本文整理汇总了C++中orn函数的典型用法代码示例。如果您正苦于以下问题：C++ orn函数的具体用法？C++ orn怎么用？C++ orn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orn函数的15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，您的评价将有助于系统推荐出更棒的C++代码示例。
示例1: registerCubeShape
void SimpleOpenGL3App::registerGrid(int cells_x, int cells_z, float color0[4], float color1[4])
{
b3Vector3 cubeExtents=b3MakeVector3(0.5,0.5,0.5);
cubeExtents[m_data->m_upAxis] = 0;
int cubeId = registerCubeShape(cubeExtents[0],cubeExtents[1],cubeExtents[2]);
b3Quaternion orn(0,0,0,1);
b3Vector3 center=b3MakeVector3(0,0,0,1);
b3Vector3 scaling=b3MakeVector3(1,1,1,1);
for ( int i = 0; i < cells_x; i++)
{
for (int j = 0; j < cells_z; j++)
{
float* color =0;
if ((i + j) % 2 == 0)
{
color = (float*)color0;
} else {
color = (float*)color1;
}
if (this->m_data->m_upAxis==1)
{
center =b3MakeVector3((i + 0.5f) - cells_x * 0.5f, 0.f, (j + 0.5f) - cells_z * 0.5f);
} else
{
center =b3MakeVector3((i + 0.5f) - cells_x * 0.5f, (j + 0.5f) - cells_z * 0.5f,0.f );
}
m_instancingRenderer->registerGraphicsInstance(cubeId,center,orn,color,scaling);
}
}
}示例2: sizeof
void GpuConvexPlaneScene::createStaticEnvironment(const ConstructionInfo& ci)
{
int strideInBytes = 9*sizeof(float);
int numVertices = sizeof(cube_vertices)/strideInBytes;
int numIndices = sizeof(cube_indices)/sizeof(int);
//int shapeId = ci.m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
int shapeId = ci.m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
int group=1;
int mask=1;
int index=0;
{
b3Vector4 scaling=b3MakeVector4(400,400,400,1);
int colIndex = m_data->m_np->registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
b3Vector3 position=b3MakeVector3(0,-400,0);
b3Quaternion orn(0,0,0,1);
b3Vector4 color=b3MakeVector4(0,0,1,1);
int id = ci.m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(0.f,position,orn,colIndex,index,false);
}
}示例3: initPhysics
virtual void initPhysics()
{
///create some graphics proxy for the tracking target
///the endeffector tries to track it using Inverse Kinematics
{
int sphereId = m_app->registerGraphicsUnitSphereShape(SPHERE_LOD_MEDIUM);
b3Quaternion orn(0, 0, 0, 1);
b3Vector4 color = b3MakeVector4(1., 0.3, 0.3, 1);
b3Vector3 scaling = b3MakeVector3(.02, .02, .02);
m_targetSphereInstance = m_app->m_renderer->registerGraphicsInstance(sphereId, m_targetPos, orn, color, scaling);
}
m_app->m_renderer->writeTransforms();
int mode = eCONNECT_EXISTING_EXAMPLE_BROWSER;
m_robotSim.setGuiHelper(m_guiHelper);
bool connected = m_robotSim.connect(mode);
// 0;//m_robotSim.connect(m_guiHelper);
b3Printf("robotSim connected = %d",connected);
{
m_kukaIndex = m_robotSim.loadURDF("kuka_iiwa/model.urdf");
if (m_kukaIndex >=0)
{
int numJoints = m_robotSim.getNumJoints(m_kukaIndex);
b3Printf("numJoints = %d",numJoints);
for (int i=0;i<numJoints;i++)
{
b3JointInfo jointInfo;
m_robotSim.getJointInfo(m_kukaIndex,i,&jointInfo);
b3Printf("joint[%d].m_jointName=%s",i,jointInfo.m_jointName);
}
/*
int wheelJointIndices[4]={2,3,6,7};
int wheelTargetVelocities[4]={-10,-10,-10,-10};
for (int i=0;i<4;i++)
{
b3JointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
controlArgs.m_targetVelocity = wheelTargetVelocities[i];
