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C++ setCameraDistance函数代码示例

原作者: [db:作者] 来自: [db:来源] 收藏 邀请

本文整理汇总了C++中setCameraDistance函数的典型用法代码示例。如果您正苦于以下问题：C++ setCameraDistance函数的具体用法？C++ setCameraDistance怎么用？C++ setCameraDistance使用的例子？那么恭喜您, 这里精选的函数代码示例或许可以为您提供帮助。



在下文中一共展示了setCameraDistance函数的19个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于我们的系统推荐出更棒的C++代码示例。

示例1: setTexturing

void	BasicDemo::initPhysics() {
  setTexturing(true);
  setShadows(false);
  setCameraDistance(btScalar(100.));
//  _app = new QApplication(myargc,myargv);
  /* this function ( in src/coordinator/coordinator/coorcinator.cpp )
   * creates 4 wheels, one robot's body and merges them together.
   *
   *
   */
  m_wheelShape = new btCylinderShapeX(btVector3(1,3,3));
  m_dynamicsWorld =(cdn->getPhysicalCalculatorInstance()).getScene();
  //cdn->getPhysicalCalculatorInstance().simple_scene_walls(200);
  //Mesh::buildBox(QVector3D(10,10,10), 1000, PositionData(0,30,0,0,0,0));

  /*
    pc->simple_scene_walls(100);
  */
  //m_dynamicsWorld = cdn->getPhysicalCalculatorScene();
  /*_robot = new Robot(pc->addBox(btVector3(2,0.5,2), btVector3(0,0,0), 8), pc->getScene());
    pc->getScene()->addVehicle(_robot);*/

  // _MD = new Wheel(_robot, btVector3(1.5,-0.1,0),btVector3(0,-1,0),.5,true);
  // _MG = new Wheel(_robot, btVector3(-1.5,-0.1,0),btVector3(0,-1,0),.5,true);
  // _ED = new Wheel(_robot, btVector3(1.9,-0.1,0),btVector3(0,-1,0),.5,false);
  // _EG = new Wheel(_robot, btVector3(-1.9,-0.1,0),btVector3(0,-1,0),.5,false);
}
开发者ID:astralien3000，项目名称:SASIAE，代码行数:27，代码来源:test3dCoordinator.cpp


示例2: createTest6

void	BenchmarkDemo::createTest7()
{
	
	createTest6();
	setCameraDistance(btScalar(150.));
	initRays();
}
开发者ID:Mashewnutz，项目名称:Slo，代码行数:7，代码来源:BenchmarkDemo.cpp


示例3: setTexturing

void	GpuDemo::initPhysics(const ConstructionInfo& ci)
{

	setTexturing(true);
	setShadows(false);

	setCameraDistance(btScalar(SCALING*250.));

	///collision configuration contains default setup for memory, collision setup
	if (ci.useOpenCL)
	{
		m_dynamicsWorld = new btGpuDynamicsWorld(ci.preferredOpenCLPlatformIndex,ci.preferredOpenCLDeviceIndex);
	} else
	{
		m_dynamicsWorld = new btCpuDynamicsWorld();
	}

	
	m_dynamicsWorld->setGravity(btVector3(0,-10,0));

	///create a few basic rigid bodies

	setupScene(ci);


}
开发者ID:cf2013，项目名称:experiments，代码行数:26，代码来源:GpuDemo.cpp


示例4: setCameraDistance

void	BenchmarkDemo::createTest3()
{
	setCameraDistance(btScalar(50.));

	int size = 16;

	float sizeX = 1.f;
	float sizeY = 1.f;

	//int rc=0;

	btScalar scale(3.5);
	btVector3 pos(0.0f, sizeY, 0.0f);
	while(size) {
		float offset = -size * (sizeX * 6.0f) * 0.5f;
		for(int i=0;i<size;i++) {
			pos[0] = offset + (float)i * (sizeX * 6.0f);

				RagDoll* ragDoll = new RagDoll (m_dynamicsWorld,pos,scale);
				m_ragdolls.push_back(ragDoll);
		}

		offset += sizeX;
		pos[1] += (sizeY * 7.0f);
		pos[2] -= sizeX * 2.0f;
		size--;
	}

}
开发者ID:Mashewnutz，项目名称:Slo，代码行数:29，代码来源:BenchmarkDemo.cpp


示例5: setCameraDistance

BasicGpuDemo::BasicGpuDemo()
{
	m_np=0;
	m_bp=0;
	m_clData = new btInternalData;
	setCameraDistance(btScalar(SCALING*60.));
	this->setAzi(45);
	this->setEle(45);

