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C++ dgVector类代码示例

原作者: [db:作者] 来自: [db:来源] 收藏 邀请

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



在下文中一共展示了dgVector类的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: SupportVertex

dgVector dgCollisionSphere::SupportVertex (const dgVector& dir, dgInt32* const vertexIndex) const
{
	dgAssert (dir.m_w == dgFloat32 (0.0f));
	dgAssert (dgAbs(dir.DotProduct(dir).GetScalar() - dgFloat32 (1.0f)) < dgFloat32 (1.0e-3f));
	dgAssert (dir.m_w == 0.0f);
	return dir.Scale (m_radius);
}
开发者ID:MADEAPPS，项目名称:newton-dynamics，代码行数:7，代码来源:dgCollisionSphere.cpp


示例2: dgAssert

void dgCollisionSphere::TesselateTriangle (dgInt32 level, const dgVector& p0, const dgVector& p1, const dgVector& p2, dgInt32& count, dgVector* const ouput) const
{
	if (level) {
		dgAssert (dgAbs (p0.DotProduct(p0).GetScalar() - dgFloat32 (1.0f)) < dgFloat32 (1.0e-4f));
		dgAssert (dgAbs (p1.DotProduct(p1).GetScalar() - dgFloat32 (1.0f)) < dgFloat32 (1.0e-4f));
		dgAssert (dgAbs (p2.DotProduct(p2).GetScalar() - dgFloat32 (1.0f)) < dgFloat32 (1.0e-4f));
		dgVector p01 (p0 + p1);
		dgVector p12 (p1 + p2);
		dgVector p20 (p2 + p0);

		//p01 = p01 * p01.InvMagSqrt();
		//p12 = p12 * p12.InvMagSqrt();
		//p20 = p20 * p20.InvMagSqrt();

		p01 = p01.Normalize();
		p12 = p12.Normalize();
		p20 = p20.Normalize();

		dgAssert (dgAbs (p01.DotProduct(p01).GetScalar() - dgFloat32 (1.0f)) < dgFloat32 (1.0e-4f));
		dgAssert (dgAbs (p12.DotProduct(p12).GetScalar() - dgFloat32 (1.0f)) < dgFloat32 (1.0e-4f));
		dgAssert (dgAbs (p20.DotProduct(p20).GetScalar() - dgFloat32 (1.0f)) < dgFloat32 (1.0e-4f));

		TesselateTriangle (level - 1, p0,  p01, p20, count, ouput);
		TesselateTriangle (level - 1, p1,  p12, p01, count, ouput);
		TesselateTriangle (level - 1, p2,  p20, p12, count, ouput);
		TesselateTriangle (level - 1, p01, p12, p20, count, ouput);

	} else {
		ouput[count ++] = p0;
		ouput[count ++] = p1;
		ouput[count ++] = p2;
	}
}
开发者ID:MADEAPPS，项目名称:newton-dynamics，代码行数:33，代码来源:dgCollisionSphere.cpp


示例3: dgAssert

void dgConvexHull4d::TessellateTriangle (dgInt32 level, const dgVector& p0, const dgVector& p1, const dgVector& p2, dgInt32& count, dgBigVector* const ouput, dgInt32& start) const
{
	if (level) {
		dgAssert (dgAbsf (p0.DotProduct3(p0) - dgFloat32 (1.0f)) < dgFloat32 (1.0e-4f));
		dgAssert (dgAbsf (p1.DotProduct3(p1) - dgFloat32 (1.0f)) < dgFloat32 (1.0e-4f));
		dgAssert (dgAbsf (p2.DotProduct3(p2) - dgFloat32 (1.0f)) < dgFloat32 (1.0e-4f));
		dgVector p01 (p0 + p1);
		dgVector p12 (p1 + p2);
		dgVector p20 (p2 + p0);

		p01 = p01.Scale3 (dgRsqrt(p01.DotProduct3(p01)));
		p12 = p12.Scale3 (dgRsqrt(p12.DotProduct3(p12)));
		p20 = p20.Scale3 (dgRsqrt(p20.DotProduct3(p20)));

		dgAssert (dgAbsf (p01.DotProduct3(p01) - dgFloat32 (1.0f)) < dgFloat32 (1.0e-4f));
		dgAssert (dgAbsf (p12.DotProduct3(p12) - dgFloat32 (1.0f)) < dgFloat32 (1.0e-4f));
		dgAssert (dgAbsf (p20.DotProduct3(p20) - dgFloat32 (1.0f)) < dgFloat32 (1.0e-4f));

