From cb9fc117d139db399a6ffef460b781eb7ae9092e Mon Sep 17 00:00:00 2001 From: Aaron Franke Date: Thu, 28 Jan 2021 01:34:26 -0500 Subject: [PATCH] Use real_t in physics code --- modules/bullet/bullet_physics_server.cpp | 32 +++++------ modules/bullet/bullet_physics_server.h | 32 +++++------ modules/bullet/rigid_body_bullet.cpp | 14 ++--- modules/bullet/rigid_body_bullet.h | 12 ++-- modules/bullet/shape_bullet.cpp | 10 +++- modules/bullet/space_bullet.cpp | 12 ++-- modules/bullet/space_bullet.h | 10 ++-- servers/physics_2d/collision_object_2d_sw.h | 6 +- servers/physics_2d/physics_server_2d_sw.cpp | 4 +- servers/physics_2d/physics_server_2d_sw.h | 4 +- .../physics_2d/physics_server_2d_wrap_mt.h | 4 +- servers/physics_2d/shape_2d_sw.cpp | 16 ++++-- servers/physics_2d/space_2d_sw.cpp | 8 +-- servers/physics_3d/body_3d_sw.h | 2 +- servers/physics_3d/physics_server_3d_sw.cpp | 2 +- servers/physics_3d/physics_server_3d_sw.h | 2 +- servers/physics_3d/shape_3d_sw.cpp | 10 ++-- servers/physics_3d/space_3d_sw.cpp | 6 +- servers/physics_server_2d.cpp | 10 ++-- servers/physics_server_2d.h | 48 ++++++++-------- servers/physics_server_3d.cpp | 10 ++-- servers/physics_server_3d.h | 56 +++++++++---------- tests/test_physics_3d.cpp | 14 ++--- 23 files changed, 170 insertions(+), 154 deletions(-) diff --git a/modules/bullet/bullet_physics_server.cpp b/modules/bullet/bullet_physics_server.cpp index 632682a15d9f..9144a781a071 100644 --- a/modules/bullet/bullet_physics_server.cpp +++ b/modules/bullet/bullet_physics_server.cpp @@ -625,14 +625,14 @@ uint32_t BulletPhysicsServer3D::body_get_user_flags(RID p_body) const { return 0; } -void BulletPhysicsServer3D::body_set_param(RID p_body, BodyParameter p_param, float p_value) { +void BulletPhysicsServer3D::body_set_param(RID p_body, BodyParameter p_param, real_t p_value) { RigidBodyBullet *body = rigid_body_owner.getornull(p_body); ERR_FAIL_COND(!body); body->set_param(p_param, p_value); } -float BulletPhysicsServer3D::body_get_param(RID p_body, BodyParameter p_param) const { +real_t BulletPhysicsServer3D::body_get_param(RID p_body, BodyParameter p_param) const { RigidBodyBullet *body = rigid_body_owner.getornull(p_body); ERR_FAIL_COND_V(!body, 0); @@ -807,11 +807,11 @@ int BulletPhysicsServer3D::body_get_max_contacts_reported(RID p_body) const { return body->get_max_collisions_detection(); } -void BulletPhysicsServer3D::body_set_contacts_reported_depth_threshold(RID p_body, float p_threshold) { +void BulletPhysicsServer3D::body_set_contacts_reported_depth_threshold(RID p_body, real_t p_threshold) { // Not supported by bullet and even Godot } -float BulletPhysicsServer3D::body_get_contacts_reported_depth_threshold(RID p_body) const { +real_t BulletPhysicsServer3D::body_get_contacts_reported_depth_threshold(RID p_body) const { // Not supported by bullet and even Godot return 0.; } @@ -862,7 +862,7 @@ bool BulletPhysicsServer3D::body_test_motion(RID p_body, const Transform &p_from return body->get_space()->test_body_motion(body, p_from, p_motion, p_infinite_inertia, r_result, p_exclude_raycast_shapes); } -int BulletPhysicsServer3D::body_test_ray_separation(RID p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, float p_margin) { +int BulletPhysicsServer3D::body_test_ray_separation(RID p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, real_t p_margin) { RigidBodyBullet *body = rigid_body_owner.getornull(p_body); ERR_FAIL_COND_V(!body, 0); ERR_FAIL_COND_V(!body->get_space(), 0); @@ -1221,7 +1221,7 @@ RID BulletPhysicsServer3D::joint_create_pin(RID p_body_A, const Vector3 &p_local CreateThenReturnRID(joint_owner, joint); } -void BulletPhysicsServer3D::pin_joint_set_param(RID p_joint, PinJointParam p_param, float p_value) { +void BulletPhysicsServer3D::pin_joint_set_param(RID p_joint, PinJointParam p_param, real_t p_value) { JointBullet *joint = joint_owner.getornull(p_joint); ERR_FAIL_COND(!joint); ERR_FAIL_COND(joint->get_type() != JOINT_PIN); @@ -1229,7 +1229,7 @@ void BulletPhysicsServer3D::pin_joint_set_param(RID p_joint, PinJointParam p_par pin_joint->set_param(p_param, p_value); } -float BulletPhysicsServer3D::pin_joint_get_param(RID p_joint, PinJointParam p_param) const { +real_t BulletPhysicsServer3D::pin_joint_get_param(RID p_joint, PinJointParam p_param) const { JointBullet *joint = joint_owner.getornull(p_joint); ERR_FAIL_COND_V(!joint, 0); ERR_FAIL_COND_V(joint->get_type() != JOINT_PIN, 0); @@ -1309,7 +1309,7 @@ RID BulletPhysicsServer3D::joint_create_hinge_simple(RID p_body_A, const Vector3 CreateThenReturnRID(joint_owner, joint); } -void BulletPhysicsServer3D::hinge_joint_set_param(RID p_joint, HingeJointParam p_param, float p_value) { +void BulletPhysicsServer3D::hinge_joint_set_param(RID p_joint, HingeJointParam p_param, real_t p_value) { JointBullet *joint = joint_owner.getornull(p_joint); ERR_FAIL_COND(!joint); ERR_FAIL_COND(joint->get_type() != JOINT_HINGE); @@ -1317,7 +1317,7 @@ void BulletPhysicsServer3D::hinge_joint_set_param(RID p_joint, HingeJointParam p hinge_joint->set_param(p_param, p_value); } -float BulletPhysicsServer3D::hinge_joint_get_param(RID p_joint, HingeJointParam p_param) const { +real_t BulletPhysicsServer3D::hinge_joint_get_param(RID p_joint, HingeJointParam p_param) const { JointBullet *joint = joint_owner.getornull(p_joint); ERR_FAIL_COND_V(!joint, 0); ERR_FAIL_COND_V(joint->get_type() != JOINT_HINGE, 0); @@ -1361,7 +1361,7 @@ RID BulletPhysicsServer3D::joint_create_slider(RID p_body_A, const Transform &p_ CreateThenReturnRID(joint_owner, joint); } -void BulletPhysicsServer3D::slider_joint_set_param(RID p_joint, SliderJointParam p_param, float p_value) { +void BulletPhysicsServer3D::slider_joint_set_param(RID p_joint, SliderJointParam p_param, real_t p_value) { JointBullet *joint = joint_owner.getornull(p_joint); ERR_FAIL_COND(!joint); ERR_FAIL_COND(joint->get_type() != JOINT_SLIDER); @@ -1369,7 +1369,7 @@ void BulletPhysicsServer3D::slider_joint_set_param(RID p_joint, SliderJointParam slider_joint->set_param(p_param, p_value); } -float BulletPhysicsServer3D::slider_joint_get_param(RID p_joint, SliderJointParam p_param) const { +real_t BulletPhysicsServer3D::slider_joint_get_param(RID p_joint, SliderJointParam p_param) const { JointBullet *joint = joint_owner.getornull(p_joint); ERR_FAIL_COND_V(!joint, 0); ERR_FAIL_COND_V(joint->get_type() != JOINT_SLIDER, 0); @@ -1395,7 +1395,7 @@ RID BulletPhysicsServer3D::joint_create_cone_twist(RID p_body_A, const Transform CreateThenReturnRID(joint_owner, joint); } -void BulletPhysicsServer3D::cone_twist_joint_set_param(RID p_joint, ConeTwistJointParam p_param, float p_value) { +void BulletPhysicsServer3D::cone_twist_joint_set_param(RID p_joint, ConeTwistJointParam p_param, real_t p_value) { JointBullet *joint = joint_owner.getornull(p_joint); ERR_FAIL_COND(!joint); ERR_FAIL_COND(joint->get_type() != JOINT_CONE_TWIST); @@ -1403,7 +1403,7 @@ void BulletPhysicsServer3D::cone_twist_joint_set_param(RID p_joint, ConeTwistJoi coneTwist_joint->set_param(p_param, p_value); } -float BulletPhysicsServer3D::cone_twist_joint_get_param(RID p_joint, ConeTwistJointParam p_param) const { +real_t BulletPhysicsServer3D::cone_twist_joint_get_param(RID p_joint, ConeTwistJointParam p_param) const { JointBullet *joint = joint_owner.getornull(p_joint); ERR_FAIL_COND_V(!joint, 0.); ERR_FAIL_COND_V(joint->get_type() != JOINT_CONE_TWIST, 0.); @@ -1431,7 +1431,7 @@ RID BulletPhysicsServer3D::joint_create_generic_6dof(RID p_body_A, const Transfo CreateThenReturnRID(joint_owner, joint); } -void BulletPhysicsServer3D::generic_6dof_joint_set_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param, float p_value) { +void BulletPhysicsServer3D::generic_6dof_joint_set_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param, real_t p_value) { JointBullet *joint = joint_owner.getornull(p_joint); ERR_FAIL_COND(!joint); ERR_FAIL_COND(joint->get_type() != JOINT_6DOF); @@ -1439,7 +1439,7 @@ void BulletPhysicsServer3D::generic_6dof_joint_set_param(RID p_joint, Vector3::A generic_6dof_joint->set_param(p_axis, p_param, p_value); } -float BulletPhysicsServer3D::generic_6dof_joint_get_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param) { +real_t BulletPhysicsServer3D::generic_6dof_joint_get_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param) { JointBullet *joint = joint_owner.getornull(p_joint); ERR_FAIL_COND_V(!joint, 0); ERR_FAIL_COND_V(joint->get_type() != JOINT_6DOF, 0); @@ -1525,7 +1525,7 @@ void BulletPhysicsServer3D::init() { BulletPhysicsDirectBodyState3D::initSingleton(); } -void BulletPhysicsServer3D::step(float p_deltaTime) { +void BulletPhysicsServer3D::step(real_t