}
开发者ID:Aatch，项目名称:bullet3，代码行数:10，代码来源:BasicGpuDemo.cpp


示例6: setTexturing

void RagdollDemo::initPhysics()
{
	// Setup the basic world

	setTexturing(true);
	setShadows(true);

	setCameraDistance(btScalar(5.));

	m_collisionConfiguration = new btDefaultCollisionConfiguration();

	m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);

	btVector3 worldAabbMin(-10000,-10000,-10000);
	btVector3 worldAabbMax(10000,10000,10000);
	m_broadphase = new btAxisSweep3 (worldAabbMin, worldAabbMax);

	m_solver = new btSequentialImpulseConstraintSolver;

	m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
	//m_dynamicsWorld->getDispatchInfo().m_useConvexConservativeDistanceUtil = true;
	//m_dynamicsWorld->getDispatchInfo().m_convexConservativeDistanceThreshold = 0.01f;



	// Setup a big ground box
	{
		btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(200.),btScalar(10.),btScalar(200.)));
		m_collisionShapes.push_back(groundShape);
		btTransform groundTransform;
		groundTransform.setIdentity();
		groundTransform.setOrigin(btVector3(0,-10,0));

#define CREATE_GROUND_COLLISION_OBJECT 1
#ifdef CREATE_GROUND_COLLISION_OBJECT
		btCollisionObject* fixedGround = new btCollisionObject();
		fixedGround->setCollisionShape(groundShape);
		fixedGround->setWorldTransform(groundTransform);
		m_dynamicsWorld->addCollisionObject(fixedGround);
#else
		localCreateRigidBody(btScalar(0.),groundTransform,groundShape);
#endif //CREATE_GROUND_COLLISION_OBJECT

	}

	// Spawn one ragdoll
	btVector3 startOffset(1,0.5,0);
	spawnRagdoll(startOffset);
	startOffset.setValue(-1,0.5,0);
	spawnRagdoll(startOffset);

	clientResetScene();		
}
开发者ID:asumin，项目名称:onibi，代码行数:53，代码来源:RagdollDemo.cpp


示例7: setTexturing

/** Initializes the physics world and simulation
*
**/
void Physics::initPhysics(){
	dead=false;
	totaltime=0;
	currentBoxIndex=0;
	currentJointIndex=0;
	noBoxes =0;
	fitness=0;
	enableEffectors=true;

	setTexturing(true);
	setShadows(true);

	setCameraDistance(btScalar(20.));

	///collision configuration contains default setup for memory, collision setup
	m_collisionConfiguration = new btDefaultCollisionConfiguration();

	///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
	m_dispatcher = new	btCollisionDispatcher(m_collisionConfiguration);

	m_broadphase = new btDbvtBroadphase();

	///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
	btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver;
	m_solver = sol;

	m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
	m_dynamicsWorld->setDebugDrawer(&gDebugDraw);

	m_dynamicsWorld->setGravity(btVector3(0,-10,0));

	//create ground body
	btBoxShape* groundShape = new btBoxShape(btVector3(btScalar(1000.),btScalar(10.),btScalar(1000.)));
	int* userP = new int();
	*userP = 0;
	groundShape->setUserPointer2((void*)userP);

	m_collisionShapes.push_back(groundShape);

	btTransform groundTransform;
	groundTransform.setIdentity();
	groundTransform.setOrigin(btVector3(0,0,0));

	btRigidBody* ground = localCreateRigidBody(0.,groundTransform,groundShape,COL_GROUND,COL_BOX); //ground collides with boxes only
	ground->setUserPointer((void*)(-1));;

	groundY =  ground->getWorldTransform().getOrigin().getY()+groundShape->getHalfExtentsWithMargin().getY();

	currentBoxIndex++;

	theNet=NULL;
}
开发者ID:kiniry-supervision，项目名称:walking-with-dinosaurs，代码行数:55，代码来源:Physics.cpp


示例8: setTexturing

void	BasicDemo::initPhysics()
{
	setTexturing(true);
	setShadows(true);

	setCameraDistance(btScalar(SCALING*50.));

	m_physicsSetup.initPhysics();

	m_dynamicsWorld = m_physicsSetup.m_dynamicsWorld;
	m_dynamicsWorld->setDebugDrawer(&gDebugDraw);

