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C++ btVector3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btVector3类的典型用法代码示例。如果您正苦于以下问题：C++ btVector3类的具体用法？C++ btVector3怎么用？C++ btVector3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btVector3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: collisionWithBound

void collisionWithBound(btVector3 &vel, btVector3 &pos, const btVector3 &normal, const btScalar &penetrationDist)
{
    if( penetrationDist < btScalar(0.0) )
	{
        
        pos = pos - normal * penetrationDist;
        
        vel = vel - (1 + Constant.m_boundaryRestitution * (-penetrationDist) / (Constant.m_timeStep * vel.length())) * vel.dot(normal) * normal;
	}
}
开发者ID:jiangong01，项目名称:cs274c，代码行数:10，代码来源:sph.cpp


示例2: delta

///combined discrete/continuous sphere-triangle
bool SphereTriangleDetector::collide(const btVector3& sphereCenter,btVector3 &point, btVector3& resultNormal, btScalar& depth, btScalar &timeOfImpact)
{

	const btVector3* vertices = &m_triangle->getVertexPtr(0);
	const btVector3& c = sphereCenter;
	btScalar r = m_sphere->getRadius();

	btVector3 delta (0,0,0);

	btVector3 normal = (vertices[1]-vertices[0]).cross(vertices[2]-vertices[0]);
	normal.normalize();
	btVector3 p1ToCentre = c - vertices[0];
	btScalar distanceFromPlane = p1ToCentre.dot(normal);

	if (distanceFromPlane < btScalar(0.))
	{
		//triangle facing the other way
	
		distanceFromPlane *= btScalar(-1.);
		normal *= btScalar(-1.);
	}

	///todo: move this gContactBreakingThreshold into a proper structure
	extern btScalar gContactBreakingThreshold;

	btScalar contactMargin = gContactBreakingThreshold;
	bool isInsideContactPlane = distanceFromPlane < r + contactMargin;
	bool isInsideShellPlane = distanceFromPlane < r;
	
	btScalar deltaDotNormal = delta.dot(normal);
	if (!isInsideShellPlane && deltaDotNormal >= btScalar(0.0))
		return false;

	// Check for contact / intersection
	bool hasContact = false;
	btVector3 contactPoint;
	if (isInsideContactPlane) {
		if (facecontains(c,vertices,normal)) {
			// Inside the contact wedge - touches a point on the shell plane
			hasContact = true;
			contactPoint = c - normal*distanceFromPlane;
		} else {
			// Could be inside one of the contact capsules
			btScalar contactCapsuleRadiusSqr = (r + contactMargin) * (r + contactMargin);
			btVector3 nearestOnEdge;
			for (int i = 0; i < m_triangle->getNumEdges(); i++) {
				
				btPoint3 pa;
				btPoint3 pb;
				
				m_triangle->getEdge(i,pa,pb);

				btScalar distanceSqr = SegmentSqrDistance(pa,pb,c, nearestOnEdge);
				if (distanceSqr < contactCapsuleRadiusSqr) {
					// Yep, we're inside a capsule
					hasContact = true;
					contactPoint = nearestOnEdge;
				}
				
			}
		}
	}

	if (hasContact) {
		btVector3 contactToCentre = c - contactPoint;
		btScalar distanceSqr = contactToCentre.length2();
		if (distanceSqr < (r - MAX_OVERLAP)*(r - MAX_OVERLAP)) {
			btScalar distance = btSqrt(distanceSqr);
			resultNormal = contactToCentre;
			resultNormal.normalize();
			point = contactPoint;
			depth = -(r-distance);
			return true;
		}

		if (delta.dot(contactToCentre) >= btScalar(0.0)) 
			return false;
		
		// Moving towards the contact point -> collision
		point = contactPoint;
		timeOfImpact = btScalar(0.0);
		return true;
	}
	
	return false;
}
开发者ID:344717871，项目名称:STK_android，代码行数:87，代码来源:SphereTriangleDetector.cpp


示例3: toIrrlicht

 vector3df toIrrlicht(btVector3 vec) {
   return vector3df(vec.getX(), vec.getY(), vec.getZ());
 }
开发者ID:carriercomm，项目名称:powerball-4，代码行数:3，代码来源:util.hpp


示例4: 

osg::Vec3
osgbCollision::asOsgVec3( const btVector3& v )
{
    return osg::Vec3( v.x(), v.y(), v.z() );
}
开发者ID:NaohiroHayashi，项目名称:bulletsim，代码行数:5，代码来源:Utils.cpp


示例5: setupEmptyDynamicsWorld

void ConvexDecompositionDemo::initPhysics(const char* filename)
{

	gContactAddedCallback = &MyContactCallback;

	setupEmptyDynamicsWorld();

	getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);

	setTexturing(true);
	setShadows(true);

	setCameraDistance(26.f);


#ifndef NO_OBJ_TO_BULLET

	ConvexDecomposition::WavefrontObj wo;

	tcount = 0;
    const char* prefix[]={"./","../","../../","../../../","../../../../", "ConvexDecompositionDemo/", "Demos/ConvexDecompositionDemo/",
    "../Demos/ConvexDecompositionDemo/","../../Demos/ConvexDecompositionDemo/"};
    int numPrefixes = sizeof(prefix)/sizeof(const char*);
    char relativeFileName[1024];

    for (int i=0;i<numPrefixes;i++)
    {
        sprintf(relativeFileName,"%s%s",prefix[i],filename);
        tcount = wo.loadObj(relativeFileName);
        if (tcount)
            break;
    }



	btTransform startTransform;
	startTransform.setIdentity();
	startTransform.setOrigin(btVector3(0,-4.5,0));

	btCollisionShape* boxShape = new btBoxShape(btVector3(30,2,30));
	m_collisionShapes.push_back(boxShape);
	localCreateRigidBody(0.f,startTransform,boxShape);

	class MyConvexDecomposition : public ConvexDecomposition::ConvexDecompInterface
	{
		ConvexDecompositionDemo*	m_convexDemo;

		public:

		btAlignedObjectArray<btConvexHullShape*> m_convexShapes;
		btAlignedObjectArray<btVector3> m_convexCentroids;

		MyConvexDecomposition (FILE* outputFile,ConvexDecompositionDemo* demo)
			:m_convexDemo(demo),
				mBaseCount(0),
			mHullCount(0),
			mOutputFile(outputFile)

		{
		}

			virtual void ConvexDecompResult(ConvexDecomposition::ConvexResult &result)
			{

				btTriangleMesh* trimesh = new btTriangleMesh();
				m_convexDemo->m_trimeshes.push_back(trimesh);

				btVector3 localScaling(6.f,6.f,6.f);

				//export data to .obj
				printf("ConvexResult. ");
				if (mOutputFile)
				{
					fprintf(mOutputFile,"## Hull Piece %d with %d vertices and %d triangles.\r\n", mHullCount, result.mHullVcount, result.mHullTcount );

					fprintf(mOutputFile,"usemtl Material%i\r\n",mBaseCount);
					fprintf(mOutputFile,"o Object%i\r\n",mBaseCount);

					for (unsigned int i=0; i<result.mHullVcount; i++)
					{
						const float *p = &result.mHullVertices[i*3];
						fprintf(mOutputFile,"v %0.9f %0.9f %0.9f\r\n", p[0], p[1], p[2] );
					}

					//calc centroid, to shift vertices around center of mass
					centroid.setValue(0,0,0);

					btAlignedObjectArray<btVector3> vertices;
					if ( 1 )
					{
						//const unsigned int *src = result.mHullIndices;
						for (unsigned int i=0; i<result.mHullVcount; i++)
						{
							btVector3 vertex(result.mHullVertices[i*3],result.mHullVertices[i*3+1],result.mHullVertices[i*3+2]);
							vertex *= localScaling;
							centroid += vertex;

						}
					}

//.........这里部分代码省略.........
开发者ID:Aatch，项目名称:bullet3，代码行数:101，代码来源:ConvexDecompositionDemo.cpp


示例6: glGetError

void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, const btVector3& color,int	debugMode,const btVector3& worldBoundsMin,const btVector3& worldBoundsMax)
{

