C++ NxActor::getCMassLocalPosition方法代码示例

NxActor* CreateTrike(const NxVec3& pos)
{
	NxActor* actor = CreateBox(pos + NxVec3(0,0.5,0), NxVec3(2,0.25,0.75), 10);

	NxTireFunctionDesc lngTFD;
	lngTFD.extremumSlip = 1.0f;
	lngTFD.extremumValue = 0.02f;
	lngTFD.asymptoteSlip = 2.0f;
	lngTFD.asymptoteValue = 0.01f;	
	lngTFD.stiffnessFactor = 1000000.0f;

	NxTireFunctionDesc latTFD;
	latTFD.extremumSlip = 1.0f;
	latTFD.extremumValue = 0.02f;
	latTFD.asymptoteSlip = 2.0f;
	latTFD.asymptoteValue = 0.01f;	
	latTFD.stiffnessFactor = 1000000.0f;

	NxTireFunctionDesc slipTFD;
	slipTFD.extremumSlip = 1.0f;
	slipTFD.extremumValue = 0.02f;
	slipTFD.asymptoteSlip = 2.0f;
	slipTFD.asymptoteValue = 0.01f;	
	slipTFD.stiffnessFactor = 100.0f;

	// Front wheel
	NxWheelDesc wheelDesc;
    wheelDesc.wheelApproximation = 10;
	wheelDesc.wheelRadius = 0.5;
	wheelDesc.wheelWidth = 0.3;  // 0.1
	wheelDesc.wheelSuspension = 1.0;  
	wheelDesc.springRestitution = 100;
	wheelDesc.springDamping = 0.5;
	wheelDesc.springBias = 0;  
	wheelDesc.maxBrakeForce = 1;
	wheelDesc.position = NxVec3(2.5,0.5,0);
	wheelDesc.wheelFlags = NX_WF_USE_WHEELSHAPE | NX_WF_BUILD_LOWER_HALF | NX_WF_ACCELERATED | 
		                    NX_WF_AFFECTED_BY_HANDBRAKE | NX_WF_STEERABLE_INPUT;
    wheel1 = AddWheelToActor(actor, &wheelDesc);

	// Rear left wheel
	NxWheelDesc wheelDesc2;
    wheelDesc2.wheelApproximation = 10;
	wheelDesc2.wheelRadius = 0.5;
	wheelDesc2.wheelWidth = 0.3;  // 0.1
	wheelDesc2.wheelSuspension = 1.0;  
	wheelDesc2.springRestitution = 100;
	wheelDesc2.springDamping = 0.5;
	wheelDesc2.springBias = 0;  
	wheelDesc2.maxBrakeForce = 1;	
	wheelDesc2.position = NxVec3(-1.5,0.5,-1);
	wheelDesc2.wheelFlags = NX_WF_USE_WHEELSHAPE | NX_WF_BUILD_LOWER_HALF | NX_WF_ACCELERATED | 
		                    NX_WF_AFFECTED_BY_HANDBRAKE | NX_WF_STEERABLE_INPUT; 
    wheel2 = AddWheelToActor(actor, &wheelDesc2);

	// Rear right wheel
	NxWheelDesc wheelDesc3;
    wheelDesc3.wheelApproximation = 10;
	wheelDesc3.wheelRadius = 0.5;
	wheelDesc3.wheelWidth = 0.3;  // 0.1
	wheelDesc3.wheelSuspension = 1.0;  
	wheelDesc3.springRestitution = 100;
	wheelDesc3.springDamping = 0.5;
	wheelDesc3.springBias = 0;  
	wheelDesc3.maxBrakeForce = 1;
	wheelDesc3.position = NxVec3(-1.5,0.5,1);
	wheelDesc3.wheelFlags = NX_WF_USE_WHEELSHAPE | NX_WF_BUILD_LOWER_HALF | NX_WF_ACCELERATED | 
		                    NX_WF_AFFECTED_BY_HANDBRAKE | NX_WF_STEERABLE_INPUT;
    wheel3 = AddWheelToActor(actor, &wheelDesc3);

    // LOWER THE CENTER OF MASS
    NxVec3 massPos = actor->getCMassLocalPosition();
    massPos.y -= 1;
    actor->setCMassOffsetLocalPosition(massPos);

	return actor;
}

void NxRobot::cloneRobot(int indexNewScene, int indexNewRobot, NxVec3 newPosition, int indexNewTeam)
{
    NxRobot* nxRobotSource = Simulation::gScenes[this->indexScene]->allRobots->getRobotByIdByTeam(this->id, this->idTeam);

    NxActor* robotActor = Simulation::cloneActor(nxRobotSource->getActor(),indexNewScene);
    //NxBounds3 bodyBounds;
    //robotShapes[0]->getWorldBounds(bodyBounds);

