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-rw-r--r--servers/physics_3d/body_3d_sw.h2
-rw-r--r--servers/physics_3d/joints/cone_twist_joint_3d_sw.cpp6
-rw-r--r--servers/physics_3d/joints/generic_6dof_joint_3d_sw.cpp4
-rw-r--r--servers/physics_3d/physics_server_3d_sw.cpp2
-rw-r--r--servers/physics_3d/physics_server_3d_sw.h2
-rw-r--r--servers/physics_3d/shape_3d_sw.cpp10
-rw-r--r--servers/physics_3d/space_3d_sw.cpp16
7 files changed, 21 insertions, 21 deletions
diff --git a/servers/physics_3d/body_3d_sw.h b/servers/physics_3d/body_3d_sw.h
index 41578778f6..8e21003a5f 100644
--- a/servers/physics_3d/body_3d_sw.h
+++ b/servers/physics_3d/body_3d_sw.h
@@ -426,7 +426,7 @@ public:
ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector3());
return body->contacts[p_contact_idx].local_normal;
}
- virtual float get_contact_impulse(int p_contact_idx) const override {
+ virtual real_t get_contact_impulse(int p_contact_idx) const override {
return 0.0f; // Only implemented for bullet
}
virtual int get_contact_local_shape(int p_contact_idx) const override {
diff --git a/servers/physics_3d/joints/cone_twist_joint_3d_sw.cpp b/servers/physics_3d/joints/cone_twist_joint_3d_sw.cpp
index 7b10257157..9c4493f4a2 100644
--- a/servers/physics_3d/joints/cone_twist_joint_3d_sw.cpp
+++ b/servers/physics_3d/joints/cone_twist_joint_3d_sw.cpp
@@ -92,9 +92,9 @@ ConeTwistJoint3DSW::ConeTwistJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Trans
m_rbAFrame = rbAFrame;
m_rbBFrame = rbBFrame;
- m_swingSpan1 = Math_PI / 4.0;
- m_swingSpan2 = Math_PI / 4.0;
- m_twistSpan = Math_PI * 2;
+ m_swingSpan1 = Math_TAU / 8.0;
+ m_swingSpan2 = Math_TAU / 8.0;
+ m_twistSpan = Math_TAU;
m_biasFactor = 0.3f;
m_relaxationFactor = 1.0f;
diff --git a/servers/physics_3d/joints/generic_6dof_joint_3d_sw.cpp b/servers/physics_3d/joints/generic_6dof_joint_3d_sw.cpp
index 7eb49e657b..13b389251f 100644
--- a/servers/physics_3d/joints/generic_6dof_joint_3d_sw.cpp
+++ b/servers/physics_3d/joints/generic_6dof_joint_3d_sw.cpp
@@ -132,7 +132,7 @@ real_t G6DOFRotationalLimitMotor3DSW::solveAngularLimits(
real_t oldaccumImpulse = m_accumulatedImpulse;
real_t sum = oldaccumImpulse + clippedMotorImpulse;
- m_accumulatedImpulse = sum > hi ? real_t(0.) : sum < lo ? real_t(0.) : sum;
+ m_accumulatedImpulse = sum > hi ? real_t(0.) : (sum < lo ? real_t(0.) : sum);
clippedMotorImpulse = m_accumulatedImpulse - oldaccumImpulse;
@@ -201,7 +201,7 @@ real_t G6DOFTranslationalLimitMotor3DSW::solveLinearAxis(
real_t oldNormalImpulse = m_accumulatedImpulse[limit_index];
real_t sum = oldNormalImpulse + normalImpulse;
- m_accumulatedImpulse[limit_index] = sum > hi ? real_t(0.) : sum < lo ? real_t(0.) : sum;
+ m_accumulatedImpulse[limit_index] = sum > hi ? real_t(0.) : (sum < lo ? real_t(0.) : sum);
normalImpulse = m_accumulatedImpulse[limit_index] - oldNormalImpulse;
Vector3 impulse_vector = axis_normal_on_a * normalImpulse;
diff --git a/servers/physics_3d/physics_server_3d_sw.cpp b/servers/physics_3d/physics_server_3d_sw.cpp
index 274de8411c..b554a23bf2 100644
--- a/servers/physics_3d/physics_server_3d_sw.cpp
+++ b/servers/physics_3d/physics_server_3d_sw.cpp
@@ -874,7 +874,7 @@ bool PhysicsServer3DSW::body_test_motion(RID p_body, const Transform &p_from, co
return body->get_space()->test_body_motion(body, p_from, p_motion, p_infinite_inertia, body->get_kinematic_margin(), r_result, p_exclude_raycast_shapes);
}
-int PhysicsServer3DSW::body_test_ray_separation(RID p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, float p_margin) {
+int PhysicsServer3DSW::body_test_ray_separation(RID p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, real_t p_margin) {
Body3DSW *body = body_owner.getornull(p_body);
ERR_FAIL_COND_V(!body, false);
ERR_FAIL_COND_V(!body->get_space(), false);
diff --git a/servers/physics_3d/physics_server_3d_sw.h b/servers/physics_3d/physics_server_3d_sw.h
index 9b6b113677..c48db81d97 100644
--- a/servers/physics_3d/physics_server_3d_sw.h
+++ b/servers/physics_3d/physics_server_3d_sw.h
@@ -235,7 +235,7 @@ public:
virtual bool body_is_ray_pickable(RID p_body) const override;
virtual bool body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, MotionResult *r_result = nullptr, bool p_exclude_raycast_shapes = true) override;
- virtual int body_test_ray_separation(RID p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, float p_margin = 0.001) override;
+ virtual int body_test_ray_separation(RID p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, real_t p_margin = 0.001) override;
