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 --- .../physics_3d/joints/cone_twist_joint_3d_sw.cpp | 2 +- servers/physics_3d/joints/cone_twist_joint_3d_sw.h | 6 +++--- .../physics_3d/joints/generic_6dof_joint_3d_sw.cpp | 2 +- .../physics_3d/joints/generic_6dof_joint_3d_sw.h | 22 +++++++++++----------- servers/physics_3d/joints/hinge_joint_3d_sw.cpp | 2 +- servers/physics_3d/joints/hinge_joint_3d_sw.h | 6 +++--- servers/physics_3d/joints/slider_joint_3d_sw.cpp | 2 +- servers/physics_3d/joints/slider_joint_3d_sw.h | 22 +++++++++++----------- 8 files changed, 32 insertions(+), 32 deletions(-) (limited to 'servers/physics_3d/joints') 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 e9efddf165..04d1a60dd6 100644 --- a/servers/physics_3d/joints/cone_twist_joint_3d_sw.cpp +++ b/servers/physics_3d/joints/cone_twist_joint_3d_sw.cpp @@ -84,7 +84,7 @@ static _FORCE_INLINE_ real_t atan2fast(real_t y, real_t x) { return (y < 0.0f) ? -angle : angle; } -ConeTwistJoint3DSW::ConeTwistJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Transform &rbAFrame, const Transform &rbBFrame) : +ConeTwistJoint3DSW::ConeTwistJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Transform3D &rbAFrame, const Transform3D &rbBFrame) : Joint3DSW(_arr, 2) { A = rbA; B = rbB; diff --git a/servers/physics_3d/joints/cone_twist_joint_3d_sw.h b/servers/physics_3d/joints/cone_twist_joint_3d_sw.h index b871ea50db..608847352c 100644 --- a/servers/physics_3d/joints/cone_twist_joint_3d_sw.h +++ b/servers/physics_3d/joints/cone_twist_joint_3d_sw.h @@ -73,8 +73,8 @@ public: JacobianEntry3DSW m_jac[3]; //3 orthogonal linear constraints real_t m_appliedImpulse; - Transform m_rbAFrame; - Transform m_rbBFrame; + Transform3D m_rbAFrame; + Transform3D m_rbBFrame; real_t m_limitSoftness; real_t m_biasFactor; @@ -107,7 +107,7 @@ public: virtual bool setup(real_t p_step) override; virtual void solve(real_t p_step) override; - ConeTwistJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Transform &rbAFrame, const Transform &rbBFrame); + ConeTwistJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Transform3D &rbAFrame, const Transform3D &rbBFrame); void setAngularOnly(bool angularOnly) { m_angularOnly = angularOnly; 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 7c504764a7..56aba24b42 100644 --- a/servers/physics_3d/joints/generic_6dof_joint_3d_sw.cpp +++ b/servers/physics_3d/joints/generic_6dof_joint_3d_sw.cpp @@ -219,7 +219,7 @@ real_t G6DOFTranslationalLimitMotor3DSW::solveLinearAxis( //////////////////////////// G6DOFTranslationalLimitMotorSW //////////////////////////////////// -Generic6DOFJoint3DSW::Generic6DOFJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Transform &frameInA, const Transform &frameInB, bool useLinearReferenceFrameA) : +Generic6DOFJoint3DSW::Generic6DOFJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Transform3D &frameInA, const Transform3D &frameInB, bool useLinearReferenceFrameA) : Joint3DSW(_arr, 2), m_frameInA(frameInA), m_frameInB(frameInB), diff --git a/servers/physics_3d/joints/generic_6dof_joint_3d_sw.h b/servers/physics_3d/joints/generic_6dof_joint_3d_sw.h index 8af76cefc2..9ae1a2b80d 100644 --- a/servers/physics_3d/joints/generic_6dof_joint_3d_sw.h +++ b/servers/physics_3d/joints/generic_6dof_joint_3d_sw.h @@ -185,8 +185,8 @@ protected: //! relative_frames //!@{ - Transform m_frameInA; //!