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-rw-r--r--servers/physics_3d/collision_solver_3d_sat.cpp54
1 files changed, 27 insertions, 27 deletions
diff --git a/servers/physics_3d/collision_solver_3d_sat.cpp b/servers/physics_3d/collision_solver_3d_sat.cpp
index fcac0587b2..b362f1ff17 100644
--- a/servers/physics_3d/collision_solver_3d_sat.cpp
+++ b/servers/physics_3d/collision_solver_3d_sat.cpp
@@ -608,8 +608,8 @@ template <class ShapeA, class ShapeB, bool withMargin = false>
class SeparatorAxisTest {
const ShapeA *shape_A;
const ShapeB *shape_B;
- const Transform *transform_A;
- const Transform *transform_B;
+ const Transform3D *transform_A;
+ const Transform3D *transform_B;
real_t best_depth;
Vector3 best_axis;
_CollectorCallback *callback;
@@ -750,7 +750,7 @@ public:
callback->collided = true;
}
- _FORCE_INLINE_ SeparatorAxisTest(const ShapeA *p_shape_A, const Transform &p_transform_A, const ShapeB *p_shape_B, const Transform &p_transform_B, _CollectorCallback *p_callback, real_t p_margin_A = 0, real_t p_margin_B = 0) {
+ _FORCE_INLINE_ SeparatorAxisTest(const ShapeA *p_shape_A, const Transform3D &p_transform_A, const ShapeB *p_shape_B, const Transform3D &p_transform_B, _CollectorCallback *p_callback, real_t p_margin_A = 0, real_t p_margin_B = 0) {
best_depth = 1e15;
shape_A = p_shape_A;
shape_B = p_shape_B;
@@ -764,10 +764,10 @@ public:
/****** SAT TESTS *******/
-typedef void (*CollisionFunc)(const Shape3DSW *, const Transform &, const Shape3DSW *, const Transform &, _CollectorCallback *p_callback, real_t, real_t);
+typedef void (*CollisionFunc)(const Shape3DSW *, const Transform3D &, const Shape3DSW *, const Transform3D &, _CollectorCallback *p_callback, real_t, real_t);
template <bool withMargin>
-static void _collision_sphere_sphere(const Shape3DSW *p_a, const Transform &p_transform_a, const Shape3DSW *p_b, const Transform &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
+static void _collision_sphere_sphere(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
const SphereShape3DSW *sphere_A = static_cast<const SphereShape3DSW *>(p_a);
const SphereShape3DSW *sphere_B = static_cast<const SphereShape3DSW *>(p_b);
@@ -787,7 +787,7 @@ static void _collision_sphere_sphere(const Shape3DSW *p_a, const Transform &p_tr
}
template <bool withMargin>
-static void _collision_sphere_box(const Shape3DSW *p_a, const Transform &p_transform_a, const Shape3DSW *p_b, const Transform &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
+static void _collision_sphere_box(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
const SphereShape3DSW *sphere_A = static_cast<const SphereShape3DSW *>(p_a);
const BoxShape3DSW *box_B = static_cast<const BoxShape3DSW *>(p_b);
@@ -838,7 +838,7 @@ static void _collision_sphere_box(const Shape3DSW *p_a, const Transform &p_trans
}
template <bool withMargin>
-static void _collision_sphere_capsule(const Shape3DSW *p_a, const Transform &p_transform_a, const Shape3DSW *p_b, const Transform &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
+static void _collision_sphere_capsule(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
const SphereShape3DSW *sphere_A = static_cast<const SphereShape3DSW *>(p_a);
const CapsuleShape3DSW *capsule_B = static_cast<const CapsuleShape3DSW *>(p_b);
@@ -880,7 +880,7 @@ static void _collision_sphere_capsule(const Shape3DSW *p_a, const Transform &p_t
}
template <bool withMargin>
-static void _collision_sphere_cylinder(const Shape3DSW *p_a, const Transform &p_transform_a, const Shape3DSW *p_b, const Transform &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
+static void _collision_sphere_cylinder(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
const SphereShape3DSW *sphere_A = static_cast<const SphereShape3DSW *>(p_a);
const CylinderShape3DSW *cylinder_B = static_cast<const CylinderShape3DSW *>(p_b);
@@ -939,7 +939,7 @@ static void _collision_sphere_cylinder(const Shape3DSW *p_a, const Transform &p_
}
template <bool withMargin>
-static void _collision_sphere_convex_polygon(const Shape3DSW *p_a, const Transform &p_transform_a, const Shape3DSW *p_b, const Transform &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
+static void _collision_sphere_convex_polygon(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
const SphereShape3DSW *sphere_A = static_cast<const SphereShape3DSW *>(p_a);
const ConvexPolygonShape3DSW *convex_polygon_B = static_cast<const ConvexPolygonShape3DSW *>(p_b);
@@ -999,7 +999,7 @@ static void _collision_sphere_convex_polygon(const Shape3DSW *p_a, const Transfo
}
template <bool withMargin>
-static void _collision_sphere_face(const Shape3DSW *p_a, const Transform &p_transform_a, const Shape3DSW *p_b, const Transform &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
