diff options
Diffstat (limited to 'servers/physics_3d/gjk_epa.cpp')
| -rw-r--r-- | servers/physics_3d/gjk_epa.cpp | 24 |
1 files changed, 12 insertions, 12 deletions
diff --git a/servers/physics_3d/gjk_epa.cpp b/servers/physics_3d/gjk_epa.cpp index 1a8c7f704f..2df991563d 100644 --- a/servers/physics_3d/gjk_epa.cpp +++ b/servers/physics_3d/gjk_epa.cpp @@ -107,16 +107,16 @@ typedef unsigned char U1; struct MinkowskiDiff { const Shape3DSW* m_shapes[2]; - Transform transform_A; - Transform transform_B; + Transform3D transform_A; + Transform3D transform_B; real_t margin_A = 0.0; real_t margin_B = 0.0; Vector3 (*get_support)(const Shape3DSW*, const Vector3&, real_t); - void Initialize(const Shape3DSW* shape0, const Transform& wtrs0, const real_t margin0, - const Shape3DSW* shape1, const Transform& wtrs1, const real_t margin1) { + void Initialize(const Shape3DSW* shape0, const Transform3D& wtrs0, const real_t margin0, + const Shape3DSW* shape1, const Transform3D& wtrs1, const real_t margin1) { m_shapes[0] = shape0; m_shapes[1] = shape1; transform_A = wtrs0; @@ -862,8 +862,8 @@ struct GJK }; // - static void Initialize( const Shape3DSW* shape0, const Transform& wtrs0, real_t margin0, - const Shape3DSW* shape1, const Transform& wtrs1, real_t margin1, + static void Initialize( const Shape3DSW* shape0, const Transform3D& wtrs0, real_t margin0, + const Shape3DSW* shape1, const Transform3D& wtrs1, real_t margin1, sResults& results, tShape& shape) { @@ -885,10 +885,10 @@ struct GJK // bool Distance( const Shape3DSW* shape0, - const Transform& wtrs0, + const Transform3D& wtrs0, real_t margin0, const Shape3DSW* shape1, - const Transform& wtrs1, + const Transform3D& wtrs1, real_t margin1, const Vector3& guess, sResults& results) @@ -926,10 +926,10 @@ bool Distance( const Shape3DSW* shape0, // bool Penetration( const Shape3DSW* shape0, - const Transform& wtrs0, + const Transform3D& wtrs0, real_t margin0, const Shape3DSW* shape1, - const Transform& wtrs1, + const Transform3D& wtrs1, real_t margin1, const Vector3& guess, sResults& results @@ -993,7 +993,7 @@ bool Penetration( const Shape3DSW* shape0, /* clang-format on */ -bool gjk_epa_calculate_distance(const Shape3DSW *p_shape_A, const Transform &p_transform_A, const Shape3DSW *p_shape_B, const Transform &p_transform_B, Vector3 &r_result_A, Vector3 &r_result_B) { +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) { 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 Transform &p_t return false; } -bool gjk_epa_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, real_t p_margin_A, real_t p_margin_B) { +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) { 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)) { |