A Whole New World (clang-format edition)
I can show you the code Pretty, with proper whitespace Tell me, coder, now when did You last write readable code? I can open your eyes Make you see your bad indent Force you to respect the style The core devs agreed upon A whole new world A new fantastic code format A de facto standard With some sugar Enforced with clang-format A whole new world A dazzling style we all dreamed of And when we read it through It's crystal clear That now we're in a whole new world of code
This commit is contained in:
Rémi Verschelde
parent
45438e9918
commit
5dbf1809c6
1318 changed files with 140051 additions and 166004 deletions
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@ -52,40 +52,37 @@
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* SOFTWARE.
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*/
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static inline real_t k_scalar(Body2DSW *a,Body2DSW *b,const Vector2& rA, const Vector2& rB, const Vector2& n) {
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real_t value=0;
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static inline real_t k_scalar(Body2DSW *a, Body2DSW *b, const Vector2 &rA, const Vector2 &rB, const Vector2 &n) {
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real_t value = 0;
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{
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value+=a->get_inv_mass();
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value += a->get_inv_mass();
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real_t rcn = rA.cross(n);
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value+=a->get_inv_inertia() * rcn * rcn;
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value += a->get_inv_inertia() * rcn * rcn;
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}
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if (b) {
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value+=b->get_inv_mass();
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value += b->get_inv_mass();
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real_t rcn = rB.cross(n);
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value+=b->get_inv_inertia() * rcn * rcn;
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value += b->get_inv_inertia() * rcn * rcn;
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}
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return value;
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}
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static inline Vector2
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relative_velocity(Body2DSW *a, Body2DSW *b, Vector2 rA, Vector2 rB){
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Vector2 sum = a->get_linear_velocity() -rA.tangent() * a->get_angular_velocity();
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relative_velocity(Body2DSW *a, Body2DSW *b, Vector2 rA, Vector2 rB) {
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Vector2 sum = a->get_linear_velocity() - rA.tangent() * a->get_angular_velocity();
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if (b)
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return (b->get_linear_velocity() -rB.tangent() * b->get_angular_velocity()) - sum;
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return (b->get_linear_velocity() - rB.tangent() * b->get_angular_velocity()) - sum;
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else
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return -sum;
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}
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static inline real_t
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normal_relative_velocity(Body2DSW *a, Body2DSW *b, Vector2 rA, Vector2 rB, Vector2 n){
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normal_relative_velocity(Body2DSW *a, Body2DSW *b, Vector2 rA, Vector2 rB, Vector2 n) {
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return relative_velocity(a, b, rA, rB).dot(n);
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}
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@ -188,13 +185,12 @@ PinJoint2DSW::~PinJoint2DSW() {
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#else
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bool PinJoint2DSW::setup(real_t p_step) {
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Space2DSW *space = A->get_space();
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ERR_FAIL_COND_V(!space,false;)
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ERR_FAIL_COND_V(!space, false;)
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rA = A->get_transform().basis_xform(anchor_A);
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rB = B?B->get_transform().basis_xform(anchor_B):anchor_B;
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rB = B ? B->get_transform().basis_xform(anchor_B) : anchor_B;
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#if 0
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Vector2 gA = rA+A->get_transform().get_origin();
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Vector2 gB = B?rB+B->get_transform().get_origin():rB;
