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Diffstat (limited to 'servers/physics_3d/collision_solver_3d_sw.cpp')
-rw-r--r--servers/physics_3d/collision_solver_3d_sw.cpp54
1 files changed, 35 insertions, 19 deletions
diff --git a/servers/physics_3d/collision_solver_3d_sw.cpp b/servers/physics_3d/collision_solver_3d_sw.cpp
index 43e62ee452..e2bfaf990d 100644
--- a/servers/physics_3d/collision_solver_3d_sw.cpp
+++ b/servers/physics_3d/collision_solver_3d_sw.cpp
@@ -38,8 +38,9 @@
bool CollisionSolver3DSW::solve_static_plane(const Shape3DSW *p_shape_A, const Transform &p_transform_A, const Shape3DSW *p_shape_B, const Transform &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result) {
const PlaneShape3DSW *plane = static_cast<const PlaneShape3DSW *>(p_shape_A);
- if (p_shape_B->get_type() == PhysicsServer3D::SHAPE_PLANE)
+ if (p_shape_B->get_type() == PhysicsServer3D::SHAPE_PLANE) {
return false;
+ }
Plane p = p_transform_A.xform(plane->get_plane());
static const int max_supports = 16;
@@ -52,17 +53,19 @@ bool CollisionSolver3DSW::solve_static_plane(const Shape3DSW *p_shape_A, const T
for (int i = 0; i < support_count; i++) {
supports[i] = p_transform_B.xform(supports[i]);
- if (p.distance_to(supports[i]) >= 0)
+ if (p.distance_to(supports[i]) >= 0) {
continue;
+ }
found = true;
Vector3 support_A = p.project(supports[i]);
if (p_result_callback) {
- if (p_swap_result)
+ if (p_swap_result) {
p_result_callback(supports[i], support_A, p_userdata);
- else
+ } else {
p_result_callback(support_A, supports[i], p_userdata);
+ }
}
}
@@ -82,8 +85,9 @@ bool CollisionSolver3DSW::solve_ray(const Shape3DSW *p_shape_A, const Transform
to = ai.xform(to);
Vector3 p, n;
- if (!p_shape_B->intersect_segment(from, to, p, n))
+ if (!p_shape_B->intersect_segment(from, to, p, n)) {
return false;
+ }
Vector3 support_B = p_transform_B.xform(p);
if (ray->get_slips_on_slope()) {
@@ -92,10 +96,11 @@ bool CollisionSolver3DSW::solve_ray(const Shape3DSW *p_shape_A, const Transform
}
if (p_result_callback) {
- if (p_swap_result)
+ if (p_swap_result) {
p_result_callback(support_B, support_A, p_userdata);
- else
+ } else {
p_result_callback(support_A, support_B, p_userdata);
+ }
}
return true;
}
@@ -121,8 +126,9 @@ void CollisionSolver3DSW::concave_callback(void *p_userdata, Shape3DSW *p_convex
cinfo.aabb_tests++;
bool collided = collision_solver(cinfo.shape_A, *cinfo.transform_A, p_convex, *cinfo.transform_B, cinfo.result_callback, cinfo.userdata, cinfo.swap_result, nullptr, cinfo.margin_A, cinfo.margin_B);
- if (!collided)
+ if (!collided) {
return;
+ }
cinfo.collided = true;
cinfo.collisions++;
@@ -187,8 +193,9 @@ bool CollisionSolver3DSW::solve_static(const Shape3DSW *p_shape_A, const Transfo
}
if (type_A == PhysicsServer3D::SHAPE_PLANE) {
- if (type_B == PhysicsServer3D::SHAPE_PLANE)
+ if (type_B == PhysicsServer3D::SHAPE_PLANE) {
return false;
+ }
if (type_B == PhysicsServer3D::SHAPE_RAY) {
return false;
}
@@ -200,8 +207,9 @@ bool CollisionSolver3DSW::solve_static(const Shape3DSW *p_shape_A, const Transfo
}
} else if (type_A == PhysicsServer3D::SHAPE_RAY) {
- if (type_B == PhysicsServer3D::SHAPE_RAY)
+ if (type_B == PhysicsServer3D::SHAPE_RAY) {
return false;
+ }
if (swap) {