p_deltaTime) { if (!active) { return; } diff --git a/modules/bullet/bullet_physics_server.h b/modules/bullet/bullet_physics_server.h index b5dc84c8f5b5..f2740c9c75e0 100644 --- a/modules/bullet/bullet_physics_server.h +++ b/modules/bullet/bullet_physics_server.h @@ -207,8 +207,8 @@ class BulletPhysicsServer3D : public PhysicsServer3D { /// This is not supported by physics server virtual uint32_t body_get_user_flags(RID p_body) const override; - virtual void body_set_param(RID p_body, BodyParameter p_param, float p_value) override; - virtual float body_get_param(RID p_body, BodyParameter p_param) const override; + virtual void body_set_param(RID p_body, BodyParameter p_param, real_t p_value) override; + virtual real_t body_get_param(RID p_body, BodyParameter p_param) const override; virtual void body_set_kinematic_safe_margin(RID p_body, real_t p_margin) override; virtual real_t body_get_kinematic_safe_margin(RID p_body) const override; @@ -241,8 +241,8 @@ class BulletPhysicsServer3D : public PhysicsServer3D { virtual void body_set_max_contacts_reported(RID p_body, int p_contacts) override; virtual int body_get_max_contacts_reported(RID p_body) const override; - virtual void body_set_contacts_reported_depth_threshold(RID p_body, float p_threshold) override; - virtual float body_get_contacts_reported_depth_threshold(RID p_body) const override; + virtual void body_set_contacts_reported_depth_threshold(RID p_body, real_t p_threshold) override; + virtual real_t body_get_contacts_reported_depth_threshold(RID p_body) const override; virtual void body_set_omit_force_integration(RID p_body, bool p_omit) override; virtual bool body_is_omitting_force_integration(RID p_body) const override; @@ -256,7 +256,7 @@ class BulletPhysicsServer3D : public PhysicsServer3D { virtual PhysicsDirectBodyState3D *body_get_direct_state(RID p_body) override; virtual bool body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, MotionResult *r_result = nullptr, bool p_exclude_raycast_shapes = true) override; - virtual int body_test_ray_separation(RID p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, float p_margin = 0.001) override; + virtual int body_test_ray_separation(RID p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, real_t p_margin = 0.001) override; /* SOFT BODY API */ @@ -337,8 +337,8 @@ class BulletPhysicsServer3D : public PhysicsServer3D { virtual RID joint_create_pin(RID p_body_A, const Vector3 &p_local_A, RID p_body_B, const Vector3 &p_local_B) override; - virtual void pin_joint_set_param(RID p_joint, PinJointParam p_param, float p_value) override; - virtual float pin_joint_get_param(RID p_joint, PinJointParam p_param) const override; + virtual void pin_joint_set_param(RID p_joint, PinJointParam p_param, real_t p_value) override; + virtual real_t pin_joint_get_param(RID p_joint, PinJointParam p_param) const override; virtual void pin_joint_set_local_a(RID p_joint, const Vector3 &p_A) override; virtual Vector3 pin_joint_get_local_a(RID p_joint) const override; @@ -349,8 +349,8 @@ class BulletPhysicsServer3D : public PhysicsServer3D { virtual RID joint_create_hinge(RID p_body_A, const Transform &p_hinge_A, RID p_body_B, const Transform &p_hinge_B) override; virtual RID joint_create_hinge_simple(RID p_body_A, const Vector3 &p_pivot_A, const Vector3 &p_axis_A, RID p_body_B, const Vector3 &p_pivot_B, const Vector3 &p_axis_B) override; - virtual void hinge_joint_set_param(RID p_joint, HingeJointParam p_param, float p_value) override; - virtual float hinge_joint_get_param(RID p_joint, HingeJointParam p_param) const override; + virtual void hinge_joint_set_param(RID p_joint, HingeJointParam p_param, real_t p_value) override; + virtual real_t hinge_joint_get_param(RID p_joint, HingeJointParam p_param) const override; virtual void hinge_joint_set_flag(RID p_joint, HingeJointFlag p_flag, bool p_value) override; virtual bool hinge_joint_get_flag(RID p_joint, HingeJointFlag p_flag) const override; @@ -358,20 +358,20 @@ class BulletPhysicsServer3D : public PhysicsServer3D { /// Reference frame is A virtual RID joint_create_slider(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B) override; - virtual void slider_joint_set_param(RID p_joint, SliderJointParam p_param, float p_value) override; - virtual float slider_joint_get_param(RID p_joint, SliderJointParam p_param) const override; + virtual void slider_joint_set_param(RID p_joint, SliderJointParam p_param, real_t p_value) override; + virtual real_t slider_joint_get_param(RID p_joint, SliderJointParam p_param) const override; /// Reference frame is A virtual RID joint_create_cone_twist(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B) override; - virtual void cone_twist_joint_set_param(RID p_joint, ConeTwistJointParam p_param, float p_value) override; - virtual float cone_twist_joint_get_param(RID p_joint, ConeTwistJointParam p_param) const override; + virtual void cone_twist_joint_set_param(RID p_joint, ConeTwistJointParam p_param, real_t p_value) override; + virtual real_t cone_twist_joint_get_param(RID p_joint, ConeTwistJointParam p_param) const override; /// Reference frame is A virtual RID joint_create_generic_6dof(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B) override; - virtual void generic_6dof_joint_set_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param, float p_value) override; - virtual float generic_6dof_joint_get_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param) override; + virtual void generic_6dof_joint_set_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param, real_t p_value) override; + virtual real_t generic_6dof_joint_get_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param) override; virtual void generic_6dof_joint_set_flag(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisFlag p_flag, bool p_enable) override; virtual bool generic_6dof_joint_get_flag(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisFlag p_flag) override; @@ -393,7 +393,7 @@ class BulletPhysicsServer3D : public PhysicsServer3D { } virtual void init() override; - virtual void step(float p_deltaTime) override; + virtual void step(real_t p_deltaTime) override; virtual void flush_queries() override; virtual void finish() override; diff --git a/modules/bullet/rigid_body_bullet.cpp b/modules/bullet/rigid_body_bullet.cpp index 476309858447..a5093afe9dcc 100644 --- a/modules/bullet/rigid_body_bullet.cpp +++ b/modules/bullet/rigid_body_bullet.cpp @@ -56,11 +56,11 @@ Vector3 BulletPhysicsDirectBodyState3D::get_total_gravity() const { return gVec; } -float BulletPhysicsDirectBodyState3D::get_total_angular_damp() const { +real_t BulletPhysicsDirectBodyState3D::get_total_angular_damp() const { return body->btBody->getAngularDamping(); } -float BulletPhysicsDirectBodyState3D::get_total_linear_damp() const { +real_t BulletPhysicsDirectBodyState3D::get_total_linear_damp() const { return body->btBody->getLinearDamping(); } @@ -74,7 +74,7 @@ Basis BulletPhysicsDirectBodyState3D::get_principal_inertia_axes() const { return Basis(); } -float BulletPhysicsDirectBodyState3D::get_inverse_mass() const { +real_t BulletPhysicsDirectBodyState3D::get_inverse_mass() const { return body->btBody->getInvMass(); } @@ -158,7 +158,7 @@ Vector3 BulletPhysicsDirectBodyState3D::get_contact_local_normal(int p_contact_i return body->collisions[p_contact_idx].hitNormal; } -float BulletPhysicsDirectBodyState3D::get_contact_impulse(int p_contact_idx) const { +real_t BulletPhysicsDirectBodyState3D::get_contact_impulse(int p_contact_idx) const { return body->collisions[p_contact_idx].appliedImpulse; } @@ -412,7 +412,7 @@ void RigidBodyBullet::on_collision_checker_end() { isTransformChanged = btBody->isActive() && !btBody->isStaticOrKinematicObject(); } -bool RigidBodyBullet::add_collision_object(RigidBodyBullet *p_otherObject, const Vector3 &p_hitWorldLocation, const Vector3 &p_hitLocalLocation, const Vector3 &p_hitNormal, const float &p_appliedImpulse, int p_other_shape_index, int p_local_shape_index) { +bool RigidBodyBullet::add_collision_object(RigidBodyBullet *p_otherObject, const Vector3 &p_hitWorldLocation, const Vector3 &p_hitLocalLocation, const Vector3 &p_hitNormal, const real_t &p_appliedImpulse, int p_other_shape_index, int p_local_shape_index) { if (collisionsCount >= maxCollisionsDetection) { return false; } @@ -710,12 +710,12 @@ bool RigidBodyBullet::is_axis_locked(PhysicsServer3D::BodyAxis p_axis) const { } void