	GLuint err = glGetError();
	btAssert(err==GL_NO_ERROR);

	if (shape->getShapeType() == CUSTOM_CONVEX_SHAPE_TYPE)
	{
		btVector3 org(m[12], m[13], m[14]);
		btVector3 dx(m[0], m[1], m[2]);
		btVector3 dy(m[4], m[5], m[6]);
//		btVector3 dz(m[8], m[9], m[10]);
		const btBoxShape* boxShape = static_cast<const btBoxShape*>(shape);
		btVector3 halfExtent = boxShape->getHalfExtentsWithMargin();
		dx *= halfExtent[0];
		dy *= halfExtent[1];
//		dz *= halfExtent[2];
		glColor3f(1,1,1);
		glDisable(GL_LIGHTING);
		glLineWidth(2);

		glBegin(GL_LINE_LOOP);
		glDrawVector(org - dx - dy);
		glDrawVector(org - dx + dy);
		glDrawVector(org + dx + dy);
		glDrawVector(org + dx - dy);
		glEnd();
		return;
	} 
	else if((shape->getShapeType() == BOX_SHAPE_PROXYTYPE) && (debugMode & btIDebugDraw::DBG_FastWireframe))
	{
		btVector3 org(m[12], m[13], m[14]);
		btVector3 dx(m[0], m[1], m[2]);
		btVector3 dy(m[4], m[5], m[6]);
		btVector3 dz(m[8], m[9], m[10]);
		const btBoxShape* boxShape = static_cast<const btBoxShape*>(shape);
		btVector3 halfExtent = boxShape->getHalfExtentsWithMargin();
		dx *= halfExtent[0];
		dy *= halfExtent[1];
		dz *= halfExtent[2];
		glBegin(GL_LINE_LOOP);
		glDrawVector(org - dx - dy - dz);
		glDrawVector(org + dx - dy - dz);
		glDrawVector(org + dx + dy - dz);
		glDrawVector(org - dx + dy - dz);
		glDrawVector(org - dx + dy + dz);
		glDrawVector(org + dx + dy + dz);
		glDrawVector(org + dx - dy + dz);
		glDrawVector(org - dx - dy + dz);
		glEnd();
		glBegin(GL_LINES);
		glDrawVector(org + dx - dy - dz);
		glDrawVector(org + dx - dy + dz);
		glDrawVector(org + dx + dy - dz);
		glDrawVector(org + dx + dy + dz);
		glDrawVector(org - dx - dy - dz);
		glDrawVector(org - dx + dy - dz);
		glDrawVector(org - dx - dy + dz);
		glDrawVector(org - dx + dy + dz);
		glEnd();
		return;
	}

	glPushMatrix(); 

#if defined(BT_USE_DOUBLE_PRECISION)
	glMultMatrixd(m);
#else
	glMultMatrixf(m);
#endif


	if (shape->getShapeType() == UNIFORM_SCALING_SHAPE_PROXYTYPE)
	{
		const btUniformScalingShape* scalingShape = static_cast<const btUniformScalingShape*>(shape);
		const btConvexShape* convexShape = scalingShape->getChildShape();
		float	scalingFactor = (float)scalingShape->getUniformScalingFactor();
		{
			btScalar tmpScaling[4][4]={{scalingFactor,0,0,0},
			{0,scalingFactor,0,0},
			{0,0,scalingFactor,0},
			{0,0,0,1}};

			drawOpenGL( (btScalar*)tmpScaling,convexShape,color,debugMode,worldBoundsMin,worldBoundsMax);
		}
		glPopMatrix();
		return;
	}

	if (shape->getShapeType() == COMPOUND_SHAPE_PROXYTYPE)
	{
		const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(shape);
		for (int i=compoundShape->getNumChildShapes()-1;i>=0;i--)
		{
			btTransform childTrans = compoundShape->getChildTransform(i);
			const btCollisionShape* colShape = compoundShape->getChildShape(i);
			btScalar childMat[16];
			childTrans.getOpenGLMatrix(childMat);
			drawOpenGL(childMat,colShape,color,debugMode,worldBoundsMin,worldBoundsMax);
		}
//.........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:GL_ShapeDrawer.cpp


示例7: getHalfExtentsWithMargin

void	btCylinderShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
{

//Until Bullet 2.77 a box approximation was used, so uncomment this if you need backwards compatibility
//#define USE_BOX_INERTIA_APPROXIMATION 1
#ifndef USE_BOX_INERTIA_APPROXIMATION

	/*
	cylinder is defined as following:
	*
	* - principle axis aligned along y by default, radius in x, z-value not used
	* - for btCylinderShapeX: principle axis aligned along x, radius in y direction, z-value not used
	* - for btCylinderShapeZ: principle axis aligned along z, radius in x direction, y-value not used
	*
	*/

	btScalar radius2;	// square of cylinder radius
	btScalar height2;	// square of cylinder height
	btVector3 halfExtents = getHalfExtentsWithMargin();	// get cylinder dimension
	btScalar div12 = mass / 12.f;
	btScalar div4 = mass / 4.f;
	btScalar div2 = mass / 2.f;
	int idxRadius, idxHeight;

	switch (m_upAxis)	// get indices of radius and height of cylinder
	{
		case 0:		// cylinder is aligned along x
			idxRadius = 1;
			idxHeight = 0;
			break;
		case 2:		// cylinder is aligned along z
			idxRadius = 0;
			idxHeight = 2;
			break;
		default:	// cylinder is aligned along y
			idxRadius = 0;
			idxHeight = 1;
	}

	// calculate squares
	radius2 = halfExtents[idxRadius] * halfExtents[idxRadius];
	height2 = btScalar(4.) * halfExtents[idxHeight] * halfExtents[idxHeight];

	// calculate tensor terms
	btScalar t1 = div12 * height2 + div4 * radius2;
	btScalar t2 = div2 * radius2;

	switch (m_upAxis)	// set diagonal elements of inertia tensor
	{
		case 0:		// cylinder is aligned along x
			inertia.setValue(t2,t1,t1);
			break;
		case 2:		// cylinder is aligned along z
			inertia.setValue(t1,t1,t2);
			break;
		default:	// cylinder is aligned along y
			inertia.setValue(t1,t2,t1);
	}
#else //USE_BOX_INERTIA_APPROXIMATION
	//approximation of box shape
	btVector3 halfExtents = getHalfExtentsWithMargin();

	btScalar lx=btScalar(2.)*(halfExtents.x());
	btScalar ly=btScalar(2.)*(halfExtents.y());
	btScalar lz=btScalar(2.)*(halfExtents.z());

	inertia.setValue(mass/(btScalar(12.0)) * (ly*ly + lz*lz),
					mass/(btScalar(12.0)) * (lx*lx + lz*lz),
					mass/(btScalar(12.0)) * (lx*lx + ly*ly));
#endif //USE_BOX_INERTIA_APPROXIMATION
}
开发者ID:Cassie90，项目名称:ClanLib，代码行数:71，代码来源:btCylinderShape.cpp


示例8: 

Ogre::Vector3 PhysicsManager::convert(const btVector3& vec)
{
	return Ogre::Vector3(vec.x(),vec.y(),vec.z());
}
开发者ID:prathyushk，项目名称:Interspace，代码行数:4，代码来源:PhysicsManager.cpp


示例9: getCurrentAnchorDistance

/**
 * Returns the distance between the two anchors.
 * This is similar to the getActualLength function in tgBulletSpringCable.
 */
const double tgBulletCompressionSpring::getCurrentAnchorDistance() const
{
    const btVector3 dist =
      this->anchor2->getWorldPosition() - this->anchor1->getWorldPosition();
    return dist.length();
}
开发者ID:NASA-Tensegrity-Robotics-Toolkit，项目名称:NTRTsim，代码行数:10，代码来源:tgBulletCompressionSpring.cpp


示例10: drawSphere

    void PhysicsDebugDraw::drawSphere(const btVector3& p, btScalar radius, const btVector3& color)
    {

		debugRenderer->drawSphere(Vec3(p.getX(), p.getY(), p.getZ()), radius, Vec4(color.getX(), color.getY(), color.getZ(), 1.f));
    }
开发者ID:Fuatnow，项目名称:Pyros3D，代码行数:5，代码来源:PhysicsDebugDraw.cpp


示例11: drawTriangle

    void PhysicsDebugDraw::drawTriangle(const btVector3& a,const btVector3& b,const btVector3& c,const btVector3& color,btScalar alpha)
    {
		debugRenderer->drawTriangle(
			Vec3(a.getX(), a.getY(), a.getZ()),
			Vec3(b.getX(), b.getY(), b.getZ()),
			Vec3(c.getX(), c.getY(), c.getZ()),
			Vec4(color.getX(), color.getY(), color.getZ(), alpha)
		);
    }
开发者ID:Fuatnow，项目名称:Pyros3D，代码行数:9，代码来源:PhysicsDebugDraw.cpp


示例12: drawLine

    void PhysicsDebugDraw::drawLine(const btVector3& from,const btVector3& to,const btVector3& fromColor, const btVector3& toColor)
    {
		debugRenderer->drawLine(
			Vec3(from.getX(), from.getY(), from.getZ()),
			Vec3(to.getX(), to.getY(), to.getZ()),
			Vec4(fromColor.getX(), fromColor.getY(), fromColor.getZ(), 1.f),
			Vec4(toColor.getX(), toColor.getY(), toColor.getZ(), 1.f)
		);
    }
开发者ID:Fuatnow，项目名称:Pyros3D，代码行数:9，代码来源:PhysicsDebugDraw.cpp


示例13: x

Vec3f::Vec3f(const btVector3& v)
: x(v.getX())
, y(v.getY())
, z(v.getZ()) {
}
开发者ID:Naftoreiclag，项目名称:VS8C，代码行数:5，代码来源:Vec3f.cpp


示例14: drawBox

static void				drawBox(	btIDebugDraw* idraw,
								const btVector3& mins,
								const btVector3& maxs,
								const btVector3& color)
{
	const btVector3	c[]={	btVector3(mins.x(),mins.y(),mins.z()),
		btVector3(maxs.x(),mins.y(),mins.z()),
		btVector3(maxs.x(),maxs.y(),mins.z()),
		btVector3(mins.x(),maxs.y(),mins.z()),
		btVector3(mins.x(),mins.y(),maxs.z()),
		btVector3(maxs.x(),mins.y(),maxs.z()),
		btVector3(maxs.x(),maxs.y(),maxs.z()),
		btVector3(mins.x(),maxs.y(),maxs.z())};
	idraw->drawLine(c[0],c[1],color);idraw->drawLine(c[1],c[2],color);
	idraw->drawLine(c[2],c[3],color);idraw->drawLine(c[3],c[0],color);
	idraw->drawLine(c[4],c[5],color);idraw->drawLine(c[5],c[6],color);
	idraw->drawLine(c[6],c[7],color);idraw->drawLine(c[7],c[4],color);
	idraw->drawLine(c[0],c[4],color);idraw->drawLine(c[1],c[5],color);
	idraw->drawLine(c[2],c[6],color);idraw->drawLine(c[3],c[7],color);
}
开发者ID:dreamsxin，项目名称:Scene3D，代码行数:20，代码来源:btSoftBodyHelpers.cpp


示例15: getSpherePenetration

btScalar btSphereBoxCollisionAlgorithm::getSpherePenetration( btVector3 const &boxHalfExtent, btVector3 const &sphereRelPos, btVector3 &closestPoint, btVector3& normal ) 
{
	//project the center of the sphere on the closest face of the box
	btScalar faceDist = boxHalfExtent.getX() - sphereRelPos.getX();
	btScalar minDist = faceDist;
	closestPoint.setX( boxHalfExtent.getX() );
	normal.setValue(btScalar(1.0f),  btScalar(0.0f),  btScalar(0.0f));

	faceDist = boxHalfExtent.getX() + sphereRelPos.getX();
	if (faceDist < minDist)
	{
		minDist = faceDist;
		closestPoint = sphereRelPos;
		closestPoint.setX( -boxHalfExtent.getX() );
		normal.setValue(btScalar(-1.0f),  btScalar(0.0f),  btScalar(0.0f));
	}

	faceDist = boxHalfExtent.getY() - sphereRelPos.getY();
	if (faceDist < minDist)
	{
		minDist = faceDist;
		closestPoint = sphereRelPos;
		closestPoint.setY( boxHalfExtent.getY() );
		normal.setValue(btScalar(0.0f),  btScalar(1.0f),  btScalar(0.0f));
	}

	faceDist = boxHalfExtent.getY() + sphereRelPos.getY();
	if (faceDist < minDist)
	{
		minDist = faceDist;
		closestPoint = sphereRelPos;
		closestPoint.setY( -boxHalfExtent.getY() );
		normal.setValue(btScalar(0.0f),  btScalar(-1.0f),  btScalar(0.0f));
	}

	faceDist = boxHalfExtent.getZ() - sphereRelPos.getZ();
	if (faceDist < minDist)
	{
		minDist = faceDist;
		closestPoint = sphereRelPos;
		closestPoint.setZ( boxHalfExtent.getZ() );
		normal.setValue(btScalar(0.0f),  btScalar(0.0f),  btScalar(1.0f));
	}

	faceDist = boxHalfExtent.getZ() + sphereRelPos.getZ();
	if (faceDist < minDist)
	{
		minDist = faceDist;
		closestPoint = sphereRelPos;
		closestPoint.setZ( -boxHalfExtent.getZ() );
		normal.setValue(btScalar(0.0f),  btScalar(0.0f),  btScalar(-1.0f));
	}

	return minDist;
}
开发者ID:5432935，项目名称:awayphysics-core-fp11，代码行数:55，代码来源:btSphereBoxCollisionAlgorithm.cpp


示例16: IsAlmostZero

inline bool IsAlmostZero(const btVector3& v)
{
	if(fabsf(v.x())>1e-6 || fabsf(v.y())>1e-6 || fabsf(v.z())>1e-6)	return false;
	return true;
}
开发者ID:DrChat，项目名称:Gmod-vphysics，代码行数:5，代码来源:btPolyhedralContactClipping.cpp


示例17: btScalar

bool SphereTriangleDetector::collide(const btVector3& sphereCenter,btVector3 &point, btVector3& resultNormal, btScalar& depth, btScalar &timeOfImpact, btScalar contactBreakingThreshold)
{

	const btVector3* vertices = &m_triangle->getVertexPtr(0);
	
	btScalar radius = m_sphere->getRadius();
	btScalar radiusWithThreshold = radius + contactBreakingThreshold;

	btVector3 normal = (vertices[1]-vertices[0]).cross(vertices[2]-vertices[0]);
	normal.normalize();
	btVector3 p1ToCentre = sphereCenter - vertices[0];
	btScalar distanceFromPlane = p1ToCentre.dot(normal);

	if (distanceFromPlane < btScalar(0.))
	{
		//triangle facing the other way
		distanceFromPlane *= btScalar(-1.);
		normal *= btScalar(-1.);
	}

	bool isInsideContactPlane = distanceFromPlane < radiusWithThreshold;
	
	// Check for contact / intersection
	bool hasContact = false;
	btVector3 contactPoint;
	if (isInsideContactPlane) {
		if (facecontains(sphereCenter,vertices,normal)) {
			// Inside the contact wedge - touches a point on the shell plane
			hasContact = true;
			contactPoint = sphereCenter - normal*distanceFromPlane;
		} else {
			// Could be inside one of the contact capsules
			btScalar contactCapsuleRadiusSqr = radiusWithThreshold*radiusWithThreshold;
			btVector3 nearestOnEdge;
			for (int i = 0; i < m_triangle->getNumEdges(); i++) {
				
				btVector3 pa;
				btVector3 pb;
				
				m_triangle->getEdge(i,pa,pb);

				btScalar distanceSqr = SegmentSqrDistance(pa,pb,sphereCenter, nearestOnEdge);
				if (distanceSqr < contactCapsuleRadiusSqr) {
					// Yep, we're inside a capsule
					hasContact = true;
					contactPoint = nearestOnEdge;
				}
				
			}
		}
	}

	if (hasContact) {
		btVector3 contactToCentre = sphereCenter - contactPoint;
		btScalar distanceSqr = contactToCentre.length2();

		if (distanceSqr < radiusWithThreshold*radiusWithThreshold)
		{
			if (distanceSqr>SIMD_EPSILON)
			{
				btScalar distance = btSqrt(distanceSqr);
				resultNormal = contactToCentre;
				resultNormal.normalize();
				point = contactPoint;
				depth = -(radius-distance);
			} else
			{
				btScalar distance = 0.f;
				resultNormal = normal;
				point = contactPoint;
				depth = -radius;
			}
			return true;
		}
	}
	
	return false;
}
开发者ID:0u812，项目名称:emscripten，代码行数:78，代码来源:SphereTriangleDetector.cpp


示例18: Normal

bool btPolyhedralContactClipping::findSeparatingAxis(	const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA, const btTransform& transB, btVector3& sep, btDiscreteCollisionDetectorInterface::Result& resultOut)
{
	gActualSATPairTests++;

//#ifdef TEST_INTERNAL_OBJECTS
	const btVector3 c0 = transA * hullA.m_localCenter;
	const btVector3 c1 = transB * hullB.m_localCenter;
	const btVector3 DeltaC2 = c0 - c1;
//#endif

	btScalar dmin = FLT_MAX;
	int curPlaneTests=0;

	int numFacesA = hullA.m_faces.size();
	// Test normals from hullA
	for(int i=0;i<numFacesA;i++)
	{
		const btVector3 Normal(hullA.m_faces[i].m_plane[0], hullA.m_faces[i].m_plane[1], hullA.m_faces[i].m_plane[2]);
		btVector3 faceANormalWS = transA.getBasis() * Normal;
		if (DeltaC2.dot(faceANormalWS)<0)
			faceANormalWS*=-1.f;

		curPlaneTests++;
#ifdef TEST_INTERNAL_OBJECTS
		gExpectedNbTests++;
		if(gUseInternalObject && !TestInternalObjects(transA, transB, DeltaC2, faceANormalWS, hullA, hullB, dmin))
			continue;
		gActualNbTests++;
#endif

		btScalar d;
		btVector3 wA, wB;
		if(!TestSepAxis( hullA, hullB, transA, transB, faceANormalWS, d, wA, wB))
			return false;

		if(d<dmin)
		{
			dmin = d;
			sep = faceANormalWS;
		}
	}

	int numFacesB = hullB.m_faces.size();
	// Test normals from hullB
	for(int i=0;i<numFacesB;i++)
	{
		const btVector3 Normal(hullB.m_faces[i].m_plane[0], hullB.m_faces[i].m_plane[1], hullB.m_faces[i].m_plane[2]);
		btVector3 WorldNormal = transB.getBasis() * Normal;
		if (DeltaC2.dot(WorldNormal)<0)
			WorldNormal *=-1.f;

		curPlaneTests++;
#ifdef TEST_INTERNAL_OBJECTS
		gExpectedNbTests++;
		if(gUseInternalObject && !TestInternalObjects(transA, transB, DeltaC2, WorldNormal, hullA, hullB, dmin))
			continue;
		gActualNbTests++;
#endif

		btScalar d;
		btVector3 wA, wB;
		if(!TestSepAxis(hullA, hullB, transA, transB, WorldNormal, d,wA, wB))
			return false;

		if(d<dmin)
		{
			dmin = d;
			sep = WorldNormal;
		}
	}

	btVector3 edgeAstart, edgeAend, edgeBstart, edgeBend;
	int edgeA=-1;
	int edgeB=-1;
	btVector3 worldEdgeA;
	btVector3 worldEdgeB;
	btVector3 witnessPointA, witnessPointB;
	

	int curEdgeEdge = 0;
	// Test edges
	for(int e0=0;e0<hullA.m_uniqueEdges.size();e0++)
	{
		const btVector3 edge0 = hullA.m_uniqueEdges[e0];
		const btVector3 WorldEdge0 = transA.getBasis() * edge0;
		for(int e1=0;e1<hullB.m_uniqueEdges.size();e1++)
		{
			const btVector3 edge1 = hullB.m_uniqueEdges[e1];
			const btVector3 WorldEdge1 = transB.getBasis() * edge1;

			btVector3 Cross = WorldEdge0.cross(WorldEdge1);
			curEdgeEdge++;
			if(!IsAlmostZero(Cross))
			{
				Cross = Cross.normalize();
				if (DeltaC2.dot(Cross)<0)
					Cross *= -1.f;


#ifdef TEST_INTERNAL_OBJECTS
//.........这里部分代码省略.........
开发者ID:DrChat，项目名称:Gmod-vphysics，代码行数:101，代码来源:btPolyhedralContactClipping.cpp


示例19: 

void	btHeightfieldTerrainShape::calculateLocalInertia(btScalar ,btVector3& inertia) const
{
	//moving concave objects not supported
	
	inertia.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
}
开发者ID:joyfish，项目名称:GameThirdPartyLibs，代码行数:6，代码来源:btHeightfieldTerrainShape.cpp


