diff options
Diffstat (limited to 'servers/physics_3d/gjk_epa.cpp')
| -rw-r--r-- | servers/physics_3d/gjk_epa.cpp | 32 |
1 files changed, 16 insertions, 16 deletions
diff --git a/servers/physics_3d/gjk_epa.cpp b/servers/physics_3d/gjk_epa.cpp index f2f712193a..ef6535a878 100644 --- a/servers/physics_3d/gjk_epa.cpp +++ b/servers/physics_3d/gjk_epa.cpp @@ -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); - 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); @@ -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, @@ -925,10 +925,10 @@ bool Distance( const Shape3DSW* shape0, // -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)) { |