< the constraint space w.r.t body A - Transform m_frameInB; //!< the constraint space w.r.t body B + Transform3D m_frameInA; //!< the constraint space w.r.t body A + Transform3D m_frameInB; //!< the constraint space w.r.t body B //!@} //! Jacobians @@ -209,8 +209,8 @@ protected: //! temporal variables //!@{ real_t m_timeStep; - Transform m_calculatedTransformA; - Transform m_calculatedTransformB; + Transform3D m_calculatedTransformA; + Transform3D m_calculatedTransformB; Vector3 m_calculatedAxisAngleDiff; Vector3 m_calculatedAxis[3]; @@ -233,7 +233,7 @@ protected: void calculateAngleInfo(); public: - Generic6DOFJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Transform &frameInA, const Transform &frameInB, bool useLinearReferenceFrameA); + Generic6DOFJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Transform3D &frameInA, const Transform3D &frameInB, bool useLinearReferenceFrameA); virtual PhysicsServer3D::JointType get_type() const override { return PhysicsServer3D::JOINT_TYPE_6DOF; } @@ -251,7 +251,7 @@ public: /*! \sa Generic6DOFJointSW.getFrameOffsetA, Generic6DOFJointSW.getFrameOffsetB, Generic6DOFJointSW.calculateAngleInfo. */ - const Transform &getCalculatedTransformA() const { + const Transform3D &getCalculatedTransformA() const { return m_calculatedTransformA; } @@ -259,23 +259,23 @@ public: /*! \sa Generic6DOFJointSW.getFrameOffsetA, Generic6DOFJointSW.getFrameOffsetB, Generic6DOFJointSW.calculateAngleInfo. */ - const Transform &getCalculatedTransformB() const { + const Transform3D &getCalculatedTransformB() const { return m_calculatedTransformB; } - const Transform &getFrameOffsetA() const { + const Transform3D &getFrameOffsetA() const { return m_frameInA; } - const Transform &getFrameOffsetB() const { + const Transform3D &getFrameOffsetB() const { return m_frameInB; } - Transform &getFrameOffsetA() { + Transform3D &getFrameOffsetA() { return m_frameInA; } - Transform &getFrameOffsetB() { + Transform3D &getFrameOffsetB() { return m_frameInB; } diff --git a/servers/physics_3d/joints/hinge_joint_3d_sw.cpp b/servers/physics_3d/joints/hinge_joint_3d_sw.cpp index bb8858c28a..1166930830 100644 --- a/servers/physics_3d/joints/hinge_joint_3d_sw.cpp +++ b/servers/physics_3d/joints/hinge_joint_3d_sw.cpp @@ -67,7 +67,7 @@ static void plane_space(const Vector3 &n, Vector3 &p, Vector3 &q) { } } -HingeJoint3DSW::HingeJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Transform &frameA, const Transform &frameB) : +HingeJoint3DSW::HingeJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Transform3D &frameA, const Transform3D &frameB) : Joint3DSW(_arr, 2) { A = rbA; B = rbB; diff --git a/servers/physics_3d/joints/hinge_joint_3d_sw.h b/servers/physics_3d/joints/hinge_joint_3d_sw.h index 2100f5de44..22eb2f4660 100644 --- a/servers/physics_3d/joints/hinge_joint_3d_sw.h +++ b/servers/physics_3d/joints/hinge_joint_3d_sw.h @@ -66,8 +66,8 @@ class HingeJoint3DSW : public Joint3DSW { JacobianEntry3DSW m_jac[3]; //3 orthogonal linear constraints JacobianEntry3DSW m_jacAng[3]; //2 orthogonal angular constraints+ 1 for limit/motor - Transform m_rbAFrame; // constraint axii. Assumes z is hinge axis. - Transform m_rbBFrame; + Transform3D m_rbAFrame; // constraint axii. Assumes z is hinge axis. + Transform3D m_rbBFrame; real_t m_motorTargetVelocity; real_t m_maxMotorImpulse; @@ -109,7 +109,7 @@ public: void set_flag(PhysicsServer3D::HingeJointFlag