示例20: glPushMatrix

void HfFluidDemo_GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, const btVector3& color,int	debugMode,const btVector3& worldBoundsMin,const btVector3& worldBoundsMax)
{


	glPushMatrix(); 
	btglMultMatrix(m);

	if (shape->getShapeType() == UNIFORM_SCALING_SHAPE_PROXYTYPE)
	{
		const btUniformScalingShape* scalingShape = static_cast<const btUniformScalingShape*>(shape);
		const btConvexShape* convexShape = scalingShape->getChildShape();
		float	scalingFactor = (float)scalingShape->getUniformScalingFactor();
		{
			btScalar tmpScaling[4][4]={{scalingFactor,0,0,0},
			{0,scalingFactor,0,0},
			{0,0,scalingFactor,0},
			{0,0,0,1}};

			drawOpenGL( (btScalar*)tmpScaling,convexShape,color,debugMode,worldBoundsMin,worldBoundsMax);
		}
		glPopMatrix();
		return;
	}

	if (shape->getShapeType() == HFFLUID_BUOYANT_CONVEX_SHAPE_PROXYTYPE)
	{
		btConvexShape* convexShape = ((btHfFluidBuoyantConvexShape*)shape)->getConvexShape();
		btTransform I;
		I.setIdentity();
		btScalar mat[16];
		I.getOpenGLMatrix (&mat[0]);
		drawOpenGL (mat, convexShape, color, debugMode, worldBoundsMin, worldBoundsMax);
		return;
	}

	if (shape->getShapeType() == COMPOUND_SHAPE_PROXYTYPE)
	{
		const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(shape);
		for (int i=compoundShape->getNumChildShapes()-1;i>=0;i--)
		{
			btTransform childTrans = compoundShape->getChildTransform(i);
			const btCollisionShape* colShape = compoundShape->getChildShape(i);
			btScalar childMat[16];
			childTrans.getOpenGLMatrix(childMat);
			drawOpenGL(childMat,colShape,color,debugMode,worldBoundsMin,worldBoundsMax);

		}

	} else
	{
		if(m_textureenabled&&(!m_textureinitialized))
		{
			GLubyte*	image=new GLubyte[256*256*3];
			for(int y=0;y<256;++y)
			{
				const int	t=y>>4;
				GLubyte*	pi=image+y*256*3;
				for(int x=0;x<256;++x)
				{
					const int		s=x>>4;
					const GLubyte	b=180;					
					GLubyte			c=b+((s+t&1)&1)*(255-b);
					pi[0]=pi[1]=pi[2]=c;pi+=3;
				}
			}
			glGenTextures(1,(GLuint*)&m_texturehandle);
			glBindTexture(GL_TEXTURE_2D,m_texturehandle);
			glTexEnvf(GL_TEXTURE_ENV,GL_TEXTURE_ENV_MODE,GL_MODULATE);
			glTexParameterf(GL_TEXTURE_2D,GL_TEXTURE_MIN_FILTER,GL_LINEAR_MIPMAP_LINEAR);
			glTexParameterf(GL_TEXTURE_2D,GL_TEXTURE_MAG_FILTER,GL_LINEAR_MIPMAP_LINEAR);
			glTexParameterf(GL_TEXTURE_2D,GL_TEXTURE_WRAP_S,GL_REPEAT);
			glTexParameterf(GL_TEXTURE_2D,GL_TEXTURE_WRAP_T,GL_REPEAT);
			gluBuild2DMipmaps(GL_TEXTURE_2D,3,256,256,GL_RGB,GL_UNSIGNED_BYTE,image);
			delete[] image;

			glMatrixMode(GL_TEXTURE);
			glLoadIdentity();
			glScalef(0.025,0.025,0.025);

			static const GLfloat	planex[]={1,0,0,0};
			static const GLfloat	planey[]={0,1,0,0};
			static const GLfloat	planez[]={0,0,1,0};
			glTexGenfv(GL_S,GL_OBJECT_PLANE,planex);
			glTexGenfv(GL_T,GL_OBJECT_PLANE,planez);
			glTexGeni(GL_S,GL_TEXTURE_GEN_MODE,GL_OBJECT_LINEAR);
			glTexGeni(GL_T,GL_TEXTURE_GEN_MODE,GL_OBJECT_LINEAR);
			glEnable(GL_TEXTURE_GEN_S);
			glEnable(GL_TEXTURE_GEN_T);
			glEnable(GL_TEXTURE_GEN_R);
			m_textureinitialized=true;
		}
		//drawCoordSystem();

		//glPushMatrix();
		glEnable(GL_COLOR_MATERIAL);
		if(m_textureenabled) 
		{
			glEnable(GL_TEXTURE_2D);
			glBindTexture(GL_TEXTURE_2D,m_texturehandle);
		} else
//.........这里部分代码省略.........
开发者ID:382309009，项目名称:Core3D，代码行数:101，代码来源:HfFluidDemo_GL_ShapeDrawer.cpp



注：本文中的btVector3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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