controlArgs.m_maxTorqueValue = 1e30;
m_robotSim.setJointMotorControl(m_kukaIndex,wheelJointIndices[i],controlArgs);
}
*/
}
{
m_robotSim.loadURDF("plane.urdf");
m_robotSim.setGravity(b3MakeVector3(0,0,0));
}
}
}示例4: pl_rigidbody_SetOrientation
void pl_rigidbody_SetOrientation(PlRigidBody* object, const PlQuaternion* orientation)
{
CAST_ASSERT(object,btRigidBody*,body);
btQuaternion orn(orientation[0],orientation[1],orientation[2],orientation[3]);
btTransform worldTrans = body->getWorldTransform();
worldTrans.setRotation(orn);
body->setWorldTransform(worldTrans);
}示例5: plSetOrientation
void plSetOrientation(plRigidBodyHandle object, const plQuaternion orientation)
{
btRigidBody* body = reinterpret_cast< btRigidBody* >(object);
btAssert(body);
btQuaternion orn(orientation[0],orientation[1],orientation[2],orientation[3]);
btTransform worldTrans = body->getWorldTransform();
worldTrans.setRotation(orn);
body->setWorldTransform(worldTrans);
}示例6: renderScene
virtual void renderScene()
{
m_robotSim.renderScene();
b3Quaternion orn(0, 0, 0, 1);
m_app->m_renderer->writeSingleInstanceTransformToCPU(m_targetPos, orn, m_targetSphereInstance);
m_app->m_renderer->writeTransforms();
//draw the end-effector target sphere
//m_app->m_renderer->renderScene();
}示例7: writeTransforms
void writeTransforms()
{
glFlush();
char* bla = (char*)glMapBuffer( GL_ARRAY_BUFFER,GL_READ_WRITE);//GL_WRITE_ONLY
float* positions = (float*)(bla+sizeof(cube_vertices));
float* orientations = (float*)(bla+sizeof(cube_vertices) + POSITION_BUFFER_SIZE);
// positions[0]+=0.001f;
static int offset=0;
//offset++;
static btVector3 axis(1,0,0);
angle += 0.01f;
int index=0;
btQuaternion orn(axis,angle);
for (int i=0;i<NUM_OBJECTS_X;i++)
{
for (int j=0;j<NUM_OBJECTS_Y;j++)
{
for (int k=0;k<NUM_OBJECTS_Z;k++)
{
//if (!((index+offset)%15))
{
instance_positions_ptr[index*4+1]-=0.01f;
positions[index*4]=instance_positions_ptr[index*4];
positions[index*4+1]=instance_positions_ptr[index*4+1];
positions[index*4+2]=instance_positions_ptr[index*4+2];
positions[index*4+3]=instance_positions_ptr[index*4+3];
orientations[index*4] = orn[0];
orientations[index*4+1] = orn[1];
orientations[index*4+2] = orn[2];
orientations[index*4+3] = orn[3];
}
// memcpy((void*)&orientations[index*4],orn,sizeof(btQuaternion));
index++;
}
}
}
glUnmapBuffer( GL_ARRAY_BUFFER);
//if this glFinish is removed, the animation is not always working/blocks
//@todo: figure out why
glFlush();
}示例8: mutex_lock
void mutex_lock(uint8_t r, uint8_t p) {
//Serial.print("[Lock] r:");
//Serial.print(r);
//Serial.print(" p:");
//Serial.println(p);
entrance_intents[r][p] = true;
while (orn(entrance_intents[r], p)) {
if (turn[r] != 0) {
entrance_intents[r][0] = false;
while (turn[r] != 0) {
// busy wait
}
entrance_intents[r][0] = true;
}
}
}示例9: b3MakeVector4
void ConcaveSphereScene::createDynamicObjects(const ConstructionInfo& ci)
{
b3Vector4 colors[4] =
{
b3MakeVector4(1,0,0,1),
b3MakeVector4(0,1,0,1),
b3MakeVector4(0,1,1,1),
b3MakeVector4(1,1,0,1),
};
int index=0;
int curColor = 0;
float radius = 1;
//int colIndex = m_data->m_np->registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
