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Update to "Add comments, modify method names, change solver nb of iterations, ..."
DanielChappuis/reactphysics3d@b5ae655b0aa1c0f5 9104b1672b2662c7c87f1b1b
1 parent b5074bc commit 1a59ce8

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13 files changed

+154
-159
lines changed

13 files changed

+154
-159
lines changed

‎src/main/java/org/spout/physics/ReactDefaults.java‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -71,9 +71,9 @@ public class ReactDefaults {
7171
*/
7272
public static final float RESTITUTION_VELOCITY_THRESHOLD = 1;
7373
/**
74-
* Number of iterations when solving the velocity constraints of the Sequential Impulse technique. Default: 15
74+
* Number of iterations when solving the velocity constraints of the Sequential Impulse technique. Default: 10
7575
*/
76-
public static final int DEFAULT_VELOCITY_SOLVER_NB_ITERATIONS = 15;
76+
public static final int DEFAULT_VELOCITY_SOLVER_NB_ITERATIONS = 10;
7777
/**
7878
* Number of iterations when solving the position constraints of the Sequential Impulse technique. Default: 5
7979
*/

‎src/main/java/org/spout/physics/body/CollisionBody.java‎

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -157,7 +157,7 @@ public AABB getAABB() {
157157
*
158158
* @return Whether or not the body can move
159159
*/
160-
public boolean getIsMotionEnabled() {
160+
public boolean isMotionEnabled() {
161161
return mIsMotionEnabled;
162162
}
163163

@@ -166,7 +166,7 @@ public boolean getIsMotionEnabled() {
166166
*
167167
* @param isMotionEnabled True if the body should move, false if not
168168
*/
169-
public void setIsMotionEnabled(boolean isMotionEnabled) {
169+
public void enableMotion(boolean isMotionEnabled) {
170170
mIsMotionEnabled = isMotionEnabled;
171171
}
172172

@@ -175,7 +175,7 @@ public void setIsMotionEnabled(boolean isMotionEnabled) {
175175
*
176176
* @return Whether or not this body can collide with others
177177
*/
178-
public boolean getIsCollisionEnabled() {
178+
public boolean isCollisionEnabled() {
179179
return mIsCollisionEnabled;
180180
}
181181

@@ -184,7 +184,7 @@ public boolean getIsCollisionEnabled() {
184184
*
185185
* @param isCollisionEnabled True if the body should collide, false if not
186186
*/
187-
public void setCollisionEnabled(boolean isCollisionEnabled) {
187+
public void enableCollision(boolean isCollisionEnabled) {
188188
mIsCollisionEnabled = isCollisionEnabled;
189189
}
190190

‎src/main/java/org/spout/physics/body/RigidBody.java‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -141,8 +141,8 @@ public Vector3 getLinearVelocity() {
141141
* Set the linear velocity for this body, but only if it can move.
142142
*
143143
* @param linearVelocity The linear velocity to set
144-
* @see #getIsMotionEnabled()
145-
* @see #setIsMotionEnabled(boolean)
144+
* @see #isMotionEnabled()
145+
* @see #enableMotion(boolean)
146146
*/
147147
public void setLinearVelocity(Vector3 linearVelocity) {
148148
if (mIsMotionEnabled) {

‎src/main/java/org/spout/physics/collision/broadphase/NoBroadPhaseAlgorithm.java‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -51,7 +51,7 @@ public NoBroadPhaseAlgorithm(CollisionDetection collisionDetection) {
5151
@Override
5252
public void addObject(CollisionBody body, AABB aabb) {
5353
for (CollisionBody collisionBody : mBodies) {
54-
if (body.getIsMotionEnabled() || collisionBody.getIsMotionEnabled()) {
54+
if (body.isMotionEnabled() || collisionBody.isMotionEnabled()) {
5555
mPairManager.addPair(collisionBody, body);
5656
}
5757
}

‎src/main/java/org/spout/physics/collision/broadphase/SweepAndPruneAlgorithm.java‎

