diff options
Diffstat (limited to 'servers/physics_3d/gjk_epa.cpp')
| -rw-r--r-- | servers/physics_3d/gjk_epa.cpp | 23 |
1 files changed, 0 insertions, 23 deletions
diff --git a/servers/physics_3d/gjk_epa.cpp b/servers/physics_3d/gjk_epa.cpp index d99a2532f8..e14949543e 100644 --- a/servers/physics_3d/gjk_epa.cpp +++ b/servers/physics_3d/gjk_epa.cpp @@ -102,7 +102,6 @@ typedef unsigned char U1; // MinkowskiDiff struct MinkowskiDiff { - const Shape3DSW* m_shapes[2]; Transform transform_A; @@ -127,7 +126,6 @@ struct MinkowskiDiff { return ( Support1 ( d ) ); } else { return ( Support0 ( d ) ); - } } }; @@ -281,7 +279,6 @@ struct GJK } } if(mask==15) { m_status=eStatus::Inside; - } } else @@ -312,12 +309,10 @@ struct GJK axis[i]=1; appendvertice(*m_simplex, axis); if(EncloseOrigin()) { return(true); - } removevertice(*m_simplex); appendvertice(*m_simplex,-axis); if(EncloseOrigin()) { return(true); - } removevertice(*m_simplex); } @@ -335,12 +330,10 @@ struct GJK { appendvertice(*m_simplex, p); if(EncloseOrigin()) { return(true); - } removevertice(*m_simplex); appendvertice(*m_simplex,-p); if(EncloseOrigin()) { return(true); - } removevertice(*m_simplex); } @@ -355,12 +348,10 @@ struct GJK { appendvertice(*m_simplex,n); if(EncloseOrigin()) { return(true); - } removevertice(*m_simplex); appendvertice(*m_simplex,-n); if(EncloseOrigin()) { return(true); - } removevertice(*m_simplex); } @@ -372,7 +363,6 @@ struct GJK m_simplex->c[1]->w-m_simplex->c[3]->w, m_simplex->c[2]->w-m_simplex->c[3]->w))>0) { return(true); - } } break; @@ -580,7 +570,6 @@ struct GJK face->l[0] = nullptr; face->l[1] = list.root; if(list.root) { list.root->l[0]=face; - } list.root = face; ++list.count; @@ -588,13 +577,10 @@ struct GJK static inline void remove(sList& list,sFace* face) { if(face->l[1]) { face->l[1]->l[0]=face->l[0]; - } if(face->l[0]) { face->l[0]->l[1]=face->l[1]; - } if(face==list.root) { list.root=face->l[1]; - } --list.count; } @@ -616,7 +602,6 @@ struct GJK GJK::sSimplex& simplex=*gjk.m_simplex; if((simplex.rank>1)&&gjk.EncloseOrigin()) { - /* Clean up */ while(m_hull.root) { @@ -677,7 +662,6 @@ struct GJK append(m_stock,best); best=findbest(); if(best->p>=outer.p) { outer=*best; - } } else { m_status=eStatus::InvalidHull;break; } } else { m_status=eStatus::AccuraryReached;break; } @@ -711,7 +695,6 @@ struct GJK m_normal = m_normal/nl; } else { m_normal = Vector3(1,0,0); - } m_depth = 0; m_result.rank=1; @@ -747,10 +730,8 @@ struct GJK { return(face); } else { m_status=eStatus::NonConvex; - } } else { m_status=eStatus::Degenerated; - } remove(m_hull,face); append(m_stock,face); @@ -793,7 +774,6 @@ struct GJK { bind(nf,0,f,e); if(horizon.cf) { bind(horizon.cf,1,nf,2); } else { horizon.ff=nf; - } horizon.cf=nf; ++horizon.nf; @@ -917,7 +897,6 @@ bool Penetration( const Shape3DSW* shape0, results.distance = -epa.m_depth; return(true); } else { results.status=sResults::EPA_Failed; - } } break; @@ -948,8 +927,6 @@ bool Penetration( const Shape3DSW* shape0, #undef EPA_FALLBACK #undef EPA_PLANE_EPS #undef EPA_INSIDE_EPS - - } // end of namespace /* clang-format on */ |