diff options
Diffstat (limited to 'servers/physics_3d/godot_body_3d.cpp')
| -rw-r--r-- | servers/physics_3d/godot_body_3d.cpp | 90 |
1 files changed, 45 insertions, 45 deletions
diff --git a/servers/physics_3d/godot_body_3d.cpp b/servers/physics_3d/godot_body_3d.cpp index 19f065c319..3c93fee4f8 100644 --- a/servers/physics_3d/godot_body_3d.cpp +++ b/servers/physics_3d/godot_body_3d.cpp @@ -1,32 +1,32 @@ -/*************************************************************************/ -/* godot_body_3d.cpp */ -/*************************************************************************/ -/* This file is part of: */ -/* GODOT ENGINE */ -/* https://godotengine.org */ -/*************************************************************************/ -/* 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 */ -/* "Software"), to deal in the Software without restriction, including */ -/* without limitation the rights to use, copy, modify, merge, publish, */ -/* distribute, sublicense, and/or sell copies of the Software, and to */ -/* permit persons to whom the Software is furnished to do so, subject to */ -/* the following conditions: */ -/* */ -/* The above copyright notice and this permission notice shall be */ -/* included in all copies or substantial portions of the Software. */ -/* */ -/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ -/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ -/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ -/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ -/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ -/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ -/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ -/*************************************************************************/ +/**************************************************************************/ +/* godot_body_3d.cpp */ +/**************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/**************************************************************************/ +/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ +/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/**************************************************************************/ #include "godot_body_3d.h" @@ -78,10 +78,10 @@ void GodotBody3D::update_mass_properties() { real_t area = get_shape_area(i); - real_t mass = area * this->mass / total_area; + real_t mass_new = area * mass / total_area; // NOTE: we assume that the shape origin is also its center of mass. - center_of_mass_local += mass * get_shape_transform(i).origin; + center_of_mass_local += mass_new * get_shape_transform(i).origin; } center_of_mass_local /= mass; @@ -108,9 +108,9 @@ void GodotBody3D::update_mass_properties() { const GodotShape3D *shape = get_shape(i); - real_t mass = area * this->mass / total_area; + real_t mass_new = area * mass / total_area; - Basis shape_inertia_tensor = Basis::from_scale(shape->get_moment_of_inertia(mass)); + Basis shape_inertia_tensor = Basis::from_scale(shape->get_moment_of_inertia(mass_new)); Transform3D shape_transform = get_shape_transform(i); Basis shape_basis = shape_transform.basis.orthonormalized(); @@ -118,7 +118,7 @@ void GodotBody3D::update_mass_properties() { shape_inertia_tensor = shape_basis * shape_inertia_tensor * shape_basis.transposed(); Vector3 shape_origin = shape_transform.origin - center_of_mass_local; - inertia_tensor += shape_inertia_tensor + (Basis() * shape_origin.dot(shape_origin) - shape_origin.outer(shape_origin)) * mass; + inertia_tensor += shape_inertia_tensor + (Basis() * shape_origin.dot(shape_origin) - shape_origin.outer(shape_origin)) * mass_new; } // Set the inertia to a valid value when there are no valid shapes. @@ -637,14 +637,14 @@ void GodotBody3D::integrate_forces(real_t p_step) { damp = 0; } - real_t angular_damp = 1.0 - p_step * total_angular_damp; + real_t angular_damp_new = 1.0 - p_step * total_angular_damp; - if (angular_damp < 0) { // reached zero in the given time - angular_damp = 0; + if (angular_damp_new < 0) { // reached zero in the given time + angular_damp_new = 0; } linear_velocity *= damp; - angular_velocity *= angular_damp; + angular_velocity *= angular_damp_new; linear_velocity += _inv_mass * force * p_step; angular_velocity += _inv_inertia_tensor.xform(torque) * p_step; @@ -707,27 +707,27 @@ void GodotBody3D::integrate_velocities(real_t p_step) { Vector3 total_angular_velocity = angular_velocity + biased_angular_velocity; real_t ang_vel = total_angular_velocity.length(); - Transform3D transform = get_transform(); + Transform3D transform_new = get_transform(); if (!Math::is_zero_approx(ang_vel)) { Vector3 ang_vel_axis = total_angular_velocity / ang_vel; Basis rot(ang_vel_axis, ang_vel * p_step); Basis identity3(1, 0, 0, 0, 1, 0, 0, 0, 1); - transform.origin += ((identity3 - rot) * transform.basis).xform(center_of_mass_local); - transform.basis = rot * transform.basis; - transform.orthonormalize(); + transform_new.origin += ((identity3 - rot) * transform_new.basis).xform(center_of_mass_local); + transform_new.basis = rot * transform_new.basis; + transform_new.orthonormalize(); } Vector3 total_linear_velocity = linear_velocity + biased_linear_velocity; /*for(int i=0;i<3;i++) { if (axis_lock&(1<<i)) { - transform.origin[i]=0.0; + transform_new.origin[i]=0.0; } }*/ - transform.origin += total_linear_velocity * p_step; + transform_new.origin += total_linear_velocity * p_step; - _set_transform(transform); + _set_transform(transform_new); _set_inv_transform(get_transform().inverse()); _update_transform_dependent(); |