int colIndex = m_data->m_np->registerSphereShape(radius);//>registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
int prevGraphicsShapeIndex = registerGraphicsSphereShape(ci,radius,false);
for (int i=0;i<ci.arraySizeX;i++)
{
for (int j=0;j<ci.arraySizeY;j++)
{
for (int k=0;k<ci.arraySizeZ;k++)
{
float mass = 1.f;
b3Vector3 position=b3MakeVector3(-(ci.arraySizeX/2)*8+i*8,50+j*8,-(ci.arraySizeZ/2)*8+k*8);
//b3Vector3 position(0,-41,0);//0,0,0);//i*radius*3,-41+j*radius*3,k*radius*3);
b3Quaternion orn(0,0,0,1);
b3Vector4 color = colors[curColor];
curColor++;
curColor&=3;
b3Vector4 scaling=b3MakeVector4(radius,radius,radius,1);
int id = ci.m_instancingRenderer->registerGraphicsInstance(prevGraphicsShapeIndex,position,orn,color,scaling);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass,position,orn,colIndex,index,false);
index++;
}
}
}
}示例10: RenderInstancingDemo
RenderInstancingDemo(CommonGraphicsApp* app)
:m_app(app),
m_x(0),
m_y(0),
m_z(0)
{
m_app->setUpAxis(2);
{
b3Vector3 extents=b3MakeVector3(100,100,100);
extents[m_app->getUpAxis()]=1;
int xres = 20;
int yres = 20;
b3Vector4 color0=b3MakeVector4(0.1, 0.1, 0.1,1);
b3Vector4 color1=b3MakeVector4(0.6, 0.6, 0.6,1);
m_app->registerGrid(xres, yres, color0, color1);
}
{
int boxId = m_app->registerCubeShape(0.1,0.1,0.1);
for (int i=-numCubesX/2;i<numCubesX/2;i++)
{
for (int j = -numCubesY/2;j<numCubesY/2;j++)
{
b3Vector3 pos=b3MakeVector3(i,j,j);
pos[app->getUpAxis()] = 1;
b3Quaternion orn(0,0,0,1);
b3Vector4 color=b3MakeVector4(0.3,0.3,0.3,1);
b3Vector3 scaling=b3MakeVector3(1,1,1);
int instanceId = m_app->m_renderer->registerGraphicsInstance(boxId,pos,orn,color,scaling);
m_movingInstances.push_back(instanceId);
}
}
}
m_app->m_renderer->writeTransforms();
}示例11: parseTransform
bool parseTransform(btTransform& tr, TiXmlElement* xml, ErrorLogger* logger)
{
tr.setIdentity();
{
const char* xyz_str = xml->Attribute("xyz");
if (xyz_str)
{
parseVector3(tr.getOrigin(),std::string(xyz_str),logger);
}
}
{
const char* rpy_str = xml->Attribute("rpy");
if (rpy_str != NULL)
{
btVector3 rpy;
if (parseVector3(rpy,std::string(rpy_str),logger))
{
double phi, the, psi;
double roll = rpy[0];
double pitch = rpy[1];
double yaw = rpy[2];
phi = roll / 2.0;
the = pitch / 2.0;
psi = yaw / 2.0;
btQuaternion orn(
sin(phi) * cos(the) * cos(psi) - cos(phi) * sin(the) * sin(psi),
cos(phi) * sin(the) * cos(psi) + sin(phi) * cos(the) * sin(psi),
cos(phi) * cos(the) * sin(psi) - sin(phi) * sin(the) * cos(psi),
cos(phi) * cos(the) * cos(psi) + sin(phi) * sin(the) * sin(psi));
orn.normalize();
tr.setRotation(orn);
}
}
}
return true;
}示例12: getLuaQuaternionArg
btQuaternion getLuaQuaternionArg(lua_State* L, int index)
{
btQuaternion orn(0,0,0,1);
int sz = luaL_returnlen(L, index); // get size of table
{
lua_rawgeti(L, index, 1); // push t[i]
orn[0] = lua_tonumber(L,-1);
lua_pop(L, 1);
lua_rawgeti(L, index, 2); // push t[i]
orn[1] = lua_tonumber(L,-1);
lua_pop(L, 1);
lua_rawgeti(L, index, 3); // push t[i]
orn[2] = lua_tonumber(L,-1);
lua_pop(L, 1);
lua_rawgeti(L, index, 4); // push t[i]
orn[3] = lua_tonumber(L,-1);
lua_pop(L, 1);
}
return orn;
}示例13: processTriangle
//.........这里部分代码省略.........
