diff options
Diffstat (limited to 'servers/physics_3d/body_pair_3d_sw.cpp')
| -rw-r--r-- | servers/physics_3d/body_pair_3d_sw.cpp | 24 |
1 files changed, 12 insertions, 12 deletions
diff --git a/servers/physics_3d/body_pair_3d_sw.cpp b/servers/physics_3d/body_pair_3d_sw.cpp index cdb3da665e..aed4815c5e 100644 --- a/servers/physics_3d/body_pair_3d_sw.cpp +++ b/servers/physics_3d/body_pair_3d_sw.cpp @@ -161,7 +161,7 @@ void BodyPair3DSW::validate_contacts() { } } -bool BodyPair3DSW::_test_ccd(real_t p_step, Body3DSW *p_A, int p_shape_A, const Transform &p_xform_A, Body3DSW *p_B, int p_shape_B, const Transform &p_xform_B) { +bool BodyPair3DSW::_test_ccd(real_t p_step, Body3DSW *p_A, int p_shape_A, const Transform3D &p_xform_A, Body3DSW *p_B, int p_shape_B, const Transform3D &p_xform_B) { Vector3 motion = p_A->get_linear_velocity() * p_step; real_t mlen = motion.length(); if (mlen < CMP_EPSILON) { @@ -184,7 +184,7 @@ bool BodyPair3DSW::_test_ccd(real_t p_step, Body3DSW *p_A, int p_shape_A, const Vector3 from = p_xform_A.xform(s); Vector3 to = from + motion; - Transform from_inv = p_xform_B.affine_inverse(); + Transform3D from_inv = p_xform_B.affine_inverse(); Vector3 local_from = from_inv.xform(from - mnormal * mlen * 0.1); //start from a little inside the bounding box Vector3 local_to = from_inv.xform(to); @@ -240,12 +240,12 @@ bool BodyPair3DSW::setup(real_t p_step) { validate_contacts(); const Vector3 &offset_A = A->get_transform().get_origin(); - Transform xform_Au = Transform(A->get_transform().basis, Vector3()); - Transform xform_A = xform_Au * A->get_shape_transform(shape_A); + Transform3D xform_Au = Transform3D(A->get_transform().basis, Vector3()); + Transform3D xform_A = xform_Au * A->get_shape_transform(shape_A); - Transform xform_Bu = B->get_transform(); + Transform3D xform_Bu = B->get_transform(); xform_Bu.origin -= offset_A; - Transform xform_B = xform_Bu * B->get_shape_transform(shape_B); + Transform3D xform_B = xform_Bu * B->get_shape_transform(shape_B); Shape3DSW *shape_A_ptr = A->get_shape(shape_A); Shape3DSW *shape_B_ptr = B->get_shape(shape_B); @@ -571,7 +571,7 @@ void BodySoftBodyPair3DSW::contact_added_callback(const Vector3 &p_point_A, int void BodySoftBodyPair3DSW::validate_contacts() { // Make sure to erase contacts that are no longer valid. - const Transform &transform_A = body->get_transform(); + const Transform3D &transform_A = body->get_transform(); real_t contact_max_separation = space->get_contact_max_separation(); @@ -612,11 +612,11 @@ bool BodySoftBodyPair3DSW::setup(real_t p_step) { return false; } - const Transform &xform_Au = body->get_transform(); - Transform xform_A = xform_Au * body->get_shape_transform(body_shape); + const Transform3D &xform_Au = body->get_transform(); + Transform3D xform_A = xform_Au * body->get_shape_transform(body_shape); - Transform xform_Bu = soft_body->get_transform(); - Transform xform_B = xform_Bu * soft_body->get_shape_transform(0); + Transform3D xform_Bu = soft_body->get_transform(); + Transform3D xform_B = xform_Bu * soft_body->get_shape_transform(0); validate_contacts(); @@ -647,7 +647,7 @@ bool BodySoftBodyPair3DSW::pre_solve(real_t p_step) { bool do_process = false; - const Transform &transform_A = body->get_transform(); + const Transform3D &transform_A = body->get_transform(); uint32_t contact_count = contacts.size(); for (uint32_t contact_index = 0; contact_index < contact_count; ++contact_index) { |