From de3f6699a5192153e9882a62b58b9ca6cd82ee2d Mon Sep 17 00:00:00 2001 From: Aaron Franke Date: Sat, 17 Oct 2020 01:08:21 -0400 Subject: Rename Transform to Transform3D in core --- editor/node_3d_editor_gizmos.cpp | 126 +++++++++++++++++++-------------------- 1 file changed, 63 insertions(+), 63 deletions(-) (limited to 'editor/node_3d_editor_gizmos.cpp') diff --git a/editor/node_3d_editor_gizmos.cpp b/editor/node_3d_editor_gizmos.cpp index cc261ea868..92feb343c6 100644 --- a/editor/node_3d_editor_gizmos.cpp +++ b/editor/node_3d_editor_gizmos.cpp @@ -455,7 +455,7 @@ bool EditorNode3DGizmo::intersect_frustum(const Camera3D *p_camera, const Vector int vc = collision_segments.size(); const Vector3 *vptr = collision_segments.ptr(); - Transform t = spatial_node->get_global_transform(); + Transform3D t = spatial_node->get_global_transform(); bool any_out = false; for (int j = 0; j < fc; j++) { @@ -477,12 +477,12 @@ bool EditorNode3DGizmo::intersect_frustum(const Camera3D *p_camera, const Vector } if (collision_mesh.is_valid()) { - Transform t = spatial_node->get_global_transform(); + Transform3D t = spatial_node->get_global_transform(); Vector3 mesh_scale = t.get_basis().get_scale(); t.orthonormalize(); - Transform it = t.affine_inverse(); + Transform3D it = t.affine_inverse(); Vector transformed_frustum; @@ -508,7 +508,7 @@ bool EditorNode3DGizmo::intersect_ray(Camera3D *p_camera, const Point2 &p_point, } if (r_gizmo_handle && !hidden) { - Transform t = spatial_node->get_global_transform(); + Transform3D t = spatial_node->get_global_transform(); if (billboard_handle) { t.set_look_at(t.origin, t.origin - p_camera->get_transform().basis.get_axis(2), p_camera->get_transform().basis.get_axis(1)); } @@ -560,7 +560,7 @@ bool EditorNode3DGizmo::intersect_ray(Camera3D *p_camera, const Point2 &p_point, } if (selectable_icon_size > 0.0f) { - Transform t = spatial_node->get_global_transform(); + Transform3D t = spatial_node->get_global_transform(); Vector3 camera_position = p_camera->get_camera_transform().origin; if (camera_position.distance_squared_to(t.origin) > 0.01) { t.set_look_at(t.origin, camera_position); @@ -576,7 +576,7 @@ bool EditorNode3DGizmo::intersect_ray(Camera3D *p_camera, const Point2 &p_point, Point2 center = p_camera->unproject_position(t.origin); - Transform orig_camera_transform = p_camera->get_camera_transform(); + Transform3D orig_camera_transform = p_camera->get_camera_transform(); if (orig_camera_transform.origin.distance_squared_to(t.origin) > 0.01 && ABS(orig_camera_transform.basis.get_axis(Vector3::AXIS_Z).dot(Vector3(0, 1, 0))) < 0.99) { @@ -609,7 +609,7 @@ bool EditorNode3DGizmo::intersect_ray(Camera3D *p_camera, const Point2 &p_point, int vc = collision_segments.size(); const Vector3 *vptr = collision_segments.ptr(); - Transform t = spatial_node->get_global_transform(); + Transform3D t = spatial_node->get_global_transform(); if (billboard_handle) { t.set_look_at(t.origin, t.origin - p_camera->get_transform().basis.get_axis(2), p_camera->get_transform().basis.get_axis(1)); } @@ -657,13 +657,13 @@ bool EditorNode3DGizmo::intersect_ray(Camera3D *p_camera, const Point2 &p_point, } if (collision_mesh.is_valid()) { - Transform gt = spatial_node->get_global_transform(); + Transform3D gt = spatial_node->get_global_transform(); if (billboard_handle) { gt.set_look_at(gt.origin, gt.origin - p_camera->get_transform().basis.get_axis(2), p_camera->get_transform().basis.get_axis(1)); } - Transform ai = gt.affine_inverse(); + Transform3D