p_flag, bool p_value); bool get_flag(PhysicsServer3D::HingeJointFlag p_flag) const; - HingeJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Transform &frameA, const Transform &frameB); + HingeJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Transform3D &frameA, const Transform3D &frameB); HingeJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Vector3 &pivotInA, const Vector3 &pivotInB, const Vector3 &axisInA, const Vector3 &axisInB); }; diff --git a/servers/physics_3d/joints/slider_joint_3d_sw.cpp b/servers/physics_3d/joints/slider_joint_3d_sw.cpp index 8bd1951311..db9bdb2986 100644 --- a/servers/physics_3d/joints/slider_joint_3d_sw.cpp +++ b/servers/physics_3d/joints/slider_joint_3d_sw.cpp @@ -111,7 +111,7 @@ void SliderJoint3DSW::initParams() { //----------------------------------------------------------------------------- -SliderJoint3DSW::SliderJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Transform &frameInA, const Transform &frameInB) : +SliderJoint3DSW::SliderJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Transform3D &frameInA, const Transform3D &frameInB) : Joint3DSW(_arr, 2), m_frameInA(frameInA), m_frameInB(frameInB) { diff --git a/servers/physics_3d/joints/slider_joint_3d_sw.h b/servers/physics_3d/joints/slider_joint_3d_sw.h index ef5891d0f9..f357bbd67a 100644 --- a/servers/physics_3d/joints/slider_joint_3d_sw.h +++ b/servers/physics_3d/joints/slider_joint_3d_sw.h @@ -76,8 +76,8 @@ protected: Body3DSW *_arr[2]; }; - Transform m_frameInA; - Transform m_frameInB; + Transform3D m_frameInA; + Transform3D m_frameInB; // linear limits real_t m_lowerLinLimit; @@ -120,8 +120,8 @@ protected: JacobianEntry3DSW m_jacAng[3]; real_t m_timeStep; - Transform m_calculatedTransformA; - Transform m_calculatedTransformB; + Transform3D m_calculatedTransformA; + Transform3D m_calculatedTransformB; Vector3 m_sliderAxis; Vector3 m_realPivotAInW; @@ -152,19 +152,19 @@ protected: public: // constructors - SliderJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Transform &frameInA, const Transform &frameInB); + SliderJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Transform3D &frameInA, const Transform3D &frameInB); //SliderJointSW(); // overrides // access const Body3DSW *getRigidBodyA() const { return A; } const Body3DSW *getRigidBodyB() const { return B; } - const Transform &getCalculatedTransformA() const { return m_calculatedTransformA; } - const Transform &getCalculatedTransformB() const { return m_calculatedTransformB; } - const Transform &getFrameOffsetA() const { return m_frameInA; } - const Transform &getFrameOffsetB() const { return m_frameInB; } - Transform &getFrameOffsetA() { return m_frameInA; } - Transform &getFrameOffsetB() { return m_frameInB; } + const Transform3D &getCalculatedTransformA() const { return m_calculatedTransformA; } + const Transform3D &getCalculatedTransformB() const { return m_calculatedTransformB; } + const Transform3D &getFrameOffsetA() const { return m_frameInA; } + const Transform3D &getFrameOffsetB() const { return m_frameInB; } + Transform3D &getFrameOffsetA() { return m_frameInA; } + Transform3D &getFrameOffsetB() { return m_frameInB; } real_t getLowerLinLimit() { return m_lowerLinLimit; } void setLowerLinLimit(real_t lowerLimit) { m_lowerLinLimit = lowerLimit; } real_t getUpperLinLimit() { return m_upperLinLimit; } -- cgit v1.2.3