+static void _collision_sphere_face(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
const SphereShape3DSW *sphere_A = static_cast<const SphereShape3DSW *>(p_a);
const FaceShape3DSW *face_B = static_cast<const FaceShape3DSW *>(p_b);
@@ -1044,7 +1044,7 @@ static void _collision_sphere_face(const Shape3DSW *p_a, const Transform &p_tran
}
template <bool withMargin>
-static void _collision_box_box(const Shape3DSW *p_a, const Transform &p_transform_a, const Shape3DSW *p_b, const Transform &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
+static void _collision_box_box(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
const BoxShape3DSW *box_A = static_cast<const BoxShape3DSW *>(p_a);
const BoxShape3DSW *box_B = static_cast<const BoxShape3DSW *>(p_b);
@@ -1142,7 +1142,7 @@ static void _collision_box_box(const Shape3DSW *p_a, const Transform &p_transfor
}
template <bool withMargin>
-static void _collision_box_capsule(const Shape3DSW *p_a, const Transform &p_transform_a, const Shape3DSW *p_b, const Transform &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
+static void _collision_box_capsule(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
const BoxShape3DSW *box_A = static_cast<const BoxShape3DSW *>(p_a);
const CapsuleShape3DSW *capsule_B = static_cast<const CapsuleShape3DSW *>(p_b);
@@ -1240,7 +1240,7 @@ static void _collision_box_capsule(const Shape3DSW *p_a, const Transform &p_tran
}
template <bool withMargin>
-static void _collision_box_cylinder(const Shape3DSW *p_a, const Transform &p_transform_a, const Shape3DSW *p_b, const Transform &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
+static void _collision_box_cylinder(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
const BoxShape3DSW *box_A = static_cast<const BoxShape3DSW *>(p_a);
const CylinderShape3DSW *cylinder_B = static_cast<const CylinderShape3DSW *>(p_b);
@@ -1353,7 +1353,7 @@ static void _collision_box_cylinder(const Shape3DSW *p_a, const Transform &p_tra
}
template <bool withMargin>
-static void _collision_box_convex_polygon(const Shape3DSW *p_a, const Transform &p_transform_a, const Shape3DSW *p_b, const Transform &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
+static void _collision_box_convex_polygon(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
const BoxShape3DSW *box_A = static_cast<const BoxShape3DSW *>(p_a);
const ConvexPolygonShape3DSW *convex_polygon_B = static_cast<const ConvexPolygonShape3DSW *>(p_b);
@@ -1468,7 +1468,7 @@ static void _collision_box_convex_polygon(const Shape3DSW *p_a, const Transform
}
template <bool withMargin>
-static void _collision_box_face(const Shape3DSW *p_a, const Transform &p_transform_a, const Shape3DSW *p_b, const Transform &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
+static void _collision_box_face(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
const BoxShape3DSW *box_A = static_cast<const BoxShape3DSW *>(p_a);
const FaceShape3DSW *face_B = static_cast<const FaceShape3DSW *>(p_b);
@@ -1591,7 +1591,7 @@ static void _collision_box_face(const Shape3DSW *p_a, const Transform &p_transfo
}
template <bool withMargin>
-static void _collision_capsule_capsule(const Shape3DSW *p_a, const Transform &p_transform_a, const Shape3DSW *p_b, const Transform &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
+static void _collision_capsule_capsule(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
const CapsuleShape3DSW *capsule_A = static_cast<const CapsuleShape3DSW *>(p_a);
const CapsuleShape3DSW *capsule_B = static_cast<const CapsuleShape3DSW *>(p_b);
@@ -1655,7 +1655,7 @@ static void _collision_capsule_capsule(const Shape3DSW *p_a, const Transform &p_
}
template <bool withMargin>
-static void _collision_capsule_cylinder(const Shape3DSW *p_a, const Transform &p_transform_a, const Shape3DSW *p_b, const Transform &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
+static void _collision_capsule_cylinder(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
const CapsuleShape3DSW *capsule_A = static_cast<const CapsuleShape3DSW *>(p_a);
const CylinderShape3DSW *cylinder_B = static_cast<const CylinderShape3DSW *>(p_b);
@@ -1717,7 +1717,7 @@ static void _collision_capsule_cylinder(const Shape3DSW *p_a, const Transform &p
}
template <bool withMargin>
-static void _collision_capsule_convex_polygon(const Shape3DSW *p_a, const Transform &p_transform_a, const Shape3DSW *p_b, const Transform &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
+static void _collision_capsule_convex_polygon(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
const CapsuleShape3DSW *capsule_A = static_cast<const CapsuleShape3DSW *>(p_a);
const ConvexPolygonShape3DSW *convex_polygon_B = static_cast<const ConvexPolygonShape3DSW *>(p_b);