RigidBodyBullet::reload_axis_lock() { - btBody->setLinearFactor(btVector3(float(!is_axis_locked(PhysicsServer3D::BODY_AXIS_LINEAR_X)), float(!is_axis_locked(PhysicsServer3D::BODY_AXIS_LINEAR_Y)), float(!is_axis_locked(PhysicsServer3D::BODY_AXIS_LINEAR_Z)))); + btBody->setLinearFactor(btVector3(btScalar(!is_axis_locked(PhysicsServer3D::BODY_AXIS_LINEAR_X)), btScalar(!is_axis_locked(PhysicsServer3D::BODY_AXIS_LINEAR_Y)), btScalar(!is_axis_locked(PhysicsServer3D::BODY_AXIS_LINEAR_Z)))); if (PhysicsServer3D::BODY_MODE_CHARACTER == mode) { /// When character angular is always locked btBody->setAngularFactor(btVector3(0., 0., 0.)); } else { - btBody->setAngularFactor(btVector3(float(!is_axis_locked(PhysicsServer3D::BODY_AXIS_ANGULAR_X)), float(!is_axis_locked(PhysicsServer3D::BODY_AXIS_ANGULAR_Y)), float(!is_axis_locked(PhysicsServer3D::BODY_AXIS_ANGULAR_Z)))); + btBody->setAngularFactor(btVector3(btScalar(!is_axis_locked(PhysicsServer3D::BODY_AXIS_ANGULAR_X)), btScalar(!is_axis_locked(PhysicsServer3D::BODY_AXIS_ANGULAR_Y)), btScalar(!is_axis_locked(PhysicsServer3D::BODY_AXIS_ANGULAR_Z)))); } } diff --git a/modules/bullet/rigid_body_bullet.h b/modules/bullet/rigid_body_bullet.h index fc3f2db796bd..57b80cf50c60 100644 --- a/modules/bullet/rigid_body_bullet.h +++ b/modules/bullet/rigid_body_bullet.h @@ -89,13 +89,13 @@ class BulletPhysicsDirectBodyState3D : public PhysicsDirectBodyState3D { public: virtual Vector3 get_total_gravity() const override; - virtual float get_total_angular_damp() const override; - virtual float get_total_linear_damp() const override; + virtual real_t get_total_angular_damp() const override; + virtual real_t get_total_linear_damp() const override; virtual Vector3 get_center_of_mass() const override; virtual Basis get_principal_inertia_axes() const override; // get the mass - virtual float get_inverse_mass() const override; + virtual real_t get_inverse_mass() const override; // get density of this body space virtual Vector3 get_inverse_inertia() const override; // get density of this body space @@ -124,7 +124,7 @@ class BulletPhysicsDirectBodyState3D : public PhysicsDirectBodyState3D { virtual Vector3 get_contact_local_position(int p_contact_idx) const override; virtual Vector3 get_contact_local_normal(int p_contact_idx) const override; - virtual float get_contact_impulse(int p_contact_idx) const override; + virtual real_t get_contact_impulse(int p_contact_idx) const override; virtual int get_contact_local_shape(int p_contact_idx) const override; virtual RID get_contact_collider(int p_contact_idx) const override; @@ -150,7 +150,7 @@ class RigidBodyBullet : public RigidCollisionObjectBullet { Vector3 hitLocalLocation; Vector3 hitWorldLocation; Vector3 hitNormal; - float appliedImpulse; + real_t appliedImpulse; }; struct ForceIntegrationCallback { @@ -264,7 +264,7 @@ class RigidBodyBullet : public RigidCollisionObjectBullet { } bool can_add_collision() { return collisionsCount < maxCollisionsDetection; } - bool add_collision_object(RigidBodyBullet *p_otherObject, const Vector3 &p_hitWorldLocation, const Vector3 &p_hitLocalLocation, const Vector3 &p_hitNormal, const float &p_appliedImpulse, int p_other_shape_index, int p_local_shape_index); + bool add_collision_object(RigidBodyBullet *p_otherObject, const Vector3 &p_hitWorldLocation, const Vector3 &p_hitLocalLocation, const Vector3 &p_hitNormal, const real_t &p_appliedImpulse, int p_other_shape_index, int p_local_shape_index); bool was_colliding(RigidBodyBullet *p_other_object); void set_activation_state(bool p_active); diff --git a/modules/bullet/shape_bullet.cpp b/modules/bullet/shape_bullet.cpp index cc2ec28a9e1f..82876ab77c27 100644 --- a/modules/bullet/shape_bullet.cpp +++ b/modules/bullet/shape_bullet.cpp @@ -480,7 +480,11 @@ void HeightMapShapeBullet::set_data(const Variant &p_data) { Vector l_heights; Variant l_heights_v = d["heights"]; +#ifdef REAL_T_IS_DOUBLE + if (l_heights_v.get_type() == Variant::PACKED_FLOAT64_ARRAY) { +#else if (l_heights_v.get_type() == Variant::PACKED_FLOAT32_ARRAY) { +#endif // Ready-to-use heights can be passed l_heights = l_heights_v; @@ -503,7 +507,7 @@ void HeightMapShapeBullet::set_data(const Variant &p_data) { real_t *w = l_heights.ptrw(); const uint8_t *r = im_data.ptr(); - float *rp = (float *)r; + real_t *rp = (real_t *)r; // At this point, `rp` could be used directly for Bullet, but I don't know how safe it would be. for (int i = 0; i < l_heights.size(); ++i) { @@ -511,7 +515,11 @@ void HeightMapShapeBullet::set_data(const Variant &p_data) { } } else { +#ifdef REAL_T_IS_DOUBLE + ERR_FAIL_MSG("Expected PackedFloat64Array or float Image."); +#else ERR_FAIL_MSG("Expected PackedFloat32Array or float Image."); +#endif } ERR_FAIL_COND(l_width <= 0); diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp index d7dd11d2a5e0..79a5fdb3d20f 100644 --- a/modules/bullet/space_bullet.cpp +++ b/modules/bullet/space_bullet.cpp @@ -117,7 +117,7 @@ bool BulletPhysicsDirectSpaceState::intersect_ray(const Vector3 &p_from, const V } } -int BulletPhysicsDirectSpaceState::intersect_shape(const RID &p_shape, const Transform &p_xform, float p_margin, ShapeResult *r_results, int p_result_max, const Set &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) { +int BulletPhysicsDirectSpaceState::intersect_shape(const RID &p_shape, const Transform &p_xform, real_t p_margin, ShapeResult *r_results, int p_result_max, const Set &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) { if (p_result_max <= 0) { return 0; } @@ -152,7 +152,7 @@ int BulletPhysicsDirectSpaceState::intersect_shape(const RID &p_shape, const Tra return btQuery.m_count; } -bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transform &p_xform, const Vector3 &p_motion, float p_margin, float &r_closest_safe, float &r_closest_unsafe, const Set &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, ShapeRestInfo *r_info) { +bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transform &p_xform, const Vector3 &p_motion, real_t p_margin, real_t &r_closest_safe, real_t &r_closest_unsafe, const Set &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, ShapeRestInfo *r_info) { r_closest_safe = 0.0f; r_closest_unsafe = 0.0f; btVector3 bt_motion; @@ -214,7 +214,7 @@ bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transf } /// Returns the list of contacts pairs in this order: Local contact, other body contact -bool BulletPhysicsDirectSpaceState::collide_shape(RID p_shape, const Transform &p_shape_xform, float p_margin, Vector3 *r_results, int p_result_max, int &r_result_count, const Set &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) { +bool BulletPhysicsDirectSpaceState::collide_shape(RID p_shape, const Transform &p_shape_xform, real_t p_margin, Vector3 *r_results, int p_result_max, int &r_result_count, const Set &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) { if (p_result_max <= 0) { return false; } @@ -250,7 +250,7 @@ bool BulletPhysicsDirectSpaceState::collide_shape(RID p_shape, const Transform & return btQuery.m_count; } -bool BulletPhysicsDirectSpaceState::rest_info(RID p_shape, const Transform &p_shape_xform, float p_margin, ShapeRestInfo *r_info, const Set &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) { +bool BulletPhysicsDirectSpaceState::rest_info(RID p_shape, const Transform &p_shape_xform, real_t p_margin, ShapeRestInfo *r_info, const Set &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) { ShapeBullet *shape = space->get_physics_server()->get_shape_owner()->getornull(p_shape); ERR_FAIL_COND_V(!shape, false); @@ -841,7 +841,7 @@ void SpaceBullet::check_body_collision() { Vector3 collisionWorldPosition; Vector3 collisionLocalPosition; Vector3 normalOnB; - float appliedImpulse = pt.m_appliedImpulse; + real_t appliedImpulse = pt.m_appliedImpulse; B_TO_G(pt.m_normalWorldOnB, normalOnB); // The pt.m_index only contains the shape index when more than one collision shape is used @@ -1062,7 +1062,7 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f return has_penetration; } -int SpaceBullet::test_ray_separation(RigidBodyBullet *p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, PhysicsServer3D::SeparationResult *r_results, int p_result_max, float p_margin) { +int SpaceBullet::test_ray_separation(RigidBodyBullet *p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, PhysicsServer3D::SeparationResult *r_results, int p_result_max, real_t p_margin) { btTransform body_transform; G_TO_B(p_transform, body_transform); UNSCALE_BT_BASIS(body_transform); diff --git a/modules/bullet/space_bullet.h b/modules/bullet/space_bullet.h index 0f2482e55115..1caa3c2a0ca7 100644 --- a/modules/bullet/space_bullet.h +++ b/modules/bullet/space_bullet.h @@ -78,11 +78,11 @@ class BulletPhysicsDirectSpaceState : public PhysicsDirectSpaceState3D { virtual int intersect_point(const Vector3 &p_point, ShapeResult *r_results, int p_result_max, const Set &p_exclude = Set(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override; virtual bool intersect_ray(const Vector3 &p_from, const Vector3 &p_to, RayResult &r_result, const Set &p_exclude = Set(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, bool p_pick_ray = false) override; - virtual int intersect_shape(const RID &p_shape, const Transform &p_xform, float p_margin, ShapeResult *r_results, int p_result_max, const Set &p_exclude = Set(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override; - virtual bool cast_motion(const RID &p_shape, const Transform &p_xform, const Vector3 &p_motion, float p_margin, float &r_closest_safe, float &r_closest_unsafe, const Set &p_exclude = Set(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, ShapeRestInfo *r_info = nullptr) override; + virtual int intersect_shape(const RID &p_shape, const Transform &p_xform, real_t p_margin, ShapeResult *r_results, int p_result_max, const Set &p_exclude = Set(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override; + virtual bool cast_motion(const RID &p_shape, const Transform &p_xform, const Vector3 &p_motion, real_t p_margin, real_t &r_closest_safe, real_t &r_closest_unsafe, const Set &p_exclude = Set(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, ShapeRestInfo *r_info = nullptr) override; /// Returns the list of contacts pairs in this order: Local contact, other body contact - virtual bool collide_shape(RID p_shape, const Transform &p_shape_xform, float p_margin, Vector3 *r_results, int p_result_max, int &r_result_count, const Set &p_exclude = Set(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override; - virtual bool rest_info(RID p_shape, const Transform &p_shape_xform, float p_margin, ShapeRestInfo *r_info, const Set &p_exclude = Set(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override; + virtual bool collide_shape(RID p_shape, const Transform &p_shape_xform, real_t p_margin, Vector3 *r_results, int p_result_max, int &r_result_count, const Set &p_exclude = Set(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override; + virtual bool rest_info(RID p_shape, const Transform &p_shape_xform, real_t p_margin, ShapeRestInfo *r_info, const Set &p_exclude = Set(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override; virtual Vector3 get_closest_point_to_object_volume(RID p_object, const Vector3 p_point) const override; }; @@ -189,7 +189,7 @@ class SpaceBullet : public RIDBullet { real_t get_angular_damp() const { return angular_damp; } bool test_body_motion(RigidBodyBullet *p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, PhysicsServer3D::MotionResult *r_result, bool p_exclude_raycast_shapes); - int test_ray_separation(RigidBodyBullet *p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, PhysicsServer3D::SeparationResult *r_results, int p_result_max, float p_margin); + int test_ray_separation(RigidBodyBullet *p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, PhysicsServer3D::SeparationResult *r_results, int p_result_max, real_t p_margin); private: void create_empty_world(bool p_create_soft_world); diff --git a/servers/physics_2d/collision_object_2d_sw.h b/servers/physics_2d/collision_object_2d_sw.h index 2939b4b99f12..2db3961f411d 100644 --- a/servers/physics_2d/collision_object_2d_sw.h +++ b/servers/physics_2d/collision_object_2d_sw.h @@ -61,7 +61,7 @@ class CollisionObject2DSW : public ShapeOwner2DSW { Variant metadata; bool disabled; bool one_way_collision; - float one_way_collision_margin; + real_t one_way_collision_margin; Shape() { disabled = false; one_way_collision = false; @@ -153,7 +153,7 @@ class CollisionObject2DSW : public ShapeOwner2DSW { return shapes[p_idx].disabled; } - _FORCE_INLINE_ void set_shape_as_one_way_collision(int p_idx, bool p_one_way_collision, float p_margin) { + _FORCE_INLINE_ void set_shape_as_one_way_collision(int p_idx, bool p_one_way_collision, real_t p_margin) { CRASH_BAD_INDEX(p_idx, shapes.size()); shapes.write[p_idx].one_way_collision = p_one_way_collision; shapes.write[p_idx].one_way_collision_margin = p_margin; @@ -163,7 +163,7 @@ class CollisionObject2DSW : public ShapeOwner2DSW { return shapes[p_idx].one_way_collision; } - _FORCE_INLINE_ float get_shape_one_way_collision_margin(int p_idx) const { + _FORCE_INLINE_ real_t get_shape_one_way_collision_margin(int p_idx) const { CRASH_BAD_INDEX(p_idx, shapes.size()); return shapes[p_idx].one_way_collision_margin; } diff --git a/servers/physics_2d/physics_server_2d_sw.cpp b/servers/physics_2d/physics_server_2d_sw.cpp index c4e2489bef53..14fcf1520a9c 100644 --- a/servers/physics_2d/physics_server_2d_sw.cpp +++ b/servers/physics_2d/physics_server_2d_sw.cpp @@ -667,7 +667,7 @@ void PhysicsServer2DSW::body_set_shape_disabled(RID p_body, int p_shape_idx, boo body->set_shape_as_disabled(p_shape_idx, p_disabled); } -void PhysicsServer2DSW::body_set_shape_as_one_way_collision(RID p_body, int p_shape_idx, bool p_enable, float p_margin) { +void PhysicsServer2DSW::body_set_shape_as_one_way_collision(RID p_body, int p_shape_idx, bool p_enable, real_t p_margin) { Body2DSW *body = body_owner.getornull(p_body); ERR_FAIL_COND(!body); ERR_FAIL_INDEX(p_shape_idx, body->get_shape_count()); @@ -958,7 +958,7 @@ bool PhysicsServer2DSW::body_test_motion(RID p_body, const Transform2D &p_from, return body->get_space()->test_body_motion(body, p_from, p_motion, p_infinite_inertia, p_margin, r_result, p_exclude_raycast_shapes); } -int PhysicsServer2DSW::body_test_ray_separation(RID p_body, const Transform2D &p_transform, bool p_infinite_inertia, Vector2 &r_recover_motion, SeparationResult *r_results, int p_result_max, float p_margin) { +int PhysicsServer2DSW::body_test_ray_separation(RID p_body, const Transform2D &p_transform, bool p_infinite_inertia, Vector2 &r_recover_motion, SeparationResult *r_results, int p_result_max, real_t p_margin) { Body2DSW *body = body_owner.getornull(p_body); ERR_FAIL_COND_V(!body, false); ERR_FAIL_COND_V(!body->get_space(), false); diff --git a/servers/physics_2d/physics_server_2d_sw.h b/servers/physics_2d/physics_server_2d_sw.h index 3305c0bd3dbe..62ea30b3f6fe 100644 --- a/servers/physics_2d/physics_server_2d_sw.h +++ b/servers/physics_2d/physics_server_2d_sw.h @@ -191,7 +191,7 @@ class PhysicsServer2DSW : public PhysicsServer2D { virtual void body_clear_shapes(RID p_body) override; virtual void body_set_shape_disabled(RID p_body, int p_shape_idx, bool p_disabled) override; - virtual void body_set_shape_as_one_way_collision(RID p_body, int p_shape_idx, bool p_enable, float p_margin) override; + virtual void body_set_shape_as_one_way_collision(RID p_body, int p_shape_idx, bool p_enable, real_t p_margin) override; virtual void body_attach_object_instance_id(RID p_body, ObjectID p_id) override; virtual ObjectID body_get_object_instance_id(RID p_body) const override; @@ -248,7 +248,7 @@ class PhysicsServer2DSW : public PhysicsServer2D { virtual void body_set_pickable(RID p_body, bool p_pickable) override; virtual bool body_test_motion(RID p_body, const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia, real_t p_margin = 0.001, MotionResult *r_result = nullptr, bool p_exclude_raycast_shapes = true) override; - virtual int body_test_ray_separation(RID p_body, const Transform2D &p_transform, bool p_infinite_inertia, Vector2 &r_recover_motion, SeparationResult *r_results, int p_result_max, float p_margin = 0.001) override; + virtual int body_test_ray_separation(RID p_body, const Transform2D &p_transform, bool p_infinite_inertia, Vector2 &r_recover_motion, SeparationResult *r_results, int p_result_max, real_t p_margin = 0.001) override; // this function only works on physics process, errors and returns null otherwise virtual PhysicsDirectBodyState2D *body_get_direct_state(RID p_body) override; diff --git a/servers/physics_2d/physics_server_2d_wrap_mt.h b/servers/physics_2d/physics_server_2d_wrap_mt.h index 9207081a5149..3c6ec877e05f 100644 --- a/servers/physics_2d/physics_server_2d_wrap_mt.h +++ b/servers/physics_2d/physics_server_2d_wrap_mt.h @@ -189,7 +189,7 @@ class PhysicsServer2DWrapMT : public PhysicsServer2D { FUNC2RC(RID, body_get_shape, RID, int); FUNC3(body_set_shape_disabled, RID, int, bool); - FUNC4(body_set_shape_as_one_way_collision, RID, int, bool, float); + FUNC4(body_set_shape_as_one_way_collision, RID, int, bool, real_t); FUNC2(body_remove_shape, RID, int); FUNC1(body_clear_shapes, RID); @@ -255,7 +255,7 @@ class PhysicsServer2DWrapMT : public PhysicsServer2D { return