ai = gt.affine_inverse(); Vector3 ray_from = ai.xform(p_camera->project_ray_origin(p_point)); Vector3 ray_dir = ai.basis.xform(p_camera->project_ray_normal(p_point)).normalized(); Vector3 rpos, rnorm; @@ -826,7 +826,7 @@ Variant Light3DGizmoPlugin::get_handle_value(EditorNode3DGizmo *p_gizmo, int p_i return Variant(); } -static float _find_closest_angle_to_half_pi_arc(const Vector3 &p_from, const Vector3 &p_to, float p_arc_radius, const Transform &p_arc_xform) { +static float _find_closest_angle_to_half_pi_arc(const Vector3 &p_from, const Vector3 &p_to, float p_arc_radius, const Transform3D &p_arc_xform) { //bleh, discrete is simpler static const int arc_test_points = 64; float min_d = 1e20; @@ -855,8 +855,8 @@ static float _find_closest_angle_to_half_pi_arc(const Vector3 &p_from, const Vec void Light3DGizmoPlugin::set_handle(EditorNode3DGizmo *p_gizmo, int p_idx, Camera3D *p_camera, const Point2 &p_point) { Light3D *light = Object::cast_to(p_gizmo->get_spatial_node()); - Transform gt = light->get_global_transform(); - Transform gi = gt.affine_inverse(); + Transform3D gt = light->get_global_transform(); + Transform3D gi = gt.affine_inverse(); Vector3 ray_from = p_camera->project_ray_origin(p_point); Vector3 ray_dir = p_camera->project_ray_normal(p_point); @@ -1084,8 +1084,8 @@ Variant AudioStreamPlayer3DGizmoPlugin::get_handle_value(EditorNode3DGizmo *p_gi void AudioStreamPlayer3DGizmoPlugin::set_handle(EditorNode3DGizmo *p_gizmo, int p_idx, Camera3D *p_camera, const Point2 &p_point) { AudioStreamPlayer3D *player = Object::cast_to(p_gizmo->get_spatial_node()); - Transform gt = player->get_global_transform(); - Transform gi = gt.affine_inverse(); + Transform3D gt = player->get_global_transform(); + Transform3D gi = gt.affine_inverse(); Vector3 ray_from = p_camera->project_ray_origin(p_point); Vector3 ray_dir = p_camera->project_ray_normal(p_point); @@ -1230,8 +1230,8 @@ Variant Camera3DGizmoPlugin::get_handle_value(EditorNode3DGizmo *p_gizmo, int p_ void Camera3DGizmoPlugin::set_handle(EditorNode3DGizmo *p_gizmo, int p_idx, Camera3D *p_camera, const Point2 &p_point) { Camera3D *camera = Object::cast_to(p_gizmo->get_spatial_node()); - Transform gt = camera->get_global_transform(); - Transform gi = gt.affine_inverse(); + Transform3D gt = camera->get_global_transform(); + Transform3D gi = gt.affine_inverse(); Vector3 ray_from = p_camera->project_ray_origin(p_point); Vector3 ray_dir = p_camera->project_ray_normal(p_point); @@ -1239,7 +1239,7 @@ void Camera3DGizmoPlugin::set_handle(EditorNode3DGizmo *p_gizmo, int p_idx, Came Vector3 s[2] = { gi.xform(ray_from), gi.xform(ray_from + ray_dir * 4096) }; if (camera->get_projection() == Camera3D::PROJECTION_PERSPECTIVE) { - Transform gt2 = camera->get_global_transform(); + Transform3D gt2 = camera->get_global_transform(); float a = _find_closest_angle_to_half_pi_arc(s[0], s[1], 1.0, gt2); camera->set("fov", CLAMP(a * 2.0, 1, 179)); } else { @@ -1418,7 +1418,7 @@ void Camera3DGizmoPlugin::redraw(EditorNode3DGizmo *p_gizmo) { lines.push_back(cam_pos); } - Transform local = camera->get_global_transform().affine_inverse(); + Transform3D local = camera->get_global_transform().affine_inverse(); for (int i = 0; i < lines.size(); i++) { lines.write[i] = local.xform(lines[i]); } @@ -1617,7 +1617,7 @@ void Skeleton3DGizmoPlugin::redraw(EditorNode3DGizmo *p_gizmo) { surface_tool->begin(Mesh::PRIMITIVE_LINES); surface_tool->set_material(material); - Vector grests; + Vector