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C++ dgAbsf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dgAbsf函数的典型用法代码示例。如果您正苦于以下问题：C++ dgAbsf函数的具体用法？C++ dgAbsf怎么用？C++ dgAbsf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dgAbsf函数的20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: dgAssert

void dgBilateralConstraint::SetSpringDamperAcceleration (dgInt32 index, dgContraintDescritor& desc, dgFloat32 spring, dgFloat32 damper)
{
	if (desc.m_timestep > dgFloat32 (0.0f)) {

		dgAssert (m_body1);
		const dgJacobian &jacobian0 = desc.m_jacobian[index].m_jacobianM0; 
		const dgJacobian &jacobian1 = desc.m_jacobian[index].m_jacobianM1; 

		dgVector veloc0 (m_body0->m_veloc);
		dgVector omega0 (m_body0->m_omega);
		dgVector veloc1 (m_body1->m_veloc);
		dgVector omega1 (m_body1->m_omega);

		//dgFloat32 relPosit = (p1Global - p0Global) % jacobian0.m_linear + jointAngle;
		dgFloat32 relPosit = desc.m_penetration[index];
		dgFloat32 relVeloc = - (veloc0 % jacobian0.m_linear + veloc1 % jacobian1.m_linear +	omega0 % jacobian0.m_angular + omega1 % jacobian1.m_angular);

		//at =  [- ks (x2 - x1) - kd * (v2 - v1) - dt * ks * (v2 - v1)] / [1 + dt * kd + dt * dt * ks] 
		dgFloat32 dt = desc.m_timestep;
		dgFloat32 ks = dgAbsf (spring);
		dgFloat32 kd = dgAbsf (damper);
		dgFloat32 ksd = dt * ks;
		dgFloat32 num = ks * relPosit + kd * relVeloc + ksd * relVeloc;
		dgFloat32 den = dt * kd + dt * ksd;
		dgFloat32 accel = num / (dgFloat32 (1.0f) + den);
//		desc.m_jointStiffness[index] = - den / DG_PSD_DAMP_TOL ;
		desc.m_jointStiffness[index] = - dgFloat32 (1.0f) - den / DG_PSD_DAMP_TOL;
		SetMotorAcceleration (index, accel, desc);
	}
}
开发者ID:chegarty3，项目名称:MSPhysics，代码行数:30，代码来源:dgBilateralConstraint.cpp


示例2: dgRsqrt

dgInt32 dgCollisionTaperedCylinder::CalculatePlaneIntersection (const dgVector& normal, const dgVector& origin, dgVector* const contactsOut, dgFloat32 normalSign) const
{
	dgInt32 count;
	if (dgAbsf (normal.m_x) < dgFloat32 (0.999f)) { 
		dgFloat32 magInv = dgRsqrt (normal.m_y * normal.m_y + normal.m_z * normal.m_z);
		dgFloat32 cosAng = normal.m_y * magInv;
		dgFloat32 sinAng = normal.m_z * magInv;

		dgAssert (dgAbsf (normal.m_z * cosAng - normal.m_y * sinAng) < dgFloat32 (1.0e-4f));
		dgVector normal1 (normal.m_x, normal.m_y * cosAng + normal.m_z * sinAng, dgFloat32 (0.0f), dgFloat32 (0.0f));
		dgVector origin1 (origin.m_x, origin.m_y * cosAng + origin.m_z * sinAng, 
									  origin.m_z * cosAng - origin.m_y * sinAng, dgFloat32 (0.0f));

		count = dgCollisionConvex::CalculatePlaneIntersection (normal1, origin1, contactsOut, normalSign);
		for (dgInt32 i = 0; i < count; i ++) {
			dgFloat32 y = contactsOut[i].m_y;
			dgFloat32 z = contactsOut[i].m_z;
			contactsOut[i].m_y = y * cosAng - z * sinAng; 
			contactsOut[i].m_z = z * cosAng + y * sinAng;
		}

	} else {
		count = dgCollisionConvex::CalculatePlaneIntersection (normal, origin, contactsOut, normalSign);
	}
	return count;
}
开发者ID:famorcia，项目名称:newton-dynamics，代码行数:26，代码来源:dgCollisionTaperedCylinder.cpp


示例3: SetScale

void dgCollisionInstance::SetGlobalScale (const dgVector& scale)
{
	if ((dgAbsf (scale[0] - scale[1]) < dgFloat32 (1.0e-4f)) && (dgAbsf (scale[0] - scale[2]) < dgFloat32 (1.0e-4f))) {
		m_localMatrix.m_posit =  m_localMatrix.m_posit.Scale3 (scale.m_x * m_invScale.m_x);
		SetScale (scale);
	} else {
		// extract the original local matrix
		dgMatrix localMatrix (m_aligmentMatrix * m_localMatrix);
		
