rel_vel - Vector2(softness, softness) * P);
- A->apply_impulse(rA, -impulse);
- if (B)
- B->apply_impulse(rB, impulse);
+ A->apply_impulse(-impulse, rA);
+ if (B) {
+ B->apply_impulse(impulse, rB);
+ }
P += impulse;
}
void PinJoint2DSW::set_param(PhysicsServer2D::PinJointParam p_param, real_t p_value) {
-
- if (p_param == PhysicsServer2D::PIN_JOINT_SOFTNESS)
+ 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)
+ if (p_param == PhysicsServer2D::PIN_JOINT_SOFTNESS) {
return softness;
+ }
ERR_FAIL_V(0);
}
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);
@@ -195,16 +192,18 @@ PinJoint2DSW::PinJoint2DSW(const Vector2 &p_pos, Body2DSW *p_body_a, Body2DSW *p
softness = 0;
p_body_a->add_constraint(this, 0);
- if (p_body_b)
+ if (p_body_b) {
p_body_b->add_constraint(this, 1);
+ }
}
PinJoint2DSW::~PinJoint2DSW() {
-
- if (A)
+ if (A) {
A->remove_constraint(this);
- if (B)
+ }
+ if (B) {
B->remove_constraint(this);
+ }
}
//////////////////////////////////////////////
@@ -259,7 +258,6 @@ 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);
@@ -303,15 +301,14 @@ bool GrooveJoint2DSW::setup(real_t p_step) {
gbias = (delta * -(_b == 0 ? space->get_constraint_bias() : _b) * (1.0 / p_step)).clamped(get_max_bias());
// apply accumulated impulse
- A->apply_impulse(rA, -jn_acc);
- B->apply_impulse(rB, jn_acc);
+ A->apply_impulse(-jn_acc, rA);
+ B->apply_impulse(jn_acc, rB);
correct = true;
return true;
}
void GrooveJoint2DSW::solve(real_t p_step) {
-
// compute impulse
Vector2 vr = relative_velocity(A, B, rA, rB);
@@ -323,13 +320,12 @@ void GrooveJoint2DSW::solve(real_t p_step) {
j = jn_acc - jOld;
- A->apply_impulse(rA, -j);
- B->apply_impulse(rB, j);
+ A->apply_impulse(-j, rA);
+ B->apply_impulse(j, rB);
}
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 +339,6 @@ GrooveJoint2DSW::GrooveJoint2DSW(const Vector2 &p_a_groove1, const Vector2 &p_a_
}
GrooveJoint2DSW::~GrooveJoint2DSW() {
-
A->remove_constraint(this);
B->remove_constraint(this);
}
@@ -353,17 +348,17 @@ 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);
Vector2 delta = (B->get_transform().get_origin() + rB) - (A->get_transform().get_origin() + rA);
real_t dist = delta.length();
- if (dist)
+ if (dist) {
n = delta / dist;
- else
+ } else {
n = Vector2();
+ }
real_t k = k_scalar(A, B, rA, rB, n);
n_mass = 1.0f / k;
@@ -375,14 +370,13 @@ bool DampedSpringJoint2DSW::setup(real_t p_step) {
real_t f_spring = (rest_length - dist) * stiffness;
Vector2 j = n * f_spring * (p_step);
- A->apply_impulse(rA, -j);
- B->apply_impulse(rB, j);
+ A->apply_impulse(-j, rA);
+ B->apply_impulse(j, rB);
return true;
}
void DampedSpringJoint2DSW::solve(real_t p_step) {
-
// compute relative velocity
real_t vrn = normal_relative_velocity(A, B, rA, rB, n) - target_vrn;
@@ -392,43 +386,33 @@ void DampedSpringJoint2DSW::solve(real_t p_step) {
target_vrn = vrn + v_damp;
Vector2 j = n * v_damp * n_mass;
- A->apply_impulse(rA, -j);
- B->apply_impulse(rB, j);
+ A->apply_impulse(-j, rA);
+ B->apply_impulse(j, rB);
}
-void DampedSpringJoint2DSW::set_param(PhysicsServer2D::DampedStringParam p_param, real_t p_value) {
-
+void DampedSpringJoint2DSW::set_param(PhysicsServer2D::DampedSpringParam p_param, real_t p_value) {
switch (p_param) {
-
- case PhysicsServer2D::DAMPED_STRING_REST_LENGTH: {
-
+ case PhysicsServer2D::DAMPED_SPRING_REST_LENGTH: {
rest_length = p_value;
} break;
- case PhysicsServer2D::DAMPED_STRING_DAMPING: {
-
+ case PhysicsServer2D::DAMPED_SPRING_DAMPING: {
damping = p_value;
} break;
- case PhysicsServer2D::DAMPED_STRING_STIFFNESS: {
-
+ case PhysicsServer2D::DAMPED_SPRING_STIFFNESS: {
stiffness = p_value;
} break;
}
}
-real_t DampedSpringJoint2DSW::get_param(PhysicsServer2D::DampedStringParam p_param) const {
-
+real_t DampedSpringJoint2DSW::get_param(PhysicsServer2D::DampedSpringParam p_param) const {
switch (p_param) {
-
- case PhysicsServer2D::DAMPED_STRING_REST_LENGTH: {
-
+ case PhysicsServer2D::DAMPED_SPRING_REST_LENGTH: {
return rest_length;
} break;
- case PhysicsServer2D::DAMPED_STRING_DAMPING: {
-
+ case PhysicsServer2D::DAMPED_SPRING_DAMPING: {
return damping;
} break;
- case PhysicsServer2D::DAMPED_STRING_STIFFNESS: {
-
+ case PhysicsServer2D::DAMPED_SPRING_STIFFNESS: {
return stiffness;
} break;
}
@@ -438,7 +422,6 @@ 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 +436,6 @@ DampedSpringJoint2DSW::DampedSpringJoint2DSW(const Vector2 &p_anchor_a, const Ve
}
DampedSpringJoint2DSW::~DampedSpringJoint2DSW() {
-
A->remove_constraint(this);
B->remove_constraint(this);
}
generated by cgit v1.2.3 (git 2.25.1) at 2025-04-08 16:49:29 +0000