		TessellateTriangle  (level - 1, p0,  p01, p20, count, ouput, start);
		TessellateTriangle  (level - 1, p1,  p12, p01, count, ouput, start);
		TessellateTriangle  (level - 1, p2,  p20, p12, count, ouput, start);
		TessellateTriangle  (level - 1, p01, p12, p20, count, ouput, start);

	} else {
		dgBigPlane n (p0, p1, p2);
		n = n.Scale (dgFloat64(1.0f) / sqrt (n.DotProduct3(n)));
		n.m_w = dgFloat64(0.0f);
		ouput[start] = n;
		start += 8;
		count ++;
	}
}
开发者ID:LaKraven，项目名称:newton-dynamics，代码行数:32，代码来源:dgConvexHull4d.cpp


示例4: dgAssert

void dgCollisionTaperedCapsule::TesselateTriangle (dgInt32 level, const dgVector& p0, const dgVector& p1, const dgVector& p2, dgInt32& count, dgVector* ouput) const
{
	if (level) {
		dgAssert (dgAbsf (p0 % p0 - dgFloat32 (1.0f)) < dgFloat32 (1.0e-4f));
		dgAssert (dgAbsf (p1 % p1 - dgFloat32 (1.0f)) < dgFloat32 (1.0e-4f));
		dgAssert (dgAbsf (p2 % p2 - dgFloat32 (1.0f)) < dgFloat32 (1.0e-4f));
		dgVector p01 (p0 + p1);
		dgVector p12 (p1 + p2);
		dgVector p20 (p2 + p0);

		p01 = p01.Scale3 (dgRsqrt(p01 % p01));
		p12 = p12.Scale3 (dgRsqrt(p12 % p12));
		p20 = p20.Scale3 (dgRsqrt(p20 % p20));

		dgAssert (dgAbsf (p01 % p01 - dgFloat32 (1.0f)) < dgFloat32 (1.0e-4f));
		dgAssert (dgAbsf (p12 % p12 - dgFloat32 (1.0f)) < dgFloat32 (1.0e-4f));
		dgAssert (dgAbsf (p20 % p20 - dgFloat32 (1.0f)) < dgFloat32 (1.0e-4f));

		TesselateTriangle (level - 1, p0,  p01, p20, count, ouput);
		TesselateTriangle (level - 1, p1,  p12, p01, count, ouput);
		TesselateTriangle (level - 1, p2,  p20, p12, count, ouput);
		TesselateTriangle (level - 1, p01, p12, p20, count, ouput);

	} else {
		ouput[count + 0] = p0.Scale3 (m_radio0);
		ouput[count + 1] = p1.Scale3 (m_radio0);
		ouput[count + 2] = p2.Scale3 (m_radio0);
		count += 3;
	}
}
开发者ID:famorcia，项目名称:newton-dynamics，代码行数:30，代码来源:dgCollisionTaperedCapsule.cpp


示例5: CalculatePlaneIntersection

dgInt32 dgCollisionSphere::CalculatePlaneIntersection (const dgVector& normal, const dgVector& point, dgVector* const contactsOut) const
{
	dgAssert (normal.m_w == 0.0f);
	dgAssert (normal.DotProduct(normal).GetScalar() > dgFloat32 (0.999f));
	contactsOut[0] = normal * normal.DotProduct(point);
	return 1;
}
开发者ID:MADEAPPS，项目名称:newton-dynamics，代码行数:7，代码来源:dgCollisionSphere.cpp


示例6: dtHalf

dgJacobian dgDynamicBody::IntegrateForceAndToque(const dgVector& force, const dgVector& torque, const dgVector& timestep)
{
	dgJacobian velocStep;
	if (m_gyroTorqueOn) {
		dgVector dtHalf(timestep * dgVector::m_half);
		dgMatrix matrix(m_gyroRotation, dgVector::m_wOne);

		dgVector localOmega(matrix.UnrotateVector(m_omega));
		dgVector localTorque(matrix.UnrotateVector(torque - m_gyroTorque));

		// derivative at half time step. (similar to midpoint Euler so that it does not loses too much energy)
		dgVector dw(localOmega * dtHalf);
		dgMatrix jacobianMatrix(
			dgVector(m_mass[0], (m_mass[2] - m_mass[1]) * dw[2], (m_mass[2] - m_mass[1]) * dw[1], dgFloat32(0.0f)),
			dgVector((m_mass[0] - m_mass[2]) * dw[2], m_mass[1], (m_mass[0] - m_mass[2]) * dw[0], dgFloat32(1.0f)),
			dgVector((m_mass[1] - m_mass[0]) * dw[1], (m_mass[1] - m_mass[0]) * dw[0], m_mass[2], dgFloat32(1.0f)),
			dgVector::m_wOne);

		// and solving for alpha we get the angular acceleration at t + dt
		// calculate gradient at a full time step
		//dgVector gradientStep(localTorque * timestep);
		dgVector gradientStep(jacobianMatrix.SolveByGaussianElimination(localTorque * timestep));

		dgVector omega(matrix.RotateVector(localOmega + gradientStep));
		dgAssert(omega.m_w == dgFloat32(0.0f));

		// integrate rotation here
		dgFloat32 omegaMag2 = omega.DotProduct(omega).GetScalar() + dgFloat32(1.0e-12f);
		dgFloat32 invOmegaMag = dgRsqrt(omegaMag2);
		dgVector omegaAxis(omega.Scale(invOmegaMag));
		dgFloat32 omegaAngle = invOmegaMag * omegaMag2 * timestep.GetScalar();
		dgQuaternion deltaRotation(omegaAxis, omegaAngle);
		m_gyroRotation = m_gyroRotation * deltaRotation;
		dgAssert((m_gyroRotation.DotProduct(m_gyroRotation) - dgFloat32(1.0f)) < dgFloat32(1.0e-5f));

		matrix = dgMatrix(m_gyroRotation, dgVector::m_wOne);
		localOmega = matrix.UnrotateVector(omega);
		//dgVector angularMomentum(inertia * localOmega);
		//body->m_gyroTorque = matrix.RotateVector(localOmega.CrossProduct(angularMomentum));
		//body->m_gyroAlpha = body->m_invWorldInertiaMatrix.RotateVector(body->m_gyroTorque);
		dgVector localGyroTorque(localOmega.CrossProduct(m_mass * localOmega));
		m_gyroTorque = matrix.RotateVector(localGyroTorque);
		m_gyroAlpha = matrix.RotateVector(localGyroTorque * m_invMass);

		velocStep.m_angular = matrix.RotateVector(gradientStep);
	} else {
		velocStep.m_angular = m_invWorldInertiaMatrix.RotateVector(torque) * timestep;
		//velocStep.m_angular = velocStep.m_angular * dgVector::m_half;
	}

	velocStep.m_linear = force.Scale(m_invMass.m_w) * timestep;
	return velocStep;
}
开发者ID:MADEAPPS，项目名称:newton-dynamics，代码行数:53，代码来源:dgDynamicBody.cpp


示例7: 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8: dgAssert

dgVector dgCollisionChamferCylinder::SupportVertexSpecial (const dgVector& dir, dgFloat32 skinThickness, dgInt32* const vertexIndex) const
{
	dgAssert (dir.m_w == dgFloat32 (0.0f));
	dgAssert (dgAbs(dir.DotProduct(dir).GetScalar() - dgFloat32 (1.0f)) < dgFloat32 (1.0e-3f));

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

	dgVector sideDir (m_yzMask & dir);
	dgAssert (sideDir.DotProduct(sideDir).GetScalar() > dgFloat32 (0.0f));
	return sideDir.Normalize().Scale(m_radius);
}
开发者ID:AntonSynytsia，项目名称:MSPhysics，代码行数:14，代码来源:dgCollisionChamferCylinder.cpp


示例9: dgTrace

dgIntersectStatus dgCollisionBVH::GetPolygon (void* const context, const dgFloat32* const polygon, dgInt32 strideInBytes, const dgInt32* const indexArray, dgInt32 indexCount, dgFloat32 hitDistance)
{
	dgPolygonMeshDesc& data = (*(dgPolygonMeshDesc*) context);
	if (data.m_faceCount >= DG_MAX_COLLIDING_FACES) {
		dgTrace (("buffer Over float, try using a lower resolution mesh for collision\n"));
		return t_StopSearh;
	}
	if ((data.m_globalIndexCount + indexCount * 2 + 3) >= DG_MAX_COLLIDING_INDICES) {
		dgTrace (("buffer Over float, try using a lower resolution mesh for collision\n"));
		return t_StopSearh;
	}

	if (data.m_me->GetDebugCollisionCallback()) { 
		dgTriplex triplex[128];
		dgInt32 stride = dgInt32 (strideInBytes / sizeof (dgFloat32));
		const dgVector scale = data.m_polySoupInstance->GetScale();
		dgMatrix matrix (data.m_polySoupInstance->GetLocalMatrix() * data.m_polySoupBody->GetMatrix());
		for (dgInt32 i = 0; i < indexCount; i ++ ) {
			//dgVector p (&polygon[indexArray[i] * stride]);
			//p = matrix.TransformVector(scale.CompProduct4(p));
			dgVector p (matrix.TransformVector(scale.CompProduct4(dgVector(&polygon[indexArray[i] * stride])))); 
			triplex[i].m_x = p.m_x;
			triplex[i].m_y = p.m_y;
			triplex[i].m_z = p.m_z;
		}
		if (data.m_polySoupBody) {
			data.m_me->GetDebugCollisionCallback() (data.m_polySoupBody, data.m_objBody, indexArray[indexCount], indexCount, &triplex[0].m_x, sizeof (dgTriplex));
		}
	}

	dgAssert (data.m_vertex == polygon);
	dgInt32 count = indexCount * 2 + 3;

	data.m_faceIndexCount[data.m_faceCount] = indexCount;
//	data.m_faceIndexStart[data.m_faceCount] = data.m_faceCount ? (data.m_faceIndexStart[data.m_faceCount - 1] + data.m_faceIndexCount[data.m_faceCount - 1]) : 0;
	data.m_faceIndexStart[data.m_faceCount] = data.m_globalIndexCount;
	data.m_hitDistance[data.m_faceCount] = hitDistance;
	data.m_faceCount ++;
	dgInt32* const dst = &data.m_faceVertexIndex[data.m_globalIndexCount];

	//the docks say memcpy is an intrinsic function but as usual this is another Microsoft lied
	//memcpy (dst, indexArray, sizeof (dgInt32) * count);
	for (dgInt32 i = 0; i < count; i ++) {
		dst[i] = indexArray[i];
	}
	
	data.m_globalIndexCount += count;
	
	return t_ContinueSearh;
}
开发者ID:Hurleyworks，项目名称:MiniNewton，代码行数:50，代码来源:dgCollisionBVH.cpp


示例10: SetPivotAndPinDir

void dgBilateralConstraint::SetPivotAndPinDir (const dgVector& pivot, const dgVector& pinDirection0, const dgVector& pinDirection1)
{
	dgAssert (m_body0);
	dgAssert (m_body1);

	const dgMatrix& body0_Matrix = m_body0->GetMatrix();

	
	dgAssert ((pinDirection0 % pinDirection0) > dgFloat32 (0.0f));
	m_localMatrix0.m_front = pinDirection0.Scale3 (dgRsqrt (pinDirection0 % pinDirection0));
	m_localMatrix0.m_right = m_localMatrix0.m_front * pinDirection1;
	m_localMatrix0.m_right = m_localMatrix0.m_right.Scale3 (dgRsqrt (m_localMatrix0.m_right % m_localMatrix0.m_right));
	m_localMatrix0.m_up = m_localMatrix0.m_right * m_localMatrix0.m_front; 
	m_localMatrix0.m_posit = pivot;

	m_localMatrix0.m_front.m_w = dgFloat32 (0.0f);
	m_localMatrix0.m_up.m_w    = dgFloat32 (0.0f);
	m_localMatrix0.m_right.m_w = dgFloat32 (0.0f);
	m_localMatrix0.m_posit.m_w = dgFloat32 (1.0f);
	 
	const dgMatrix& body1_Matrix = m_body1->GetMatrix();

	m_localMatrix1 = m_localMatrix0 * body1_Matrix.Inverse(); 
	m_localMatrix0 = m_localMatrix0 * body0_Matrix.Inverse();

}
开发者ID:souxiaosou，项目名称:newton-dynamics，代码行数:26，代码来源:dgBilateralConstraint.cpp


示例11: 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


示例12: SetPivotAndPinDir

void dgBilateralConstraint::SetPivotAndPinDir (const dgVector& pivot, const dgVector& pinDirection0, const dgVector& pinDirection1)
{
	_ASSERTE (m_body0);
	_ASSERTE (m_body1);

	const dgMatrix& body0_Matrix = m_body0->GetMatrix();

	
	_ASSERTE ((pinDirection0 % pinDirection0) > dgFloat32 (0.0f));
	m_localMatrix0.m_front = pinDirection0.Scale (dgFloat32 (1.0f) / dgSqrt (pinDirection0 % pinDirection0));
	m_localMatrix0.m_right = m_localMatrix0.m_front * pinDirection1;
	m_localMatrix0.m_right = m_localMatrix0.m_right.Scale (dgFloat32 (1.0f) / dgSqrt (m_localMatrix0.m_right % m_localMatrix0.m_right));
	m_localMatrix0.m_up = m_localMatrix0.m_right * m_localMatrix0.m_front; 
	m_localMatrix0.m_posit = pivot;

	m_localMatrix0.m_front.m_w = dgFloat32 (0.0f);
	m_localMatrix0.m_up.m_w    = dgFloat32 (0.0f);
	m_localMatrix0.m_right.m_w = dgFloat32 (0.0f);
	m_localMatrix0.m_posit.m_w = dgFloat32 (1.0f);

	 
//	dgMatrix body1_Matrix (dgGetIdentityMatrix());
//	if (m_body1) {
//		body1_Matrix = m_body1->GetMatrix();
//	}
	const dgMatrix& body1_Matrix = m_body1->GetMatrix();

	m_localMatrix1 = m_localMatrix0 * body1_Matrix.Inverse(); 
	m_localMatrix0 = m_localMatrix0 * body0_Matrix.Inverse();

}
开发者ID:Naddiseo，项目名称:Newton-Dynamics-fork，代码行数:31，代码来源:dgBilateralConstraint.cpp


示例13: CalculateMatrixOffset

void dgBilateralConstraint::CalculateMatrixOffset (const dgVector& pivot, const dgVector& dir, dgMatrix& matrix0, dgMatrix& matrix1)
{
	dgFloat32 length; 
	_ASSERTE (m_body0);
	_ASSERTE (m_body1);

	const dgMatrix& body0_Matrix = m_body0->GetMatrix();

	length = dir % dir;
	length = dgSqrt (length);
	_ASSERTE (length > dgFloat32 (0.0f));
//	matrix0.m_front = body0_Matrix.UnrotateVector (dir.Scale (dgFloat32 (1.0f) / length));
//	Create__Basis (matrix0.m_front, matrix0.m_up, matrix0.m_right);
	matrix0 = dgMatrix (body0_Matrix.UnrotateVector (dir.Scale (dgFloat32 (1.0f) / length)));
	matrix0.m_posit = body0_Matrix.UntransformVector (pivot);

	matrix0.m_front.m_w = dgFloat32 (0.0f);
	matrix0.m_up.m_w    = dgFloat32 (0.0f);
	matrix0.m_right.m_w = dgFloat32 (0.0f);
	matrix0.m_posit.m_w = dgFloat32 (1.0f);