physics_2d_server->body_test_motion(p_body, p_from, p_motion, p_infinite_inertia, p_margin, r_result, p_exclude_raycast_shapes); } - int body_test_ray_separation(RID p_body, const Transform2D &p_transform, bool p_infinite_inertia, Vector2 &r_recover_motion, SeparationResult *r_results, int p_result_max, float p_margin = 0.001) { + int body_test_ray_separation(RID p_body, const Transform2D &p_transform, bool p_infinite_inertia, Vector2 &r_recover_motion, SeparationResult *r_results, int p_result_max, real_t p_margin = 0.001) { ERR_FAIL_COND_V(main_thread != Thread::get_caller_id(), false); return physics_2d_server->body_test_ray_separation(p_body, p_transform, p_infinite_inertia, r_recover_motion, r_results, p_result_max, p_margin); } diff --git a/servers/physics_2d/shape_2d_sw.cpp b/servers/physics_2d/shape_2d_sw.cpp index 24c73314d8e9..6e7e802a8b79 100644 --- a/servers/physics_2d/shape_2d_sw.cpp +++ b/servers/physics_2d/shape_2d_sw.cpp @@ -339,10 +339,10 @@ void RectangleShape2DSW::get_supports(const Vector2 &p_normal, Vector2 *r_suppor } bool RectangleShape2DSW::contains_point(const Vector2 &p_point) const { - float x = p_point.x; - float y = p_point.y; - float edge_x = half_extents.x; - float edge_y = half_extents.y; + real_t x = p_point.x; + real_t y = p_point.y; + real_t edge_x = half_extents.x; + real_t edge_y = half_extents.y; return (x >= -edge_x) && (x < edge_x) && (y >= -edge_y) && (y < edge_y); } @@ -590,7 +590,11 @@ real_t ConvexPolygonShape2DSW::get_moment_of_inertia(real_t p_mass, const Size2 } void ConvexPolygonShape2DSW::set_data(const Variant &p_data) { +#ifdef REAL_T_IS_DOUBLE + ERR_FAIL_COND(p_data.get_type() != Variant::PACKED_VECTOR2_ARRAY && p_data.get_type() != Variant::PACKED_FLOAT64_ARRAY); +#else ERR_FAIL_COND(p_data.get_type() != Variant::PACKED_VECTOR2_ARRAY && p_data.get_type() != Variant::PACKED_FLOAT32_ARRAY); +#endif if (points) { memdelete_arr(points); @@ -829,7 +833,11 @@ int ConcavePolygonShape2DSW::_generate_bvh(BVH *p_bvh, int p_len, int p_depth) { } void ConcavePolygonShape2DSW::set_data(const Variant &p_data) { +#ifdef REAL_T_IS_DOUBLE + ERR_FAIL_COND(p_data.get_type() != Variant::PACKED_VECTOR2_ARRAY && p_data.get_type() != Variant::PACKED_FLOAT64_ARRAY); +#else ERR_FAIL_COND(p_data.get_type() != Variant::PACKED_VECTOR2_ARRAY && p_data.get_type() != Variant::PACKED_FLOAT32_ARRAY); +#endif Rect2 aabb; diff --git a/servers/physics_2d/space_2d_sw.cpp b/servers/physics_2d/space_2d_sw.cpp index 068bc7fc0a6f..41537f7170e0 100644 --- a/servers/physics_2d/space_2d_sw.cpp +++ b/servers/physics_2d/space_2d_sw.cpp @@ -644,7 +644,7 @@ int Space2DSW::test_body_ray_separation(Body2DSW *p_body, const Transform2D &p_t recover_motion += (b - a) / cbk.amount; - float depth = a.distance_to(b); + real_t depth = a.distance_to(b); if (depth > result.collision_depth) { result.collision_depth = depth; result.collision_point = b; @@ -739,7 +739,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co ExcludedShapeSW excluded_shape_pairs[max_excluded_shape_pairs]; int excluded_shape_pair_count = 0; - float separation_margin = MIN(p_margin, MAX(0.0, p_motion.length() - CMP_EPSILON)); //don't separate by more than the intended motion + real_t separation_margin = MIN(p_margin, MAX(0.0, p_motion.length() - CMP_EPSILON)); //don't separate by more than the intended motion Transform2D body_transform = p_from; @@ -793,7 +793,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co if (col_obj->is_shape_set_as_one_way_collision(shape_idx)) { cbk.valid_dir = col_obj_shape_xform.get_axis(1).normalized(); - float owc_margin = col_obj->get_shape_one_way_collision_margin(shape_idx); + real_t owc_margin = col_obj->get_shape_one_way_collision_margin(shape_idx); cbk.valid_depth = MAX(owc_margin, p_margin); //user specified, but never less than actual margin or it won't work cbk.invalid_by_dir = 0; @@ -804,7 +804,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co Vector2 lv = b->get_linear_velocity(); //compute displacement from linear velocity Vector2 motion = lv * PhysicsDirectBodyState2DSW::singleton->step; - float motion_len = motion.length(); + real_t motion_len = motion.length(); motion.normalize(); cbk.valid_depth += motion_len * MAX(motion.dot(-cbk.valid_dir), 0.0); } diff --git a/servers/physics_3d/body_3d_sw.h b/servers/physics_3d/body_3d_sw.h index 41578778f6e3..8e21003a5f2e 100644 --- a/servers/physics_3d/body_3d_sw.h +++ b/servers/physics_3d/body_3d_sw.h @@ -426,7 +426,7 @@ class PhysicsDirectBodyState3DSW : public PhysicsDirectBodyState3D { ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector3()); return body->contacts[p_contact_idx].local_normal; } - virtual float get_contact_impulse(int p_contact_idx) const override { + virtual real_t get_contact_impulse(int p_contact_idx) const override { return 0.0f; // Only implemented for bullet } virtual int get_contact_local_shape(int p_contact_idx) const override { diff --git a/servers/physics_3d/physics_server_3d_sw.cpp b/servers/physics_3d/physics_server_3d_sw.cpp index 274de8411c69..b554a23bf29b 100644 --- a/servers/physics_3d/physics_server_3d_sw.cpp +++ b/servers/physics_3d/physics_server_3d_sw.cpp @@ -874,7 +874,7 @@ bool PhysicsServer3DSW::body_test_motion(RID p_body, const Transform &p_from, co return body->get_space()->test_body_motion(body, p_from, p_motion, p_infinite_inertia, body->get_kinematic_margin(), r_result, p_exclude_raycast_shapes); } -int PhysicsServer3DSW::body_test_ray_separation(RID p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, float p_margin) { +int PhysicsServer3DSW::body_test_ray_separation(RID p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, real_t p_margin) { Body3DSW *body = body_owner.getornull(p_body); ERR_FAIL_COND_V(!body, false); ERR_FAIL_COND_V(!body->get_space(), false); diff --git a/servers/physics_3d/physics_server_3d_sw.h b/servers/physics_3d/physics_server_3d_sw.h index 9b6b11367799..c48db81d9783 100644 --- a/servers/physics_3d/physics_server_3d_sw.h +++ b/servers/physics_3d/physics_server_3d_sw.h @@ -235,7 +235,7 @@ class PhysicsServer3DSW : public PhysicsServer3D { virtual bool body_is_ray_pickable(RID p_body) const override; virtual bool body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, MotionResult *r_result = nullptr, bool p_exclude_raycast_shapes = true) override; - virtual int body_test_ray_separation(RID p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, float p_margin = 0.001) override; + virtual int body_test_ray_separation(RID p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, real_t p_margin = 0.001) override; // this function only works on physics process, errors and returns null otherwise virtual PhysicsDirectBodyState3D *body_get_direct_state(RID p_body) override; diff --git a/servers/physics_3d/shape_3d_sw.cpp b/servers/physics_3d/shape_3d_sw.cpp index f2adcc1072a0..9c37060beaa5 100644 --- a/servers/physics_3d/shape_3d_sw.cpp +++ b/servers/physics_3d/shape_3d_sw.cpp @@ -261,7 +261,7 @@ bool SphereShape3DSW::intersect_point(const Vector3 &p_point) const { Vector3 SphereShape3DSW::get_closest_point_to(const Vector3 &p_point) const { Vector3 p = p_point; - float l = p.length(); + real_t l = p.length(); if (l < radius) { return p_point; } @@ -429,7 +429,7 @@ Vector3 BoxShape3DSW::get_closest_point_to(const Vector3 &p_point) const { } //check segments - float min_distance = 1e20; + real_t min_distance = 1e20; Vector3 closest_vertex = half_extents * p_point.sign(); Vector3 s[2] = { closest_vertex, @@ -442,7 +442,7 @@ Vector3 BoxShape3DSW::get_closest_point_to(const Vector3 &p_point) const { Vector3 closest_edge = Geometry3D::get_closest_point_to_segment(p_point, s); - float d = p_point.distance_to(closest_edge); + real_t d = p_point.distance_to(closest_edge); if (d < min_distance) { min_point = closest_edge; min_distance = d; @@ -839,7 +839,7 @@ Vector3 ConvexPolygonShape3DSW::get_closest_point_to(const Vector3 &p_point) con return p_point; } - float min_distance = 1e20; + real_t min_distance = 1e20; Vector3 min_point; //check edges @@ -852,7 +852,7 @@ Vector3 ConvexPolygonShape3DSW::get_closest_point_to(const Vector3 &p_point) con }; Vector3 closest = Geometry3D::get_closest_point_to_segment(p_point, s); - float d = closest.distance_to(p_point); + real_t d = closest.distance_to(p_point); if (d < min_distance) { min_distance = d; min_point = closest; diff --git a/servers/physics_3d/space_3d_sw.cpp b/servers/physics_3d/space_3d_sw.cpp index 6cc7ad26763c..547717c73c07 100644 --- a/servers/physics_3d/space_3d_sw.cpp +++ b/servers/physics_3d/space_3d_sw.cpp @@ -476,7 +476,7 @@ Vector3 PhysicsDirectSpaceState3DSW::get_closest_point_to_object_volume(RID