		// create a new scale matrix 
		localMatrix[0] = localMatrix[0].CompProduct4 (scale);
		localMatrix[1] = localMatrix[1].CompProduct4 (scale);
		localMatrix[2] = localMatrix[2].CompProduct4 (scale);
		localMatrix[3] = localMatrix[3].CompProduct4 (scale);
		localMatrix[3][3] = dgFloat32 (1.0f);

		// decompose into to align * scale * local
		localMatrix.PolarDecomposition (m_localMatrix, m_scale, m_aligmentMatrix);

		m_localMatrix = m_aligmentMatrix * m_localMatrix;
		m_aligmentMatrix = m_aligmentMatrix.Transpose();

		bool isIdentity = true;
		for (dgInt32 i = 0; i < 3; i ++) {
			isIdentity &= dgAbsf (m_aligmentMatrix[i][i] - dgFloat32 (1.0f)) < dgFloat32 (1.0e-5f);
			isIdentity &= dgAbsf (m_aligmentMatrix[3][i]) < dgFloat32 (1.0e-5f);
		}
		m_scaleType = isIdentity ? m_nonUniform : m_global;

		m_maxScale = dgMax(m_scale[0], m_scale[1], m_scale[2]);
		m_invScale = dgVector (dgFloat32 (1.0f) / m_scale[0], dgFloat32 (1.0f) / m_scale[1], dgFloat32 (1.0f) / m_scale[2], dgFloat32 (0.0f));	
	}
}
开发者ID:famorcia，项目名称:newton-dynamics，代码行数:33，代码来源:dgCollisionInstance.cpp


示例4: m_p1

dgFastRayTest::dgFastRayTest(const dgVector& l0, const dgVector& l1)
	:m_p0 (l0), m_p1(l1), m_diff (l1 - l0)
	,m_minT(float (0.0f), float (0.0f), float (0.0f), float (0.0f))  
	,m_maxT(float (1.0f), float (1.0f), float (1.0f), float (1.0f))
	,m_tolerance (DG_RAY_TOL_ERROR, DG_RAY_TOL_ERROR, DG_RAY_TOL_ERROR, DG_RAY_TOL_ERROR)
	,m_zero(float (0.0f), float (0.0f), float (0.0f), float (0.0f)) 
{
	m_diff.m_w = float (0.0f);
	m_isParallel[0] = (dgAbsf (m_diff.m_x) > float (1.0e-8f)) ? 0 : int32_t (0xffffffff); 
	m_isParallel[1] = (dgAbsf (m_diff.m_y) > float (1.0e-8f)) ? 0 : int32_t (0xffffffff); 
	m_isParallel[2] = (dgAbsf (m_diff.m_z) > float (1.0e-8f)) ? 0 : int32_t (0xffffffff); 
	m_isParallel[3] = 0;

	m_dpInv.m_x = (!m_isParallel[0]) ? (float (1.0f) / m_diff.m_x) : float (1.0e20f);
	m_dpInv.m_y = (!m_isParallel[1]) ? (float (1.0f) / m_diff.m_y) : float (1.0e20f);
	m_dpInv.m_z = (!m_isParallel[2]) ? (float (1.0f) / m_diff.m_z) : float (1.0e20f);
	m_dpInv.m_w = float (0.0f);
	m_dpBaseInv = m_dpInv;

	m_dirError = -float (0.0175f) * dgSqrt (m_diff % m_diff);

//	tollerance = simd_set (DG_RAY_TOL_ERROR, DG_RAY_TOL_ERROR, DG_RAY_TOL_ERROR, DG_RAY_TOL_ERROR);
//	m_tolerance = dgVector (DG_RAY_TOL_ERROR, DG_RAY_TOL_ERROR, DG_RAY_TOL_ERROR, float (0.0f));

}
开发者ID:LiangYue1981816，项目名称:CrossEngine，代码行数:25，代码来源:dgIntersections.cpp


示例5: copy

dgMatrix dgMatrix::Symetric3by3Inverse () const
{
	dgMatrix copy(*this);
	dgMatrix inverse(dgGetIdentityMatrix());
	for (dgInt32 i = 0; i < 3; i++) {
		dgVector den(dgFloat32(1.0f) / copy[i][i]);
		copy[i] = copy[i].CompProduct4(den);
		inverse[i] = inverse[i].CompProduct4(den);
		for (dgInt32 j = 0; j < 3; j++) {
			if (j != i) {
				dgVector pivot(copy[j][i]);
				copy[j] -= copy[i].CompProduct4(pivot);
				inverse[j] -= inverse[i].CompProduct4(pivot);
			}
		}
	}
	
#ifdef _DEBUG
	dgMatrix test(*this * inverse);
	dgAssert(dgAbsf(test[0][0] - dgFloat32(1.0f)) < dgFloat32(0.01f));
	dgAssert(dgAbsf(test[1][1] - dgFloat32(1.0f)) < dgFloat32(0.01f));
	dgAssert(dgAbsf(test[2][2] - dgFloat32(1.0f)) < dgFloat32(0.01f));
#endif

	return inverse;
}
开发者ID:Kaoswerk，项目名称:newton-dynamics，代码行数:26，代码来源:dgMatrix.cpp


示例6: m_p1

FastRayTest::FastRayTest(const dgVector& l0, const dgVector& l1)
	:m_p0 (l0), m_p1(l1), m_diff (l1 - l0)
	,m_minT(dgFloat32 (0.0f), dgFloat32 (0.0f), dgFloat32 (0.0f), dgFloat32 (0.0f))  
	,m_maxT(dgFloat32 (1.0f), dgFloat32 (1.0f), dgFloat32 (1.0f), dgFloat32 (1.0f))
	,m_tolerance (DG_RAY_TOL_ERROR, DG_RAY_TOL_ERROR, DG_RAY_TOL_ERROR, DG_RAY_TOL_ERROR)
	,m_zero(dgFloat32 (0.0f), dgFloat32 (0.0f), dgFloat32 (0.0f), dgFloat32 (0.0f)) 
{
	m_diff.m_w = dgFloat32 (0.0f);
	m_isParallel[0] = (dgAbsf (m_diff.m_x) > dgFloat32 (1.0e-8f)) ? 0 : dgInt32 (0xffffffff); 
	m_isParallel[1] = (dgAbsf (m_diff.m_y) > dgFloat32 (1.0e-8f)) ? 0 : dgInt32 (0xffffffff); 
	m_isParallel[2] = (dgAbsf (m_diff.m_z) > dgFloat32 (1.0e-8f)) ? 0 : dgInt32 (0xffffffff); 
	m_isParallel[3] = 0;

	m_dpInv.m_x = (!m_isParallel[0]) ? (dgFloat32 (1.0f) / m_diff.m_x) : dgFloat32 (1.0e20f);
	m_dpInv.m_y = (!m_isParallel[1]) ? (dgFloat32 (1.0f) / m_diff.m_y) : dgFloat32 (1.0e20f);
	m_dpInv.m_z = (!m_isParallel[2]) ? (dgFloat32 (1.0f) / m_diff.m_z) : dgFloat32 (1.0e20f);
	m_dpInv.m_w = dgFloat32 (0.0f);
	m_dpBaseInv = m_dpInv;

	m_ray_xxxx = simd_128(m_diff.m_x);
	m_ray_yyyy = simd_128(m_diff.m_y);
	m_ray_zzzz = simd_128(m_diff.m_z);
	m_dirError = -dgFloat32 (0.0175f) * dgSqrt (m_diff % m_diff);

//	tollerance = simd_set (DG_RAY_TOL_ERROR, DG_RAY_TOL_ERROR, DG_RAY_TOL_ERROR, DG_RAY_TOL_ERROR);
//	m_tolerance = dgVector (DG_RAY_TOL_ERROR, DG_RAY_TOL_ERROR, DG_RAY_TOL_ERROR, dgFloat32 (0.0f));

}
开发者ID:Naddiseo，项目名称:Newton-Dynamics-fork，代码行数:28，代码来源:dgIntersections.cpp


示例7: dgAssert

dgVector dgCollisionTaperedCylinder::ConvexConicSupporVertex (const dgVector& dir) const
{
	dgAssert (dgAbsf ((dir % dir - dgFloat32 (1.0f))) < dgFloat32 (1.0e-3f));

	dgFloat32 height = (m_height > DG_TAPED_CYLINDER_SKIN_PADDING) ? m_height - DG_TAPED_CYLINDER_SKIN_PADDING : m_height;
	dgFloat32 radio0 = (m_radio0 > DG_TAPED_CYLINDER_SKIN_PADDING) ? m_radio0 - DG_TAPED_CYLINDER_SKIN_PADDING : m_radio0;
	dgFloat32 radio1 = (m_radio1 > DG_TAPED_CYLINDER_SKIN_PADDING) ? m_radio1 - DG_TAPED_CYLINDER_SKIN_PADDING : m_radio1;

	dgAssert (dgAbsf ((dir % dir - dgFloat32 (1.0f))) < dgFloat32 (1.0e-3f));
	dgFloat32 y0 = radio0;
	dgFloat32 z0 = dgFloat32 (0.0f);
	dgFloat32 y1 = radio1;
	dgFloat32 z1 = dgFloat32 (0.0f);
	dgFloat32 mag2 = dir.m_y * dir.m_y + dir.m_z * dir.m_z;
	if (mag2 > dgFloat32 (1.0e-12f)) {
		mag2 = dgRsqrt(mag2);
		y0 = dir.m_y * radio0 * mag2;
		z0 = dir.m_z * radio0 * mag2;
		y1 = dir.m_y * radio1 * mag2;
		z1 = dir.m_z * radio1 * mag2;
	}
	dgVector p0 ( height, y0, z0, dgFloat32 (0.0f));
	dgVector p1 (-height, y1, z1, dgFloat32 (0.0f));

	dgFloat32 dist0 = dir % p0;
	dgFloat32 dist1 = dir % p1;
	if (dist1 >= dist0) {
		p0 = p1;
	}
	return p0;
}
开发者ID:famorcia，项目名称:newton-dynamics，代码行数:31，代码来源:dgCollisionTaperedCylinder.cpp


示例8: angle

dgUnsigned32 dgHingeConstraint::JacobianDerivative (dgContraintDescritor& params)
{
	dgMatrix matrix0;
	dgMatrix matrix1;
	dgVector angle (CalculateGlobalMatrixAndAngle (matrix0, matrix1));

	m_angle = -angle.m_x;

	dgAssert (dgAbsf (1.0f - (matrix0.m_front % matrix0.m_front)) < dgFloat32 (1.0e-5f)); 
	dgAssert (dgAbsf (1.0f - (matrix0.m_up % matrix0.m_up)) < dgFloat32 (1.0e-5f)); 
	dgAssert (dgAbsf (1.0f - (matrix0.m_right % matrix0.m_right)) < dgFloat32 (1.0e-5f)); 

	const dgVector& dir0 = matrix0.m_front;
	const dgVector& dir1 = matrix0.m_up;
	const dgVector& dir2 = matrix0.m_right;

	const dgVector& p0 = matrix0.m_posit;
	const dgVector& p1 = matrix1.m_posit;
	dgVector q0 (p0 + matrix0.m_front.Scale3(MIN_JOINT_PIN_LENGTH));
	dgVector q1 (p1 + matrix1.m_front.Scale3(MIN_JOINT_PIN_LENGTH));

//	dgAssert (((p1 - p0) % (p1 - p0)) < 1.0e-2f);

	dgPointParam pointDataP;
	dgPointParam pointDataQ;
	InitPointParam (pointDataP, m_stiffness, p0, p1);
	InitPointParam (pointDataQ, m_stiffness, q0, q1);

	CalculatePointDerivative (0, params, dir0, pointDataP, &m_jointForce[0]); 
	CalculatePointDerivative (1, params, dir1, pointDataP, &m_jointForce[1]); 
	CalculatePointDerivative (2, params, dir2, pointDataP, &m_jointForce[2]); 
	CalculatePointDerivative (3, params, dir1, pointDataQ, &m_jointForce[3]); 
	CalculatePointDerivative (4, params, dir2, pointDataQ, &m_jointForce[4]); 

	dgInt32 ret = 5;
	if (m_jointAccelFnt) {
		dgJointCallbackParam axisParam;
		axisParam.m_accel = dgFloat32 (0.0f);
		axisParam.m_timestep = params.m_timestep;
		axisParam.m_minFriction = DG_MIN_BOUND;
		axisParam.m_maxFriction = DG_MAX_BOUND;

		if (m_jointAccelFnt (*this, &axisParam)) {
			if ((axisParam.m_minFriction > DG_MIN_BOUND) || (axisParam.m_maxFriction < DG_MAX_BOUND)) {
				params.m_forceBounds[5].m_low = axisParam.m_minFriction;
				params.m_forceBounds[5].m_upper = axisParam.m_maxFriction;
				params.m_forceBounds[5].m_normalIndex = DG_BILATERAL_FRICTION_CONSTRAINT;
			}

			CalculateAngularDerivative (5, params, dir0, m_stiffness, dgFloat32 (0.0f), &m_jointForce[5]);
//			params.m_jointAccel[5] = axisParam.m_accel;
			SetMotorAcceleration (5, axisParam.m_accel, params);
			ret = 6;
		}
	}

	return dgUnsigned32 (ret);
}
开发者ID:Hurleyworks，项目名称:MiniNewton，代码行数:58，代码来源:dgHingeConstraint.cpp


示例9: dgSqrt

dgQuaternion::dgQuaternion (const dgMatrix& matrix)
{
	enum QUAT_INDEX
	{
		X_INDEX=0,
		Y_INDEX=1,
		Z_INDEX=2
	};
	static QUAT_INDEX QIndex [] = {Y_INDEX, Z_INDEX, X_INDEX};

	dgFloat32 trace = matrix[0][0] + matrix[1][1] + matrix[2][2];
	if (trace > dgFloat32(0.0f)) {
		trace = dgSqrt (trace + dgFloat32(1.0f));
		m_q0 = dgFloat32 (0.5f) * trace;
		trace = dgFloat32 (0.5f) / trace;
		m_q1 = (matrix[1][2] - matrix[2][1]) * trace;
		m_q2 = (matrix[2][0] - matrix[0][2]) * trace;
		m_q3 = (matrix[0][1] - matrix[1][0]) * trace;

	} else {
		QUAT_INDEX i = X_INDEX;
		if (matrix[Y_INDEX][Y_INDEX] > matrix[X_INDEX][X_INDEX]) {
			i = Y_INDEX;
		}
		if (matrix[Z_INDEX][Z_INDEX] > matrix[i][i]) {
			i = Z_INDEX;
		}
		QUAT_INDEX j = QIndex [i];
		QUAT_INDEX k = QIndex [j];

		trace = dgFloat32(1.0f) + matrix[i][i] - matrix[j][j] - matrix[k][k];
		trace = dgSqrt (trace);

		dgFloat32* const ptr = &m_q1;
		ptr[i] = dgFloat32 (0.5f) * trace;
		trace  = dgFloat32 (0.5f) / trace;
		m_q0   = (matrix[j][k] - matrix[k][j]) * trace;
		ptr[j] = (matrix[i][j] + matrix[j][i]) * trace;
		ptr[k] = (matrix[i][k] + matrix[k][i]) * trace;
	}

#ifdef _DEBUG
	dgMatrix tmp (*this, matrix.m_posit);
	dgMatrix unitMatrix (tmp * matrix.Inverse());
	for (dgInt32 i = 0; i < 4; i ++) {
		dgFloat32 err = dgAbsf (unitMatrix[i][i] - dgFloat32(1.0f));
		dgAssert (err < dgFloat32 (1.0e-2f));
	}

	dgFloat32 err = dgAbsf (DotProduct(*this) - dgFloat32(1.0f));
	dgAssert (err < dgFloat32(dgEPSILON * 100.0f));
#endif
}
开发者ID:Hurleyworks，项目名称:MiniNewton，代码行数:53，代码来源:dgQuaternion.cpp


示例10: dgAbsf

dgInt32 dgCollisionBox::CalculateSignature (dgFloat32 dx, dgFloat32 dy, dgFloat32 dz)
{
	dgUnsigned32 buffer[4];

	dx = dgAbsf (dx);
	dy = dgAbsf (dy);
	dz = dgAbsf (dz);
	buffer[0] = m_boxCollision;
	buffer[1] = Quantize (dx * dgFloat32 (0.5f));
	buffer[2] = Quantize (dy * dgFloat32 (0.5f));
	buffer[3] = Quantize (dz * dgFloat32 (0.5f));
	return Quantize(buffer, sizeof (buffer));
}
开发者ID:LaKraven，项目名称:newton-dynamics，代码行数:13，代码来源:dgCollisionBox.cpp


示例11: dgAssert

dgVector dgCollisionChamferCylinder::SupportVertex (const dgVector& dir, dgInt32* const vertexIndex) const
{
	dgAssert (dgAbsf(dir % dir - dgFloat32 (1.0f)) < dgFloat32 (1.0e-3f));

	dgFloat32 x = dir.GetScalar();
	if (dgAbsf (x) > dgFloat32 (0.9999f)) {
		return dgVector ((x > dgFloat32 (0.0f)) ? m_height : - m_height, dgFloat32 (0.0f), dgFloat32 (0.0f), dgFloat32 (0.0f)); 
	}

	dgVector sideDir (m_yzMask & dir);
	sideDir = sideDir.CompProduct4(sideDir.InvMagSqrt());
	return sideDir.Scale4(m_radius) + dir.Scale4 (m_height);
}
开发者ID:Hurleyworks，项目名称:MiniNewton，代码行数:13，代码来源:dgCollisionChamferCylinder.cpp


示例12: dgRsqrt

dgInt32 dgCollisionCone::CalculatePlaneIntersection (const dgVector& normal, const dgVector& origin, dgVector* const contactsOut) const
{
	dgInt32 i;
	dgInt32 count;
	dgFloat32 y;
	dgFloat32 z;
	dgFloat32 cosAng;
	dgFloat32 sinAng;
	dgFloat32 magInv;

	if (dgAbsf (normal.m_x) < dgFloat32 (0.999f)) { 
//		magInv = dgRsqrt (normal.m_y * normal.m_y + normal.m_z * normal.m_z);
//		cosAng = normal.m_y * magInv;
//		sinAng = normal.m_z * magInv;
//		dgMatrix matrix (dgGetIdentityMatrix ());
//		matrix[1][1] = cosAng;
//		matrix[1][2] = sinAng;
//		matrix[2][1] = -sinAng;
//		matrix[2][2] = cosAng;
//		dgVector normal2 (matrix.UnrotateVector (normal));
//		dgVector origin2 (matrix.UnrotateVector (origin));
//		count = dgCollisionConvex::CalculatePlaneIntersection (normal1, origin1, contactsOut);
//		matrix.TransformTriplex (contactsOut, sizeof (dgVector), contactsOut, sizeof (dgVector), count); 

		magInv = dgRsqrt (normal.m_y * normal.m_y + normal.m_z * normal.m_z);
		cosAng = normal.m_y * magInv;
		sinAng = normal.m_z * magInv;
		_ASSERTE (dgAbsf (normal.m_z * cosAng - normal.m_y * sinAng) < dgFloat32 (1.0e-4f));
//		dgVector normal1 (normal.m_x, normal.m_y * cosAng + normal.m_z * sinAng, 
//									  normal.m_z * cosAng - normal.m_y * sinAng, dgFloat32 (0.0f));
		dgVector normal1 (normal.m_x, normal.m_y * cosAng + normal.m_z * sinAng, dgFloat32 (0.0f), dgFloat32 (0.0f));
		dgVector origin1 (origin.m_x, origin.m_y * cosAng + origin.m_z * sinAng, 
									  origin.m_z * cosAng - origin.m_y * sinAng, dgFloat32 (0.0f));
		count = dgCollisionConvex::CalculatePlaneIntersection (normal1, origin1, contactsOut);
		for (i = 0; i < count; i ++) {
			y = contactsOut[i].m_y;
			z = contactsOut[i].m_z;
			contactsOut[i].m_y = y * cosAng - z * sinAng; 
			contactsOut[i].m_z = z * cosAng + y * sinAng;
		}

	} else {
		count = dgCollisionConvex::CalculatePlaneIntersection (normal, origin, contactsOut);
	}

	return count;

}
开发者ID:mmozeiko，项目名称:Squares3D-Android，代码行数:48，代码来源:dgCollisionCone.cpp


示例13: dgAssert

dgVector dgCollisionCone::SupportVertexSpecial(const dgVector& dir, dgInt32* const vertexIndex) const
{
	dgAssert(dgAbsf((dir % dir - dgFloat32(1.0f))) < dgFloat32(1.0e-3f));

	if (dir.m_x < dgFloat32(-0.9999f)) {
		return dgVector(-(m_height - D_CONE_SKIN_THINCKNESS), dgFloat32(0.0f), dgFloat32(0.0f), dgFloat32(0.0f));
	} else if (dir.m_x > dgFloat32(0.9999f)) {
		return dgVector(m_height - D_CONE_SKIN_THINCKNESS, dgFloat32(0.0f), dgFloat32(0.0f), dgFloat32(0.0f));
	} else {
		dgVector dir_yz(dir);
		dir_yz.m_x = dgFloat32(0.0f);
		dgFloat32 mag2 = dir_yz.DotProduct4(dir_yz).GetScalar();
		dgAssert(mag2 > dgFloat32(0.0f));
		dir_yz = dir_yz.Scale4(dgFloat32(1.0f) / dgSqrt(mag2));

		dgVector p0(dir_yz.Scale4(m_radius - D_CONE_SKIN_THINCKNESS));
		dgVector p1(dgVector::m_zero);

		p0.m_x = -(m_height - D_CONE_SKIN_THINCKNESS);
		p1.m_x =   m_height - D_CONE_SKIN_THINCKNESS;

		dgFloat32 dist0 = dir.DotProduct4(p0).GetScalar();
		dgFloat32 dist1 = dir.DotProduct4(p1).GetScalar();

		if (dist1 >= dist0) {
			p0 = p1;
		}
		return p0;
	}
}
开发者ID:Hurleyworks，项目名称:MiniNewton，代码行数:30，代码来源:dgCollisionCone.cpp


示例14: CalculatePlaneIntersectionSimd

dgInt32 dgCollisionCone::CalculatePlaneIntersectionSimd (const dgVector& normal, const dgVector& origin, dgVector* const contactsOut) const
{
	dgInt32 count;
	if (dgAbsf (normal.m_x) < dgFloat32 (0.999f)) { 
		simd_128 normalYZ ((simd_128&) normal & simd_128 (0, -1, -1, 0));
		normalYZ = normalYZ * normalYZ.DotProduct(normalYZ).InvSqrt();

		dgVector sincos (normalYZ);
		dgVector normal1 (normal.m_x, normal.m_y * sincos.m_y + normal.m_z * sincos.m_z, dgFloat32 (0.0f), dgFloat32 (0.0f));
		dgVector origin1 (origin.m_x, origin.m_y * sincos.m_y + origin.m_z * sincos.m_z, 
									  origin.m_z * sincos.m_y - origin.m_y * sincos.m_z, dgFloat32 (0.0f));

		count = dgCollisionConvex::CalculatePlaneIntersectionSimd (normal1, origin1, contactsOut);
		for (dgInt32 i = 0; i < count; i ++) {
			dgFloat32 y = contactsOut[i].m_y;
			dgFloat32 z = contactsOut[i].m_z;
			contactsOut[i].m_y = y * sincos.m_y - z * normal.m_z; 
			contactsOut[i].m_z = z * sincos.m_y + y * normal.m_z;
		}

	} else {
		count = dgCollisionConvex::CalculatePlaneIntersectionSimd (normal, origin, contactsOut);
	}

	return count;
}
开发者ID:Naddiseo，项目名称:Newton-Dynamics-fork，代码行数:26，代码来源:dgCollisionCone.cpp


示例15: AspectRatio

	static dgFloat32 AspectRatio (dgFloat32 x, dgFloat32 y)
	{
		dgFloat32 tmp;
		x = dgAbsf (x);
		y = dgAbsf (y);

		if (y < x) {
			tmp = y;
			y = x;
			x = tmp;
		}
		if (y < 1.0e-12)	{
			y = 1.0e-12f;
		}
		return x / y;
	}
开发者ID:ColinGilbert，项目名称:noobEngine，代码行数:16，代码来源:dgObb.cpp


示例16: HACD_ASSERT

dgMatrix::dgMatrix (const dgQuaternion &rotation, const dgVector &position)
{
	hacd::HaF32 x2 = hacd::HaF32 (2.0f) * rotation.m_q1 * rotation.m_q1;
	hacd::HaF32 y2 = hacd::HaF32 (2.0f) * rotation.m_q2 * rotation.m_q2;
	hacd::HaF32 z2 = hacd::HaF32 (2.0f) * rotation.m_q3 * rotation.m_q3;

#ifdef _DEBUG
	hacd::HaF32 w2 = hacd::HaF32 (2.0f) * rotation.m_q0 * rotation.m_q0;
	HACD_ASSERT (dgAbsf (w2 + x2 + y2 + z2 - hacd::HaF32(2.0f)) <hacd::HaF32 (1.0e-3f));
#endif

	hacd::HaF32 xy = hacd::HaF32 (2.0f) * rotation.m_q1 * rotation.m_q2;
	hacd::HaF32 xz = hacd::HaF32 (2.0f) * rotation.m_q1 * rotation.m_q3;
	hacd::HaF32 xw = hacd::HaF32 (2.0f) * rotation.m_q1 * rotation.m_q0;
	hacd::HaF32 yz = hacd::HaF32 (2.0f) * rotation.m_q2 * rotation.m_q3;
	hacd::HaF32 yw = hacd::HaF32 (2.0f) * rotation.m_q2 * rotation.m_q0;
	hacd::HaF32 zw = hacd::HaF32 (2.0f) * rotation.m_q3 * rotation.m_q0;

	m_front = dgVector (hacd::HaF32(1.0f) - y2 - z2, xy + zw,                   xz - yw				    , hacd::HaF32(0.0f));
	m_up    = dgVector (xy - zw,                   hacd::HaF32(1.0f) - x2 - z2, yz + xw					, hacd::HaF32(0.0f));
	m_right = dgVector (xz + yw,                   yz - xw,                   hacd::HaF32(1.0f) - x2 - y2 , hacd::HaF32(0.0f));


	m_posit.m_x = position.m_x;
	m_posit.m_y = position.m_y;
	m_posit.m_z = position.m_z;
	m_posit.m_w = hacd::HaF32(1.0f);
}
开发者ID:qimiaokeju11，项目名称:testhacd，代码行数:28，代码来源:dgMatrix.cpp


示例17: dgAsin

dgVector dgMatrix::CalcPitchYawRoll () const
{
	const hacd::HaF32 minSin = hacd::HaF32(0.99995f);

	const dgMatrix& matrix = *this;

	hacd::HaF32 roll = hacd::HaF32(0.0f);
	hacd::HaF32 pitch  = hacd::HaF32(0.0f);
	hacd::HaF32 yaw = dgAsin (-ClampValue (matrix[0][2], hacd::HaF32(-0.999999f), hacd::HaF32(0.999999f)));

	HACD_ASSERT (dgCheckFloat (yaw));
	if (matrix[0][2] < minSin) {
		if (matrix[0][2] > (-minSin)) {
			roll = dgAtan2 (matrix[0][1], matrix[0][0]);
			pitch = dgAtan2 (matrix[1][2], matrix[2][2]);
		} else {
			pitch = dgAtan2 (matrix[1][0], matrix[1][1]);
		}
	} else {
		pitch = -dgAtan2 (matrix[1][0], matrix[1][1]);
	}

#ifdef _DEBUG
	dgMatrix m (dgPitchMatrix (pitch) * dgYawMatrix(yaw) * dgRollMatrix(roll));
	for (hacd::HaI32 i = 0; i < 3; i ++) {
		for (hacd::HaI32 j = 0; j < 3; j ++) {
			hacd::HaF32 error = dgAbsf (m[i][j] - matrix[i][j]);
			HACD_ASSERT (error < 5.0e-2f);
		}
	}
#endif

	return dgVector (pitch, yaw, roll, hacd::HaF32(0.0f));
}
开发者ID:qimiaokeju11，项目名称:testhacd，代码行数:34，代码来源:dgMatrix.cpp


示例18: dgAssert

dgVector dgCollisionChamferCylinder::ConvexConicSupporVertex (const dgVector& dir) const
{
	dgAssert (dgAbsf(dir % dir - dgFloat32 (1.0f)) < dgFloat32 (1.0e-3f));

	dgFloat32 x = dir.GetScalar();
	//if (dgAbsf (dir.m_x) > dgFloat32 (0.99995f)) {
	if (dgAbsf (x) > dgFloat32 (0.99995f)) {
		return dgVector (dgFloat32 (0.0f), m_radius, dgFloat32 (0.0f), dgFloat32 (0.0f)); 
	}

	//dgVector sideDir (dgFloat32 (0.0f), dir.m_y, dir.m_z, dgFloat32 (0.0f));
	dgVector sideDir (m_yzMask & dir);
	dgAssert ((sideDir % sideDir) > dgFloat32 (0.0f));
	//return sideDir.Scale3 (m_radius * dgRsqrt (sideDir % sideDir));
	return sideDir.CompProduct4(sideDir.InvMagSqrt()).Scale4(m_radius);
}
开发者ID:alexsaen，项目名称:newton-dynamics，代码行数:16，代码来源:dgCollisionChamferCylinder.cpp


示例19: _ASSERTE

dgVector dgCollisionChamferCylinder::SupportVertex (const dgVector& dir) const
{
	_ASSERTE (dgAbsf(dir % dir - dgFloat32 (1.0f)) < dgFloat32 (1.0e-3f));

	if (dgAbsf (dir.m_x) > dgFloat32 (0.9998f)) {
		dgFloat32 x0;
		x0 = (dir.m_x >= dgFloat32 (0.0f)) ? m_height : -m_height;
		return dgVector (x0, dgFloat32 (0.0f), m_radius, dgFloat32 (0.0f)); 
	}

	_ASSERTE (dgAbsf(dir % dir - dgFloat32 (1.0f)) < dgFloat32 (1.0e-3f));

	dgVector sideDir (dgFloat32 (0.0f), dir.m_y, dir.m_z, dgFloat32 (0.0f));
	sideDir = sideDir.Scale (m_radius * dgRsqrt (sideDir % sideDir + dgFloat32 (1.0e-18f)));
	return sideDir + dir.Scale (m_height);
}
开发者ID:Naddiseo，项目名称:Newton-Dynamics-fork，代码行数:16，代码来源:dgCollisionChamferCylinder.cpp


示例20: dgAssert

dgVector dgCollisionCylinder::SupportVertex (const dgVector& dir, dgInt32* const vertexIndex) const
{
	dgAssert (dgAbsf ((dir % dir - dgFloat32 (1.0f))) < dgFloat32 (1.0e-3f));

	if (dir.m_x < dgFloat32(-0.9999f)) {
		return dgVector(-m_height, dgFloat32(0.0f), dgFloat32(0.0f), dgFloat32(0.0f));
	} else if (dir.m_x > dgFloat32(0.9999f)) {
		return dgVector(m_height, dgFloat32(0.0f), dgFloat32(0.0f), dgFloat32(0.0f));
	} else {
		dgVector dir_yz (dir);
		dir_yz.m_x = dgFloat32 (0.0f);
		dgFloat32 mag2 = dir_yz.DotProduct4(dir_yz).GetScalar();
		dgAssert (mag2 > dgFloat32 (0.0f));
		dir_yz = dir_yz.Scale4 (dgFloat32 (1.0f) / dgSqrt (mag2));
		dgVector p0 (dir_yz.Scale4 (m_radio0));
		dgVector p1 (dir_yz.Scale4 (m_radio1));

		p0.m_x = -m_height;
		p1.m_x =  m_height;

		dgFloat32 dist0 = dir.DotProduct4(p0).GetScalar();
		dgFloat32 dist1 = dir.DotProduct4(p1).GetScalar();

		if (dist1 >= dist0) {
			p0 = p1;
		}
		return p0;
	}
}
开发者ID:Hurleyworks，项目名称:MiniNewton，代码行数:29，代码来源:dgCollisionCylinder.cpp



注：本文中的dgAbsf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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