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Diffstat (limited to 'servers/physics_3d/body_3d_sw.h')
-rw-r--r--servers/physics_3d/body_3d_sw.h18
1 files changed, 0 insertions, 18 deletions
diff --git a/servers/physics_3d/body_3d_sw.h b/servers/physics_3d/body_3d_sw.h
index 0308d8689e..2ce8f99428 100644
--- a/servers/physics_3d/body_3d_sw.h
+++ b/servers/physics_3d/body_3d_sw.h
@@ -38,7 +38,6 @@
class Constraint3DSW;
class Body3DSW : public CollisionObject3DSW {
-
PhysicsServer3D::BodyMode mode;
Vector3 linear_velocity;
@@ -99,7 +98,6 @@ class Body3DSW : public CollisionObject3DSW {
Map<Constraint3DSW *, int> constraint_map;
struct AreaCMP {
-
Area3DSW *area;
int refCount;
_FORCE_INLINE_ bool operator==(const AreaCMP &p_cmp) const { return area->get_self() == p_cmp.area->get_self(); }
@@ -114,7 +112,6 @@ class Body3DSW : public CollisionObject3DSW {
Vector<AreaCMP> areas;
struct Contact {
-
Vector3 local_pos;
Vector3 local_normal;
real_t depth;
@@ -130,7 +127,6 @@ class Body3DSW : public CollisionObject3DSW {
int contact_count;
struct ForceIntegrationCallback {
-
ObjectID id;
StringName method;
Variant udata;
@@ -223,18 +219,15 @@ public:
}
_FORCE_INLINE_ void apply_impulse(const Vector3 &p_pos, const Vector3 &p_j) {
-
linear_velocity += p_j * _inv_mass;
angular_velocity += _inv_inertia_tensor.xform((p_pos - center_of_mass).cross(p_j));
}
_FORCE_INLINE_ void apply_torque_impulse(const Vector3 &p_j) {
-
angular_velocity += _inv_inertia_tensor.xform(p_j);
}
_FORCE_INLINE_ void apply_bias_impulse(const Vector3 &p_pos, const Vector3 &p_j, real_t p_max_delta_av = -1.0) {
-
biased_linear_velocity += p_j * _inv_mass;
if (p_max_delta_av != 0.0) {
Vector3 delta_av = _inv_inertia_tensor.xform((p_pos - center_of_mass).cross(p_j));
@@ -246,17 +239,14 @@ public:
}
_FORCE_INLINE_ void apply_bias_torque_impulse(const Vector3 &p_j) {
-
biased_angular_velocity += _inv_inertia_tensor.xform(p_j);
}
_FORCE_INLINE_ void add_central_force(const Vector3 &p_force) {
-
applied_force += p_force;
}
_FORCE_INLINE_ void add_force(const Vector3 &p_force, const Vector3 &p_pos) {
-
applied_force += p_force;
applied_torque += (p_pos - center_of_mass).cross(p_force);
}
@@ -310,12 +300,10 @@ public:
void integrate_velocities(real_t p_step);
_FORCE_INLINE_ Vector3 get_velocity_in_local_point(const Vector3 &rel_pos) const {
-
return linear_velocity + angular_velocity.cross(rel_pos - center_of_mass);
}
_FORCE_INLINE_ real_t compute_impulse_denominator(const Vector3 &p_pos, const Vector3 &p_normal) const {
-
Vector3 r0 = p_pos - get_transform().origin - center_of_mass;
Vector3 c0 = (r0).cross(p_normal);
@@ -326,7 +314,6 @@ public:
}
_FORCE_INLINE_ real_t compute_angular_impulse_denominator(const Vector3 &p_axis) const {
-
return p_axis.dot(_inv_inertia_tensor.xform_inv(p_axis));
}
@@ -343,7 +330,6 @@ public:
//add contact inline
void Body3DSW::add_contact(const Vector3 &p_local_pos, const Vector3 &p_local_normal, real_t p_depth, int p_local_shape, const Vector3 &p_collider_pos, int p_collider_shape, ObjectID p_collider_instance_id, const RID &p_collider, const Vector3 &p_collider_velocity_at_pos) {
-
int c_max = contacts.size();
if (c_max == 0)
@@ -356,11 +342,9 @@ void Body3DSW::add_contact(const Vector3 &p_local_pos, const Vector3 &p_local_no
if (contact_count < c_max) {
idx = contact_count++;
} else {
-
real_t least_depth = 1e20;
int least_deep = -1;
for (int i = 0; i < c_max; i++) {
-
if (i == 0 || c[i].depth < least_depth) {
least_deep = i;
least_depth = c[i].depth;
@@ -368,7 +352,6 @@ void Body3DSW::add_contact(const Vector3 &p_local_pos, const Vector3 &p_local_no
}
if (least_deep >= 0 && least_depth < p_depth) {
-
idx = least_deep;
}
if (idx == -1)
@@ -387,7 +370,6 @@ void Body3DSW::add_contact(const Vector3 &p_local_pos, const Vector3 &p_local_no
}
class PhysicsDirectBodyState3DSW : public PhysicsDirectBodyState3D {
-
GDCLASS(PhysicsDirectBodyState3DSW, PhysicsDirectBodyState3D);
public: