本文整理汇总了C++中KX_GameObject::ResolveCombinedVelocities方法的典型用法代码示例。如果您正苦于以下问题：C++ KX_GameObject::ResolveCombinedVelocities方法的具体用法？C++ KX_GameObject::ResolveCombinedVelocities怎么用？C++ KX_GameObject::ResolveCombinedVelocities使用的例子？那么, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类KX_GameObject的用法示例。
在下文中一共展示了KX_GameObject::ResolveCombinedVelocities方法的2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: Update
bool KX_ObjectActuator::Update()
{
bool bNegativeEvent = IsNegativeEvent();
RemoveAllEvents();
KX_GameObject *parent = static_cast<KX_GameObject *>(GetParent());
if (bNegativeEvent) {
// If we previously set the linear velocity we now have to inform
// the physics controller that we no longer wish to apply it and that
// it should reconcile the externally set velocity with it's
// own velocity.
if (m_active_combined_velocity) {
if (parent)
parent->ResolveCombinedVelocities(
m_linear_velocity,
m_angular_velocity,
(m_bitLocalFlag.LinearVelocity) != 0,
(m_bitLocalFlag.AngularVelocity) != 0
);
m_active_combined_velocity = false;
}
m_linear_damping_active = false;
m_angular_damping_active = false;
m_error_accumulator.setValue(0.0,0.0,0.0);
m_previous_error.setValue(0.0,0.0,0.0);
return false;
} else if (parent)
{
if (m_bitLocalFlag.ServoControl)
{
// In this mode, we try to reach a target speed using force
// As we don't know the friction, we must implement a generic
// servo control to achieve the speed in a configurable
// v = current velocity
// V = target velocity
// e = V-v = speed error
// dt = time interval since previous update
// I = sum(e(t)*dt)
// dv = e(t) - e(t-1)
// KP, KD, KI : coefficient
// F = KP*e+KI*I+KD*dv
MT_Scalar mass = parent->GetMass();
if (mass < MT_EPSILON)
return false;
MT_Vector3 v = parent->GetLinearVelocity(m_bitLocalFlag.LinearVelocity);
if (m_reference)
{
const MT_Point3& mypos = parent->NodeGetWorldPosition();
const MT_Point3& refpos = m_reference->NodeGetWorldPosition();
MT_Point3 relpos;
relpos = (mypos-refpos);
MT_Vector3 vel= m_reference->GetVelocity(relpos);
if (m_bitLocalFlag.LinearVelocity)
// must convert in local space
vel = parent->NodeGetWorldOrientation().transposed()*vel;
v -= vel;
}
MT_Vector3 e = m_linear_velocity - v;
MT_Vector3 dv = e - m_previous_error;
MT_Vector3 I = m_error_accumulator + e;
m_force = m_pid.x()*e+m_pid.y()*I+m_pid.z()*dv;
// to automatically adapt the PID coefficient to mass;
m_force *= mass;
if (m_bitLocalFlag.Torque)
{
if (m_force[0] > m_dloc[0])
{
m_force[0] = m_dloc[0];
I[0] = m_error_accumulator[0];
} else if (m_force[0] < m_drot[0])
{
m_force[0] = m_drot[0];
I[0] = m_error_accumulator[0];
}
}
if (m_bitLocalFlag.DLoc)
{
if (m_force[1] > m_dloc[1])
{
m_force[1] = m_dloc[1];
I[1] = m_error_accumulator[1];
} else if (m_force[1] < m_drot[1])
{
m_force[1] = m_drot[1];
I[1] = m_error_accumulator[1];
}
}
if (m_bitLocalFlag.DRot)
{
if (m_force[2] > m_dloc[2])
{
m_force[2] = m_dloc[2];
I[2] = m_error_accumulator[2];
} else if (m_force[2] < m_drot[2])
{
m_force[2] = m_drot[2];
//.........这里部分代码省略.........
示例2: Update
bool KX_ObjectActuator::Update()
{
bool bNegativeEvent = IsNegativeEvent();
RemoveAllEvents();
KX_GameObject *parent = static_cast<KX_GameObject *>(GetParent());
PHY_ICharacter *character = parent->GetScene()->GetPhysicsEnvironment()->GetCharacterController(parent);
if (bNegativeEvent) {
// If we previously set the linear velocity we now have to inform
// the physics controller that we no longer wish to apply it and that
// it should reconcile the externally set velocity with it's
// own velocity.
if (m_active_combined_velocity) {
if (parent)
parent->ResolveCombinedVelocities(
m_linear_velocity,
m_angular_velocity,
(m_bitLocalFlag.LinearVelocity) != 0,
(m_bitLocalFlag.AngularVelocity) != 0
);
m_active_combined_velocity = false;
}
// Explicitly stop the movement if we're using character motion
if (m_bitLocalFlag.CharacterMotion) {
character->SetWalkDirection(MT_Vector3 (0.0f, 0.0f, 0.0f));
}
m_linear_damping_active = false;
m_angular_damping_active = false;
m_error_accumulator.setValue(0.0f,0.0f,0.0f);
m_previous_error.setValue(0.0f,0.0f,0.0f);
m_jumping = false;
return false;
} else if (parent)
{
if (m_bitLocalFlag.ServoControl)
{
// In this mode, we try to reach a target speed using force
// As we don't know the friction, we must implement a generic
// servo control to achieve the speed in a configurable
// v = current velocity
// V = target velocity
// e = V-v = speed error
// dt = time interval since previous update
// I = sum(e(t)*dt)
// dv = e(t) - e(t-1)
// KP, KD, KI : coefficient
// F = KP*e+KI*I+KD*dv
MT_Scalar mass = parent->GetMass();
if (mass < MT_EPSILON)
return false;
MT_Vector3 v = parent->GetLinearVelocity(m_bitLocalFlag.LinearVelocity);
if (m_reference)
{
const MT_Point3& mypos = parent->NodeGetWorldPosition();
const MT_Point3& refpos = m_reference->NodeGetWorldPosition();
MT_Point3 relpos;
relpos = (mypos-refpos);
MT_Vector3 vel= m_reference->GetVelocity(relpos);
if (m_bitLocalFlag.LinearVelocity)
// must convert in local space
vel = parent->NodeGetWorldOrientation().transposed()*vel;
v -= vel;
}
MT_Vector3 e = m_linear_velocity - v;
MT_Vector3 dv = e - m_previous_error;
MT_Vector3 I = m_error_accumulator + e;
m_force = m_pid.x()*e+m_pid.y()*I+m_pid.z()*dv;
// to automatically adapt the PID coefficient to mass;
m_force *= mass;
if (m_bitLocalFlag.Torque)
{
if (m_force[0] > m_dloc[0])
{
m_force[0] = m_dloc[0];
I[0] = m_error_accumulator[0];
} else if (m_force[0] < m_drot[0])
{
m_force[0] = m_drot[0];
I[0] = m_error_accumulator[0];
}
}
if (m_bitLocalFlag.DLoc)
{
if (m_force[1] > m_dloc[1])
{
m_force[1] = m_dloc[1];
I[1] = m_error_accumulator[1];
} else if (m_force[1] < m_drot[1])
{
m_force[1] = m_drot[1];
I[1] = m_error_accumulator[1];
}
}
if (m_bitLocalFlag.DRot)
//.........这里部分代码省略.........