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -190,7 +190,7 @@ public void updateObjectIntegerAABB(CollisionBody body, AABBInt aabbInt) {
190190
final BoxAABB id1 = mBoxes[currentMinEndPoint.getBoxID()];
191191
final boolean isMin = currentMinEndPoint.isMin();
192192
if (!isMin) {
193-
if (!box.equals(id1) && (box.getBody().getIsMotionEnabled() || id1.getBody().getIsMotionEnabled())) {
193+
if (!box.equals(id1) && (box.getBody().isMotionEnabled() || id1.getBody().isMotionEnabled())) {
194194
if (testIntersect2D(box, id1, otherAxis1, otherAxis2) &&
195195
testIntersect1DSortedAABBs(id1, aabbInt, startEndPointsCurrentAxis, axis)) {
196196
mPairManager.addPair(body, id1.getBody());
@@ -219,7 +219,7 @@ public void updateObjectIntegerAABB(CollisionBody body, AABBInt aabbInt) {
219219
final BoxAABB id1 = mBoxes[currentMinEndPoint.getBoxID()];
220220
final boolean isMin = currentMinEndPoint.isMin();
221221
if (!isMin) {
222-
if (!box.equals(id1) && (box.getBody().getIsMotionEnabled() || id1.getBody().getIsMotionEnabled())) {
222+
if (!box.equals(id1) && (box.getBody().isMotionEnabled() || id1.getBody().isMotionEnabled())) {
223223
if (testIntersect2D(box, id1, otherAxis1, otherAxis2)) {
224224
mPairManager.removePair(body.getID(), id1.getBody().getID());
225225
}
@@ -255,7 +255,7 @@ public void updateObjectIntegerAABB(CollisionBody body, AABBInt aabbInt) {
255255
final BoxAABB id1 = mBoxes[currentMaxEndPoint.getBoxID()];
256256
final boolean isMin = currentMaxEndPoint.isMin();
257257
if (isMin) {
258-
if (!box.equals(id1) && (box.getBody().getIsMotionEnabled() || id1.getBody().getIsMotionEnabled())) {
258+
if (!box.equals(id1) && (box.getBody().isMotionEnabled() || id1.getBody().isMotionEnabled())) {
259259
if (testIntersect2D(box, id1, otherAxis1, otherAxis2) &&
260260
testIntersect1DSortedAABBs(id1, aabbInt, startEndPointsCurrentAxis, axis)) {
261261
mPairManager.addPair(body, id1.getBody());
@@ -284,7 +284,7 @@ public void updateObjectIntegerAABB(CollisionBody body, AABBInt aabbInt) {
284284
final BoxAABB id1 = mBoxes[currentMaxEndPoint.getBoxID()];
285285
final boolean isMin = currentMaxEndPoint.isMin();
286286
if (isMin) {
287-
if (!box.equals(id1) && (box.getBody().getIsMotionEnabled() || id1.getBody().getIsMotionEnabled())) {
287+
if (!box.equals(id1) && (box.getBody().isMotionEnabled() || id1.getBody().isMotionEnabled())) {
288288
if (testIntersect2D(box, id1, otherAxis1, otherAxis2)) {
289289
mPairManager.removePair(body.getID(), id1.getBody().getID());
290290
}

‎src/main/java/org/spout/physics/constraint/BallAndSocketJoint.java‎

Lines changed: 17 additions & 17 deletions
Original file line numberDiff line numberDiff line change
@@ -35,7 +35,7 @@
3535
import org.spout.physics.math.Vector3;
3636