p_ob ERR_FAIL_COND_V(obj->get_space() != space, Vector3()); - float min_distance = 1e20; + real_t min_distance = 1e20; Vector3 min_point; bool shapes_found = false; @@ -492,7 +492,7 @@ Vector3 PhysicsDirectSpaceState3DSW::get_closest_point_to_object_volume(RID p_ob Vector3 point = shape->get_closest_point_to(shape_xform.affine_inverse().xform(p_point)); point = shape_xform.xform(point); - float dist = point.distance_to(p_point); + real_t dist = point.distance_to(p_point); if (dist < min_distance) { min_distance = dist; min_point = point; @@ -651,7 +651,7 @@ int Space3DSW::test_body_ray_separation(Body3DSW *p_body, const Transform &p_tra recover_motion += (b - a) / cbk.amount; - float depth = a.distance_to(b); + real_t depth = a.distance_to(b); if (depth > result.collision_depth) { result.collision_depth = depth; result.collision_point = b; diff --git a/servers/physics_server_2d.cpp b/servers/physics_server_2d.cpp index a6f64f5848ca..7c36229e9fde 100644 --- a/servers/physics_server_2d.cpp +++ b/servers/physics_server_2d.cpp @@ -42,7 +42,7 @@ void PhysicsDirectBodyState2D::integrate_forces() { real_t av = get_angular_velocity(); - float damp = 1.0 - step * get_total_linear_damp(); + real_t damp = 1.0 - step * get_total_linear_damp(); if (damp < 0) { // reached zero in the given time damp = 0; @@ -168,11 +168,11 @@ Vector2 PhysicsShapeQueryParameters2D::get_motion() const { return motion; } -void PhysicsShapeQueryParameters2D::set_margin(float p_margin) { +void PhysicsShapeQueryParameters2D::set_margin(real_t p_margin) { margin = p_margin; } -float PhysicsShapeQueryParameters2D::get_margin() const { +real_t PhysicsShapeQueryParameters2D::get_margin() const { return margin; } @@ -311,7 +311,7 @@ Array PhysicsDirectSpaceState2D::_intersect_shape(const Ref &p_shape_query) { ERR_FAIL_COND_V(!p_shape_query.is_valid(), Array()); - float closest_safe, closest_unsafe; + real_t closest_safe, closest_unsafe; bool res = cast_motion(p_shape_query->shape, p_shape_query->transform, p_shape_query->motion, p_shape_query->margin, closest_safe, closest_unsafe, p_shape_query->exclude, p_shape_query->collision_mask, p_shape_query->collide_with_bodies, p_shape_query->collide_with_areas); if (!res) { return Array(); @@ -517,7 +517,7 @@ PhysicsTestMotionResult2D::PhysicsTestMotionResult2D() { /////////////////////////////////////// -bool PhysicsServer2D::_body_test_motion(RID p_body, const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia, float p_margin, const Ref &p_result) { +bool PhysicsServer2D::_body_test_motion(RID p_body, const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia, real_t p_margin, const Ref &p_result) { MotionResult *r = nullptr; if (p_result.is_valid()) { r = p_result->get_result_ptr(); diff --git a/servers/physics_server_2d.h b/servers/physics_server_2d.h index dd3885519908..710eecfdec0e 100644 --- a/servers/physics_server_2d.h +++ b/servers/physics_server_2d.h @@ -45,10 +45,10 @@ class PhysicsDirectBodyState2D : public Object { public: virtual Vector2 get_total_gravity() const = 0; // get gravity vector working on this body space/area - virtual float get_total_linear_damp() const = 0; // get density of this body space/area - virtual float get_total_angular_damp() const = 0; // get density of this body space/area + virtual real_t get_total_linear_damp() const = 0; // get density of this body space/area + virtual real_t get_total_angular_damp() const = 0; // get density of this body space/area - virtual float get_inverse_mass() const = 0; // get the mass + virtual real_t get_inverse_mass() const = 0; // get the mass virtual real_t get_inverse_inertia() const = 0; // get density of this body space virtual void set_linear_velocity(const Vector2 &p_velocity) = 0; @@ -103,7 +103,7 @@ class PhysicsShapeQueryParameters2D : public Reference { RID shape; Transform2D transform; Vector2 motion; - float margin; + real_t margin; Set exclude; uint32_t collision_mask; @@ -125,8 +125,8 @@ class PhysicsShapeQueryParameters2D : public Reference { void set_motion(const Vector2 &p_motion); Vector2 get_motion() const; - void set_margin(float p_margin); - float get_margin() const; + void set_margin(real_t p_margin); + real_t get_margin() const; void set_collision_mask(int p_collision_mask); int get_collision_mask() const; @@ -182,11 +182,11 @@ class PhysicsDirectSpaceState2D : public Object { virtual int intersect_point(const Vector2 &p_point, ShapeResult *r_results, int p_result_max, const Set &p_exclude = Set(), uint32_t p_collision_layer = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, bool p_pick_point = false) = 0; virtual int intersect_point_on_canvas(const Vector2 &p_point, ObjectID p_canvas_instance_id, ShapeResult *r_results, int p_result_max, const Set &p_exclude = Set(), uint32_t p_collision_layer = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, bool p_pick_point = false) = 0; - virtual int intersect_shape(const RID &p_shape, const Transform2D &p_xform, const Vector2 &p_motion, float p_margin, ShapeResult *r_results, int p_result_max, const Set &p_exclude = Set(), uint32_t p_collision_layer = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) = 0; + virtual int intersect_shape(const RID &p_shape, const Transform2D &p_xform, const Vector2 &p_motion, real_t p_margin, ShapeResult *r_results, int p_result_max, const Set &p_exclude = Set(), uint32_t p_collision_layer = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) = 0; - virtual bool cast_motion(const RID &p_shape, const Transform2D &p_xform, const Vector2 &p_motion, float p_margin, float &p_closest_safe, float &p_closest_unsafe, const Set &p_exclude = Set(), uint32_t p_collision_layer = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) = 0; + virtual bool cast_motion(const RID &p_shape, const Transform2D &p_xform, const Vector2 &p_motion, real_t p_margin, real_t &p_closest_safe, real_t &p_closest_unsafe, const Set &p_exclude = Set(), uint32_t p_collision_layer = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) = 0; - virtual bool collide_shape(RID p_shape, const Transform2D &p_shape_xform, const Vector2 &p_motion, float p_margin, Vector2 *r_results, int p_result_max, int &r_result_count, const Set &p_exclude = Set(), uint32_t p_collision_layer = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) = 0; + virtual bool collide_shape(RID p_shape, const Transform2D &p_shape_xform, const Vector2 &p_motion, real_t p_margin, Vector2 *r_results, int p_result_max, int &r_result_count, const Set &p_exclude = Set(), uint32_t p_collision_layer = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) = 0; struct ShapeRestInfo { Vector2 point; @@ -198,7 +198,7 @@ class PhysicsDirectSpaceState2D : public Object { Variant metadata; }; - virtual bool rest_info(RID p_shape, const Transform2D &p_shape_xform, const Vector2 &p_motion, float p_margin, ShapeRestInfo *r_info, const Set &p_exclude = Set(), uint32_t p_collision_layer = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) = 0; + virtual bool rest_info(RID p_shape, const Transform2D &p_shape_xform, const Vector2 &p_motion, real_t p_margin, ShapeRestInfo *r_info, const Set &p_exclude = Set(), uint32_t p_collision_layer = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) = 0; PhysicsDirectSpaceState2D(); }; @@ -230,7 +230,7 @@ class PhysicsServer2D : public Object { static PhysicsServer2D *singleton; - virtual bool _body_test_motion(RID p_body, const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia, float p_margin = 0.08, const Ref &p_result = Ref()); + virtual bool _body_test_motion(RID p_body, const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia, real_t p_margin = 0.08, const Ref &p_result = Ref()); protected: static void _bind_methods(); @@ -393,7 +393,7 @@ class PhysicsServer2D : public Object { virtual Variant body_get_shape_metadata(RID p_body, int p_shape_idx) const = 0; virtual void body_set_shape_disabled(RID p_body, int p_shape, bool p_disabled) = 0; - virtual void body_set_shape_as_one_way_collision(RID p_body, int p_shape, bool p_enabled, float p_margin = 0) = 0; + virtual void body_set_shape_as_one_way_collision(RID p_body, int p_shape, bool p_enabled, real_t p_margin = 0) = 0; virtual void body_remove_shape(RID p_body, int p_shape_idx) = 0; virtual void body_clear_shapes(RID p_body) = 0; @@ -431,8 +431,8 @@ class PhysicsServer2D : public Object { BODY_PARAM_MAX, }; - virtual void body_set_param(RID p_body, BodyParameter p_param, float p_value) = 0; - virtual float body_get_param(RID p_body, BodyParameter p_param) const = 0; + virtual void body_set_param(RID p_body, BodyParameter p_param, real_t