diff options
Diffstat (limited to 'servers/physics_3d/collision_solver_3d_sw.cpp')
| -rw-r--r-- | servers/physics_3d/collision_solver_3d_sw.cpp | 32 |
1 files changed, 16 insertions, 16 deletions
diff --git a/servers/physics_3d/collision_solver_3d_sw.cpp b/servers/physics_3d/collision_solver_3d_sw.cpp index f655c4626c..67330d497e 100644 --- a/servers/physics_3d/collision_solver_3d_sw.cpp +++ b/servers/physics_3d/collision_solver_3d_sw.cpp @@ -37,7 +37,7 @@ #define collision_solver sat_calculate_penetration //#define collision_solver gjk_epa_calculate_penetration -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) { +bool CollisionSolver3DSW::solve_static_plane(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &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) { return false; @@ -89,14 +89,14 @@ bool CollisionSolver3DSW::solve_static_plane(const Shape3DSW *p_shape_A, const T return found; } -bool CollisionSolver3DSW::solve_ray(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) { +bool CollisionSolver3DSW::solve_ray(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result) { const RayShape3DSW *ray = static_cast<const RayShape3DSW *>(p_shape_A); Vector3 from = p_transform_A.origin; Vector3 to = from + p_transform_A.basis.get_axis(2) * ray->get_length(); Vector3 support_A = to; - Transform ai = p_transform_B.affine_inverse(); + Transform3D ai = p_transform_B.affine_inverse(); from = ai.xform(from); to = ai.xform(to); @@ -146,8 +146,8 @@ struct _SoftBodyQueryInfo { SoftBody3DSW *soft_body = nullptr; const Shape3DSW *shape_A = nullptr; const Shape3DSW *shape_B = nullptr; - Transform transform_A; - Transform node_transform; + Transform3D transform_A; + Transform3D node_transform; _SoftBodyContactCollisionInfo contact_info; #ifdef DEBUG_ENABLED int node_query_count = 0; @@ -160,7 +160,7 @@ bool CollisionSolver3DSW::soft_body_query_callback(uint32_t p_node_index, void * Vector3 node_position = query_cinfo.soft_body->get_node_position(p_node_index); - Transform transform_B; + Transform3D transform_B; transform_B.origin = query_cinfo.node_transform.xform(node_position); query_cinfo.contact_info.node_index = p_node_index; @@ -201,11 +201,11 @@ void CollisionSolver3DSW::soft_body_concave_callback(void *p_userdata, Shape3DSW #endif } -bool CollisionSolver3DSW::solve_soft_body(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) { +bool CollisionSolver3DSW::solve_soft_body(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result) { const SoftBodyShape3DSW *soft_body_shape_B = static_cast<const SoftBodyShape3DSW *>(p_shape_B); SoftBody3DSW *soft_body = soft_body_shape_B->get_soft_body(); - const Transform &world_to_local = soft_body->get_inv_transform(); + const Transform3D &world_to_local = soft_body->get_inv_transform(); const real_t collision_margin = soft_body->get_collision_margin(); @@ -257,9 +257,9 @@ bool CollisionSolver3DSW::solve_soft_body(const Shape3DSW *p_shape_A, const Tran } struct _ConcaveCollisionInfo { - const Transform *transform_A; + const Transform3D *transform_A; const Shape3DSW *shape_A; - const Transform *transform_B; + const Transform3D *transform_B; CollisionSolver3DSW::CallbackResult result_callback; void *userdata; bool swap_result; @@ -285,7 +285,7 @@ void CollisionSolver3DSW::concave_callback(void *p_userdata, Shape3DSW *p_convex cinfo.collisions++; } -bool CollisionSolver3DSW::solve_concave(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, real_t p_margin_A, real_t p_margin_B) { +bool CollisionSolver3DSW::solve_concave(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, real_t p_margin_A, real_t p_margin_B) { const ConcaveShape3DSW *concave_B = static_cast<const ConcaveShape3DSW *>(p_shape_B); _ConcaveCollisionInfo cinfo; @@ -302,7 +302,7 @@ bool CollisionSolver3DSW::solve_concave(const Shape3DSW *p_shape_A, const Transf cinfo.aabb_tests = 0; - Transform rel_transform = p_transform_A; + Transform3D rel_transform = p_transform_A; rel_transform.origin -= p_transform_B.origin; //quickly compute a local AABB @@ -329,7 +329,7 @@ bool CollisionSolver3DSW::solve_concave(const Shape3DSW *p_shape_A, const Transf return cinfo.collided; } -bool CollisionSolver3DSW::solve_static(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, Vector3 *r_sep_axis, real_t p_margin_A, real_t p_margin_B) { +bool CollisionSolver3DSW::solve_static(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, Vector3 *r_sep_axis, real_t p_margin_A, real_t p_margin_B) { PhysicsServer3D::ShapeType type_A = p_shape_A->get_type(); PhysicsServer3D::ShapeType type_B = p_shape_B->get_type(); bool concave_A = p_shape_A->is_concave(); @@ -421,7 +421,7 @@ void CollisionSolver3DSW::concave_distance_callback(void *p_userdata, Shape3DSW cinfo.collisions++; } -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) { +bool CollisionSolver3DSW::solve_distance_plane(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &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) { return false; @@ -473,7 +473,7 @@ bool CollisionSolver3DSW::solve_distance_plane(const Shape3DSW *p_shape_A, const return collided; } -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) { +bool CollisionSolver3DSW::solve_distance(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &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()) { return false; } @@ -504,7 +504,7 @@ bool CollisionSolver3DSW::solve_distance(const Shape3DSW *p_shape_A, const Trans cinfo.aabb_tests = 0; cinfo.tested = false; - Transform rel_transform = p_transform_A; + Transform3D rel_transform = p_transform_A; rel_transform.origin -= p_transform_B.origin; //quickly compute a local AABB |