3737
/**
38-
* This class represents a ball-and-socket joint that allows arbitrary rotation between two bodies.
38+
* This class represents a ball-and-socket joint that allows arbitrary rotation between two bodies. This joint has three degrees of freedom. It can be used to create a chain of bodies for instance.
3939
*/
4040
public class BallAndSocketJoint extends Joint {
4141
private static final float BETA = 0.2f;
@@ -76,24 +76,24 @@ public void initBeforeSolve(ConstraintSolverData constraintSolverData) {
7676
final Matrix3x3 skewSymmetricMatrixU1 = Matrix3x3.computeSkewSymmetricMatrixForCrossProduct(mR1World);
7777
final Matrix3x3 skewSymmetricMatrixU2 = Matrix3x3.computeSkewSymmetricMatrixForCrossProduct(mR2World);
7878
float inverseMassBodies = 0;
79-
if (mBody1.getIsMotionEnabled()) {
79+
if (mBody1.isMotionEnabled()) {
8080
inverseMassBodies += mBody1.getMassInverse();
8181
}
82-
if (mBody2.getIsMotionEnabled()) {
82+
if (mBody2.isMotionEnabled()) {
8383
inverseMassBodies += mBody2.getMassInverse();
8484
}
8585
final Matrix3x3 massMatrix = new Matrix3x3(
8686
inverseMassBodies, 0, 0,
8787
0, inverseMassBodies, 0,
8888
0, 0, inverseMassBodies);
89-
if (mBody1.getIsMotionEnabled()) {
89+
if (mBody1.isMotionEnabled()) {
9090
massMatrix.add(Matrix3x3.multiply(skewSymmetricMatrixU1, Matrix3x3.multiply(mI1, skewSymmetricMatrixU1.getTranspose())));
9191
}
92-
if (mBody2.getIsMotionEnabled()) {
92+
if (mBody2.isMotionEnabled()) {
9393
massMatrix.add(Matrix3x3.multiply(skewSymmetricMatrixU2, Matrix3x3.multiply(mI2, skewSymmetricMatrixU2.getTranspose())));
9494
}
9595
mInverseMassMatrix.setToZero();
96-
if (mBody1.getIsMotionEnabled() || mBody2.getIsMotionEnabled()) {
96+
if (mBody1.isMotionEnabled() || mBody2.isMotionEnabled()) {
9797
mInverseMassMatrix.set(massMatrix.getInverse());
9898
}
9999
mBiasVector.setToZero();
@@ -114,13 +114,13 @@ public void warmstart(ConstraintSolverData constraintSolverData) {
114114
final Vector3 w2 = constraintSolverData.getAngularVelocities()[mIndexBody2];
115115
final float inverseMassBody1 = mBody1.getMassInverse();
116116
final float inverseMassBody2 = mBody2.getMassInverse();
117-
if (mBody1.getIsMotionEnabled()) {
117+
if (mBody1.isMotionEnabled()) {
118118
final Vector3 linearImpulseBody1 = Vector3.negate(mImpulse);
119119
final Vector3 angularImpulseBody1 = mImpulse.cross(mR1World);
120120
v1.add(Vector3.multiply(inverseMassBody1, linearImpulseBody1));
121121
w1.add(Matrix3x3.multiply(mI1, angularImpulseBody1));
122122
}
123-
if (mBody2.getIsMotionEnabled()) {
123+
if (mBody2.isMotionEnabled()) {
124124
final Vector3 linearImpulseBody2 = mImpulse;
125125
final Vector3 angularImpulseBody2 = Vector3.negate(mImpulse.cross(mR2World));
126126
v2.add(Vector3.multiply(inverseMassBody2, linearImpulseBody2));
@@ -139,13 +139,13 @@ public void solveVelocityConstraint(ConstraintSolverData constraintSolverData) {
139139
final Vector3 Jv = Vector3.subtract(Vector3.subtract(Vector3.add(v2, w2.cross(mR2World)), v1), w1.cross(mR1World));
140140
final Vector3 deltaLambda = Matrix3x3.multiply(mInverseMassMatrix, Vector3.subtract(Vector3.negate(Jv), mBiasVector));
141141
mImpulse.add(deltaLambda);
