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| author | Aaron Franke <arnfranke@yahoo.com> | 2022-05-03 07:50:35 -0500 |
|---|---|---|
| committer | Aaron Franke <arnfranke@yahoo.com> | 2022-05-03 09:37:47 -0500 |
| commit | fa7a7795f09688b1c71ddad40243e46909989054 (patch) | |
| tree | 754a5bec7014bfb82114e69cc55555753803f1c8 /servers/physics_3d/joints/godot_slider_joint_3d.cpp | |
| parent | d5d86cb26e65b89a00b644de6eef510d8ca06797 (diff) | |
| download | redot-engine-fa7a7795f09688b1c71ddad40243e46909989054.tar.gz | |
Rename Basis get_axis to get_column, remove redundant methods
Diffstat (limited to 'servers/physics_3d/joints/godot_slider_joint_3d.cpp')
| -rw-r--r-- | servers/physics_3d/joints/godot_slider_joint_3d.cpp | 22 |
1 files changed, 11 insertions, 11 deletions
diff --git a/servers/physics_3d/joints/godot_slider_joint_3d.cpp b/servers/physics_3d/joints/godot_slider_joint_3d.cpp index f175421304..4539be21e3 100644 --- a/servers/physics_3d/joints/godot_slider_joint_3d.cpp +++ b/servers/physics_3d/joints/godot_slider_joint_3d.cpp @@ -102,7 +102,7 @@ bool GodotSliderJoint3D::setup(real_t p_step) { m_calculatedTransformB = B->get_transform() * m_frameInB; m_realPivotAInW = m_calculatedTransformA.origin; m_realPivotBInW = m_calculatedTransformB.origin; - m_sliderAxis = m_calculatedTransformA.basis.get_axis(0); // along X + m_sliderAxis = m_calculatedTransformA.basis.get_column(0); // along X m_delta = m_realPivotBInW - m_realPivotAInW; m_projPivotInW = m_realPivotAInW + m_sliderAxis.dot(m_delta) * m_sliderAxis; m_relPosA = m_projPivotInW - A->get_transform().origin; @@ -111,7 +111,7 @@ bool GodotSliderJoint3D::setup(real_t p_step) { int i; //linear part for (i = 0; i < 3; i++) { - normalWorld = m_calculatedTransformA.basis.get_axis(i); + normalWorld = m_calculatedTransformA.basis.get_column(i); memnew_placement( &m_jacLin[i], GodotJacobianEntry3D( @@ -130,7 +130,7 @@ bool GodotSliderJoint3D::setup(real_t p_step) { testLinLimits(); // angular part for (i = 0; i < 3; i++) { - normalWorld = m_calculatedTransformA.basis.get_axis(i); + normalWorld = m_calculatedTransformA.basis.get_column(i); memnew_placement( &m_jacAng[i], GodotJacobianEntry3D( @@ -141,7 +141,7 @@ bool GodotSliderJoint3D::setup(real_t p_step) { B->get_inv_inertia())); } testAngLimits(); - Vector3 axisA = m_calculatedTransformA.basis.get_axis(0); + Vector3 axisA = m_calculatedTransformA.basis.get_column(0); m_kAngle = real_t(1.0) / (A->compute_angular_impulse_denominator(axisA) + B->compute_angular_impulse_denominator(axisA)); // clear accumulator for motors m_accumulatedLinMotorImpulse = real_t(0.0); @@ -206,8 +206,8 @@ void GodotSliderJoint3D::solve(real_t p_step) { } // angular // get axes in world space - Vector3 axisA = m_calculatedTransformA.basis.get_axis(0); - Vector3 axisB = m_calculatedTransformB.basis.get_axis(0); + Vector3 axisA = m_calculatedTransformA.basis.get_column(0); + Vector3 axisB = m_calculatedTransformB.basis.get_column(0); const Vector3 &angVelA = A->get_angular_velocity(); const Vector3 &angVelB = B->get_angular_velocity(); @@ -297,14 +297,14 @@ void GodotSliderJoint3D::calculateTransforms() { m_calculatedTransformB = B->get_transform() * m_frameInB; m_realPivotAInW = m_calculatedTransformA.origin; m_realPivotBInW = m_calculatedTransformB.origin; - m_sliderAxis = m_calculatedTransformA.basis.get_axis(0); // along X + m_sliderAxis = m_calculatedTransformA.basis.get_column(0); // along X m_delta = m_realPivotBInW - m_realPivotAInW; m_projPivotInW = m_realPivotAInW + m_sliderAxis.dot(m_delta) * m_sliderAxis; Vector3 normalWorld; int i; //linear part for (i = 0; i < 3; i++) { - normalWorld = m_calculatedTransformA.basis.get_axis(i); + normalWorld = m_calculatedTransformA.basis.get_column(i); m_depth[i] = m_delta.dot(normalWorld); } } @@ -335,9 +335,9 @@ void GodotSliderJoint3D::testAngLimits() { m_angDepth = real_t(0.); m_solveAngLim = false; if (m_lowerAngLimit <= m_upperAngLimit) { - const Vector3 axisA0 = m_calculatedTransformA.basis.get_axis(1); - const Vector3 axisA1 = m_calculatedTransformA.basis.get_axis(2); - const Vector3 axisB0 = m_calculatedTransformB.basis.get_axis(1); + const Vector3 axisA0 = m_calculatedTransformA.basis.get_column(1); + const Vector3 axisA1 = m_calculatedTransformA.basis.get_column(2); + const Vector3 axisB0 = m_calculatedTransformB.basis.get_column(1); real_t rot = atan2fast(axisB0.dot(axisA1), axisB0.dot(axisA0)); if (rot < m_lowerAngLimit) { m_angDepth = rot - m_lowerAngLimit; |