return solve_ray(p_shape_B, p_transform_B, p_shape_A, p_transform_A, p_result_callback, p_userdata, true);
@@ -210,13 +218,15 @@ bool CollisionSolver3DSW::solve_static(const Shape3DSW *p_shape_A, const Transfo
}
} else if (concave_B) {
- if (concave_A)
+ if (concave_A) {
return false;
+ }
- if (!swap)
+ if (!swap) {
return solve_concave(p_shape_A, p_transform_A, p_shape_B, p_transform_B, p_result_callback, p_userdata, false, p_margin_A, p_margin_B);
- else
+ } else {
return solve_concave(p_shape_B, p_transform_B, p_shape_A, p_transform_A, p_result_callback, p_userdata, true, p_margin_A, p_margin_B);
+ }
} else {
return collision_solver(p_shape_A, p_transform_A, p_shape_B, p_transform_B, p_result_callback, p_userdata, false, r_sep_axis, p_margin_A, p_margin_B);
@@ -226,14 +236,16 @@ bool CollisionSolver3DSW::solve_static(const Shape3DSW *p_shape_A, const Transfo
void CollisionSolver3DSW::concave_distance_callback(void *p_userdata, Shape3DSW *p_convex) {
_ConcaveCollisionInfo &cinfo = *(_ConcaveCollisionInfo *)(p_userdata);
cinfo.aabb_tests++;
- if (cinfo.collided)
+ if (cinfo.collided) {
return;
+ }
Vector3 close_A, close_B;
cinfo.collided = !gjk_epa_calculate_distance(cinfo.shape_A, *cinfo.transform_A, p_convex, *cinfo.transform_B, close_A, close_B);
- if (cinfo.collided)
+ if (cinfo.collided) {
return;
+ }
if (!cinfo.tested || close_A.distance_squared_to(close_B) < cinfo.close_A.distance_squared_to(cinfo.close_B)) {
cinfo.close_A = close_A;
cinfo.close_B = close_B;
@@ -245,8 +257,9 @@ void CollisionSolver3DSW::concave_distance_callback(void *p_userdata, Shape3DSW
bool CollisionSolver3DSW::solve_distance_plane(const Shape3DSW *p_shape_A, const Transform &p_transform_A, const Shape3DSW *p_shape_B, const Transform &p_transform_B, Vector3 &r_point_A, Vector3 &r_point_B) {
const PlaneShape3DSW *plane = static_cast<const PlaneShape3DSW *>(p_shape_A);
- if (p_shape_B->get_type() == PhysicsServer3D::SHAPE_PLANE)
+ if (p_shape_B->get_type() == PhysicsServer3D::SHAPE_PLANE) {
return false;
+ }
Plane p = p_transform_A.xform(plane->get_plane());
static const int max_supports = 16;
@@ -265,8 +278,9 @@ bool CollisionSolver3DSW::solve_distance_plane(const Shape3DSW *p_shape_A, const
if (i == 0 || d < closest_d) {
closest = supports[i];
closest_d = d;
- if (d <= 0)
+ if (d <= 0) {
collided = true;
+ }
}
}
@@ -277,8 +291,9 @@ bool CollisionSolver3DSW::solve_distance_plane(const Shape3DSW *p_shape_A, const
}
bool CollisionSolver3DSW::solve_distance(const Shape3DSW *p_shape_A, const Transform &p_transform_A, const Shape3DSW *p_shape_B, const Transform &p_transform_B, Vector3 &r_point_A, Vector3 &r_point_B, const AABB &p_concave_hint, Vector3 *r_sep_axis) {
- if (p_shape_A->is_concave())
+ if (p_shape_A->is_concave()) {
return false;
+ }
if (p_shape_B->get_type() == PhysicsServer3D::SHAPE_PLANE) {
Vector3 a, b;
@@ -288,8 +303,9 @@ bool CollisionSolver3DSW::solve_distance(const Shape3DSW *p_shape_A, const Trans
return !col;
} else if (p_shape_B->is_concave()) {
- if (p_shape_A->is_concave())
+ if (p_shape_A->is_concave()) {
return false;
+ }
const ConcaveShape3DSW *concave_B = static_cast<const ConcaveShape3DSW *>(p_shape_B);
generated by cgit v1.2.3 (git 2.25.1) at 2025-02-16 14:37:39 +0000