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@ -212,29 +208,34 @@ bool PinJoint2DSW::setup(real_t p_step) {
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// = [1/m1+1/m2 0 ] + invI1 * [rA.y*rA.y -rA.x*rA.y] + invI2 * [rA.y*rA.y -rA.x*rA.y]
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// [ 0 1/m1+1/m2] [-rA.x*rA.y rA.x*rA.x] [-rA.x*rA.y rA.x*rA.x]
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real_t B_inv_mass = B?B->get_inv_mass():0.0;
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real_t B_inv_mass = B ? B->get_inv_mass() : 0.0;
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Transform2D K1;
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K1[0].x = A->get_inv_mass() + B_inv_mass; K1[1].x = 0.0f;
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K1[0].y = 0.0f; K1[1].y = A->get_inv_mass() + B_inv_mass;
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K1[0].x = A->get_inv_mass() + B_inv_mass;
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K1[1].x = 0.0f;
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K1[0].y = 0.0f;
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K1[1].y = A->get_inv_mass() + B_inv_mass;
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Transform2D K2;
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K2[0].x = A->get_inv_inertia() * rA.y * rA.y; K2[1].x = -A->get_inv_inertia() * rA.x * rA.y;
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K2[0].y = -A->get_inv_inertia() * rA.x * rA.y; K2[1].y = A->get_inv_inertia() * rA.x * rA.x;
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K2[0].x = A->get_inv_inertia() * rA.y * rA.y;
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K2[1].x = -A->get_inv_inertia() * rA.x * rA.y;
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K2[0].y = -A->get_inv_inertia() * rA.x * rA.y;
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K2[1].y = A->get_inv_inertia() * rA.x * rA.x;
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Transform2D K;
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K[0]= K1[0] + K2[0];
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K[1]= K1[1] + K2[1];
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K[0] = K1[0] + K2[0];
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K[1] = K1[1] + K2[1];
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if (B) {
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Transform2D K3;
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K3[0].x = B->get_inv_inertia() * rB.y * rB.y; K3[1].x = -B->get_inv_inertia() * rB.x * rB.y;
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K3[0].y = -B->get_inv_inertia() * rB.x * rB.y; K3[1].y = B->get_inv_inertia() * rB.x * rB.x;
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K3[0].x = B->get_inv_inertia() * rB.y * rB.y;
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K3[1].x = -B->get_inv_inertia() * rB.x * rB.y;
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K3[0].y = -B->get_inv_inertia() * rB.x * rB.y;
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K3[1].y = B->get_inv_inertia() * rB.x * rB.x;
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K[0]+=K3[0];
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K[1]+=K3[1];
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K[0] += K3[0];
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K[1] += K3[1];
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}
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K[0].x += softness;
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@ -242,23 +243,22 @@ bool PinJoint2DSW::setup(real_t p_step) {
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M = K.affine_inverse();
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Vector2 gA = rA+A->get_transform().get_origin();
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Vector2 gB = B?rB+B->get_transform().get_origin():rB;
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Vector2 gA = rA + A->get_transform().get_origin();
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Vector2 gB = B ? rB + B->get_transform().get_origin() : rB;
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Vector2 delta = gB - gA;
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bias = delta*-(get_bias()==0?space->get_constraint_bias():get_bias())*(1.0/p_step);
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bias = delta * -(get_bias() == 0 ? space->get_constraint_bias() : get_bias()) * (1.0 / p_step);
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// apply accumulated impulse
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A->apply_impulse(rA,-P);
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A->apply_impulse(rA, -P);
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if (B)
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B->apply_impulse(rB,P);
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B->apply_impulse(rB, P);
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return true;
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}
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void PinJoint2DSW::solve(real_t p_step){
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void PinJoint2DSW::solve(real_t p_step) {
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// compute relative velocity
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Vector2 vA = A->get_linear_velocity() - rA.cross(A->get_angular_velocity());
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@ -269,114 +269,110 @@ void PinJoint2DSW::solve(real_t p_step){
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else
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rel_vel = -vA;
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Vector2 impulse = M.basis_xform(bias - rel_vel - Vector2(softness,softness) * P);
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Vector2 impulse = M.basis_xform(bias - rel_vel - Vector2(softness, softness) * P);
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A->apply_impulse(rA,-impulse);
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A->apply_impulse(rA, -impulse);
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if (B)
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B->apply_impulse(rB,impulse);
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B->apply_impulse(rB, impulse);
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P += impulse;
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}
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void PinJoint2DSW::set_param(Physics2DServer::PinJointParam p_param, real_t p_value) {
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if(p_param == Physics2DServer::PIN_JOINT_SOFTNESS)
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if (p_param == Physics2DServer::PIN_JOINT_SOFTNESS)
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softness = p_value;
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}
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real_t PinJoint2DSW::get_param(Physics2DServer::PinJointParam p_param) const {
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if(p_param == Physics2DServer::PIN_JOINT_SOFTNESS)
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if (p_param == Physics2DServer::PIN_JOINT_SOFTNESS)
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return softness;
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ERR_FAIL_V(0);
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}
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PinJoint2DSW::PinJoint2DSW(const Vector2& p_pos,Body2DSW* p_body_a,Body2DSW* p_body_b) : Joint2DSW(_arr,p_body_b?2:1) {
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PinJoint2DSW::PinJoint2DSW(const Vector2 &p_pos, Body2DSW *p_body_a, Body2DSW *p_body_b)
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: Joint2DSW(_arr, p_body_b ? 2 : 1) {
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A=p_body_a;
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B=p_body_b;
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A = p_body_a;
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B = p_body_b;
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anchor_A = p_body_a->get_inv_transform().xform(p_pos);
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anchor_B = p_body_b?p_body_b->get_inv_transform().xform(p_pos):p_pos;
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anchor_B = p_body_b ? p_body_b->get_inv_transform().xform(p_pos) : p_pos;
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softness=0;
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softness = 0;
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p_body_a->add_constraint(this,0);
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p_body_a->add_constraint(this, 0);
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if (p_body_b)
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p_body_b->add_constraint(this,1);
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p_body_b->add_constraint(this, 1);
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}
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PinJoint2DSW::~PinJoint2DSW() {
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if (A)
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A->remove_constraint(this);
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if (B)
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B->remove_constraint(this);
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}
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#endif
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//////////////////////////////////////////////
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//////////////////////////////////////////////
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//////////////////////////////////////////////
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static inline void
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k_tensor(Body2DSW *a, Body2DSW *b, Vector2 r1, Vector2 r2, Vector2 *k1, Vector2 *k2)
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{
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k_tensor(Body2DSW *a, Body2DSW *b, Vector2 r1, Vector2 r2, Vector2 *k1, Vector2 *k2) {
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// calculate mass matrix
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// If I wasn't lazy and wrote a proper matrix class, this wouldn't be so gross...
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real_t k11, k12, k21, k22;
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real_t m_sum = a->get_inv_mass() + b->get_inv_mass();
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// start with I*m_sum
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k11 = m_sum; k12 = 0.0f;
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k21 = 0.0f; k22 = m_sum;
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k11 = m_sum;
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k12 = 0.0f;
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k21 = 0.0f;
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k22 = m_sum;
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// add the influence from r1
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real_t a_i_inv = a->get_inv_inertia();
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real_t r1xsq = r1.x * r1.x * a_i_inv;
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real_t r1ysq = r1.y * r1.y * a_i_inv;
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real_t r1xsq = r1.x * r1.x * a_i_inv;
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real_t r1ysq = r1.y * r1.y * a_i_inv;
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real_t r1nxy = -r1.x * r1.y * a_i_inv;
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k11 += r1ysq; k12 += r1nxy;
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k21 += r1nxy; k22 += r1xsq;
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k11 += r1ysq;
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k12 += r1nxy;
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k21 += r1nxy;
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k22 += r1xsq;
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// add the influnce from r2
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real_t b_i_inv = b->get_inv_inertia();
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real_t r2xsq = r2.x * r2.x * b_i_inv;
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real_t r2ysq = r2.y * r2.y * b_i_inv;
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real_t r2xsq = r2.x * r2.x * b_i_inv;
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real_t r2ysq = r2.y * r2.y * b_i_inv;
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real_t r2nxy = -r2.x * r2.y * b_i_inv;
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k11 += r2ysq; k12 += r2nxy;
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k21 += r2nxy; k22 += r2xsq;
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k11 += r2ysq;
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k12 += r2nxy;
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k21 += r2nxy;
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k22 += r2xsq;
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// invert
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real_t determinant = k11*k22 - k12*k21;
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ERR_FAIL_COND(determinant== 0.0);
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real_t determinant = k11 * k22 - k12 * k21;
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ERR_FAIL_COND(determinant == 0.0);
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real_t det_inv = 1.0f/determinant;
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*k1 = Vector2( k22*det_inv, -k12*det_inv);
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*k2 = Vector2(-k21*det_inv, k11*det_inv);
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real_t det_inv = 1.0f / determinant;
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*k1 = Vector2(k22 * det_inv, -k12 * det_inv);
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*k2 = Vector2(-k21 * det_inv, k11 * det_inv);
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}
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static _FORCE_INLINE_ Vector2
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mult_k(const Vector2& vr, const Vector2 &k1, const Vector2 &k2)
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{
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mult_k(const Vector2 &vr, const Vector2 &k1, const Vector2 &k2) {
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return Vector2(vr.dot(k1), vr.dot(k2));
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}
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bool GrooveJoint2DSW::setup(real_t p_step) {
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// calculate endpoints in worldspace
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Vector2 ta = A->get_transform().xform(A_groove_1);
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Vector2 tb = A->get_transform().xform(A_groove_2);
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Space2DSW *space=A->get_space();
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Space2DSW *space = A->get_space();
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// calculate axis
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Vector2 n = -(tb - ta).tangent().normalized();
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@ -388,16 +384,16 @@ bool GrooveJoint2DSW::setup(real_t p_step) {
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// calculate tangential distance along the axis of rB
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real_t td = (B->get_transform().get_origin() + rB).cross(n);
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// calculate clamping factor and rB
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if(td <= ta.cross(n)){
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if (td <= ta.cross(n)) {
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clamp = 1.0f;
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rA = ta - A->get_transform().get_origin();
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} else if(td >= tb.cross(n)){
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} else if (td >= tb.cross(n)) {
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clamp = -1.0f;
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rA = tb - A->get_transform().get_origin();
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} else {
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clamp = 0.0f;
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//joint->r1 = cpvsub(cpvadd(cpvmult(cpvperp(n), -td), cpvmult(n, d)), a->p);
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rA = ((-n.tangent() * -td) + n*d) - A->get_transform().get_origin();
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rA = ((-n.tangent() * -td) + n * d) - A->get_transform().get_origin();
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}
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// Calculate mass tensor
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@ -410,52 +406,49 @@ bool GrooveJoint2DSW::setup(real_t p_step) {
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//cpVect delta = cpvsub(cpvadd(b->p, joint->r2), cpvadd(a->p, joint->r1));
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//joint->bias = cpvclamp(cpvmult(delta, -joint->constraint.biasCoef*dt_inv), joint->constraint.maxBias);
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Vector2 delta = (B->get_transform().get_origin() +rB) - (A->get_transform().get_origin() + rA);
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Vector2 delta = (B->get_transform().get_origin() + rB) - (A->get_transform().get_origin() + rA);
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real_t _b = get_bias();
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_b=0.001;
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gbias=(delta*-(_b==0?space->get_constraint_bias():_b)*(1.0/p_step)).clamped(get_max_bias());
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_b = 0.001;
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gbias = (delta * -(_b == 0 ? space->get_constraint_bias() : _b) * (1.0 / p_step)).clamped(get_max_bias());
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// apply accumulated impulse
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A->apply_impulse(rA,-jn_acc);
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B->apply_impulse(rB,jn_acc);
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A->apply_impulse(rA, -jn_acc);
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B->apply_impulse(rB, jn_acc);
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correct=true;
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correct = true;
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return true;
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}
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void GrooveJoint2DSW::solve(real_t p_step){
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void GrooveJoint2DSW::solve(real_t p_step) {
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// compute impulse
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Vector2 vr = relative_velocity(A, B, rA,rB);
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Vector2 vr = relative_velocity(A, B, rA, rB);
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Vector2 j = mult_k(gbias-vr, k1, k2);
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Vector2 j = mult_k(gbias - vr, k1, k2);
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Vector2 jOld = jn_acc;
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j+=jOld;
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j += jOld;
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jn_acc = (((clamp * j.cross(xf_normal)) > 0) ? j : xf_normal.project(j)).clamped(jn_max);
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j = jn_acc - jOld;
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A->apply_impulse(rA,-j);
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B->apply_impulse(rB,j);
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A->apply_impulse(rA, -j);
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B->apply_impulse(rB, j);
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}
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GrooveJoint2DSW::GrooveJoint2DSW(const Vector2 &p_a_groove1, const Vector2 &p_a_groove2, const Vector2 &p_b_anchor, Body2DSW *p_body_a, Body2DSW *p_body_b)
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: Joint2DSW(_arr, 2) {
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GrooveJoint2DSW::GrooveJoint2DSW(const Vector2& p_a_groove1,const Vector2& p_a_groove2, const Vector2& p_b_anchor, Body2DSW* p_body_a,Body2DSW* p_body_b) : Joint2DSW(_arr,2) {
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A=p_body_a;
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B=p_body_b;
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A = p_body_a;
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B = p_body_b;
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A_groove_1 = A->get_inv_transform().xform(p_a_groove1);
|
||||
A_groove_2 = A->get_inv_transform().xform(p_a_groove2);
|
||||
B_anchor=B->get_inv_transform().xform(p_b_anchor);
|
||||
B_anchor = B->get_inv_transform().xform(p_b_anchor);
|
||||
A_groove_normal = -(A_groove_2 - A_groove_1).normalized().tangent();
|
||||
|
||||
A->add_constraint(this,0);
|
||||
B->add_constraint(this,1);
|
||||
|
||||
A->add_constraint(this, 0);
|
||||
B->add_constraint(this, 1);
|
||||
}
|
||||
|
||||
GrooveJoint2DSW::~GrooveJoint2DSW() {
|
||||
|
|
@ -464,38 +457,35 @@ GrooveJoint2DSW::~GrooveJoint2DSW() {
|
|||
B->remove_constraint(this);
|
||||
}
|
||||
|
||||
|
||||
//////////////////////////////////////////////
|
||||
//////////////////////////////////////////////
|
||||
//////////////////////////////////////////////
|
||||
|
||||
|
||||
bool DampedSpringJoint2DSW::setup(real_t p_step) {
|
||||
|
||||
rA = A->get_transform().basis_xform(anchor_A);
|
||||
rB = B->get_transform().basis_xform(anchor_B);
|
||||
|
||||
Vector2 delta = (B->get_transform().get_origin() + rB) - (A->get_transform().get_origin() + rA) ;
|
||||
Vector2 delta = (B->get_transform().get_origin() + rB) - (A->get_transform().get_origin() + rA);
|
||||
real_t dist = delta.length();
|
||||
|
||||
if (dist)
|
||||
n=delta/dist;
|
||||
n = delta / dist;
|
||||
else
|
||||
n=Vector2();
|
||||
n = Vector2();
|
||||
|
||||
real_t k = k_scalar(A, B, rA, rB, n);
|
||||
n_mass = 1.0f/k;
|
||||
n_mass = 1.0f / k;
|
||||
|
||||
target_vrn = 0.0f;
|
||||
v_coef = 1.0f - Math::exp(-damping*(p_step)*k);
|
||||
v_coef = 1.0f - Math::exp(-damping * (p_step)*k);
|
||||
|
||||
// apply spring force
|
||||
real_t f_spring = (rest_length - dist) * stiffness;
|
||||
Vector2 j = n * f_spring*(p_step);
|
||||
|
||||
A->apply_impulse(rA,-j);
|
||||
B->apply_impulse(rB,j);
|
||||
Vector2 j = n * f_spring * (p_step);
|
||||
|
||||
A->apply_impulse(rA, -j);
|
||||
B->apply_impulse(rB, j);
|
||||
|
||||
return true;
|
||||
}
|
||||
|
|
@ -507,38 +497,36 @@ void DampedSpringJoint2DSW::solve(real_t p_step) {
|
|||
|
||||
// compute velocity loss from drag
|
||||
// not 100% certain this is derived correctly, though it makes sense
|
||||
real_t v_damp = -vrn*v_coef;
|
||||
real_t v_damp = -vrn * v_coef;
|
||||
target_vrn = vrn + v_damp;
|
||||
Vector2 j=n*v_damp*n_mass;
|
||||
|
||||
A->apply_impulse(rA,-j);
|
||||
B->apply_impulse(rB,j);
|
||||
Vector2 j = n * v_damp * n_mass;
|
||||
|
||||
A->apply_impulse(rA, -j);
|
||||
B->apply_impulse(rB, j);
|
||||
}
|
||||
|
||||
void DampedSpringJoint2DSW::set_param(Physics2DServer::DampedStringParam p_param, real_t p_value) {
|
||||
|
||||
switch(p_param) {
|
||||
switch (p_param) {
|
||||
|
||||
case Physics2DServer::DAMPED_STRING_REST_LENGTH: {
|
||||
|
||||
rest_length=p_value;
|
||||
rest_length = p_value;
|
||||
} break;
|
||||
case Physics2DServer::DAMPED_STRING_DAMPING: {
|
||||
|
||||
damping=p_value;
|
||||
damping = p_value;
|
||||
} break;
|
||||
case Physics2DServer::DAMPED_STRING_STIFFNESS: {
|
||||
|
||||
stiffness=p_value;
|
||||
stiffness = p_value;
|
||||
} break;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
real_t DampedSpringJoint2DSW::get_param(Physics2DServer::DampedStringParam p_param) const{
|
||||
real_t DampedSpringJoint2DSW::get_param(Physics2DServer::DampedStringParam p_param) const {
|
||||
|
||||
switch(p_param) {
|
||||
switch (p_param) {
|
||||
|
||||
case Physics2DServer::DAMPED_STRING_REST_LENGTH: {
|
||||
|
||||
|
|
@ -557,30 +545,24 @@ real_t DampedSpringJoint2DSW::get_param(Physics2DServer::DampedStringParam p_par
|
|||
ERR_FAIL_V(0);
|
||||
}
|
||||
|
||||
DampedSpringJoint2DSW::DampedSpringJoint2DSW(const Vector2 &p_anchor_a, const Vector2 &p_anchor_b, Body2DSW *p_body_a, Body2DSW *p_body_b)
|
||||
: Joint2DSW(_arr, 2) {
|
||||
|
||||
DampedSpringJoint2DSW::DampedSpringJoint2DSW(const Vector2& p_anchor_a,const Vector2& p_anchor_b, Body2DSW* p_body_a,Body2DSW* p_body_b) : Joint2DSW(_arr,2) {
|
||||
|
||||
|
||||
A=p_body_a;
|
||||
B=p_body_b;
|
||||
A = p_body_a;
|
||||
B = p_body_b;
|
||||
anchor_A = A->get_inv_transform().xform(p_anchor_a);
|
||||
anchor_B = B->get_inv_transform().xform(p_anchor_b);
|
||||
|
||||
rest_length=p_anchor_a.distance_to(p_anchor_b);
|
||||
stiffness=20;
|
||||
damping=1.5;
|
||||
|
||||
|
||||
A->add_constraint(this,0);
|
||||
B->add_constraint(this,1);
|
||||
rest_length = p_anchor_a.distance_to(p_anchor_b);
|
||||
stiffness = 20;
|
||||
damping = 1.5;
|
||||
|
||||
A->add_constraint(this, 0);
|
||||
B->add_constraint(this, 1);
|
||||
}
|
||||
|
||||
DampedSpringJoint2DSW::~DampedSpringJoint2DSW() {
|
||||
|
||||
A->remove_constraint(this);
|
||||
B->remove_constraint(this);
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue