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Initialize variables in servers/physics

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This commit is contained in:
qarmin 2021-09-14 11:01:49 +02:00 • committed by Rafał Mikrut
parent 7b21b1bb60
commit 91257c3900
53 changed files with 362 additions and 624 deletions
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10
servers/physics_3d/area_3d_sw.cpp
View file

@ -329,17 +329,7 @@ Area3DSW::Area3DSW() :
monitor_query_list(this),
moved_list(this) {
_set_static(true); //areas are never active
space_override_mode = PhysicsServer3D::AREA_SPACE_OVERRIDE_DISABLED;
gravity = 9.80665;
gravity_vector = Vector3(0, -1, 0);
gravity_is_point = false;
gravity_distance_scale = 0;
point_attenuation = 1;
angular_damp = 0.1;
linear_damp = 0.1;
priority = 0;
set_ray_pickable(false);
monitorable = false;
}
Area3DSW::~Area3DSW() {

31
servers/physics_3d/area_3d_sw.h
View file

@ -41,20 +41,20 @@ class SoftBody3DSW;
class Constraint3DSW;
class Area3DSW : public CollisionObject3DSW {
PhysicsServer3D::AreaSpaceOverrideMode space_override_mode;
real_t gravity;
Vector3 gravity_vector;
bool gravity_is_point;
real_t gravity_distance_scale;
real_t point_attenuation;
real_t linear_damp;
real_t angular_damp;
PhysicsServer3D::AreaSpaceOverrideMode space_override_mode = PhysicsServer3D::AREA_SPACE_OVERRIDE_DISABLED;
real_t gravity = 9.80665;
Vector3 gravity_vector = Vector3(0, -1, 0);
bool gravity_is_point = false;
real_t gravity_distance_scale = 0.0;
real_t point_attenuation = 1.0;
real_t linear_damp = 0.1;
real_t angular_damp = 0.1;
real_t wind_force_magnitude = 0.0;
real_t wind_attenuation_factor = 0.0;
Vector3 wind_source;
Vector3 wind_direction;
int priority;
bool monitorable;
int priority = 0;
bool monitorable = false;
ObjectID monitor_callback_id;
StringName monitor_callback_method;
@ -68,8 +68,8 @@ class Area3DSW : public CollisionObject3DSW {
struct BodyKey {
RID rid;
ObjectID instance_id;
uint32_t body_shape;
uint32_t area_shape;
uint32_t body_shape = 0;
uint32_t area_shape = 0;
_FORCE_INLINE_ bool operator<(const BodyKey &p_key) const {
if (rid == p_key.rid) {
@ -90,10 +90,9 @@ class Area3DSW : public CollisionObject3DSW {
};
struct BodyState {
int state;
int state = 0;
_FORCE_INLINE_ void inc() { state++; }
_FORCE_INLINE_ void dec() { state--; }
_FORCE_INLINE_ BodyState() { state = 0; }
};
Map<BodyKey, BodyState> monitored_soft_bodies;
@ -232,8 +231,8 @@ void Area3DSW::remove_area_from_query(Area3DSW *p_area, uint32_t p_area_shape, u
}
struct AreaCMP {
Area3DSW *area;
int refCount;
Area3DSW *area = nullptr;
int refCount = 0;
_FORCE_INLINE_ bool operator==(const AreaCMP &p_cmp) const { return area->get_self() == p_cmp.area->get_self(); }
_FORCE_INLINE_ bool operator<(const AreaCMP &p_cmp) const { return area->get_priority() < p_cmp.area->get_priority(); }
_FORCE_INLINE_ AreaCMP() {}

6
servers/physics_3d/body_3d_sw.h
View file

@ -108,10 +108,10 @@ class Body3DSW : public CollisionObject3DSW {
struct Contact {
Vector3 local_pos;
Vector3 local_normal;
real_t depth;
int local_shape;
real_t depth = 0.0;
int local_shape = 0;
Vector3 collider_pos;
int collider_shape;
int collider_shape = 0;
ObjectID collider_instance_id;
RID collider;
Vector3 collider_velocity_at_pos;

18
servers/physics_3d/body_pair_3d_sw.h
View file

@ -41,18 +41,18 @@ protected:
struct Contact {
Vector3 position;
Vector3 normal;
int index_A, index_B;
int index_A = 0, index_B = 0;
Vector3 local_A, local_B;
real_t acc_normal_impulse; // accumulated normal impulse (Pn)
real_t acc_normal_impulse = 0.0; // accumulated normal impulse (Pn)
Vector3 acc_tangent_impulse; // accumulated tangent impulse (Pt)
real_t acc_bias_impulse; // accumulated normal impulse for position bias (Pnb)
real_t acc_bias_impulse_center_of_mass; // accumulated normal impulse for position bias applied to com
real_t mass_normal;
real_t bias;
real_t bounce;
real_t acc_bias_impulse = 0.0; // accumulated normal impulse for position bias (Pnb)
real_t acc_bias_impulse_center_of_mass = 0.0; // accumulated normal impulse for position bias applied to com
real_t mass_normal = 0.0;
real_t bias = 0.0;
real_t bounce = 0.0;
real_t depth;
bool active;
real_t depth = 0.0;
bool active = false;
Vector3 rA, rB; // Offset in world orientation with respect to center of mass
};

3
servers/physics_3d/broad_phase_3d_bvh.cpp
View file

@ -114,7 +114,4 @@ BroadPhase3DSW *BroadPhase3DBVH::_create() {
BroadPhase3DBVH::BroadPhase3DBVH() {
bvh.set_pair_callback(_pair_callback, this);
bvh.set_unpair_callback(_unpair_callback, this);
pair_callback = nullptr;
pair_userdata = nullptr;
unpair_userdata = nullptr;
}

8
servers/physics_3d/broad_phase_3d_bvh.h
View file

@ -40,10 +40,10 @@ class BroadPhase3DBVH : public BroadPhase3DSW {
static void *_pair_callback(void *, uint32_t, CollisionObject3DSW *, int, uint32_t, CollisionObject3DSW *, int);
static void _unpair_callback(void *, uint32_t, CollisionObject3DSW *, int, uint32_t, CollisionObject3DSW *, int, void *);
PairCallback pair_callback;
void *pair_userdata;
UnpairCallback unpair_callback;
void *unpair_userdata;
PairCallback pair_callback = nullptr;
void *pair_userdata = nullptr;
UnpairCallback unpair_callback = nullptr;
void *unpair_userdata = nullptr;
public:
// 0 is an invalid ID

6
servers/physics_3d/collision_object_3d_sw.cpp
View file

@ -236,11 +236,5 @@ void CollisionObject3DSW::_shape_changed() {
CollisionObject3DSW::CollisionObject3DSW(Type p_type) :
pending_shape_update_list(this) {
_static = true;
type = p_type;
space = nullptr;
collision_layer = 1;
collision_mask = 1;
ray_pickable = true;
}

18
servers/physics_3d/collision_object_3d_sw.h
View file

@ -56,26 +56,24 @@ private:
Type type;
RID self;
ObjectID instance_id;
uint32_t collision_layer;
uint32_t collision_mask;
uint32_t collision_layer = 1;
uint32_t collision_mask = 1;
struct Shape {
Transform3D xform;
Transform3D xform_inv;
BroadPhase3DSW::ID bpid;
AABB aabb_cache; //for rayqueries
real_t area_cache;
Shape3DSW *shape;
bool disabled;
Shape() { disabled = false; }
real_t area_cache = 0.0;
Shape3DSW *shape = nullptr;
bool disabled = false;
};
Vector<Shape> shapes;
Space3DSW *space;
Space3DSW *space = nullptr;
Transform3D transform;
Transform3D inv_transform;
bool _static;
bool _static = true;
SelfList<CollisionObject3DSW> pending_shape_update_list;
@ -102,7 +100,7 @@ protected:
virtual void _shapes_changed() = 0;
void _set_space(Space3DSW *p_space);
bool ray_pickable;
bool ray_pickable = true;
CollisionObject3DSW(Type p_type);

25
servers/physics_3d/collision_solver_3d_sat.cpp
View file

@ -66,11 +66,11 @@
struct _CollectorCallback {
CollisionSolver3DSW::CallbackResult callback;
void *userdata;
bool swap;
bool collided;
void *userdata = nullptr;
bool swap = false;
bool collided = false;
Vector3 normal;
Vector3 *prev_axis;
Vector3 *prev_axis = nullptr;
_FORCE_INLINE_ void call(const Vector3 &p_point_A, const Vector3 &p_point_B) {
if (swap) {
@ -606,15 +606,15 @@ static void _generate_contacts_from_supports(const Vector3 *p_points_A, int p_po
template <class ShapeA, class ShapeB, bool withMargin = false>
class SeparatorAxisTest {
const ShapeA *shape_A;
const ShapeB *shape_B;
const Transform3D *transform_A;
const Transform3D *transform_B;
real_t best_depth;
const ShapeA *shape_A = nullptr;
const ShapeB *shape_B = nullptr;
const Transform3D *transform_A = nullptr;
const Transform3D *transform_B = nullptr;
real_t best_depth = 1e15;
Vector3 best_axis;
_CollectorCallback *callback;
real_t margin_A;
real_t margin_B;
_CollectorCallback *callback = nullptr;
real_t margin_A = 0.0;
real_t margin_B = 0.0;
Vector3 separator_axis;
public:
@ -749,7 +749,6 @@ public:
}
_FORCE_INLINE_ SeparatorAxisTest(const ShapeA *p_shape_A, const Transform3D &p_transform_A, const ShapeB *p_shape_B, const Transform3D &p_transform_B, _CollectorCallback *p_callback, real_t p_margin_A = 0, real_t p_margin_B = 0) {
best_depth = 1e15;
shape_A = p_shape_A;
shape_B = p_shape_B;
transform_A = &p_transform_A;

2
servers/physics_3d/gjk_epa.cpp
View file

@ -96,7 +96,7 @@ struct sResults {
Vector3 witnesses[2];
Vector3 normal;
real_t distance;
real_t distance = 0.0;
};
// Shorthands

12
servers/physics_3d/joints/cone_twist_joint_3d_sw.cpp
View file

@ -92,20 +92,8 @@ ConeTwistJoint3DSW::ConeTwistJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Trans
m_rbAFrame = rbAFrame;
m_rbBFrame = rbBFrame;
m_swingSpan1 = Math_TAU / 8.0;
m_swingSpan2 = Math_TAU / 8.0;
m_twistSpan = Math_TAU;
m_biasFactor = 0.3f;
m_relaxationFactor = 1.0f;
m_angularOnly = false;
m_solveTwistLimit = false;
m_solveSwingLimit = false;
A->add_constraint(this, 0);
B->add_constraint(this, 1);
m_appliedImpulse = 0;
}
bool ConeTwistJoint3DSW::setup(real_t p_timestep) {

38
servers/physics_3d/joints/cone_twist_joint_3d_sw.h
View file

@ -67,39 +67,39 @@ public:
Body3DSW *B;
};
Body3DSW *_arr[2];
Body3DSW *_arr[2] = { nullptr, nullptr };
};
JacobianEntry3DSW m_jac[3]; //3 orthogonal linear constraints
JacobianEntry3DSW m_jac[3] = {}; //3 orthogonal linear constraints
real_t m_appliedImpulse;
real_t m_appliedImpulse = 0.0;
Transform3D m_rbAFrame;
Transform3D m_rbBFrame;
real_t m_limitSoftness;
real_t m_biasFactor;
real_t m_relaxationFactor;
real_t m_limitSoftness = 0.0;
real_t m_biasFactor = 0.3;
real_t m_relaxationFactor = 1.0;
real_t m_swingSpan1;
real_t m_swingSpan2;
real_t m_twistSpan;
real_t m_swingSpan1 = Math_TAU / 8.0;
real_t m_swingSpan2 = 0.0;
real_t m_twistSpan = 0.0;
Vector3 m_swingAxis;
Vector3 m_twistAxis;
real_t m_kSwing;
real_t m_kTwist;
real_t m_kSwing = 0.0;
real_t m_kTwist = 0.0;
real_t m_twistLimitSign;
real_t m_swingCorrection;
real_t m_twistCorrection;
real_t m_twistLimitSign = 0.0;
real_t m_swingCorrection = 0.0;
real_t m_twistCorrection = 0.0;
real_t m_accSwingLimitImpulse;
real_t m_accTwistLimitImpulse;
real_t m_accSwingLimitImpulse = 0.0;
real_t m_accTwistLimitImpulse = 0.0;
bool m_angularOnly;
bool m_solveTwistLimit;
bool m_solveSwingLimit;
bool m_angularOnly = false;
bool m_solveTwistLimit = false;
bool m_solveSwingLimit = false;
public:
virtual PhysicsServer3D::JointType get_type() const override { return PhysicsServer3D::JOINT_TYPE_CONE_TWIST; }

79
servers/physics_3d/joints/generic_6dof_joint_3d_sw.h
View file

@ -65,43 +65,28 @@ class G6DOFRotationalLimitMotor3DSW {
public:
//! limit_parameters
//!@{
real_t m_loLimit; //!< joint limit
real_t m_hiLimit; //!< joint limit
real_t m_targetVelocity; //!< target motor velocity
real_t m_maxMotorForce; //!< max force on motor
real_t m_maxLimitForce; //!< max force on limit
real_t m_damping; //!< Damping.
real_t m_limitSoftness; //! Relaxation factor
real_t m_ERP; //!< Error tolerance factor when joint is at limit
real_t m_bounce; //!< restitution factor
bool m_enableMotor;
bool m_enableLimit;
real_t m_loLimit = -1e30; //!< joint limit
real_t m_hiLimit = 1e30; //!< joint limit
real_t m_targetVelocity = 0.0; //!< target motor velocity
real_t m_maxMotorForce = 0.1; //!< max force on motor
real_t m_maxLimitForce = 300.0; //!< max force on limit
real_t m_damping = 1.0; //!< Damping.
real_t m_limitSoftness = 0.5; //! Relaxation factor
real_t m_ERP = 0.5; //!< Error tolerance factor when joint is at limit
real_t m_bounce = 0.0; //!< restitution factor
bool m_enableMotor = false;
bool m_enableLimit = false;
//!@}
//! temp_variables
//!@{
real_t m_currentLimitError; //!< How much is violated this limit
int m_currentLimit; //!< 0=free, 1=at lo limit, 2=at hi limit
real_t m_accumulatedImpulse;
real_t m_currentLimitError = 0.0; //!< How much is violated this limit
int m_currentLimit = 0; //!< 0=free, 1=at lo limit, 2=at hi limit
real_t m_accumulatedImpulse = 0.0;
//!@}
G6DOFRotationalLimitMotor3DSW() {
m_accumulatedImpulse = 0.f;
m_targetVelocity = 0;
m_maxMotorForce = 0.1f;
m_maxLimitForce = 300.0f;
m_loLimit = -1e30;
m_hiLimit = 1e30;
m_ERP = 0.5f;
m_bounce = 0.0f;
m_damping = 1.0f;
m_limitSoftness = 0.5f;
m_currentLimit = 0;
m_currentLimitError = 0;
m_enableMotor = false;
m_enableLimit = false;
}
G6DOFRotationalLimitMotor3DSW() {}
//! Is limited
bool isLimited() {
@ -125,30 +110,16 @@ public:
class G6DOFTranslationalLimitMotor3DSW {
public:
Vector3 m_lowerLimit; //!< the constraint lower limits
Vector3 m_upperLimit; //!< the constraint upper limits
Vector3 m_accumulatedImpulse;
Vector3 m_lowerLimit = Vector3(0.0, 0.0, 0.0); //!< the constraint lower limits
Vector3 m_upperLimit = Vector3(0.0, 0.0, 0.0); //!< the constraint upper limits
Vector3 m_accumulatedImpulse = Vector3(0.0, 0.0, 0.0);
//! Linear_Limit_parameters
//!@{
Vector3 m_limitSoftness; //!< Softness for linear limit
Vector3 m_damping; //!< Damping for linear limit
Vector3 m_restitution; //! Bounce parameter for linear limit
Vector3 m_limitSoftness = Vector3(0.7, 0.7, 0.7); //!< Softness for linear limit
Vector3 m_damping = Vector3(1.0, 1.0, 1.0); //!< Damping for linear limit
Vector3 m_restitution = Vector3(0.5, 0.5, 0.5); //! Bounce parameter for linear limit
//!@}
bool enable_limit[3];
G6DOFTranslationalLimitMotor3DSW() {
m_lowerLimit = Vector3(0.f, 0.f, 0.f);
m_upperLimit = Vector3(0.f, 0.f, 0.f);
m_accumulatedImpulse = Vector3(0.f, 0.f, 0.f);
m_limitSoftness = Vector3(1, 1, 1) * 0.7f;
m_damping = Vector3(1, 1, 1) * real_t(1.0f);
m_restitution = Vector3(1, 1, 1) * real_t(0.5f);
enable_limit[0] = true;
enable_limit[1] = true;
enable_limit[2] = true;
}
bool enable_limit[3] = { true, true, true };
//! Test limit
/*!
@ -180,7 +151,7 @@ protected:
Body3DSW *B;
};
Body3DSW *_arr[2];
Body3DSW *_arr[2] = { nullptr, nullptr };
};
//! relative_frames
@ -208,7 +179,7 @@ protected:
protected:
//! temporal variables
//!@{
real_t m_timeStep;
real_t m_timeStep = 0.0;
Transform3D m_calculatedTransformA;
Transform3D m_calculatedTransformB;
Vector3 m_calculatedAxisAngleDiff;
@ -216,7 +187,7 @@ protected:
Vector3 m_AnchorPos; // point between pivots of bodies A and B to solve linear axes
bool m_useLinearReferenceFrameA;
bool m_useLinearReferenceFrameA = false;
//!@}

30
servers/physics_3d/joints/hinge_joint_3d_sw.cpp
View file

@ -79,21 +79,6 @@ HingeJoint3DSW::HingeJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Transform3D &
m_rbBFrame.basis[1][2] *= real_t(-1.);
m_rbBFrame.basis[2][2] *= real_t(-1.);
//start with free
m_lowerLimit = Math_PI;
m_upperLimit = -Math_PI;
m_useLimit = false;
m_biasFactor = 0.3f;
m_relaxationFactor = 1.0f;
m_limitSoftness = 0.9f;
m_solveLimit = false;
tau = 0.3;
m_angularOnly = false;
m_enableAngularMotor = false;
A->add_constraint(this, 0);
B->add_constraint(this, 1);
}
@ -135,21 +120,6 @@ HingeJoint3DSW::HingeJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Vector3 &pivo
rbAxisB1.y, rbAxisB2.y, -axisInB.y,
rbAxisB1.z, rbAxisB2.z, -axisInB.z);
//start with free
m_lowerLimit = Math_PI;
m_upperLimit = -Math_PI;
m_useLimit = false;
m_biasFactor = 0.3f;
m_relaxationFactor = 1.0f;
m_limitSoftness = 0.9f;
m_solveLimit = false;
tau = 0.3;
m_angularOnly = false;
m_enableAngularMotor = false;
A->add_constraint(this, 0);
B->add_constraint(this, 1);
}

36
servers/physics_3d/joints/hinge_joint_3d_sw.h
View file

@ -60,7 +60,7 @@ class HingeJoint3DSW : public Joint3DSW {
Body3DSW *B;
};
Body3DSW *_arr[2];
Body3DSW *_arr[2] = {};
};
JacobianEntry3DSW m_jac[3]; //3 orthogonal linear constraints
@ -69,31 +69,31 @@ class HingeJoint3DSW : public Joint3DSW {
Transform3D m_rbAFrame; // constraint axii. Assumes z is hinge axis.
Transform3D m_rbBFrame;
real_t m_motorTargetVelocity;
real_t m_maxMotorImpulse;
real_t m_motorTargetVelocity = 0.0;
real_t m_maxMotorImpulse = 0.0;
real_t m_limitSoftness;
real_t m_biasFactor;
real_t m_relaxationFactor;
real_t m_limitSoftness = 0.9;
real_t m_biasFactor = 0.3;
real_t m_relaxationFactor = 1.0;
real_t m_lowerLimit;
real_t m_upperLimit;
real_t m_lowerLimit = Math_PI;
real_t m_upperLimit = -Math_PI;
real_t m_kHinge;
real_t m_kHinge = 0.0;
real_t m_limitSign;
real_t m_correction;
real_t m_limitSign = 0.0;
real_t m_correction = 0.0;
real_t m_accLimitImpulse;
real_t m_accLimitImpulse = 0.0;
real_t tau;
real_t tau = 0.3;
bool m_useLimit;
bool m_angularOnly;
bool m_enableAngularMotor;
bool m_solveLimit;
bool m_useLimit = false;
bool m_angularOnly = false;
bool m_enableAngularMotor = false;
bool m_solveLimit = false;
real_t m_appliedImpulse;
real_t m_appliedImpulse = 0.0;
public:
virtual PhysicsServer3D::JointType get_type() const override { return PhysicsServer3D::JOINT_TYPE_HINGE; }

2
servers/physics_3d/joints/jacobian_entry_3d_sw.h
View file

@ -163,7 +163,7 @@ public:
Vector3 m_0MinvJt;
Vector3 m_1MinvJt;
//Optimization: can be stored in the w/last component of one of the vectors
real_t m_Adiag;
real_t m_Adiag = 1.0;
};
#endif // JACOBIAN_ENTRY_SW_H

5
servers/physics_3d/joints/pin_joint_3d_sw.cpp
View file

@ -171,11 +171,6 @@ PinJoint3DSW::PinJoint3DSW(Body3DSW *p_body_a, const Vector3 &p_pos_a, Body3DSW
m_pivotInA = p_pos_a;
m_pivotInB = p_pos_b;
m_tau = 0.3;
m_damping = 1;
m_impulseClamp = 0;
m_appliedImpulse = 0;
A->add_constraint(this, 0);
B->add_constraint(this, 1);
}

12
servers/physics_3d/joints/pin_joint_3d_sw.h
View file

@ -60,15 +60,15 @@ class PinJoint3DSW : public Joint3DSW {
Body3DSW *B;
};
Body3DSW *_arr[2];
Body3DSW *_arr[2] = {};
};
real_t m_tau; //bias
real_t m_damping;
real_t m_impulseClamp;
real_t m_appliedImpulse;
real_t m_tau = 0.3; //bias
real_t m_damping = 1.0;
real_t m_impulseClamp = 0.0;
real_t m_appliedImpulse = 0.0;
JacobianEntry3DSW m_jac[3]; //3 orthogonal linear constraints
JacobianEntry3DSW m_jac[3] = {}; //3 orthogonal linear constraints
Vector3 m_pivotInA;
Vector3 m_pivotInB;

37
servers/physics_3d/joints/slider_joint_3d_sw.cpp
View file

@ -72,41 +72,6 @@ static _FORCE_INLINE_ real_t atan2fast(real_t y, real_t x) {
return (y < 0.0f) ? -angle : angle;
}
void SliderJoint3DSW::initParams() {
m_lowerLinLimit = real_t(1.0);
m_upperLinLimit = real_t(-1.0);
m_lowerAngLimit = real_t(0.);
m_upperAngLimit = real_t(0.);
m_softnessDirLin = SLIDER_CONSTRAINT_DEF_SOFTNESS;
m_restitutionDirLin = SLIDER_CONSTRAINT_DEF_RESTITUTION;
m_dampingDirLin = real_t(0.);
m_softnessDirAng = SLIDER_CONSTRAINT_DEF_SOFTNESS;
m_restitutionDirAng = SLIDER_CONSTRAINT_DEF_RESTITUTION;
m_dampingDirAng = real_t(0.);
m_softnessOrthoLin = SLIDER_CONSTRAINT_DEF_SOFTNESS;
m_restitutionOrthoLin = SLIDER_CONSTRAINT_DEF_RESTITUTION;
m_dampingOrthoLin = SLIDER_CONSTRAINT_DEF_DAMPING;
m_softnessOrthoAng = SLIDER_CONSTRAINT_DEF_SOFTNESS;
m_restitutionOrthoAng = SLIDER_CONSTRAINT_DEF_RESTITUTION;
m_dampingOrthoAng = SLIDER_CONSTRAINT_DEF_DAMPING;
m_softnessLimLin = SLIDER_CONSTRAINT_DEF_SOFTNESS;
m_restitutionLimLin = SLIDER_CONSTRAINT_DEF_RESTITUTION;
m_dampingLimLin = SLIDER_CONSTRAINT_DEF_DAMPING;
m_softnessLimAng = SLIDER_CONSTRAINT_DEF_SOFTNESS;
m_restitutionLimAng = SLIDER_CONSTRAINT_DEF_RESTITUTION;
m_dampingLimAng = SLIDER_CONSTRAINT_DEF_DAMPING;
m_poweredLinMotor = false;
m_targetLinMotorVelocity = real_t(0.);
m_maxLinMotorForce = real_t(0.);
m_accumulatedLinMotorImpulse = real_t(0.0);
m_poweredAngMotor = false;
m_targetAngMotorVelocity = real_t(0.);
m_maxAngMotorForce = real_t(0.);
m_accumulatedAngMotorImpulse = real_t(0.0);
} // SliderJointSW::initParams()
//-----------------------------------------------------------------------------
//-----------------------------------------------------------------------------
@ -120,8 +85,6 @@ SliderJoint3DSW::SliderJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Transform3D
A->add_constraint(this, 0);
B->add_constraint(this, 1);
initParams();
} // SliderJointSW::SliderJointSW()
//-----------------------------------------------------------------------------

83
servers/physics_3d/joints/slider_joint_3d_sw.h
View file

@ -73,53 +73,53 @@ protected:
Body3DSW *B;
};
Body3DSW *_arr[2];
Body3DSW *_arr[2] = { nullptr, nullptr };
};
Transform3D m_frameInA;
Transform3D m_frameInB;
// linear limits
real_t m_lowerLinLimit;
real_t m_upperLinLimit;
real_t m_lowerLinLimit = 1.0;
real_t m_upperLinLimit = -1.0;
// angular limits
real_t m_lowerAngLimit;
real_t m_upperAngLimit;
real_t m_lowerAngLimit = 0.0;
real_t m_upperAngLimit = 0.0;
// softness, restitution and damping for different cases
// DirLin - moving inside linear limits
// LimLin - hitting linear limit
// DirAng - moving inside angular limits
// LimAng - hitting angular limit
// OrthoLin, OrthoAng - against constraint axis
real_t m_softnessDirLin;
real_t m_restitutionDirLin;
real_t m_dampingDirLin;
real_t m_softnessDirAng;
real_t m_restitutionDirAng;
real_t m_dampingDirAng;
real_t m_softnessLimLin;
real_t m_restitutionLimLin;
real_t m_dampingLimLin;
real_t m_softnessLimAng;
real_t m_restitutionLimAng;
real_t m_dampingLimAng;
real_t m_softnessOrthoLin;
real_t m_restitutionOrthoLin;
real_t m_dampingOrthoLin;
real_t m_softnessOrthoAng;
real_t m_restitutionOrthoAng;
real_t m_dampingOrthoAng;
real_t m_softnessDirLin = SLIDER_CONSTRAINT_DEF_SOFTNESS;
real_t m_restitutionDirLin = SLIDER_CONSTRAINT_DEF_RESTITUTION;
real_t m_dampingDirLin = 0.0;
real_t m_softnessDirAng = SLIDER_CONSTRAINT_DEF_SOFTNESS;
real_t m_restitutionDirAng = SLIDER_CONSTRAINT_DEF_RESTITUTION;
real_t m_dampingDirAng = 0.0;
real_t m_softnessLimLin = SLIDER_CONSTRAINT_DEF_SOFTNESS;
real_t m_restitutionLimLin = SLIDER_CONSTRAINT_DEF_RESTITUTION;
real_t m_dampingLimLin = SLIDER_CONSTRAINT_DEF_DAMPING;
real_t m_softnessLimAng = SLIDER_CONSTRAINT_DEF_SOFTNESS;
real_t m_restitutionLimAng = SLIDER_CONSTRAINT_DEF_RESTITUTION;
real_t m_dampingLimAng = SLIDER_CONSTRAINT_DEF_DAMPING;
real_t m_softnessOrthoLin = SLIDER_CONSTRAINT_DEF_SOFTNESS;
real_t m_restitutionOrthoLin = SLIDER_CONSTRAINT_DEF_RESTITUTION;
real_t m_dampingOrthoLin = SLIDER_CONSTRAINT_DEF_DAMPING;
real_t m_softnessOrthoAng = SLIDER_CONSTRAINT_DEF_SOFTNESS;
real_t m_restitutionOrthoAng = SLIDER_CONSTRAINT_DEF_RESTITUTION;
real_t m_dampingOrthoAng = SLIDER_CONSTRAINT_DEF_DAMPING;
// for interlal use
bool m_solveLinLim;
bool m_solveAngLim;
bool m_solveLinLim = false;
bool m_solveAngLim = false;
JacobianEntry3DSW m_jacLin[3];
real_t m_jacLinDiagABInv[3];
JacobianEntry3DSW m_jacLin[3] = {};
real_t m_jacLinDiagABInv[3] = {};
JacobianEntry3DSW m_jacAng[3];
JacobianEntry3DSW m_jacAng[3] = {};
real_t m_timeStep;
real_t m_timeStep = 0.0;
Transform3D m_calculatedTransformA;
Transform3D m_calculatedTransformB;
@ -132,23 +132,20 @@ protected:
Vector3 m_relPosA;
Vector3 m_relPosB;
real_t m_linPos;
real_t m_linPos = 0.0;
real_t m_angDepth;
real_t m_kAngle;
real_t m_angDepth = 0.0;
real_t m_kAngle = 0.0;
bool m_poweredLinMotor;
real_t m_targetLinMotorVelocity;
real_t m_maxLinMotorForce;
real_t m_accumulatedLinMotorImpulse;
bool m_poweredLinMotor = false;
real_t m_targetLinMotorVelocity = 0.0;
real_t m_maxLinMotorForce = 0.0;
real_t m_accumulatedLinMotorImpulse = 0.0;
bool m_poweredAngMotor;
real_t m_targetAngMotorVelocity;
real_t m_maxAngMotorForce;
real_t m_accumulatedAngMotorImpulse;
//------------------------
void initParams();
bool m_poweredAngMotor = false;
real_t m_targetAngMotorVelocity = 0.0;
real_t m_maxAngMotorForce = 0.0;
real_t m_accumulatedAngMotorImpulse = 0.0;
public:
// constructors

6
servers/physics_3d/physics_server_3d_sw.cpp
View file

@ -1744,11 +1744,5 @@ PhysicsServer3DSW::PhysicsServer3DSW(bool p_using_threads) {
singletonsw = this;
BroadPhase3DSW::create_func = BroadPhase3DBVH::_create;
island_count = 0;
active_objects = 0;
collision_pairs = 0;
using_threads = p_using_threads;
active = true;
flushing_queries = false;
doing_sync = false;
};

18
servers/physics_3d/physics_server_3d_sw.h
View file

@ -42,18 +42,18 @@ class PhysicsServer3DSW : public PhysicsServer3D {
GDCLASS(PhysicsServer3DSW, PhysicsServer3D);
friend class PhysicsDirectSpaceState3DSW;
bool active;
int iterations;
bool active = true;
int iterations = 0;
int island_count;
int active_objects;
int collision_pairs;
int island_count = 0;
int active_objects = 0;
int collision_pairs = 0;
bool using_threads;
bool doing_sync;
bool flushing_queries;
bool using_threads = false;
bool doing_sync = false;
bool flushing_queries = false;
Step3DSW *stepper;
Step3DSW *stepper = nullptr;
Set<const Space3DSW *> active_spaces;
mutable RID_PtrOwner<Shape3DSW, true> shape_owner;

3
servers/physics_3d/physics_server_3d_wrap_mt.cpp
View file

@ -119,8 +119,6 @@ PhysicsServer3DWrapMT::PhysicsServer3DWrapMT(PhysicsServer3D *p_contained, bool
command_queue(p_create_thread) {
physics_3d_server = p_contained;
create_thread = p_create_thread;
step_pending = 0;
step_thread_up = false;
pool_max_size = GLOBAL_GET("memory/limits/multithreaded_server/rid_pool_prealloc");
@ -131,7 +129,6 @@ PhysicsServer3DWrapMT::PhysicsServer3DWrapMT(PhysicsServer3D *p_contained, bool
}
main_thread = Thread::get_caller_id();
first_frame = true;
}
PhysicsServer3DWrapMT::~PhysicsServer3DWrapMT() {

2
servers/physics_3d/physics_server_3d_wrap_mt.h
View file

@ -58,7 +58,7 @@ class PhysicsServer3DWrapMT : public PhysicsServer3D {
bool create_thread = false;
Semaphore step_sem;
int step_pending;
int step_pending = 0;
void thread_step(real_t p_delta);
void thread_flush();

25
servers/physics_3d/shape_3d_sw.cpp
View file

@ -101,11 +101,6 @@ const Map<ShapeOwner3DSW *, int> &Shape3DSW::get_owners() const {
return owners;
}
Shape3DSW::Shape3DSW() {
custom_bias = 0;
configured = false;
}
Shape3DSW::~Shape3DSW() {
ERR_FAIL_COND(owners.size());
}
@ -244,10 +239,7 @@ Variant SeparationRayShape3DSW::get_data() const {
return d;
}
SeparationRayShape3DSW::SeparationRayShape3DSW() {
length = 1;
slide_on_slope = false;
}
SeparationRayShape3DSW::SeparationRayShape3DSW() {}
/********** SPHERE *************/
@ -311,9 +303,7 @@ Variant SphereShape3DSW::get_data() const {
return radius;
}
SphereShape3DSW::SphereShape3DSW() {
radius = 0;
}
SphereShape3DSW::SphereShape3DSW() {}
/********** BOX *************/
@ -502,8 +492,7 @@ Variant BoxShape3DSW::get_data() const {
return half_extents;
}
BoxShape3DSW::BoxShape3DSW() {
}
BoxShape3DSW::BoxShape3DSW() {}
/********** CAPSULE *************/
@ -668,9 +657,7 @@ Variant CapsuleShape3DSW::get_data() const {
return d;
}
CapsuleShape3DSW::CapsuleShape3DSW() {
height = radius = 0;
}
CapsuleShape3DSW::CapsuleShape3DSW() {}
/********** CYLINDER *************/
@ -848,9 +835,7 @@ Variant CylinderShape3DSW::get_data() const {
return d;
}
CylinderShape3DSW::CylinderShape3DSW() {
height = radius = 0;
}
CylinderShape3DSW::CylinderShape3DSW() {}
/********** CONVEX POLYGON *************/

30
servers/physics_3d/shape_3d_sw.h
View file

@ -48,8 +48,8 @@ public:
class Shape3DSW {
RID self;
AABB aabb;
bool configured;
real_t custom_bias;
bool configured = false;
real_t custom_bias = 0.0;
Map<ShapeOwner3DSW *, int> owners;
@ -95,7 +95,7 @@ public:
bool is_owner(ShapeOwner3DSW *p_owner) const;
const Map<ShapeOwner3DSW *, int> &get_owners() const;
Shape3DSW();
Shape3DSW() {}
virtual ~Shape3DSW();
};
@ -138,8 +138,8 @@ public:
};
class SeparationRayShape3DSW : public Shape3DSW {
real_t length;
bool slide_on_slope;
real_t length = 1.0;
bool slide_on_slope = false;
void _setup(real_t p_length, bool p_slide_on_slope);
@ -166,7 +166,7 @@ public:
};
class SphereShape3DSW : public Shape3DSW {
real_t radius;
real_t radius = 0.0;
void _setup(real_t p_radius);
@ -218,8 +218,8 @@ public:
};
class CapsuleShape3DSW : public Shape3DSW {
real_t height;
real_t radius;
real_t height = 0.0;
real_t radius = 0.0;
void _setup(real_t p_height, real_t p_radius);
@ -247,8 +247,8 @@ public:
};
class CylinderShape3DSW : public Shape3DSW {
real_t height;
real_t radius;
real_t height = 0.0;
real_t radius = 0.0;
void _setup(real_t p_height, real_t p_radius);
@ -308,7 +308,7 @@ struct ConcavePolygonShape3DSW : public ConcaveShape3DSW {
struct Face {
Vector3 normal;
int indices[3];
int indices[3] = {};
};
Vector<Face> faces;
@ -316,10 +316,10 @@ struct ConcavePolygonShape3DSW : public ConcaveShape3DSW {
struct BVH {
AABB aabb;
int left;
int right;
int left = 0;
int right = 0;
int face_index;
int face_index = 0;
};
Vector<BVH> bvh;
@ -469,7 +469,7 @@ struct FaceShape3DSW : public Shape3DSW {
};
struct MotionShape3DSW : public Shape3DSW {
Shape3DSW *shape;
Shape3DSW *shape = nullptr;
Vector3 motion;
virtual PhysicsServer3D::ShapeType get_type() const override { return PhysicsServer3D::SHAPE_CONVEX_POLYGON; }

17
servers/physics_3d/space_3d_sw.cpp
View file

@ -1142,18 +1142,6 @@ PhysicsDirectSpaceState3DSW *Space3DSW::get_direct_state() {
}
Space3DSW::Space3DSW() {
collision_pairs = 0;
active_objects = 0;
island_count = 0;
contact_debug_count = 0;
locked = false;
contact_recycle_radius = 0.01;
contact_max_separation = 0.05;
contact_max_allowed_penetration = 0.01;
test_motion_min_contact_depth = 0.00001;
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", Math::deg2rad(8.0));
body_time_to_sleep = GLOBAL_DEF("physics/3d/time_before_sleep", 0.5);
@ -1163,14 +1151,9 @@ Space3DSW::Space3DSW() {
broadphase = BroadPhase3DSW::create_func();
broadphase->set_pair_callback(_broadphase_pair, this);
broadphase->set_unpair_callback(_broadphase_unpair, this);
area = nullptr;
direct_access = memnew(PhysicsDirectSpaceState3DSW);
direct_access->space = this;
for (int i = 0; i < ELAPSED_TIME_MAX; i++) {
elapsed_time[i] = 0;
}
}
Space3DSW::~Space3DSW() {

24
servers/physics_3d/space_3d_sw.h
View file

@ -72,7 +72,7 @@ public:
};
private:
uint64_t elapsed_time[ELAPSED_TIME_MAX];
uint64_t elapsed_time[ELAPSED_TIME_MAX] = {};
PhysicsDirectSpaceState3DSW *direct_access;
RID self;
@ -90,13 +90,13 @@ private:
Set<CollisionObject3DSW *> objects;
Area3DSW *area;
Area3DSW *area = nullptr;
real_t contact_recycle_radius;
real_t contact_max_separation;
real_t contact_max_allowed_penetration;
real_t constraint_bias;
real_t test_motion_min_contact_depth;
real_t contact_recycle_radius = 0.01;
real_t contact_max_separation = 0.05;
real_t contact_max_allowed_penetration = 0.01;
real_t constraint_bias = 0.01;
real_t test_motion_min_contact_depth = 0.00001;
enum {
INTERSECTION_QUERY_MAX = 2048
@ -110,18 +110,18 @@ private:
real_t body_time_to_sleep;
real_t body_angular_velocity_damp_ratio;
bool locked;
bool locked = false;
real_t last_step = 0.001;
int island_count;
int active_objects;
int collision_pairs;
int island_count = 0;
int active_objects = 0;
int collision_pairs = 0;
RID static_global_body;
Vector<Vector3> contact_debug;
int contact_debug_count;
int contact_debug_count = 0;
friend class PhysicsDirectSpaceState3DSW;

2
servers/physics_3d/step_3d_sw.cpp
View file

@ -407,8 +407,6 @@ void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) {
}
Step3DSW::Step3DSW() {
_step = 1;
body_islands.reserve(BODY_ISLAND_COUNT_RESERVE);
constraint_islands.reserve(ISLAND_COUNT_RESERVE);
all_constraints.reserve(CONSTRAINT_COUNT_RESERVE);

2
servers/physics_3d/step_3d_sw.h
View file

@ -37,7 +37,7 @@
#include "core/templates/thread_work_pool.h"
class Step3DSW {
uint64_t _step;
uint64_t _step = 1;
int iterations = 0;
real_t delta = 0.0;