diff options
Diffstat (limited to 'servers/physics_3d/joints')
4 files changed, 35 insertions, 35 deletions
diff --git a/servers/physics_3d/joints/godot_cone_twist_joint_3d.cpp b/servers/physics_3d/joints/godot_cone_twist_joint_3d.cpp index dc4858ff9a..28cc064a1e 100644 --- a/servers/physics_3d/joints/godot_cone_twist_joint_3d.cpp +++ b/servers/physics_3d/joints/godot_cone_twist_joint_3d.cpp @@ -147,8 +147,8 @@ bool GodotConeTwistJoint3D::setup(real_t p_timestep) { Vector3 b1Axis1, b1Axis2, b1Axis3; Vector3 b2Axis1, b2Axis2; - b1Axis1 = A->get_transform().basis.xform(this->m_rbAFrame.basis.get_axis(0)); - b2Axis1 = B->get_transform().basis.xform(this->m_rbBFrame.basis.get_axis(0)); + b1Axis1 = A->get_transform().basis.xform(this->m_rbAFrame.basis.get_column(0)); + b2Axis1 = B->get_transform().basis.xform(this->m_rbBFrame.basis.get_column(0)); real_t swing1 = real_t(0.), swing2 = real_t(0.); @@ -158,7 +158,7 @@ bool GodotConeTwistJoint3D::setup(real_t p_timestep) { // Get Frame into world space if (m_swingSpan1 >= real_t(0.05f)) { - b1Axis2 = A->get_transform().basis.xform(this->m_rbAFrame.basis.get_axis(1)); + b1Axis2 = A->get_transform().basis.xform(this->m_rbAFrame.basis.get_column(1)); //swing1 = btAtan2Fast( b2Axis1.dot(b1Axis2),b2Axis1.dot(b1Axis1) ); swx = b2Axis1.dot(b1Axis1); swy = b2Axis1.dot(b1Axis2); @@ -169,7 +169,7 @@ bool GodotConeTwistJoint3D::setup(real_t p_timestep) { } if (m_swingSpan2 >= real_t(0.05f)) { - b1Axis3 = A->get_transform().basis.xform(this->m_rbAFrame.basis.get_axis(2)); + b1Axis3 = A->get_transform().basis.xform(this->m_rbAFrame.basis.get_column(2)); //swing2 = btAtan2Fast( b2Axis1.dot(b1Axis3),b2Axis1.dot(b1Axis1) ); swx = b2Axis1.dot(b1Axis1); swy = b2Axis1.dot(b1Axis3); @@ -199,7 +199,7 @@ bool GodotConeTwistJoint3D::setup(real_t p_timestep) { // Twist limits if (m_twistSpan >= real_t(0.)) { - Vector3 b2Axis22 = B->get_transform().basis.xform(this->m_rbBFrame.basis.get_axis(1)); + Vector3 b2Axis22 = B->get_transform().basis.xform(this->m_rbBFrame.basis.get_column(1)); Quaternion rotationArc = Quaternion(b2Axis1, b1Axis1); Vector3 TwistRef = rotationArc.xform(b2Axis22); real_t twist = atan2fast(TwistRef.dot(b1Axis3), TwistRef.dot(b1Axis2)); diff --git a/servers/physics_3d/joints/godot_generic_6dof_joint_3d.cpp b/servers/physics_3d/joints/godot_generic_6dof_joint_3d.cpp index 41e9bf06bb..e0fa940104 100644 --- a/servers/physics_3d/joints/godot_generic_6dof_joint_3d.cpp +++ b/servers/physics_3d/joints/godot_generic_6dof_joint_3d.cpp @@ -249,8 +249,8 @@ void GodotGeneric6DOFJoint3D::calculateAngleInfo() { // easier to take the euler rate expression for d(angle[2])/dt with respect // to the components of w and set that to 0. - Vector3 axis0 = m_calculatedTransformB.basis.get_axis(0); - Vector3 axis2 = m_calculatedTransformA.basis.get_axis(2); + Vector3 axis0 = m_calculatedTransformB.basis.get_column(0); + Vector3 axis2 = m_calculatedTransformA.basis.get_column(2); m_calculatedAxis[1] = axis2.cross(axis0); m_calculatedAxis[0] = m_calculatedAxis[1].cross(axis2); @@ -345,9 +345,9 @@ bool GodotGeneric6DOFJoint3D::setup(real_t p_timestep) { for (i = 0; i < 3; i++) { if (m_linearLimits.enable_limit[i] && m_linearLimits.isLimited(i)) { if (m_useLinearReferenceFrameA) { - normalWorld = m_calculatedTransformA.basis.get_axis(i); + normalWorld = m_calculatedTransformA.basis.get_column(i); } else { - normalWorld = m_calculatedTransformB.basis.get_axis(i); + normalWorld = m_calculatedTransformB.basis.get_column(i); } buildLinearJacobian( @@ -388,9 +388,9 @@ void GodotGeneric6DOFJoint3D::solve(real_t p_timestep) { jacDiagABInv = real_t(1.) / m_jacLinear[i].getDiagonal(); if (m_useLinearReferenceFrameA) { - linear_axis = m_calculatedTransformA.basis.get_axis(i); + linear_axis = m_calculatedTransformA.basis.get_column(i); } else { - linear_axis = m_calculatedTransformB.basis.get_axis(i); + linear_axis = m_calculatedTransformB.basis.get_column(i); } m_linearLimits.solveLinearAxis( diff --git a/servers/physics_3d/joints/godot_hinge_joint_3d.cpp b/servers/physics_3d/joints/godot_hinge_joint_3d.cpp index 1c4d5dec23..01c59395c8 100644 --- a/servers/physics_3d/joints/godot_hinge_joint_3d.cpp +++ b/servers/physics_3d/joints/godot_hinge_joint_3d.cpp @@ -92,16 +92,16 @@ GodotHingeJoint3D::GodotHingeJoint3D(GodotBody3D *rbA, GodotBody3D *rbB, const V m_rbAFrame.origin = pivotInA; // since no frame is given, assume this to be zero angle and just pick rb transform axis - Vector3 rbAxisA1 = rbA->get_transform().basis.get_axis(0); + Vector3 rbAxisA1 = rbA->get_transform().basis.get_column(0); Vector3 rbAxisA2; real_t projection = axisInA.dot(rbAxisA1); if (projection >= 1.0f - CMP_EPSILON) { - rbAxisA1 = -rbA->get_transform().basis.get_axis(2); - rbAxisA2 = rbA->get_transform().basis.get_axis(1); + rbAxisA1 = -rbA->get_transform().basis.get_column(2); + rbAxisA2 = rbA->get_transform().basis.get_column(1); } else if (projection <= -1.0f + CMP_EPSILON) { - rbAxisA1 = rbA->get_transform().basis.get_axis(2); - rbAxisA2 = rbA->get_transform().basis.get_axis(1); + rbAxisA1 = rbA->get_transform().basis.get_column(2); + rbAxisA2 = rbA->get_transform().basis.get_column(1); } else { rbAxisA2 = axisInA.cross(rbAxisA1); rbAxisA1 = rbAxisA2.cross(axisInA); @@ -171,11 +171,11 @@ bool GodotHingeJoint3D::setup(real_t p_step) { Vector3 jointAxis0local; Vector3 jointAxis1local; - plane_space(m_rbAFrame.basis.get_axis(2), jointAxis0local, jointAxis1local); + plane_space(m_rbAFrame.basis.get_column(2), jointAxis0local, jointAxis1local); Vector3 jointAxis0 = A->get_transform().basis.xform(jointAxis0local); Vector3 jointAxis1 = A->get_transform().basis.xform(jointAxis1local); - Vector3 hingeAxisWorld = A->get_transform().basis.xform(m_rbAFrame.basis.get_axis(2)); + Vector3 hingeAxisWorld = A->get_transform().basis.xform(m_rbAFrame.basis.get_column(2)); memnew_placement( &m_jacAng[0], @@ -226,7 +226,7 @@ bool GodotHingeJoint3D::setup(real_t p_step) { } //Compute K = J*W*J' for hinge axis - Vector3 axisA = A->get_transform().basis.xform(m_rbAFrame.basis.get_axis(2)); + Vector3 axisA = A->get_transform().basis.xform(m_rbAFrame.basis.get_column(2)); m_kHinge = 1.0f / (A->compute_angular_impulse_denominator(axisA) + B->compute_angular_impulse_denominator(axisA)); return true; @@ -271,8 +271,8 @@ void GodotHingeJoint3D::solve(real_t p_step) { ///solve angular part // get axes in world space - Vector3 axisA = A->get_transform().basis.xform(m_rbAFrame.basis.get_axis(2)); - Vector3 axisB = B->get_transform().basis.xform(m_rbBFrame.basis.get_axis(2)); + Vector3 axisA = A->get_transform().basis.xform(m_rbAFrame.basis.get_column(2)); + Vector3 axisB = B->get_transform().basis.xform(m_rbBFrame.basis.get_column(2)); const Vector3 &angVelA = A->get_angular_velocity(); const Vector3 &angVelB = B->get_angular_velocity(); @@ -384,9 +384,9 @@ static _FORCE_INLINE_ real_t atan2fast(real_t y, real_t x) { } real_t GodotHingeJoint3D::get_hinge_angle() { - const Vector3 refAxis0 = A->get_transform().basis.xform(m_rbAFrame.basis.get_axis(0)); - const Vector3 refAxis1 = A->get_transform().basis.xform(m_rbAFrame.basis.get_axis(1)); - const Vector3 swingAxis = B->get_transform().basis.xform(m_rbBFrame.basis.get_axis(1)); + const Vector3 refAxis0 = A->get_transform().basis.xform(m_rbAFrame.basis.get_column(0)); + const Vector3 refAxis1 = A->get_transform().basis.xform(m_rbAFrame.basis.get_column(1)); + const Vector3 swingAxis = B->get_transform().basis.xform(m_rbBFrame.basis.get_column(1)); return