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-rw-r--r--servers/physics_3d/gjk_epa.cpp54
1 files changed, 27 insertions, 27 deletions
diff --git a/servers/physics_3d/gjk_epa.cpp b/servers/physics_3d/gjk_epa.cpp
index f2f712193a..ba362740b2 100644
--- a/servers/physics_3d/gjk_epa.cpp
+++ b/servers/physics_3d/gjk_epa.cpp
@@ -5,8 +5,8 @@
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
-/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
-/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
+/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */
+/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md). */
/* */
/* Permission is hereby granted, free of charge, to any person obtaining */
/* a copy of this software and associated documentation files (the */
@@ -37,7 +37,7 @@
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2008 Erwin Coumans https://bulletphysics.org
+Copyright (c) 2003-2008 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the
@@ -96,7 +96,7 @@ struct sResults {
Vector3 witnesses[2];
Vector3 normal;
- real_t distance;
+ real_t distance = 0.0;
};
// Shorthands
@@ -105,7 +105,7 @@ typedef unsigned char U1;
// MinkowskiDiff
struct MinkowskiDiff {
- const Shape3DSW* m_shapes[2];
+ const GodotShape3D* m_shapes[2];
Transform3D transform_A;
Transform3D transform_B;
@@ -113,10 +113,10 @@ struct MinkowskiDiff {
real_t margin_A = 0.0;
real_t margin_B = 0.0;
- Vector3 (*get_support)(const Shape3DSW*, const Vector3&, real_t);
+ Vector3 (*get_support)(const GodotShape3D*, const Vector3&, real_t) = nullptr;
- void Initialize(const Shape3DSW* shape0, const Transform3D& wtrs0, const real_t margin0,
- const Shape3DSW* shape1, const Transform3D& wtrs1, const real_t margin1) {
+ void Initialize(const GodotShape3D* shape0, const Transform3D& wtrs0, const real_t margin0,
+ const GodotShape3D* shape1, const Transform3D& wtrs1, const real_t margin1) {
m_shapes[0] = shape0;
m_shapes[1] = shape1;
transform_A = wtrs0;
@@ -131,11 +131,11 @@ struct MinkowskiDiff {
}
}
- static Vector3 get_support_without_margin(const Shape3DSW* p_shape, const Vector3& p_dir, real_t p_margin) {
+ static Vector3 get_support_without_margin(const GodotShape3D* p_shape, const Vector3& p_dir, real_t p_margin) {
return p_shape->get_support(p_dir.normalized());
}
- static Vector3 get_support_with_margin(const Shape3DSW* p_shape, const Vector3& p_dir, real_t p_margin) {
+ static Vector3 get_support_with_margin(const GodotShape3D* p_shape, const Vector3& p_dir, real_t p_margin) {
Vector3 local_dir_norm = p_dir;
if (local_dir_norm.length_squared() < CMP_EPSILON2) {
local_dir_norm = Vector3(-1.0, -1.0, -1.0);
@@ -191,13 +191,13 @@ struct GJK
/* Fields */
tShape m_shape;
Vector3 m_ray;
- real_t m_distance;
+ real_t m_distance = 0.0f;
sSimplex m_simplices[2];
sSV m_store[4];
sSV* m_free[4];
- U m_nfree;
- U m_current;
- sSimplex* m_simplex;
+ U m_nfree = 0;
+ U m_current = 0;
+ sSimplex* m_simplex = nullptr;
eStatus::_ m_status;
/* Methods */
GJK()
@@ -548,12 +548,12 @@ struct GJK
struct sFace
{
Vector3 n;
- real_t d;
+ real_t d = 0.0f;
sSV* c[3];
sFace* f[3];
sFace* l[2];
U1 e[3];
- U1 pass;
+ U1 pass = 0;
};
struct sList
{
@@ -583,10 +583,10 @@ struct GJK
eStatus::_ m_status;
GJK::sSimplex m_result;
Vector3 m_normal;
- real_t m_depth;
+ real_t m_depth = 0.0f;
sSV m_sv_store[EPA_MAX_VERTICES];
sFace m_fc_store[EPA_MAX_FACES];
- U m_nextsv;
+ U m_nextsv = 0;
sList m_hull;
sList m_stock;
/* Methods */
@@ -862,8 +862,8 @@ struct GJK
};
//
- static void Initialize( const Shape3DSW* shape0, const Transform3D& wtrs0, real_t margin0,
- const Shape3DSW* shape1, const Transform3D& wtrs1, real_t margin1,
+ static void Initialize( const GodotShape3D* shape0, const Transform3D& wtrs0, real_t margin0,
+ const GodotShape3D* shape1, const Transform3D& wtrs1, real_t margin1,
sResults& results,
tShape& shape)
{
@@ -884,10 +884,10 @@ struct GJK
//
//
-bool Distance( const Shape3DSW* shape0,
+bool Distance( const GodotShape3D* shape0,
const Transform3D& wtrs0,
real_t margin0,
- const Shape3DSW* shape1,
+ const GodotShape3D* shape1,
const Transform3D& wtrs1,
real_t margin1,
const Vector3& guess,
@@ -918,17 +918,17 @@ bool Distance( const Shape3DSW* shape0,
{
results.status = gjk_status==GJK::eStatus::Inside?
sResults::Penetrating :
- sResults::GJK_Failed ;
+ sResults::GJK_Failed;
return(false);
}
}
//
-bool Penetration( const Shape3DSW* shape0,
+bool Penetration( const GodotShape3D* shape0,
const Transform3D& wtrs0,
real_t margin0,
- const Shape3DSW* shape1,
+ const GodotShape3D* shape1,
const Transform3D& wtrs1,
real_t margin1,
const Vector3& guess,
@@ -993,7 +993,7 @@ bool Penetration( const Shape3DSW* shape0,
/* clang-format on */
-bool gjk_epa_calculate_distance(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, Vector3 &r_result_A, Vector3 &r_result_B) {
+bool gjk_epa_calculate_distance(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, Vector3 &r_result_A, Vector3 &r_result_B) {
GjkEpa2::sResults res;
if (GjkEpa2::Distance(p_shape_A, p_transform_A, 0.0, p_shape_B, p_transform_B, 0.0, p_transform_B.origin - p_transform_A.origin, res)) {
@@ -1005,7 +1005,7 @@ bool gjk_epa_calculate_distance(const Shape3DSW *p_shape_A, const Transform3D &p
return false;
}
-bool gjk_epa_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, real_t p_margin_A, real_t p_margin_B) {
+bool gjk_epa_calculate_penetration(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, GodotCollisionSolver3D::CallbackResult p_result_callback, void *p_userdata, bool p_swap, real_t p_margin_A, real_t p_margin_B) {
GjkEpa2::sResults res;
if (GjkEpa2::Penetration(p_shape_A, p_transform_A, p_margin_A, p_shape_B, p_transform_B, p_margin_B, p_transform_B.origin - p_transform_A.origin, res)) {
generated by cgit v1.2.3 (git 2.25.1) at 2025-03-21 04:01:25 +0000