 
//	dgMatrix body1_Matrix (dgGetIdentityMatrix());
//	if (m_body1) {
//		body1_Matrix = m_body1->GetMatrix();
//	}
	const dgMatrix& body1_Matrix = m_body1->GetMatrix();

	matrix1 = matrix0 * body0_Matrix * body1_Matrix.Inverse(); 

}
开发者ID:Naddiseo，项目名称:Newton-Dynamics-fork，代码行数:31，代码来源:dgBilateralConstraint.cpp


示例14: r

dgInt32 dgCollisionTaperedCapsule::CalculateSphereConicContacts (dgFloat32 posit, dgFloat32 radius, const dgVector& normal, const dgVector& point, dgVector* const contact) const
{
	dgVector r (posit, dgFloat32 (0.0f), dgFloat32 (0.0f), dgFloat32 (0.0f));
	dgFloat32 t = normal % (r - point);
	contact[0] = r - normal.Scale3 (t);
	return 1;
}
开发者ID:famorcia，项目名称:newton-dynamics，代码行数:7，代码来源:dgCollisionTaperedCapsule.cpp


示例15: 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16: 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)) {
		dgFloat32 x0 = (x >= dgFloat32 (0.0f)) ? m_height : -m_height;
		return dgVector (x0, dgFloat32 (0.0f), m_radius, dgFloat32 (0.0f)); 
	}

//	dgVector sideDir (dgFloat32 (0.0f), dir.m_y, dir.m_z, dgFloat32 (0.0f));
	dgVector sideDir (m_yzMask & dir);
//	sideDir = sideDir.Scale3 (m_radius * dgRsqrt (sideDir % sideDir + dgFloat32 (1.0e-18f)));
	sideDir = sideDir.CompProduct4(sideDir.InvMagSqrt());
//	return sideDir + dir.Scale3 (m_height);
	return sideDir.Scale4(m_radius) + dir.Scale4 (m_height);
}
开发者ID:alexsaen，项目名称:newton-dynamics，代码行数:17，代码来源:dgCollisionChamferCylinder.cpp


示例17: speedFreeze2

void dgSolver::IntegrateBodiesVelocity(dgInt32 threadID)
{
	dgVector speedFreeze2(m_world->m_freezeSpeed2 * dgFloat32(0.1f));
	dgVector freezeOmega2(m_world->m_freezeOmega2 * dgFloat32(0.1f));

	dgVector timestep4(m_timestepRK);
	dgJacobian* const internalForces = &m_world->GetSolverMemory().m_internalForcesBuffer[0];

	const dgInt32 step = m_threadCounts;;
	const dgInt32 bodyCount = m_cluster->m_bodyCount - 1;
	for (dgInt32 j = threadID; j < bodyCount; j += step) {
		const dgInt32 i = j + 1;
		dgDynamicBody* const body = (dgDynamicBody*)m_bodyArray[i].m_body;
		dgAssert(body->m_index == i);

		if (body->IsRTTIType(dgBody::m_dynamicBodyRTTI)) {
			const dgJacobian& forceAndTorque = internalForces[i];
			const dgVector force(body->m_externalForce + forceAndTorque.m_linear);
			const dgVector torque(body->m_externalTorque + forceAndTorque.m_angular);