@@ -1781,7 +1781,7 @@ static void _collision_capsule_convex_polygon(const Shape3DSW *p_a, const Transf
}
template <bool withMargin>
-static void _collision_capsule_face(const Shape3DSW *p_a, const Transform &p_transform_a, const Shape3DSW *p_b, const Transform &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
+static void _collision_capsule_face(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
const CapsuleShape3DSW *capsule_A = static_cast<const CapsuleShape3DSW *>(p_a);
const FaceShape3DSW *face_B = static_cast<const FaceShape3DSW *>(p_b);
@@ -1855,7 +1855,7 @@ static void _collision_capsule_face(const Shape3DSW *p_a, const Transform &p_tra
}
template <bool withMargin>
-static void _collision_cylinder_cylinder(const Shape3DSW *p_a, const Transform &p_transform_a, const Shape3DSW *p_b, const Transform &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
+static void _collision_cylinder_cylinder(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
const CylinderShape3DSW *cylinder_A = static_cast<const CylinderShape3DSW *>(p_a);
const CylinderShape3DSW *cylinder_B = static_cast<const CylinderShape3DSW *>(p_b);
@@ -1909,7 +1909,7 @@ static void _collision_cylinder_cylinder(const Shape3DSW *p_a, const Transform &
}
template <bool withMargin>
-static void _collision_cylinder_convex_polygon(const Shape3DSW *p_a, const Transform &p_transform_a, const Shape3DSW *p_b, const Transform &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
+static void _collision_cylinder_convex_polygon(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
const CylinderShape3DSW *cylinder_A = static_cast<const CylinderShape3DSW *>(p_a);
const ConvexPolygonShape3DSW *convex_polygon_B = static_cast<const ConvexPolygonShape3DSW *>(p_b);
@@ -1926,7 +1926,7 @@ static void _collision_cylinder_convex_polygon(const Shape3DSW *p_a, const Trans
}
template <bool withMargin>
-static void _collision_cylinder_face(const Shape3DSW *p_a, const Transform &p_transform_a, const Shape3DSW *p_b, const Transform &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
+static void _collision_cylinder_face(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
const CylinderShape3DSW *cylinder_A = static_cast<const CylinderShape3DSW *>(p_a);
const FaceShape3DSW *face_B = static_cast<const FaceShape3DSW *>(p_b);
@@ -2031,7 +2031,7 @@ static void _collision_cylinder_face(const Shape3DSW *p_a, const Transform &p_tr
}
template <bool withMargin>
-static void _collision_convex_polygon_convex_polygon(const Shape3DSW *p_a, const Transform &p_transform_a, const Shape3DSW *p_b, const Transform &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
+static void _collision_convex_polygon_convex_polygon(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
const ConvexPolygonShape3DSW *convex_polygon_A = static_cast<const ConvexPolygonShape3DSW *>(p_a);
const ConvexPolygonShape3DSW *convex_polygon_B = static_cast<const ConvexPolygonShape3DSW *>(p_b);
@@ -2140,7 +2140,7 @@ static void _collision_convex_polygon_convex_polygon(const Shape3DSW *p_a, const
}
template <bool withMargin>
-static void _collision_convex_polygon_face(const Shape3DSW *p_a, const Transform &p_transform_a, const Shape3DSW *p_b, const Transform &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
+static void _collision_convex_polygon_face(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
const ConvexPolygonShape3DSW *convex_polygon_A = static_cast<const ConvexPolygonShape3DSW *>(p_a);
const FaceShape3DSW *face_B = static_cast<const FaceShape3DSW *>(p_b);
@@ -2258,7 +2258,7 @@ static void _collision_convex_polygon_face(const Shape3DSW *p_a, const Transform
separator.generate_contacts();
}
-bool sat_calculate_penetration(const Shape3DSW *p_shape_A, const Transform &p_transform_A, const Shape3DSW *p_shape_B, const Transform &p_transform_B, CollisionSolver3DSW::CallbackResult p_result_callback, void *p_userdata, bool p_swap, Vector3 *r_prev_axis, real_t p_margin_a, real_t p_margin_b) {
+bool sat_calculate_penetration(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CollisionSolver3DSW::CallbackResult p_result_callback, void *p_userdata, bool p_swap, Vector3 *r_prev_axis, real_t p_margin_a, real_t p_margin_b) {
PhysicsServer3D::ShapeType type_A = p_shape_A->get_type();
ERR_FAIL_COND_V(type_A == PhysicsServer3D::SHAPE_PLANE, false);
@@ -2358,8 +2358,8 @@ bool sat_calculate_penetration(const Shape3DSW *p_shape_A, const Transform &p_tr
const Shape3DSW *A = p_shape_A;
const Shape3DSW *B = p_shape_B;
- const Transform *transform_A = &p_transform_A;
- const Transform *transform_B = &p_transform_B;
+ const Transform3D *transform_A = &p_transform_A;
+ const Transform3D *transform_B = &p_transform_B;
real_t margin_A = p_margin_a;
real_t margin_B = p_margin_b;
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-12 20:42:33 +0000