}
开发者ID:DanielNappa，项目名称:bullet3，代码行数:13，代码来源:BasicDemo.cpp


示例9: MIN

void GlassViewer::fitCameraToModel(int pad) {
	float sw = MIN(getWidth()*0.5f-pad, getHeight()*0.5f-pad);
	model_t *m = Res_GetModel(model);
	
	float bw = m->bSphere.r;
	float ez = 1/tan(DEG2RAD(fov/2.0));
	
	float Az = m->bSphere.r*2+(bw/sw)*ez;
	
	setCameraPosition(0,-1,m->bmax[AXIS_Z]*0.45f);
	setCameraTarget(0,0,camPos[AXIS_Z]);
	setCameraDistance(Az+pad+m->bSphere.r);
}
开发者ID:newerthcom，项目名称:savagerebirth，代码行数:13，代码来源:GlassViewer.cpp


示例10: setTexturing

void RagdollApp::initPhysics()
{
	// Setup the basic world
	m_time = 0;
	m_CycPerKnee = 2000.f;	// in milliseconds
	m_CycPerHip = 3000.f;	// in milliseconds
	m_fMuscleStrength = 0.5f;

	setTexturing(true);
	setShadows(true);

	setCameraDistance(btScalar(5.));

	m_collisionConfiguration = new btDefaultCollisionConfiguration();

	m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);

	btVector3 worldAabbMin(-10000,-10000,-10000);
	btVector3 worldAabbMax(10000,10000,10000);
	m_broadphase = new btAxisSweep3 (worldAabbMin, worldAabbMax);

	m_solver = new btSequentialImpulseConstraintSolver;

	m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
	//m_dynamicsWorld->getDispatchInfo().m_useConvexConservativeDistanceUtil = true;
	//m_dynamicsWorld->getDispatchInfo().m_convexConservativeDistanceThreshold = 0.01f;
	m_dynamicsWorld->setInternalTickCallback( forcePreTickCB, this, true );
	m_dynamicsWorld->setGravity( btVector3(0,-0,0) );
	// create surface
	//createSurface();

	//// Setup a big ground box
	btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(200.),btScalar(10.),btScalar(200.)));
	m_collisionShapes.push_back(groundShape);
	btTransform groundTransform;
	groundTransform.setIdentity();
	groundTransform.setOrigin(btVector3(0,-10,0));

	btCollisionObject* fixedGround = new btCollisionObject();
	fixedGround->setCollisionShape(groundShape);
	fixedGround->setWorldTransform(groundTransform);
	m_dynamicsWorld->addCollisionObject(fixedGround);

	// Spawn one ragdoll
	btVector3 startOffset(1,0.5,0);
	spawnRagdoll(startOffset);
	startOffset.setValue(-1,0.1,0);
	spawnRagdoll(startOffset);

	clientResetScene();		
}
开发者ID:Obarack，项目名称:R_D，代码行数:51，代码来源:RagdollApp.cpp


示例11: setTexturing

void ArtificialBirdsDemoApp::initPhysics()
{
	// Setup the basic world
	setTexturing(true);
	setShadows(true);

	setCameraDistance(btScalar(5.));

	m_collisionConfiguration = new btDefaultCollisionConfiguration();

	m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);

	btVector3 worldAabbMin(-10000,-10000,-10000);
	btVector3 worldAabbMax(10000,10000,10000);
	m_broadphase = new btAxisSweep3 (worldAabbMin, worldAabbMax);

	m_solver = new btSequentialImpulseConstraintSolver;
	m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
	//m_dynamicsWorld->getDispatchInfo().m_useConvexConservativeDistanceUtil = true;
	//m_dynamicsWorld->getDispatchInfo().m_convexConservativeDistanceThreshold = 0.01f;
	m_dynamicsWorld->setInternalTickCallback(pickingPreTickCallback, this, true);
	m_dynamicsWorld->getSolverInfo().m_numIterations = kSolverNumIterations;
	m_dynamicsWorld->setGravity(btVector3(0,kGravity,0));

	// Setup a big ground box
	{
		btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(200.),btScalar(10.),btScalar(200.)));
		m_collisionShapes.push_back(groundShape);
		btTransform groundTransform;
		groundTransform.setIdentity();
		groundTransform.setOrigin(btVector3(0,-10,0));

#define CREATE_GROUND_COLLISION_OBJECT 1
#ifdef CREATE_GROUND_COLLISION_OBJECT
		btCollisionObject* fixedGround = new btCollisionObject();
		fixedGround->setCollisionShape(groundShape);
		fixedGround->setWorldTransform(groundTransform);
		m_dynamicsWorld->addCollisionObject(fixedGround);
#else
		localCreateRigidBody(btScalar(0.),groundTransform,groundShape);
#endif //CREATE_GROUND_COLLISION_OBJECT