{
edgeCrossB*=-1;
}
}
btScalar angle2 = 0;
btScalar ang4 = 0.f;
btVector3 calculatedEdge = edgeCrossA.cross(edgeCrossB);
btScalar len2 = calculatedEdge.length2();
btScalar correctedAngle(0);
btVector3 calculatedNormalB = normalA;
bool isConvex = false;
if (len2<m_triangleInfoMap->m_planarEpsilon)
{
angle2 = 0.f;
ang4 = 0.f;
} else
{
calculatedEdge.normalize();
btVector3 calculatedNormalA = calculatedEdge.cross(edgeCrossA);
calculatedNormalA.normalize();
angle2 = btGetAngle(calculatedNormalA,edgeCrossA,edgeCrossB);
ang4 = SIMD_PI-angle2;
btScalar dotA = normalA.dot(edgeCrossB);
///@todo: check if we need some epsilon, due to floating point imprecision
isConvex = (dotA<0.);
correctedAngle = isConvex ? ang4 : -ang4;
btQuaternion orn2(calculatedEdge,-correctedAngle);
calculatedNormalB = btMatrix3x3(orn2)*normalA;
}
//alternatively use
//btVector3 calculatedNormalB2 = quatRotate(orn,normalA);
switch (sumvertsA)
{
case 1:
{
btVector3 edge = m_triangleVerticesA[0]-m_triangleVerticesA[1];
btQuaternion orn(edge,-correctedAngle);
btVector3 computedNormalB = quatRotate(orn,normalA);
btScalar bla = computedNormalB.dot(normalB);
if (bla<0)
{
computedNormalB*=-1;
info->m_flags |= TRI_INFO_V0V1_SWAP_NORMALB;
}
#ifdef DEBUG_INTERNAL_EDGE
if ((computedNormalB-normalB).length()>0.0001)
{
printf("warning: normals not identical\n");
}
#endif//DEBUG_INTERNAL_EDGE示例14: btAdjustInternalEdgeContacts
/// Changes a btManifoldPoint collision normal to the normal from the mesh.
void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObject* colObj0,const btCollisionObject* colObj1, int partId0, int index0, int normalAdjustFlags)
{
//btAssert(colObj0->getCollisionShape()->getShapeType() == TRIANGLE_SHAPE_PROXYTYPE);
if (colObj0->getCollisionShape()->getShapeType() != TRIANGLE_SHAPE_PROXYTYPE)
return;
btBvhTriangleMeshShape* trimesh = (btBvhTriangleMeshShape*)colObj0->getRootCollisionShape();
btTriangleInfoMap* triangleInfoMapPtr = (btTriangleInfoMap*) trimesh->getTriangleInfoMap();
if (!triangleInfoMapPtr)
return;
int hash = btGetHash(partId0,index0);
btTriangleInfo* info = triangleInfoMapPtr->find(hash);
if (!info)
return;
btScalar frontFacing = (normalAdjustFlags & BT_TRIANGLE_CONVEX_BACKFACE_MODE)==0? 1.f : -1.f;
const btTriangleShape* tri_shape = static_cast<const btTriangleShape*>(colObj0->getCollisionShape());
btVector3 v0,v1,v2;
tri_shape->getVertex(0,v0);
tri_shape->getVertex(1,v1);
tri_shape->getVertex(2,v2);
btVector3 center = (v0+v1+v2)*btScalar(1./3.);
btVector3 red(1,0,0), green(0,1,0),blue(0,0,1),white(1,1,1),black(0,0,0);
btVector3 tri_normal;
tri_shape->calcNormal(tri_normal);
//btScalar dot = tri_normal.dot(cp.m_normalWorldOnB);
btVector3 nearest;
btNearestPointInLineSegment(cp.m_localPointB,v0,v1,nearest);
btVector3 contact = cp.m_localPointB;
#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
const btTransform& tr = colObj0->getWorldTransform();
btDebugDrawLine(tr*nearest,tr*cp.m_localPointB,red);
#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
bool isNearEdge = false;
int numConcaveEdgeHits = 0;
int numConvexEdgeHits = 0;
btVector3 localContactNormalOnB = colObj0->getWorldTransform().getBasis().transpose() * cp.m_normalWorldOnB;
localContactNormalOnB.normalize();//is this necessary?
if ((info->m_edgeV0V1Angle)< SIMD_2_PI)
{
#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
btDebugDrawLine(tr*contact,tr*(contact+cp.m_normalWorldOnB*10),black);
#endif
btScalar len = (contact-nearest).length();
if(len<triangleInfoMapPtr->m_edgeDistanceThreshold)
{
btVector3 edge(v0-v1);
isNearEdge = true;
if (info->m_edgeV0V1Angle==btScalar(0))
{
numConcaveEdgeHits++;
} else
{
bool isEdgeConvex = (info->m_flags & TRI_INFO_V0V1_CONVEX);
btScalar swapFactor = isEdgeConvex ? btScalar(1) : btScalar(-1);
#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
btDebugDrawLine(tr*nearest,tr*(nearest+swapFactor*tri_normal*10),white);
#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
btVector3 nA = swapFactor * tri_normal;
btQuaternion orn(edge,info->m_edgeV0V1Angle);
btVector3 computedNormalB = quatRotate(orn,tri_normal);
if (info->m_flags & TRI_INFO_V0V1_SWAP_NORMALB)
computedNormalB*=-1;
btVector3 nB = swapFactor*computedNormalB;
btScalar NdotA = localContactNormalOnB.dot(nA);
btScalar NdotB = localContactNormalOnB.dot(nB);
bool backFacingNormal = (NdotA< triangleInfoMapPtr->m_convexEpsilon) && (NdotB<triangleInfoMapPtr->m_convexEpsilon);
#ifdef DEBUG_INTERNAL_EDGE
{
btDebugDrawLine(cp.getPositionWorldOnB(),cp.getPositionWorldOnB()+tr.getBasis()*(nB*20),red);
}
#endif //DEBUG_INTERNAL_EDGE
if (backFacingNormal)
{
numConcaveEdgeHits++;
}
//.........这里部分代码省略.........