atan2fast(swingAxis.dot(refAxis0), swingAxis.dot(refAxis1)); } diff --git a/servers/physics_3d/joints/godot_slider_joint_3d.cpp b/servers/physics_3d/joints/godot_slider_joint_3d.cpp index f175421304..4539be21e3 100644 --- a/servers/physics_3d/joints/godot_slider_joint_3d.cpp +++ b/servers/physics_3d/joints/godot_slider_joint_3d.cpp @@ -102,7 +102,7 @@ bool GodotSliderJoint3D::setup(real_t p_step) { m_calculatedTransformB = B->get_transform() * m_frameInB; m_realPivotAInW = m_calculatedTransformA.origin; m_realPivotBInW = m_calculatedTransformB.origin; - m_sliderAxis = m_calculatedTransformA.basis.get_axis(0); // along X + m_sliderAxis = m_calculatedTransformA.basis.get_column(0); // along X m_delta = m_realPivotBInW - m_realPivotAInW; m_projPivotInW = m_realPivotAInW + m_sliderAxis.dot(m_delta) * m_sliderAxis; m_relPosA = m_projPivotInW - A->get_transform().origin; @@ -111,7 +111,7 @@ bool GodotSliderJoint3D::setup(real_t p_step) { int i; //linear part for (i = 0; i < 3; i++) { - normalWorld = m_calculatedTransformA.basis.get_axis(i); + normalWorld = m_calculatedTransformA.basis.get_column(i); memnew_placement( &m_jacLin[i], GodotJacobianEntry3D( @@ -130,7 +130,7 @@ bool GodotSliderJoint3D::setup(real_t p_step) { testLinLimits(); // angular part for (i = 0; i < 3; i++) { - normalWorld = m_calculatedTransformA.basis.get_axis(i); + normalWorld = m_calculatedTransformA.basis.get_column(i); memnew_placement( &m_jacAng[i], GodotJacobianEntry3D( @@ -141,7 +141,7 @@ bool GodotSliderJoint3D::setup(real_t p_step) { B->get_inv_inertia())); } testAngLimits(); - Vector3 axisA = m_calculatedTransformA.basis.get_axis(0); + Vector3 axisA = m_calculatedTransformA.basis.get_column(0); m_kAngle = real_t(1.0) / (A->compute_angular_impulse_denominator(axisA) + B->compute_angular_impulse_denominator(axisA)); // clear accumulator for motors m_accumulatedLinMotorImpulse = real_t(0.0); @@ -206,8 +206,8 @@ void GodotSliderJoint3D::solve(real_t p_step) { } // angular // get axes in world space - Vector3 axisA = m_calculatedTransformA.basis.get_axis(0); - Vector3 axisB = m_calculatedTransformB.basis.get_axis(0); + Vector3 axisA = m_calculatedTransformA.basis.get_column(0); + Vector3 axisB = m_calculatedTransformB.basis.get_column(0); const Vector3 &angVelA = A->get_angular_velocity(); const Vector3 &angVelB = B->get_angular_velocity(); @@ -297,14 +297,14 @@ void GodotSliderJoint3D::calculateTransforms() { m_calculatedTransformB = B->get_transform() * m_frameInB; m_realPivotAInW = m_calculatedTransformA.origin; m_realPivotBInW = m_calculatedTransformB.origin; - m_sliderAxis = m_calculatedTransformA.basis.get_axis(0); // along X + m_sliderAxis = m_calculatedTransformA.basis.get_column(0); // along X m_delta = m_realPivotBInW - m_realPivotAInW; m_projPivotInW = m_realPivotAInW + m_sliderAxis.dot(m_delta) * m_sliderAxis; Vector3 normalWorld; int i; //linear part for (i = 0; i < 3; i++) { - normalWorld = m_calculatedTransformA.basis.get_axis(i); + normalWorld = m_calculatedTransformA.basis.get_column(i); m_depth[i] = m_delta.dot(normalWorld); } } @@ -335,9 +335,9 @@ void GodotSliderJoint3D::testAngLimits() { m_angDepth = real_t(0.); m_solveAngLim = false; if (m_lowerAngLimit <= m_upperAngLimit) { - const Vector3 axisA0 = m_calculatedTransformA.basis.get_axis(1); - const Vector3 axisA1 = m_calculatedTransformA.basis.get_axis(2); - const Vector3 axisB0 = m_calculatedTransformB.basis.get_axis(1); + const Vector3 axisA0 = m_calculatedTransformA.basis.get_column(1); + const Vector3 axisA1 = m_calculatedTransformA.basis.get_column(2); + const Vector3 axisB0 = m_calculatedTransformB.basis.get_column(1); real_t rot = atan2fast(axisB0.dot(axisA1), axisB0.dot(axisA0)); if (rot < m_lowerAngLimit) { m_angDepth = rot - m_lowerAngLimit; |