	}

	m_birdOpt = 0;
	m_birdDemo = 0;
	//m_birdOpt = new BirdOptimizer(m_dynamicsWorld);
	m_birdDemo = new BirdDemo(m_dynamicsWorld);

	clientResetScene();		
}
开发者ID:kastur，项目名称:artificial_birds，代码行数:51，代码来源:ArtificialBirds.cpp


示例12: setTexturing

void MotorDemo::initPhysics()
{
	setTexturing(true);
	setShadows(true);

	// Setup the basic world

	m_Time = 0;
	m_fCyclePeriod = 2000.f; // in milliseconds

//	m_fMuscleStrength = 0.05f;
	// new SIMD solver for joints clips accumulated impulse, so the new limits for the motor
	// should be (numberOfsolverIterations * oldLimits)
	// currently solver uses 10 iterations, so:
	m_fMuscleStrength = 0.5f;

	setCameraDistance(btScalar(5.));

	m_collisionConfiguration = new btDefaultCollisionConfiguration();

	m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);

	btVector3 worldAabbMin(-10000,-10000,-10000);
	btVector3 worldAabbMax(10000,10000,10000);
	m_broadphase = new btAxisSweep3 (worldAabbMin, worldAabbMax);

	m_solver = new btSequentialImpulseConstraintSolver;

	m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);

	m_dynamicsWorld->setInternalTickCallback(motorPreTickCallback,this,true);


	// Setup a big ground box
	{
		btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(200.),btScalar(10.),btScalar(200.)));
		m_collisionShapes.push_back(groundShape);
		btTransform groundTransform;
		groundTransform.setIdentity();
		groundTransform.setOrigin(btVector3(0,-10,0));
		localCreateRigidBody(btScalar(0.),groundTransform,groundShape);
	}

	// Spawn one ragdoll
	btVector3 startOffset(1,0.5,0);
	spawnTestRig(startOffset, false);
	startOffset.setValue(-2,0.5,0);
	spawnTestRig(startOffset, true);

	clientResetScene();		
}
开发者ID:henryeherman，项目名称:learninghexapod，代码行数:51，代码来源:MotorDemo.cpp


示例13: setCameraDistance

void SimpleRenderContext::showFull(const Ogre::MovableObject* object)
{
    //only do this if there's an active object
    if (object) {
        mEntityNode->_update(true, true);
        Ogre::Real distance = object->getBoundingRadius() / Ogre::Math::Tan(mCamera->getFOVy() / 2);
        //we can't have a distance of 0
        if (distance == 0) {
            distance = 1;
        }
        Ogre::Real distanceNudge = distance / 100;
        distance += distanceNudge;

        mDefaultCameraDistance = distance;

        setCameraDistance(distance);
    }

}
开发者ID:bregma，项目名称:ember，代码行数:19，代码来源:SimpleRenderContext.cpp


示例14: setTexturing

void	SerializeDemo::initPhysics()
{
	setTexturing(true);
	setShadows(true);

	setCameraDistance(btScalar(SCALING*50.));

	setupEmptyDynamicsWorld();
	
#ifdef DESERIALIZE_SOFT_BODIES
	btBulletWorldImporter* fileLoader = new MySoftBulletWorldImporter((btSoftRigidDynamicsWorld*)m_dynamicsWorld);
#else
	btBulletWorldImporter* fileLoader = new btBulletWorldImporter(m_dynamicsWorld);
#endif //DESERIALIZE_SOFT_BODIES
//	fileLoader->setVerboseMode(true);

	if (!fileLoader->loadFile("testFile.bullet"))
	{
		btAssert(0);
		exit(0);
	}


}
开发者ID:svn2github，项目名称:bullet，代码行数:24，代码来源:SerializeDemo.cpp


示例15: SIMDYNAMICS_ASSERT

    BulletOpenGLViewer::BulletOpenGLViewer(DynamicsWorldPtr world)
    {
        SIMDYNAMICS_ASSERT(world);
        m_sundirection = btVector3(1, 1, -2) * 1000;

        bulletEngine = boost::dynamic_pointer_cast<BulletEngine>(world->getEngine());

        SIMDYNAMICS_ASSERT(bulletEngine);

        setTexturing(true);
        setShadows(true);

        // set Bullet world (defined in bullet's OpenGL helpers)
        m_dynamicsWorld = bulletEngine->getBulletWorld();
        m_dynamicsWorld->setDebugDrawer(&debugDrawer);