p_value) = 0; + virtual real_t body_get_param(RID p_body, BodyParameter p_param) const = 0; //state enum BodyState { @@ -450,15 +450,15 @@ class PhysicsServer2D : public Object { virtual void body_set_applied_force(RID p_body, const Vector2 &p_force) = 0; virtual Vector2 body_get_applied_force(RID p_body) const = 0; - virtual void body_set_applied_torque(RID p_body, float p_torque) = 0; - virtual float body_get_applied_torque(RID p_body) const = 0; + virtual void body_set_applied_torque(RID p_body, real_t p_torque) = 0; + virtual real_t body_get_applied_torque(RID p_body) const = 0; virtual void body_add_central_force(RID p_body, const Vector2 &p_force) = 0; virtual void body_add_force(RID p_body, const Vector2 &p_force, const Vector2 &p_position = Vector2()) = 0; - virtual void body_add_torque(RID p_body, float p_torque) = 0; + virtual void body_add_torque(RID p_body, real_t p_torque) = 0; virtual void body_apply_central_impulse(RID p_body, const Vector2 &p_impulse) = 0; - virtual void body_apply_torque_impulse(RID p_body, float p_torque) = 0; + virtual void body_apply_torque_impulse(RID p_body, real_t p_torque) = 0; virtual void body_apply_impulse(RID p_body, const Vector2 &p_impulse, const Vector2 &p_position = Vector2()) = 0; virtual void body_set_axis_velocity(RID p_body, const Vector2 &p_axis_velocity) = 0; @@ -471,8 +471,8 @@ class PhysicsServer2D : public Object { virtual int body_get_max_contacts_reported(RID p_body) const = 0; //missing remove - virtual void body_set_contacts_reported_depth_threshold(RID p_body, float p_threshold) = 0; - virtual float body_get_contacts_reported_depth_threshold(RID p_body) const = 0; + virtual void body_set_contacts_reported_depth_threshold(RID p_body, real_t p_threshold) = 0; + virtual real_t body_get_contacts_reported_depth_threshold(RID p_body) const = 0; virtual void body_set_omit_force_integration(RID p_body, bool p_omit) = 0; virtual bool body_is_omitting_force_integration(RID p_body) const = 0; @@ -506,10 +506,10 @@ class PhysicsServer2D : public Object { } }; - virtual bool body_test_motion(RID p_body, const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia, float p_margin = 0.001, MotionResult *r_result = nullptr, bool p_exclude_raycast_shapes = true) = 0; + virtual bool body_test_motion(RID p_body, const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia, real_t p_margin = 0.001, MotionResult *r_result = nullptr, bool p_exclude_raycast_shapes = true) = 0; struct SeparationResult { - float collision_depth; + real_t collision_depth; Vector2 collision_point; Vector2 collision_normal; Vector2 collider_velocity; @@ -520,7 +520,7 @@ class PhysicsServer2D : public Object { Variant collider_metadata; }; - virtual int body_test_ray_separation(RID p_body, const Transform2D &p_transform, bool p_infinite_inertia, Vector2 &r_recover_motion, SeparationResult *r_results, int p_result_max, float p_margin = 0.001) = 0; + virtual int body_test_ray_separation(RID p_body, const Transform2D &p_transform, bool p_infinite_inertia, Vector2 &r_recover_motion, SeparationResult *r_results, int p_result_max, real_t p_margin = 0.001) = 0; /* JOINT API */ @@ -576,7 +576,7 @@ class PhysicsServer2D : public Object { virtual void set_active(bool p_active) = 0; virtual void init() = 0; - virtual void step(float p_step) = 0; + virtual void step(real_t p_step) = 0; virtual void sync() = 0; virtual void flush_queries() = 0; virtual void end_sync() = 0; diff --git a/servers/physics_server_3d.cpp b/servers/physics_server_3d.cpp index 702b35f8d11b..a4dc80b0a663 100644 --- a/servers/physics_server_3d.cpp +++ b/servers/physics_server_3d.cpp @@ -42,13 +42,13 @@ void PhysicsDirectBodyState3D::integrate_forces() { Vector3 av = get_angular_velocity(); - float linear_damp = 1.0 - step * get_total_linear_damp(); + real_t linear_damp = 1.0 - step * get_total_linear_damp(); if (linear_damp < 0) { // reached zero in the given time linear_damp = 0; } - float angular_damp = 1.0 - step * get_total_angular_damp(); + real_t angular_damp = 1.0 - step * get_total_angular_damp(); if (angular_damp < 0) { // reached zero in the given time angular_damp = 0; @@ -164,11 +164,11 @@ Transform PhysicsShapeQueryParameters3D::get_transform() const { return transform; } -void PhysicsShapeQueryParameters3D::set_margin(float p_margin) { +void PhysicsShapeQueryParameters3D::set_margin(real_t p_margin) { margin = p_margin; } -float PhysicsShapeQueryParameters3D::get_margin() const { +real_t PhysicsShapeQueryParameters3D::get_margin() const { return margin; } @@ -303,7 +303,7 @@ Array PhysicsDirectSpaceState3D::_intersect_shape(const Ref &p_shape_query, const Vector3 &p_motion) { ERR_FAIL_COND_V(!p_shape_query.is_valid(), Array()); - float closest_safe = 1.0f, closest_unsafe = 1.0f; + real_t closest_safe = 1.0f, closest_unsafe = 1.0f; bool res = cast_motion(p_shape_query->shape, p_shape_query->transform, p_motion, p_shape_query->margin, closest_safe, closest_unsafe, p_shape_query->exclude, p_shape_query->collision_mask, p_shape_query->collide_with_bodies, p_shape_query->collide_with_areas); if (!res) { return Array(); diff --git a/servers/physics_server_3d.h b/servers/physics_server_3d.h index 303825f37c02..1349e0e0330e 100644 --- a/servers/physics_server_3d.h +++ b/servers/physics_server_3d.h @@ -44,12 +44,12 @@ class PhysicsDirectBodyState3D : public Object { public: virtual Vector3 get_total_gravity() const = 0; - virtual float get_total_angular_damp() const = 0; - virtual float get_total_linear_damp() const = 0; + virtual real_t get_total_angular_damp() const = 0; + virtual real_t get_total_linear_damp() const = 0; virtual Vector3 get_center_of_mass() const = 0; virtual Basis get_principal_inertia_axes() const = 0; - virtual float get_inverse_mass() const = 0; // get the mass + virtual real_t get_inverse_mass() const = 0; // get the mass virtual Vector3 get_inverse_inertia() const = 0; // get density of this body space virtual Basis get_inverse_inertia_tensor() const = 0; // get density of this body space @@ -76,7 +76,7 @@ class PhysicsDirectBodyState3D : public Object { virtual Vector3 get_contact_local_position(int p_contact_idx) const = 0; virtual Vector3 get_contact_local_normal(int p_contact_idx) const = 0; - virtual float get_contact_impulse(int p_contact_idx) const = 0; + virtual real_t get_contact_impulse(int p_contact_idx) const = 0; virtual int get_contact_local_shape(int p_contact_idx) const = 0; virtual RID get_contact_collider(int p_contact_idx) const = 0; @@ -103,7 +103,7 @@ class PhysicsShapeQueryParameters3D : public Reference { RES shape_ref; RID shape; Transform transform; - float margin; + real_t margin; Set exclude; uint32_t collision_mask; @@ -122,8 +122,8 @@ class PhysicsShapeQueryParameters3D : public Reference { void set_transform(const Transform &p_transform); Transform get_transform() const; - void set_margin(float p_margin); - float get_margin() const; + void set_margin(real_t p_margin); + real_t get_margin() const; void set_collision_mask(int p_collision_mask); int get_collision_mask() const; @@ -174,7 +174,7 @@ class PhysicsDirectSpaceState3D : public Object { virtual bool intersect_ray(const Vector3 &p_from, const Vector3 &p_to, RayResult &r_result, const Set &p_exclude = Set(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, bool p_pick_ray = false) = 0; - virtual int intersect_shape(const RID &p_shape, const Transform &p_xform, float p_margin, ShapeResult *r_results, int p_result_max, const Set &p_exclude = Set(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) = 0; + virtual int intersect_shape(const RID &p_shape, const Transform &p_xform, real_t p_margin, ShapeResult *r_results, int p_result_max, const Set &p_exclude = Set(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) = 0; struct ShapeRestInfo { Vector3 point; @@ -185,11 +185,11 @@ class PhysicsDirectSpaceState3D : public Object { Vector3 linear_velocity; //velocity at contact point }; - virtual bool cast_motion(const RID &p_shape, const Transform &p_xform, const Vector3 &p_motion, float p_margin, float &p_closest_safe, float &p_closest_unsafe, const Set &p_exclude = Set(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, ShapeRestInfo *r_info = nullptr) = 0; + virtual bool cast_motion(const RID &p_shape, const Transform &p_xform, const Vector3 &p_motion, real_t p_margin, real_t &p_closest_safe, real_t &p_closest_unsafe, const Set &p_exclude = Set(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, ShapeRestInfo *r_info = nullptr) = 0; - virtual bool collide_shape(RID p_shape, const Transform &p_shape_xform, float p_margin, Vector3 *r_results, int