142-
if (mBody1.getIsMotionEnabled()) {
142+
if (mBody1.isMotionEnabled()) {
143143
final Vector3 linearImpulseBody1 = Vector3.negate(deltaLambda);
144144
final Vector3 angularImpulseBody1 = deltaLambda.cross(mR1World);
145145
v1.add(Vector3.multiply(inverseMassBody1, linearImpulseBody1));
146146
w1.add(Matrix3x3.multiply(mI1, angularImpulseBody1));
147147
}
148-
if (mBody2.getIsMotionEnabled()) {
148+
if (mBody2.isMotionEnabled()) {
149149
final Vector3 linearImpulseBody2 = deltaLambda;
150150
final Vector3 angularImpulseBody2 = Vector3.negate(deltaLambda.cross(mR2World));
151151
v2.add(Vector3.multiply(inverseMassBody2, linearImpulseBody2));
@@ -171,29 +171,29 @@ public void solvePositionConstraint(ConstraintSolverData constraintSolverData) {
171171
final Matrix3x3 skewSymmetricMatrixU1 = Matrix3x3.computeSkewSymmetricMatrixForCrossProduct(mR1World);
172172
final Matrix3x3 skewSymmetricMatrixU2 = Matrix3x3.computeSkewSymmetricMatrixForCrossProduct(mR2World);
173173
float inverseMassBodies = 0;
174-
if (mBody1.getIsMotionEnabled()) {
174+
if (mBody1.isMotionEnabled()) {
175175
inverseMassBodies += inverseMassBody1;
176176
}
177-
if (mBody2.getIsMotionEnabled()) {
177+
if (mBody2.isMotionEnabled()) {
178178
inverseMassBodies += inverseMassBody2;
179179
}
180180
final Matrix3x3 massMatrix = new Matrix3x3(
181181
inverseMassBodies, 0, 0,
182182
0, inverseMassBodies, 0,
183183
0, 0, inverseMassBodies);
184-
if (mBody1.getIsMotionEnabled()) {
184+
if (mBody1.isMotionEnabled()) {
185185
massMatrix.add(Matrix3x3.multiply(skewSymmetricMatrixU1, Matrix3x3.multiply(mI1, skewSymmetricMatrixU1.getTranspose())));
186186
}
187-
if (mBody2.getIsMotionEnabled()) {
187+
if (mBody2.isMotionEnabled()) {
188188
massMatrix.add(Matrix3x3.multiply(skewSymmetricMatrixU2, Matrix3x3.multiply(mI2, skewSymmetricMatrixU2.getTranspose())));
189189
}
190190
mInverseMassMatrix.setToZero();
191-
if (mBody1.getIsMotionEnabled() || mBody2.getIsMotionEnabled()) {
191+
if (mBody1.isMotionEnabled() || mBody2.isMotionEnabled()) {
192192
mInverseMassMatrix.set(massMatrix.getInverse());
193193
}
194194
final Vector3 constraintError = Vector3.subtract(Vector3.subtract(Vector3.add(x2, mR2World), x1), mR1World);
195195
final Vector3 lambda = Matrix3x3.multiply(mInverseMassMatrix, Vector3.negate(constraintError));
196-
if (mBody1.getIsMotionEnabled()) {
196+
if (mBody1.isMotionEnabled()) {
197197
final Vector3 linearImpulseBody1 = Vector3.negate(lambda);
198198
final Vector3 angularImpulseBody1 = lambda.cross(mR1World);
199199
final Vector3 v1 = Vector3.multiply(inverseMassBody1, linearImpulseBody1);
@@ -202,7 +202,7 @@ public void solvePositionConstraint(ConstraintSolverData constraintSolverData) {
202202
q1.add(Quaternion.multiply(Quaternion.multiply(new Quaternion(0, w1), q1), 0.5f));
203203
q1.normalize();
204204
}
205-
if (mBody2.getIsMotionEnabled()) {
205+
if (mBody2.isMotionEnabled()) {
206206
final Vector3 linearImpulseBody2 = lambda;
207207
final Vector3 angularImpulseBody2 = Vector3.negate(lambda.cross(mR2World));
208208
final Vector3 v2 = Vector3.multiply(inverseMassBody2, linearImpulseBody2);

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