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Merge pull request #45519 from aaronfranke/physics-real_t
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Use real_t in physics code
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@akien-mga
akien-mga committed Jan 29, 2021
2 parents dd6cc94 + cb9fc11 commit 46de553
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Showing 23 changed files with 170 additions and 154 deletions.
32 changes: 16 additions & 16 deletions modules/bullet/bullet_physics_server.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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);

Expand Down Expand Up @@ -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.;
}
Expand Down Expand Up @@ -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);
Expand Down Expand Up @@ -1221,15 +1221,15 @@ 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);
PinJointBullet *pin_joint = static_cast<PinJointBullet *>(joint);
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);
Expand Down Expand Up @@ -1309,15 +1309,15 @@ 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);
HingeJointBullet *hinge_joint = static_cast<HingeJointBullet *>(joint);
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);
Expand Down Expand Up @@ -1361,15 +1361,15 @@ 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);
SliderJointBullet *slider_joint = static_cast<SliderJointBullet *>(joint);
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);
Expand All @@ -1395,15 +1395,15 @@ 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);
ConeTwistJointBullet *coneTwist_joint = static_cast<ConeTwistJointBullet *>(joint);
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.);
Expand Down Expand Up @@ -1431,15 +1431,15 @@ 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);
Generic6DOFJointBullet *generic_6dof_joint = static_cast<Generic6DOFJointBullet *>(joint);
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);
Expand Down Expand Up @@ -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;
}
Expand Down
32 changes: 16 additions & 16 deletions modules/bullet/bullet_physics_server.h
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
Expand Down Expand Up @@ -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;
Expand All @@ -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 */

Expand Down Expand Up @@ -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;
Expand All @@ -349,29 +349,29 @@ 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;

/// 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;
Expand All @@ -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;

Expand Down
14 changes: 7 additions & 7 deletions modules/bullet/rigid_body_bullet.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -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();
}

Expand All @@ -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();
}

Expand Down Expand Up @@ -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;
}

Expand Down Expand Up @@ -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;
}
Expand Down Expand Up @@ -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))));
}
}

Expand Down
12 changes: 6 additions & 6 deletions modules/bullet/rigid_body_bullet.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down Expand Up @@ -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;
Expand All @@ -150,7 +150,7 @@ class RigidBodyBullet : public RigidCollisionObjectBullet {
Vector3 hitLocalLocation;
Vector3 hitWorldLocation;
Vector3 hitNormal;
float appliedImpulse;
real_t appliedImpulse;
};

struct ForceIntegrationCallback {
Expand Down Expand Up @@ -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);
Expand Down
10 changes: 9 additions & 1 deletion modules/bullet/shape_bullet.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -480,7 +480,11 @@ void HeightMapShapeBullet::set_data(const Variant &p_data) {
Vector<real_t> 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;
Expand All @@ -503,15 +507,19 @@ 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) {
w[i] = rp[i];
}

} 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);
Expand Down
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