// this function only works on physics process, errors and returns null otherwise
virtual PhysicsDirectBodyState3D *body_get_direct_state(RID p_body) override;
diff --git a/servers/physics_3d/shape_3d_sw.cpp b/servers/physics_3d/shape_3d_sw.cpp
index f2adcc1072..9c37060bea 100644
--- a/servers/physics_3d/shape_3d_sw.cpp
+++ b/servers/physics_3d/shape_3d_sw.cpp
@@ -261,7 +261,7 @@ bool SphereShape3DSW::intersect_point(const Vector3 &p_point) const {
Vector3 SphereShape3DSW::get_closest_point_to(const Vector3 &p_point) const {
Vector3 p = p_point;
- float l = p.length();
+ real_t l = p.length();
if (l < radius) {
return p_point;
}
@@ -429,7 +429,7 @@ Vector3 BoxShape3DSW::get_closest_point_to(const Vector3 &p_point) const {
}
//check segments
- float min_distance = 1e20;
+ real_t min_distance = 1e20;
Vector3 closest_vertex = half_extents * p_point.sign();
Vector3 s[2] = {
closest_vertex,
@@ -442,7 +442,7 @@ Vector3 BoxShape3DSW::get_closest_point_to(const Vector3 &p_point) const {
Vector3 closest_edge = Geometry3D::get_closest_point_to_segment(p_point, s);
- float d = p_point.distance_to(closest_edge);
+ real_t d = p_point.distance_to(closest_edge);
if (d < min_distance) {
min_point = closest_edge;
min_distance = d;
@@ -839,7 +839,7 @@ Vector3 ConvexPolygonShape3DSW::get_closest_point_to(const Vector3 &p_point) con
return p_point;
}
- float min_distance = 1e20;
+ real_t min_distance = 1e20;
Vector3 min_point;
//check edges
@@ -852,7 +852,7 @@ Vector3 ConvexPolygonShape3DSW::get_closest_point_to(const Vector3 &p_point) con
};
Vector3 closest = Geometry3D::get_closest_point_to_segment(p_point, s);
- float d = closest.distance_to(p_point);
+ real_t d = closest.distance_to(p_point);
if (d < min_distance) {
min_distance = d;
min_point = closest;
diff --git a/servers/physics_3d/space_3d_sw.cpp b/servers/physics_3d/space_3d_sw.cpp
index 2b2b5122da..43cc032120 100644
--- a/servers/physics_3d/space_3d_sw.cpp
+++ b/servers/physics_3d/space_3d_sw.cpp
@@ -274,11 +274,11 @@ bool PhysicsDirectSpaceState3DSW::cast_motion(const RID &p_shape, const Transfor
continue;
}
- //test initial overlap
+ //test initial overlap, ignore objects it's inside of.
sep_axis = p_motion.normalized();
if (!CollisionSolver3DSW::solve_distance(shape, p_xform, col_obj->get_shape(shape_idx), col_obj_xform, point_A, point_B, aabb, &sep_axis)) {
- return false;
+ continue;
}
//just do kinematic solving
@@ -476,7 +476,7 @@ Vector3 PhysicsDirectSpaceState3DSW::get_closest_point_to_object_volume(RID p_ob
ERR_FAIL_COND_V(obj->get_space() != space, Vector3());
- float min_distance = 1e20;
+ real_t min_distance = 1e20;
Vector3 min_point;
bool shapes_found = false;
@@ -492,7 +492,7 @@ Vector3 PhysicsDirectSpaceState3DSW::get_closest_point_to_object_volume(RID p_ob
Vector3 point = shape->get_closest_point_to(shape_xform.affine_inverse().xform(p_point));
point = shape_xform.xform(point);
- float dist = point.distance_to(p_point);
+ real_t dist = point.distance_to(p_point);
if (dist < min_distance) {
min_distance = dist;
min_point = point;
@@ -649,9 +649,9 @@ int Space3DSW::test_body_ray_separation(Body3DSW *p_body, const Transform &p_tra
Vector3 a = sr[k * 2 + 0];
Vector3 b = sr[k * 2 + 1];
- recover_motion += (b - a) * 0.4;
+ recover_motion += (b - a) / cbk.amount;
- float depth = a.distance_to(b);
+ real_t depth = a.distance_to(b);
if (depth > result.collision_depth) {
result.collision_depth = depth;
result.collision_point = b;
@@ -791,7 +791,7 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform &p_from, cons
for (int i = 0; i < cbk.amount; i++) {
Vector3 a = sr[i * 2 + 0];
Vector3 b = sr[i * 2 + 1];
- recover_motion += (b - a) * 0.4;
+ recover_motion += (b - a) / cbk.amount;
}
if (recover_motion == Vector3()) {
@@ -1211,7 +1211,7 @@ Space3DSW::Space3DSW() {
constraint_bias = 0.01;
body_linear_velocity_sleep_threshold = GLOBAL_DEF("physics/3d/sleep_threshold_linear", 0.1);
- body_angular_velocity_sleep_threshold = GLOBAL_DEF("physics/3d/sleep_threshold_angular", (8.0 / 180.0 * Math_PI));
+ body_angular_velocity_sleep_threshold = GLOBAL_DEF("physics/3d/sleep_threshold_angular", Math::deg2rad(8.0));
body_time_to_sleep = GLOBAL_DEF("physics/3d/time_before_sleep", 0.5);
ProjectSettings::get_singleton()->set_custom_property_info("physics/3d/time_before_sleep", PropertyInfo(Variant::FLOAT, "physics/3d/time_before_sleep", PROPERTY_HINT_RANGE, "0,5,0.01,or_greater"));
body_angular_velocity_damp_ratio = 10;
generated by cgit v1.2.3 (git 2.25.1) at 2025-01-27 09:09:13 +0000