        // set up vector for camera
        setCameraDistance(btScalar(3.));
        setCameraForwardAxis(1);
        btVector3 up(0, 0, btScalar(1.));
        setCameraUp(up);

        clientResetScene();
    }
开发者ID:gkalogiannis，项目名称:simox，代码行数:24，代码来源:BulletOpenGLViewer.cpp


示例16: setTexturing

void	BasicDemo::initPhysics()
{
	setTexturing(true);
	setShadows(true);

	setCameraDistance(btScalar(SCALING*50.));

	///collision configuration contains default setup for memory, collision setup
	m_collisionConfiguration = new btDefaultCollisionConfiguration();
	//m_collisionConfiguration->setConvexConvexMultipointIterations();

	///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
	m_dispatcher = new	btCollisionDispatcher(m_collisionConfiguration);

	m_broadphase = new btDbvtBroadphase();

	///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
	btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver;
	m_solver = sol;

	m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
	
	m_dynamicsWorld->setGravity(btVector3(0,-10,0));

	///create a few basic rigid bodies
	btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
//	btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
	
	m_collisionShapes.push_back(groundShape);

	btTransform groundTransform;
	groundTransform.setIdentity();
	groundTransform.setOrigin(btVector3(0,-50,0));

	//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
	{
		btScalar mass(0.);

		//rigidbody is dynamic if and only if mass is non zero, otherwise static
		bool isDynamic = (mass != 0.f);

		btVector3 localInertia(0,0,0);
		if (isDynamic)
			groundShape->calculateLocalInertia(mass,localInertia);

		//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
		btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
		btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia);
		btRigidBody* body = new btRigidBody(rbInfo);

		//add the body to the dynamics world
		m_dynamicsWorld->addRigidBody(body);
	}


	{
		//create a few dynamic rigidbodies
		// Re-using the same collision is better for memory usage and performance

		//btCollisionShape* colShape = new btBoxShape(btVector3(SCALING*1,SCALING*1,SCALING*1));
		btCollisionShape* colShape = new btSphereShape(btScalar(1.));
		m_collisionShapes.push_back(colShape);

		/// Create Dynamic Objects
		btTransform startTransform;
		startTransform.setIdentity();

		btScalar	mass(1.f);

		//rigidbody is dynamic if and only if mass is non zero, otherwise static
		bool isDynamic = (mass != 0.f);

		btVector3 localInertia(0,0,0);
		if (isDynamic)
			colShape->calculateLocalInertia(mass,localInertia);

		float start_x = START_POS_X - ARRAY_SIZE_X/2;
		float start_y = START_POS_Y;
		float start_z = START_POS_Z - ARRAY_SIZE_Z/2;

		for (int k=0;k<ARRAY_SIZE_Y;k++)
		{
			for (int i=0;i<ARRAY_SIZE_X;i++)
			{
				for(int j = 0;j<ARRAY_SIZE_Z;j++)
				{
					startTransform.setOrigin(SCALING*btVector3(
										btScalar(2.0*i + start_x),
										btScalar(20+2.0*k + start_y),
										btScalar(2.0*j + start_z)));

			
					//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
					btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
					btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,colShape,localInertia);
					btRigidBody* body = new btRigidBody(rbInfo);
					

					m_dynamicsWorld->addRigidBody(body);
				}
//.........这里部分代码省略.........
开发者ID:sonyomega，项目名称:rbdl，代码行数:101，代码来源:BasicDemo.cpp


示例17: btVector3


//.........这里部分代码省略.........

	//create ground object
	localCreateRigidBody(0,tr,groundShape);
	tr.setOrigin(btVector3(0,0,0));//-64.5f,0));

#ifdef FORCE_ZAXIS_UP
//   indexRightAxis = 0; 
//   indexUpAxis = 2; 
//   indexForwardAxis = 1; 
	btCollisionShape* chassisShape = new btBoxShape(btVector3(1.f,2.f, 0.5f));
	btCompoundShape* compound = new btCompoundShape();
	btTransform localTrans;
	localTrans.setIdentity();
	//localTrans effectively shifts the center of mass with respect to the chassis
	localTrans.setOrigin(btVector3(0,0,1));
#else
	btCollisionShape* chassisShape = new btBoxShape(btVector3(1.f,0.5f,2.f));
	m_collisionShapes.push_back(chassisShape);

	btCompoundShape* compound = new btCompoundShape();
	m_collisionShapes.push_back(compound);
	btTransform localTrans;
	localTrans.setIdentity();
	//localTrans effectively shifts the center of mass with respect to the chassis
	localTrans.setOrigin(btVector3(0,1,0));
#endif

	compound->addChildShape(localTrans,chassisShape);

	tr.setOrigin(btVector3(0,0.f,0));

	m_carChassis = localCreateRigidBody(800,tr,compound);//chassisShape);
	//m_carChassis->setDamping(0.2,0.2);
	
	m_wheelShape = new btCylinderShapeX(btVector3(wheelWidth,wheelRadius,wheelRadius));
	
	clientResetScene();