p_result_max, int &r_result_count, const Set &p_exclude = Set(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) = 0; + virtual bool collide_shape(RID p_shape, const Transform &p_shape_xform, real_t p_margin, Vector3 *r_results, int p_result_max, int &r_result_count, const Set &p_exclude = Set(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) = 0; - virtual bool rest_info(RID p_shape, const Transform &p_shape_xform, float p_margin, ShapeRestInfo *r_info, const Set &p_exclude = Set(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) = 0; + virtual bool rest_info(RID p_shape, const Transform &p_shape_xform, real_t p_margin, ShapeRestInfo *r_info, const Set &p_exclude = Set(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) = 0; virtual Vector3 get_closest_point_to_object_volume(RID p_object, const Vector3 p_point) const = 0; @@ -404,8 +404,8 @@ class PhysicsServer3D : public Object { BODY_PARAM_MAX, }; - virtual void body_set_param(RID p_body, BodyParameter p_param, float p_value) = 0; - virtual float body_get_param(RID p_body, BodyParameter p_param) const = 0; + virtual void body_set_param(RID p_body, BodyParameter p_param, real_t p_value) = 0; + virtual real_t body_get_param(RID p_body, BodyParameter p_param) const = 0; virtual void body_set_kinematic_safe_margin(RID p_body, real_t p_margin) = 0; virtual real_t body_get_kinematic_safe_margin(RID p_body) const = 0; @@ -459,8 +459,8 @@ class PhysicsServer3D : public Object { virtual int body_get_max_contacts_reported(RID p_body) const = 0; //missing remove - virtual void body_set_contacts_reported_depth_threshold(RID p_body, float p_threshold) = 0; - virtual float body_get_contacts_reported_depth_threshold(RID p_body) const = 0; + virtual void body_set_contacts_reported_depth_threshold(RID p_body, real_t p_threshold) = 0; + virtual real_t body_get_contacts_reported_depth_threshold(RID p_body) const = 0; virtual void body_set_omit_force_integration(RID p_body, bool p_omit) = 0; virtual bool body_is_omitting_force_integration(RID p_body) const = 0; @@ -495,7 +495,7 @@ class PhysicsServer3D : public Object { virtual bool body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, MotionResult *r_result = nullptr, bool p_exclude_raycast_shapes = true) = 0; struct SeparationResult { - float collision_depth; + real_t collision_depth; Vector3 collision_point; Vector3 collision_normal; Vector3 collider_velocity; @@ -506,7 +506,7 @@ class PhysicsServer3D : public Object { Variant collider_metadata; }; - virtual int body_test_ray_separation(RID p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, float p_margin = 0.001) = 0; + virtual int body_test_ray_separation(RID p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, real_t p_margin = 0.001) = 0; /* SOFT BODY */ @@ -601,8 +601,8 @@ class PhysicsServer3D : public Object { PIN_JOINT_IMPULSE_CLAMP }; - virtual void pin_joint_set_param(RID p_joint, PinJointParam p_param, float p_value) = 0; - virtual float pin_joint_get_param(RID p_joint, PinJointParam p_param) const = 0; + virtual void pin_joint_set_param(RID p_joint, PinJointParam p_param, real_t p_value) = 0; + virtual real_t pin_joint_get_param(RID p_joint, PinJointParam p_param) const = 0; virtual void pin_joint_set_local_a(RID p_joint, const Vector3 &p_A) = 0; virtual Vector3 pin_joint_get_local_a(RID p_joint) const = 0; @@ -631,8 +631,8 @@ class PhysicsServer3D : public Object { virtual RID joint_create_hinge(RID p_body_A, const Transform &p_hinge_A, RID p_body_B, const Transform &p_hinge_B) = 0; virtual RID joint_create_hinge_simple(RID p_body_A, const Vector3 &p_pivot_A, const Vector3 &p_axis_A, RID p_body_B, const Vector3 &p_pivot_B, const Vector3 &p_axis_B) = 0; - virtual void hinge_joint_set_param(RID p_joint, HingeJointParam p_param, float p_value) = 0; - virtual float hinge_joint_get_param(RID p_joint, HingeJointParam p_param) const = 0; + virtual void hinge_joint_set_param(RID p_joint, HingeJointParam p_param, real_t p_value) = 0; + virtual real_t hinge_joint_get_param(RID p_joint, HingeJointParam p_param) const = 0; virtual void hinge_joint_set_flag(RID p_joint, HingeJointFlag p_flag, bool p_value) = 0; virtual bool hinge_joint_get_flag(RID p_joint, HingeJointFlag p_flag) const = 0; @@ -667,8 +667,8 @@ class PhysicsServer3D : public Object { virtual RID joint_create_slider(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B) = 0; //reference frame is A - virtual void slider_joint_set_param(RID p_joint, SliderJointParam p_param, float p_value) = 0; - virtual float slider_joint_get_param(RID p_joint, SliderJointParam p_param) const = 0; + virtual void slider_joint_set_param(RID p_joint, SliderJointParam p_param, real_t p_value) = 0; + virtual real_t slider_joint_get_param(RID p_joint, SliderJointParam p_param) const = 0; enum ConeTwistJointParam { CONE_TWIST_JOINT_SWING_SPAN, @@ -681,8 +681,8 @@ class PhysicsServer3D : public Object { virtual RID joint_create_cone_twist(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B) = 0; //reference frame is A - virtual void cone_twist_joint_set_param(RID p_joint, ConeTwistJointParam p_param, float p_value) = 0; - virtual float cone_twist_joint_get_param(RID p_joint, ConeTwistJointParam p_param) const = 0; + virtual void cone_twist_joint_set_param(RID p_joint, ConeTwistJointParam p_param, real_t p_value) = 0; + virtual real_t cone_twist_joint_get_param(RID p_joint, ConeTwistJointParam p_param) const = 0; enum G6DOFJointAxisParam { G6DOF_JOINT_LINEAR_LOWER_LIMIT, @@ -722,8 +722,8 @@ class PhysicsServer3D : public Object { virtual RID joint_create_generic_6dof(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B) = 0; //reference frame is A - virtual void generic_6dof_joint_set_param(RID p_joint, Vector3::Axis, G6DOFJointAxisParam p_param, float p_value) = 0; - virtual float generic_6dof_joint_get_param(RID p_joint, Vector3::Axis, G6DOFJointAxisParam p_param) = 0; + virtual void generic_6dof_joint_set_param(RID p_joint, Vector3::Axis, G6DOFJointAxisParam p_param, real_t p_value) = 0; + virtual real_t generic_6dof_joint_get_param(RID p_joint, Vector3::Axis, G6DOFJointAxisParam p_param) = 0; virtual void generic_6dof_joint_set_flag(RID p_joint, Vector3::Axis, G6DOFJointAxisFlag p_flag, bool p_enable) = 0; virtual bool generic_6dof_joint_get_flag(RID p_joint, Vector3::Axis, G6DOFJointAxisFlag p_flag) = 0; @@ -741,7 +741,7 @@ class PhysicsServer3D : public Object { virtual void set_active(bool p_active) = 0; virtual void init() = 0; - virtual void step(float p_step) = 0; + virtual void step(real_t p_step) = 0; virtual void flush_queries() = 0; virtual void finish() = 0; diff --git a/tests/test_physics_3d.cpp b/tests/test_physics_3d.cpp index a11140cfc32f..f991fd7c8678 100644 --- a/tests/test_physics_3d.cpp +++ b/tests/test_physics_3d.cpp @@ -59,7 +59,7 @@ class TestPhysics3DMainLoop : public MainLoop { RID character; - float ofs_x, ofs_y; + real_t ofs_x, ofs_y; Point2 joy_direction; @@ -115,7 +115,7 @@ class TestPhysics3DMainLoop : public MainLoop { return b; } - void configure_body(RID p_body, float p_mass, float p_friction, float p_bounce) { + void configure_body(RID p_body, real_t p_mass, real_t p_friction, real_t p_bounce) { PhysicsServer3D *ps = PhysicsServer3D::get_singleton(); ps->body_set_param(p_body, PhysicsServer3D::BODY_PARAM_MASS, p_mass); ps->body_set_param(p_body, PhysicsServer3D::BODY_PARAM_FRICTION, p_friction); @@ -211,8 +211,8 @@ class TestPhysics3DMainLoop : public MainLoop { vs->instance_set_transform(triins, tritrans); } - void make_grid(int p_width, int p_height, float p_cellsize, float p_cellheight, const Transform &p_xform = Transform()) { - Vector> grid; + void make_grid(int p_width, int p_height, real_t p_cellsize, real_t p_cellheight, const Transform &p_xform = Transform()) { + Vector> grid; grid.resize(p_width); @@ -253,8 +253,8 @@ class TestPhysics3DMainLoop : public MainLoop { } if (mm.is_valid() && mm->get_button_mask() & 1) { - float y = -mm->get_relative().y / 20.0; - float x = mm->get_relative().x / 20.0; + real_t y = -mm->get_relative().y / 20.0; + real_t x = mm->get_relative().x / 20.0; if (mover.is_valid()) { PhysicsServer3D *ps = PhysicsServer3D::get_singleton(); @@ -312,7 +312,7 @@ class TestPhysics3DMainLoop : public MainLoop { } virtual bool physics_process(float p_time) override { if (mover.is_valid()) { - static float joy_speed = 10; + static real_t joy_speed = 10; PhysicsServer3D *ps = PhysicsServer3D::get_singleton(); Transform t = ps->body_get_state(mover, PhysicsServer3D::BODY_STATE_TRANSFORM); t.origin += Vector3(joy_speed * joy_direction.x * p_time, -joy_speed * joy_direction.y * p_time, 0);