grests; grests.resize(skel->get_bone_count()); Vector bones; @@ -1749,7 +1749,7 @@ void Skeleton3DGizmoPlugin::redraw(EditorNode3DGizmo *p_gizmo) { bones.write[0] = i; } /* - Transform t = grests[i]; + Transform3D t = grests[i]; t.orthonormalize(); for (int i=0;i<6;i++) { @@ -2196,9 +2196,9 @@ Variant VisibilityNotifier3DGizmoPlugin::get_handle_value(EditorNode3DGizmo *p_g void VisibilityNotifier3DGizmoPlugin::set_handle(EditorNode3DGizmo *p_gizmo, int p_idx, Camera3D *p_camera, const Point2 &p_point) { VisibilityNotifier3D *notifier = Object::cast_to(p_gizmo->get_spatial_node()); - Transform gt = notifier->get_global_transform(); + Transform3D gt = notifier->get_global_transform(); - Transform gi = gt.affine_inverse(); + Transform3D gi = gt.affine_inverse(); bool move = p_idx >= 3; p_idx = p_idx % 3; @@ -2388,8 +2388,8 @@ Variant GPUParticles3DGizmoPlugin::get_handle_value(EditorNode3DGizmo *p_gizmo, void GPUParticles3DGizmoPlugin::set_handle(EditorNode3DGizmo *p_gizmo, int p_idx, Camera3D *p_camera, const Point2 &p_point) { GPUParticles3D *particles = Object::cast_to(p_gizmo->get_spatial_node()); - Transform gt = particles->get_global_transform(); - Transform gi = gt.affine_inverse(); + Transform3D gt = particles->get_global_transform(); + Transform3D gi = gt.affine_inverse(); bool move = p_idx >= 3; p_idx = p_idx % 3; @@ -2555,8 +2555,8 @@ Variant GPUParticlesCollision3DGizmoPlugin::get_handle_value(EditorNode3DGizmo * void GPUParticlesCollision3DGizmoPlugin::set_handle(EditorNode3DGizmo *p_gizmo, int p_idx, Camera3D *p_camera, const Point2 &p_point) { Node3D *sn = p_gizmo->get_spatial_node(); - Transform gt = sn->get_global_transform(); - Transform gi = gt.affine_inverse(); + Transform3D gt = sn->get_global_transform(); + Transform3D gi = gt.affine_inverse(); Vector3 ray_from = p_camera->project_ray_origin(p_point); Vector3 ray_dir = p_camera->project_ray_normal(p_point); @@ -2814,9 +2814,9 @@ Variant ReflectionProbeGizmoPlugin::get_handle_value(EditorNode3DGizmo *p_gizmo, void ReflectionProbeGizmoPlugin::set_handle(EditorNode3DGizmo *p_gizmo, int p_idx, Camera3D *p_camera, const Point2 &p_point) { ReflectionProbe *probe = Object::cast_to(p_gizmo->get_spatial_node()); - Transform gt = probe->get_global_transform(); + Transform3D gt = probe->get_global_transform(); - Transform gi = gt.affine_inverse(); + Transform3D gi = gt.affine_inverse(); if (p_idx < 3) { Vector3 extents = probe->get_extents(); @@ -2993,9 +2993,9 @@ Variant DecalGizmoPlugin::get_handle_value(EditorNode3DGizmo *p_gizmo, int p_idx void DecalGizmoPlugin::set_handle(EditorNode3DGizmo *p_gizmo, int p_idx, Camera3D *p_camera, const Point2 &p_point) { Decal *decal = Object::cast_to(p_gizmo->get_spatial_node()); - Transform gt = decal->get_global_transform(); + Transform3D gt = decal->get_global_transform(); - Transform gi = gt.affine_inverse(); + Transform3D gi = gt.affine_inverse(); Vector3 extents = decal->get_extents(); @@ -3135,8 +3135,8 @@ Variant GIProbeGizmoPlugin::get_handle_value(EditorNode3DGizmo *p_gizmo, int p_i void GIProbeGizmoPlugin::set_handle(EditorNode3DGizmo *p_gizmo, int p_idx, Camera3D *p_camera, const Point2 &p_point) { GIProbe *probe = Object::cast_to(p_gizmo->get_spatial_node()); - Transform gt = probe->get_global_transform(); - Transform gi = gt.affine_inverse(); + Transform3D gt = probe->get_global_transform(); + Transform3D gi = gt.affine_inverse(); Vector3 extents = probe->get_extents(); @@ -3583,7 +3583,7 @@ void CollisionObject3DGizmoPlugin::redraw(EditorNode3DGizmo *p_gizmo) { co->get_shape_owners(&owners); for (List::Element *E = owners.front(); E; E = E->next()) { uint32_t owner_id = E->get(); - Transform xform = co->shape_owner_get_transform(owner_id); + Transform3D xform = co->shape_owner_get_transform(owner_id); Object *owner = co->shape_owner_get_owner(owner_id); // Exclude CollisionShape3D and CollisionPolygon3D as they have their gizmo. if (!Object::cast_to(owner) && !Object::cast_to(owner)) { @@ -3701,8 +3701,8 @@ void CollisionShape3DGizmoPlugin::set_handle(EditorNode3DGizmo *p_gizmo, int p_i return; } - Transform gt = cs->get_global_transform(); - Transform gi = gt.affine_inverse(); + Transform3D gt = cs->get_global_transform(); + Transform3D gi = gt.affine_inverse(); Vector3 ray_from = p_camera->project_ray_origin(p_point); Vector3 ray_dir = p_camera->project_ray_normal(p_point); @@ -4369,7 +4369,7 @@ void NavigationRegion3DGizmoPlugin::redraw(EditorNode3DGizmo *p_gizmo) { #define BODY_A_RADIUS 0.25 #define BODY_B_RADIUS 0.27 -Basis JointGizmosDrawer::look_body(const Transform &p_joint_transform, const Transform &p_body_transform) { +Basis JointGizmosDrawer::look_body(const Transform3D &p_joint_transform, const Transform3D &p_body_transform) { const Vector3 &p_eye(p_joint_transform.origin); const Vector3 &p_target(p_body_transform.origin); @@ -4394,7 +4394,7 @@ Basis JointGizmosDrawer::look_body(const Transform &p_joint_transform, const Tra return base; } -Basis JointGizmosDrawer::look_body_toward(Vector3::Axis p_axis, const Transform &joint_transform, const Transform &body_transform) { +Basis JointGizmosDrawer::look_body_toward(Vector3::Axis p_axis, const Transform3D &joint_transform, const Transform3D &body_transform) { switch (p_axis) { case Vector3::AXIS_X: return look_body_toward_x(joint_transform, body_transform); @@ -4407,7 +4407,7 @@ Basis JointGizmosDrawer::look_body_toward(Vector3::Axis p_axis, const Transform } } -Basis JointGizmosDrawer::look_body_toward_x(const Transform &p_joint_transform, const Transform &p_body_transform) { +Basis JointGizmosDrawer::look_body_toward_x(const Transform3D &p_joint_transform, const Transform3D &p_body_transform) { const Vector3 &p_eye(p_joint_transform.origin); const Vector3 &p_target(p_body_transform.origin); @@ -4438,7 +4438,7 @@ Basis JointGizmosDrawer::look_body_toward_x(const Transform &p_joint_transform, return base; } -Basis JointGizmosDrawer::look_body_toward_y(const Transform &p_joint_transform, const Transform &p_body_transform) { +Basis JointGizmosDrawer::look_body_toward_y(const Transform3D &p_joint_transform, const Transform3D &p_body_transform) { const Vector3 &p_eye(p_joint_transform.origin); const Vector3 &p_target(p_body_transform.origin); @@ -4469,7 +4469,7 @@ Basis JointGizmosDrawer::look_body_toward_y(const Transform &p_joint_transform, return base; } -Basis JointGizmosDrawer::look_body_toward_z(const Transform &p_joint_transform, const Transform &p_body_transform) { +Basis JointGizmosDrawer::look_body_toward_z(const Transform3D &p_joint_transform, const Transform3D &p_body_transform) { const Vector3 &p_eye(p_joint_transform.origin); const Vector3 &p_target(p_body_transform.origin); @@ -4500,7 +4500,7 @@ Basis JointGizmosDrawer::look_body_toward_z(const Transform &p_joint_transform, return base; } -void JointGizmosDrawer::draw_circle(Vector3::Axis p_axis, real_t p_radius, const Transform &p_offset, const Basis &p_base, real_t p_limit_lower, real_t p_limit_upper, Vector &r_points, bool p_inverse) { +void JointGizmosDrawer::draw_circle(Vector3::Axis p_axis, real_t p_radius, const Transform3D &p_offset, const Basis &p_base, real_t p_limit_lower, real_t p_limit_upper, Vector &r_points, bool p_inverse) { if (p_limit_lower == p_limit_upper) { r_points.push_back(p_offset.translated(Vector3()).origin); r_points.push_back(p_offset.translated(p_base.xform(Vector3(0.5, 0, 0))).origin); @@ -4562,7 +4562,7 @@ void JointGizmosDrawer::draw_circle(Vector3::Axis p_axis, real_t p_radius, const } } -void JointGizmosDrawer::draw_cone(const Transform &p_offset, const Basis &p_base, real_t p_swing, real_t p_twist, Vector &r_points) { +void JointGizmosDrawer::draw_cone(const Transform3D &p_offset, const Basis &p_base, real_t p_swing, real_t p_twist, Vector &r_points) { float r = 1.0; float w = r * Math::sin(p_swing); float d = r * Math::cos(p_swing); @@ -4666,7 +4666,7 @@ void Joint3DGizmoPlugin::redraw(EditorNode3DGizmo *p_gizmo) { Vector body_b_points; if (Object::cast_to(joint)) { - CreatePinJointGizmo(Transform(), points); + CreatePinJointGizmo(Transform3D(), points); p_gizmo->add_collision_segments(points); p_gizmo->add_lines(points, common_material); } @@ -4674,10 +4674,10 @@ void Joint3DGizmoPlugin::redraw(EditorNode3DGizmo *p_gizmo) { HingeJoint3D *hinge = Object::cast_to(joint); if (hinge) { CreateHingeJointGizmo( - Transform(), + Transform3D(), hinge->get_global_transform(), - node_body_a ? node_body_a->get_global_transform() : Transform(), - node_body_b ? node_body_b->get_global_transform() : Transform(), + node_body_a ? node_body_a->get_global_transform() : Transform3D(), + node_body_b ? node_body_b->get_global_transform() : Transform3D(), hinge->get_param(HingeJoint3D::PARAM_LIMIT_LOWER), hinge->get_param(HingeJoint3D::PARAM_LIMIT_UPPER), hinge->get_flag(HingeJoint3D::FLAG_USE_LIMIT), @@ -4697,10 +4697,10 @@ void Joint3DGizmoPlugin::redraw(EditorNode3DGizmo *p_gizmo) { SliderJoint3D *slider = Object::cast_to(joint); if (slider) { CreateSliderJointGizmo( - Transform(), + Transform3D(), slider->get_global_transform(), - node_body_a ? node_body_a->get_global_transform() : Transform(), - node_body_b ? node_body_b->get_global_transform() : Transform(), + node_body_a ? node_body_a->get_global_transform() : Transform3D(), + node_body_b ? node_body_b->get_global_transform() : Transform3D(), slider->get_param(SliderJoint3D::PARAM_ANGULAR_LIMIT_LOWER), slider->get_param(SliderJoint3D::PARAM_ANGULAR_LIMIT_UPPER), slider->get_param(SliderJoint3D::PARAM_LINEAR_LIMIT_LOWER), @@ -4721,10 +4721,10 @@ void Joint3DGizmoPlugin::redraw(EditorNode3DGizmo *p_gizmo) { ConeTwistJoint3D *cone = Object::cast_to(joint); if (cone) { CreateConeTwistJointGizmo( - Transform(), + Transform3D(), cone->get_global_transform(), - node_body_a ? node_body_a->get_global_transform() : Transform(), - node_body_b ? node_body_b->get_global_transform() : Transform(), + node_body_a ? node_body_a->get_global_transform() : Transform3D(), + node_body_b ? node_body_b->get_global_transform() : Transform3D(), cone->get_param(ConeTwistJoint3D::PARAM_SWING_SPAN), cone->get_param(ConeTwistJoint3D::PARAM_TWIST_SPAN), node_body_a ? &body_a_points : nullptr, @@ -4740,10 +4740,10 @@ void Joint3DGizmoPlugin::redraw(EditorNode3DGizmo *p_gizmo) { Generic6DOFJoint3D *gen = Object::cast_to(joint); if (gen) { CreateGeneric6DOFJointGizmo( - Transform(), + Transform3D(), gen->get_global_transform(), - node_body_a ? node_body_a->get_global_transform() : Transform(), - node_body_b ? node_body_b->get_global_transform() : Transform(), + node_body_a ? node_body_a->get_global_transform() : Transform3D(), + node_body_b ? node_body_b->get_global_transform() : Transform3D(), gen->get_param_x(Generic6DOFJoint3D::PARAM_ANGULAR_LOWER_LIMIT), gen->get_param_x(Generic6DOFJoint3D::PARAM_ANGULAR_UPPER_LIMIT), @@ -4780,7 +4780,7 @@ void Joint3DGizmoPlugin::redraw(EditorNode3DGizmo *p_gizmo) { } } -void Joint3DGizmoPlugin::CreatePinJointGizmo(const Transform &p_offset, Vector &r_cursor_points) { +void Joint3DGizmoPlugin::CreatePinJointGizmo(const Transform3D &p_offset, Vector &r_cursor_points) { float cs = 0.25; r_cursor_points.push_back(p_offset.translated(Vector3(+cs, 0, 0)).origin); @@ -4791,7 +4791,7 @@ void Joint3DGizmoPlugin::CreatePinJointGizmo(const Transform &p_offset, Vector &r_common_points, Vector *r_body_a_points, Vector *r_body_b_points) { +void Joint3DGizmoPlugin::CreateHingeJointGizmo(const Transform3D &p_offset, const Transform3D &p_trs_joint, const Transform3D &p_trs_body_a, const Transform3D &p_trs_body_b, real_t p_limit_lower, real_t p_limit_upper, bool p_use_limit, Vector &r_common_points, Vector *r_body_a_points, Vector *r_body_b_points) { r_common_points.push_back(p_offset.translated(Vector3(0, 0, 0.5)).origin); r_common_points.push_back(p_offset.translated(Vector3(0, 0, -0.5)).origin); @@ -4821,7 +4821,7 @@ void Joint3DGizmoPlugin::CreateHingeJointGizmo(const Transform &p_offset, const } } -void Joint3DGizmoPlugin::CreateSliderJointGizmo(const Transform &p_offset, const Transform &p_trs_joint, const Transform &p_trs_body_a, const Transform &p_trs_body_b, real_t p_angular_limit_lower, real_t p_angular_limit_upper, real_t p_linear_limit_lower, real_t p_linear_limit_upper, Vector &r_points, Vector *r_body_a_points, Vector *r_body_b_points) { +void Joint3DGizmoPlugin::CreateSliderJointGizmo(const Transform3D &p_offset, const Transform3D &p_trs_joint, const Transform3D &p_trs_body_a, const Transform3D &p_trs_body_b, real_t p_angular_limit_lower, real_t p_angular_limit_upper, real_t p_linear_limit_lower, real_t p_linear_limit_upper, Vector &r_points, Vector *r_body_a_points, Vector *r_body_b_points) { p_linear_limit_lower = -p_linear_limit_lower; p_linear_limit_upper = -p_linear_limit_upper; @@ -4880,7 +4880,7 @@ void Joint3DGizmoPlugin::CreateSliderJointGizmo(const Transform &p_offset, const } } -void Joint3DGizmoPlugin::CreateConeTwistJointGizmo(const Transform &p_offset, const Transform &p_trs_joint, const Transform &p_trs_body_a, const Transform &p_trs_body_b, real_t p_swing, real_t p_twist, Vector *r_body_a_points, Vector *r_body_b_points) { +void Joint3DGizmoPlugin::CreateConeTwistJointGizmo(const Transform3D &p_offset, const Transform3D &p_trs_joint, const Transform3D &p_trs_body_a, const Transform3D &p_trs_body_b, real_t p_swing, real_t p_twist, Vector *r_body_a_points, Vector *r_body_b_points) { if (r_body_a_points) { JointGizmosDrawer::draw_cone( p_offset, @@ -4901,10 +4901,10 @@ void Joint3DGizmoPlugin::CreateConeTwistJointGizmo(const Transform &p_offset, co } void Joint3DGizmoPlugin::CreateGeneric6DOFJointGizmo( - const Transform &p_offset, - const Transform &p_trs_joint, - const Transform &p_trs_body_a, - const Transform &p_trs_body_b, + const Transform3D &p_offset, + const Transform3D &p_trs_joint, + const Transform3D &p_trs_body_a, + const Transform3D &p_trs_body_b, real_t p_angular_limit_lower_x, real_t p_angular_limit_upper_x, real_t p_linear_limit_lower_x, -- cgit v1.2.3