示例15: main
int main(int argc, char* argv[])
{
{
b3CommandLineArgs myArgs(argc, argv);
app = new SimpleOpenGLApp("SimpleOpenGLApp", gWidth, gHeight);
app->m_renderer->getActiveCamera()->setCameraDistance(13);
app->m_renderer->getActiveCamera()->setCameraPitch(0);
app->m_renderer->getActiveCamera()->setCameraTargetPosition(0, 0, 0);
sOldKeyboardCB = app->m_window->getKeyboardCallback();
app->m_window->setKeyboardCallback(MyKeyboardCallback);
sOldMouseMoveCB = app->m_window->getMouseMoveCallback();
app->m_window->setMouseMoveCallback(MyMouseMoveCallback);
sOldMouseButtonCB = app->m_window->getMouseButtonCallback();
app->m_window->setMouseButtonCallback(MyMouseButtonCallback);
sOldWheelCB = app->m_window->getWheelCallback();
app->m_window->setWheelCallback(MyWheelCallback);
sOldResizeCB = app->m_window->getResizeCallback();
app->m_window->setResizeCallback(MyResizeCallback);
myArgs.GetCmdLineArgument("mp4_file", gVideoFileName);
if (gVideoFileName)
app->dumpFramesToVideo(gVideoFileName);
myArgs.GetCmdLineArgument("png_file", gPngFileName);
char fileName[1024];
int textureWidth = 128;
int textureHeight = 128;
unsigned char* image = new unsigned char[textureWidth*textureHeight * 4];
int textureHandle = app->m_renderer->registerTexture(image, textureWidth, textureHeight);
int cubeIndex = app->registerCubeShape(1, 1, 1);
b3Vector3 pos = b3MakeVector3(0, 0, 0);
b3Quaternion orn(0, 0, 0, 1);
b3Vector3 color = b3MakeVector3(1, 0, 0);
b3Vector3 scaling = b3MakeVector3 (1, 1, 1);
app->m_renderer->registerGraphicsInstance(cubeIndex, pos, orn, color, scaling);
app->m_renderer->writeTransforms();
do
{
static int frameCount = 0;
frameCount++;
if (gPngFileName)
{
printf("gPngFileName=%s\n", gPngFileName);
sprintf(fileName, "%s%d.png", gPngFileName, frameCount++);
app->dumpNextFrameToPng(fileName);
}
//update the texels of the texture using a simple pattern, animated using frame index
for (int y = 0; y < textureHeight; ++y)
{
const int t = (y + frameCount) >> 4;
unsigned char* pi = image + y*textureWidth * 3;
for (int x = 0; x < textureWidth; ++x)
{
const int s = x >> 4;
const unsigned char b = 180;
unsigned char c = b + ((s + (t & 1)) & 1)*(255 - b);
pi[0] = pi[1] = pi[2] = pi[3] = c; pi += 3;
}
}
app->m_renderer->activateTexture(textureHandle);
app->m_renderer->updateTexture(textureHandle, image);
//float color[4] = { 255, 1, 1, 1 };
//app->m_primRenderer->drawTexturedRect(100, 200, gWidth / 2 - 50, gHeight / 2 - 50, color, 0, 0, 1, 1, true);
app->m_renderer->init();
app->m_renderer->updateCamera(1);
app->m_renderer->renderScene();
app->drawGrid();
char bla[1024];
sprintf(bla, "Simple test frame %d", frameCount);
//app->drawText(bla, 10, 10);
#ifdef B3_USE_IMGUI
{
bool show_test_window = true;
bool show_another_window = false;
ImVec4 clear_color = ImColor(114, 144, 154);
//.........这里部分代码省略.........