			//const dgVector velocStep((force.Scale(body->m_invMass.m_w)) * timestep4);
			//const dgVector omegaStep((body->m_invWorldInertiaMatrix.RotateVector(torque)) * timestep4);
			const dgJacobian velocStep(body->IntegrateForceAndToque(force, torque, timestep4));

			if (!body->m_resting) {
				//body->m_veloc += velocStep;
				//body->m_omega += omegaStep;
				body->m_veloc += velocStep.m_linear;
				body->m_omega += velocStep.m_angular;
			} else {
				//const dgVector velocStep2(velocStep.DotProduct(velocStep));
				//const dgVector omegaStep2(omegaStep.DotProduct(omegaStep));
				const dgVector velocStep2(velocStep.m_linear.DotProduct(velocStep.m_linear));
				const dgVector omegaStep2(velocStep.m_angular.DotProduct(velocStep.m_angular));

				const dgVector test(((velocStep2 > speedFreeze2) | (omegaStep2 > speedFreeze2)) & m_negOne);
				const dgInt32 equilibrium = test.GetSignMask() ? 0 : 1;
				body->m_resting &= equilibrium;
			}
			dgAssert(body->m_veloc.m_w == dgFloat32(0.0f));
			dgAssert(body->m_omega.m_w == dgFloat32(0.0f));
		}
	}
}
开发者ID:MADEAPPS，项目名称:newton-dynamics，代码行数:44，代码来源:dgSolver.cpp


示例18: p0

dgVector dgCollisionTaperedCapsule::ConvexConicSupporVertex (const dgVector& dir) const
{
	dgVector p0(dir.Scale3 (m_radio0));
	dgVector p1(dir.Scale3 (m_radio1));
	p0.m_x += m_height;
	p1.m_x -= m_height;
	dgFloat32 dir0 = p0 % dir;
	dgFloat32 dir1 = p1 % dir;
	return dgVector ((dir0 >= dir1) ? m_height : - m_height, dgFloat32 (0.0f), dgFloat32 (0.0f), dgFloat32 (0.0f));
}
开发者ID:famorcia，项目名称:newton-dynamics，代码行数:10，代码来源:dgCollisionTaperedCapsule.cpp


示例19: cylinderNormal

dgInt32 dgCollisionChamferCylinder::CalculateContacts (const dgVector& point, const dgVector& normal, dgCollisionParamProxy& proxy, dgVector* const contactsOut) const
{
	dgFloat32 disc2 = point.m_y * point.m_y + point.m_z * point.m_z;
	if (disc2 < m_radius * m_radius) {
		dgVector cylinderNormal ((point.m_x >= dgFloat32 (0.0)) ? dgFloat32 (-1.0f) : dgFloat32 (1.0f), dgFloat32 (0.0f), dgFloat32 (0.0f), dgFloat32 (0.0f));
		return CalculateContactsGeneric (point, cylinderNormal, proxy, contactsOut);
	} else {

		dgVector r (dgFloat32 (0.0f), point.m_y, point.m_z, dgFloat32 (0.0f));
		dgAssert ((r % r) > dgFloat32 (0.0f));
//		r = r.Scale3(m_radius * dgRsqrt (r % r));
		r = r.CompProduct4(r.InvMagSqrt()).Scale4(m_radius);
		//dgFloat32 t = normal % (r - point);
		dgVector t (normal.DotProduct4(r - point));
		//contactsOut[0] = r - normal.Scale3 (t);
		contactsOut[0] = r - normal.CompProduct4(t);
		return 1;
	}
}
开发者ID:alexsaen，项目名称:newton-dynamics，代码行数:19，代码来源:dgCollisionChamferCylinder.cpp


示例20: dgAssert

dgVector dgCollisionBox::SupportVertex (const dgVector& dir, dgInt32* const vertexIndex) const
{
	dgAssert (dgAbsf(dir.DotProduct3(dir) - dgFloat32 (1.0f)) < dgFloat32 (1.0e-3f));
	dgAssert (dir.m_w == dgFloat32 (0.0f));
	dgVector mask (dir < dgVector (dgFloat32 (0.0f)));
	if (vertexIndex) {
		dgVector index (m_indexMark.CompProduct4(mask & dgVector::m_one));
		index = (index.AddHorizontal()).GetInt();
		*vertexIndex = dgInt32 (index.m_ix);
	}
	return (m_size[1] & mask) + m_size[0].AndNot(mask);
}
开发者ID:LaKraven，项目名称:newton-dynamics，代码行数:12，代码来源:dgCollisionBox.cpp



注：本文中的dgVector类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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