	/// create vehicle
	{
		
		m_vehicleRayCaster = new btDefaultVehicleRaycaster(m_dynamicsWorld);
		m_vehicle = new btRaycastVehicle(m_tuning,m_carChassis,m_vehicleRayCaster);
		
		///never deactivate the vehicle
		m_carChassis->setActivationState(DISABLE_DEACTIVATION);

		m_dynamicsWorld->addVehicle(m_vehicle);

		float connectionHeight = 1.2f;

	
		bool isFrontWheel=true;

		//choose coordinate system
		m_vehicle->setCoordinateSystem(rightIndex,upIndex,forwardIndex);

#ifdef FORCE_ZAXIS_UP
		btVector3 connectionPointCS0(CUBE_HALF_EXTENTS-(0.3*wheelWidth),2*CUBE_HALF_EXTENTS-wheelRadius, connectionHeight);
#else
		btVector3 connectionPointCS0(CUBE_HALF_EXTENTS-(0.3*wheelWidth),connectionHeight,2*CUBE_HALF_EXTENTS-wheelRadius);
#endif

		m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);
#ifdef FORCE_ZAXIS_UP
		connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),2*CUBE_HALF_EXTENTS-wheelRadius, connectionHeight);
#else
		connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),connectionHeight,2*CUBE_HALF_EXTENTS-wheelRadius);
#endif

		m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);
#ifdef FORCE_ZAXIS_UP
		connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),-2*CUBE_HALF_EXTENTS+wheelRadius, connectionHeight);
#else
		connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),connectionHeight,-2*CUBE_HALF_EXTENTS+wheelRadius);
#endif //FORCE_ZAXIS_UP
		isFrontWheel = false;
		m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);
#ifdef FORCE_ZAXIS_UP
		connectionPointCS0 = btVector3(CUBE_HALF_EXTENTS-(0.3*wheelWidth),-2*CUBE_HALF_EXTENTS+wheelRadius, connectionHeight);
#else
		connectionPointCS0 = btVector3(CUBE_HALF_EXTENTS-(0.3*wheelWidth),connectionHeight,-2*CUBE_HALF_EXTENTS+wheelRadius);
#endif
		m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);
		
		for (int i=0;i<m_vehicle->getNumWheels();i++)
		{
			btWheelInfo& wheel = m_vehicle->getWheelInfo(i);
			wheel.m_suspensionStiffness = suspensionStiffness;
			wheel.m_wheelsDampingRelaxation = suspensionDamping;
			wheel.m_wheelsDampingCompression = suspensionCompression;
			wheel.m_frictionSlip = wheelFriction;
			wheel.m_rollInfluence = rollInfluence;
		}
	}

	
	setCameraDistance(26.f);

}
开发者ID:n8powe，项目名称:uncertainty_2，代码行数:101，代码来源:VehicleDemo.cpp


示例18: btVector3


//.........这里部分代码省略.........
		localB.setOrigin(btVector3(0.0, 0.0, -0.1));
		m_forkSlider = new btSliderConstraint(*m_liftBody, *m_forkBody, localA, localB, true);
		m_forkSlider->setLowerLinLimit(0.1f);
		m_forkSlider->setUpperLinLimit(0.1f);
//		m_forkSlider->setLowerAngLimit(-LIFT_EPS);
//		m_forkSlider->setUpperAngLimit(LIFT_EPS);
		m_forkSlider->setLowerAngLimit(0.0f);
		m_forkSlider->setUpperAngLimit(0.0f);
		m_dynamicsWorld->addConstraint(m_forkSlider, true);


		btCompoundShape* loadCompound = new btCompoundShape();
		m_collisionShapes.push_back(loadCompound);
		btCollisionShape* loadShapeA = new btBoxShape(btVector3(2.0f,0.5f,0.5f));
		m_collisionShapes.push_back(loadShapeA);
		btTransform loadTrans;
		loadTrans.setIdentity();
		loadCompound->addChildShape(loadTrans, loadShapeA);
		btCollisionShape* loadShapeB = new btBoxShape(btVector3(0.1f,1.0f,1.0f));
		m_collisionShapes.push_back(loadShapeB);
		loadTrans.setIdentity();
		loadTrans.setOrigin(btVector3(2.1f, 0.0f, 0.0f));
		loadCompound->addChildShape(loadTrans, loadShapeB);
		btCollisionShape* loadShapeC = new btBoxShape(btVector3(0.1f,1.0f,1.0f));
		m_collisionShapes.push_back(loadShapeC);
		loadTrans.setIdentity();
		loadTrans.setOrigin(btVector3(-2.1f, 0.0f, 0.0f));
		loadCompound->addChildShape(loadTrans, loadShapeC);
		loadTrans.setIdentity();
		m_loadStartPos = btVector3(0.0f, -3.5f, 7.0f);
		loadTrans.setOrigin(m_loadStartPos);
		m_loadBody  = localCreateRigidBody(4, loadTrans, loadCompound);
	}



	clientResetScene();

	/// create vehicle
	{
		
		m_vehicleRayCaster = new btDefaultVehicleRaycaster(m_dynamicsWorld);
		m_vehicle = new btRaycastVehicle(m_tuning,m_carChassis,m_vehicleRayCaster);
		
		///never deactivate the vehicle
		m_carChassis->setActivationState(DISABLE_DEACTIVATION);

		m_dynamicsWorld->addVehicle(m_vehicle);

		float connectionHeight = 1.2f;

	
		bool isFrontWheel=true;

		//choose coordinate system
		m_vehicle->setCoordinateSystem(rightIndex,upIndex,forwardIndex);

#ifdef FORCE_ZAXIS_UP
		btVector3 connectionPointCS0(CUBE_HALF_EXTENTS-(0.3*wheelWidth),2*CUBE_HALF_EXTENTS-wheelRadius, connectionHeight);
#else
		btVector3 connectionPointCS0(CUBE_HALF_EXTENTS-(0.3*wheelWidth),connectionHeight,2*CUBE_HALF_EXTENTS-wheelRadius);
#endif

		m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);
#ifdef FORCE_ZAXIS_UP
		connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),2*CUBE_HALF_EXTENTS-wheelRadius, connectionHeight);
#else
		connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),connectionHeight,2*CUBE_HALF_EXTENTS-wheelRadius);
#endif

		m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);
#ifdef FORCE_ZAXIS_UP
		connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),-2*CUBE_HALF_EXTENTS+wheelRadius, connectionHeight);
#else
		connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),connectionHeight,-2*CUBE_HALF_EXTENTS+wheelRadius);
#endif //FORCE_ZAXIS_UP
		isFrontWheel = false;
		m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);
#ifdef FORCE_ZAXIS_UP
		connectionPointCS0 = btVector3(CUBE_HALF_EXTENTS-(0.3*wheelWidth),-2*CUBE_HALF_EXTENTS+wheelRadius, connectionHeight);
#else
		connectionPointCS0 = btVector3(CUBE_HALF_EXTENTS-(0.3*wheelWidth),connectionHeight,-2*CUBE_HALF_EXTENTS+wheelRadius);
#endif
		m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);
		
		for (int i=0;i<m_vehicle->getNumWheels();i++)
		{
			btWheelInfo& wheel = m_vehicle->getWheelInfo(i);
			wheel.m_suspensionStiffness = suspensionStiffness;
			wheel.m_wheelsDampingRelaxation = suspensionDamping;
			wheel.m_wheelsDampingCompression = suspensionCompression;
			wheel.m_frictionSlip = wheelFriction;
			wheel.m_rollInfluence = rollInfluence;
		}
	}

	
	setCameraDistance(26.f);

}
开发者ID:Bredoto，项目名称:Bullet，代码行数:101，代码来源:ForkLiftDemo.cpp


示例19: setTexturing

void RagdollDemo::initPhysics()
{
	// Setup the basic world

	setTexturing(true);
	setShadows(true);

	setCameraDistance(btScalar(5.));

	m_collisionConfiguration = new btDefaultCollisionConfiguration();

	m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);

	btVector3 worldAabbMin(-10000,-10000,-10000);
	btVector3 worldAabbMax(10000,10000,10000);
	m_broadphase = new btAxisSweep3 (worldAabbMin, worldAabbMax);

	m_solver = new btSequentialImpulseConstraintSolver;

	m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
	//m_dynamicsWorld->getDispatchInfo().m_useConvexConservativeDistanceUtil = true;
	//m_dynamicsWorld->getDispatchInfo().m_convexConservativeDistanceThreshold = 0.01f;



	// Setup a big ground box
	{
		btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(200.),btScalar(10.),btScalar(200.)));
		m_collisionShapes.push_back(groundShape);
		btTransform groundTransform;
		groundTransform.setIdentity();
		groundTransform.setOrigin(btVector3(0,-10,0));

#define CREATE_GROUND_COLLISION_OBJECT 1
#ifdef CREATE_GROUND_COLLISION_OBJECT
		btCollisionObject* fixedGround = new btCollisionObject();
		fixedGround->setCollisionShape(groundShape);
		fixedGround->setWorldTransform(groundTransform);
		m_dynamicsWorld->addCollisionObject(fixedGround);
#else
		localCreateRigidBody(btScalar(0.),groundTransform,groundShape);
#endif //CREATE_GROUND_COLLISION_OBJECT

	}

	// Spawn one ragdoll
	btVector3 startOffset(1,0.5,0);
	//spawnRagdoll(startOffset);
	startOffset.setValue(-1,0.5,0);
	//spawnRagdoll(startOffset);
    
    CreateBox(0, 0., 2., 0., 1., 0.2, 1.); // Create the box
    
    //leg components
    CreateCylinder(1, 2. , 2., 0., .2, 1., 0., 0., M_PI_2); //xleft horizontal
    CreateCylinder(2, -2., 2., 0., .2, 1., 0., 0., M_PI_2); //xright (negative) horizontal
    CreateCylinder(3, 0, 2., 2., .2, 1., M_PI_2, 0., 0.);    //zpositive (into screen)
    CreateCylinder(4, 0, 2., -2., .2, 1., M_PI_2, 0., 0.);   //znegative (out of screen)
    CreateCylinder(5, 3.0, 1., 0., .2, 1., 0., 0., 0.);       //xleft vertical
    CreateCylinder(6, -3.0, 1., 0., .2, 1., 0., 0., 0.);      //xright vertical
    CreateCylinder(7, 0., 1., 3.0, .2, 1., 0., 0., 0.);     //zpositive vertical
    CreateCylinder(8, 0., 1., -3.0, .2, 1., 0., 0., 0.);    //znegative vertical
    
    //The axisworldtolocal defines a vector perpendicular to the plane that you want the bodies to rotate in
    
    
    //hinge the legs together
    //xnegative -- right
    //two bodies should rotate in y-plane through x--give axisworldtolocal it a z vector
    btVector3 local2 = PointWorldToLocal(2, btVector3(-3., 2., 0));
    btVector3 local6 = PointWorldToLocal(6, btVector3(-3., 2., 0));
    btVector3 axis2 = AxisWorldToLocal(2, btVector3(0., 0., 1.));
    btVector3 axis6 = AxisWorldToLocal(6, btVector3( 0., 0., 1.));
    
    
    CreateHinge(0, *body[2], *body[6], local2, local6, axis2, axis6);
    joints[0]->setLimit(btScalar(0.), btScalar(M_PI_2+M_PI_4));
    
   
    //positive -- left
    //give axisworldtolocal a z vector
    btVector3 local1 = PointWorldToLocal(1, btVector3(3., 2., 0));
    btVector3 local5 = PointWorldToLocal(5, btVector3(3., 2., 0));
    btVector3 axis1 = AxisWorldToLocal(1, btVector3( 0., 0., 1.));
    btVector3 axis5 = AxisWorldToLocal(5, btVector3(0., 0., 1.));
    
    CreateHinge(1, *body[1], *body[5], local1, local5, axis1, axis5);
    joints[1]->setLimit(btScalar(M_PI_4), btScalar(M_PI_4));
    
    //zpositive -- back
    //rotates in y-plane through z--give it an x vector
    btVector3 local3 = PointWorldToLocal(3, btVector3(0, 2., 3.));
    btVector3 local7 = PointWorldToLocal(7, btVector3(0, 2., 3.));
    btVector3 axis3 = AxisWorldToLocal(3, btVector3(1., 0., 0.));
    btVector3 axis7 = AxisWorldToLocal(7, btVector3(1., 0., 0.));
    
    CreateHinge(2, *body[3], *body[7], local3, local7, axis3, axis7);
    joints[2]->setLimit(btScalar(0.), btScalar(M_PI_2+M_PI_4));
    
    //znegative -- front
//.........这里部分代码省略.........
开发者ID:bmcomber，项目名称:Evolutionary_Robotics，代码行数:101，代码来源:RagdollDemo.cpp



注：本文中的setCameraDistance函数示例由纯净天空整理自Github/MSDocs等源码及文档管理平台，相关代码片段筛选自各路编程大神贡献的开源项目，源码版权归原作者所有，传播和使用请参考对应项目的License；未经允许，请勿转载。

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