    NxVehicleDesc vehicleDesc;

    vehicleDesc.position				= NxVec3(robotActor->getGlobalPosition());
    vehicleDesc.mass					= robotActor->getMass();
    //vehicleDesc.motorForce				= 70000;
    //vehicleDesc.maxVelocity				= 300.f;
    //vehicleDesc.cameraDistance			= 8.0f;
    vehicleDesc.centerOfMass.set(robotActor->getCMassLocalPosition());
    //vehicleDesc.differentialRatio = 3.42f;
    //vehicleDesc.transmissionEfficiency
    vehicleDesc.actor = robotActor;

    //Motor descricao
    //NxVehicleMotorDesc motorsDesc[4];
    //for(NxU32 i=0;i<4;i++)
    //{
    //motorsDesc[i].setToCorvette();
    //vehicleDesc.motorsDesc.push_back(&motorsDesc[i]);
    //}

    //Roda (Wheel) descricao
    int numberWheels = nxRobotSource->getNbWheels();
    NxWheelDesc* wheelDesc = new NxWheelDesc[numberWheels];
    for(NxU32 i=0; i<numberWheels; i++)
    {
        //NxActor* wheelModel = Simulation::getActorWheel(indexSourceScene,indexNewRobot,i);
        //NxActorDesc wheelActorDesc;
        //wheelModel->saveToDesc(wheelActorDesc);
        //Simulation::gScenes[0]->releaseActor(*wheelModel);

        //NxShape*const* wheelShapes = actorWheel->getShapes();
        //NxBounds3 wheelBounds;
        //wheelShapes[0]->getWorldBounds(wheelBounds);

        const NxWheel* wheel = nxRobotSource->getWheel(i);
        NxWheelShape* wheelShape = ((NxWheel2*)wheel)->getWheelShape();
        //wheelDesc[i].wheelApproximation = 10;
        wheelDesc[i].wheelOrientation = wheelShape->getGlobalOrientation();
        wheelDesc[i].position.set(wheelShape->getGlobalPosition()-robotActor->getGlobalPosition());
        //wheelDesc[i].position.z = 0;
        wheelDesc[i].id = i;
        wheelDesc[i].wheelFlags = ((NxWheel*)wheel)->getWheelFlags();
        wheelDesc[i].wheelRadius = wheel->getRadius();
        //wheelDesc[i].wheelWidth = 100;
        wheelDesc[i].wheelSuspension = wheelShape->getSuspensionTravel();
        wheelDesc[i].springRestitution = 0;
        wheelDesc[i].springDamping = 0;
        wheelDesc[i].springBias = 0.0f;
        wheelDesc[i].maxBrakeForce = 100;
        wheelDesc[i].frictionToFront = 0.1f;//0.1f;
        wheelDesc[i].frictionToSide = 0;//0.02f;//
        wheelDesc[i].inverseWheelMass = wheelShape->getInverseWheelMass(); //TODO: CONFIGURAR PARÂMETRO

        //Angulo das Rodas (Omni)
        wheelDesc[i].angWheelRelRobot = ((NxWheel2*)wheel)->angWheelRelRobot;

        vehicleDesc.robotWheels.pushBack(&wheelDesc[i]);
    }

    //Criar robot, vehicle base
    NxRobot* robot = (NxRobot*)NxRobot::createVehicle(Simulation::gScenes[indexNewScene], &vehicleDesc);
    //NxRobot* robot = (NxRobot*)NxRobot::createVehicle(gScenes[indexSourceScene], &vehicleDesc);
    robot->setId(indexNewRobot);
    robot->setIdTeam(indexNewTeam);
    robot->indexScene = indexNewScene;
    robot->bodyRadius = nxRobotSource->bodyRadius;

    //Dribbler and Kicker
    NxShape*const* robotShapes = robotActor->getShapes();
    for(int i=0; i<robotActor->getNbShapes(); i++) {
        const char* shapeName = robotShapes[i]->getName();
        if(shapeName) {
            char* dribblerName = new char[10];//"Driblador\0"
            dribblerName[9] = 0;
            memcpy(dribblerName, shapeName, strlen(dribblerName));

            if(strcmp(dribblerName, "Driblador") == 0) {
                robot->dribbler->dribblerShapes.push_back(robotShapes[i]);
            }
            delete dribblerName;
        }
    }
    robot->kicker->kickerShapeDesc = new NxBoxShapeDesc();
    NxShapeDesc* shapeDesc = nxRobotSource->kicker->kickerShapeDesc;
    robot->kicker->kickerShapeDesc->localPose = shapeDesc->localPose;
    ((NxBoxShapeDesc*)(robot->kicker->kickerShapeDesc))->dimensions = ((NxBoxShapeDesc*)shapeDesc)->dimensions;

    //Initial Pose
    robot->setInitialPose(robotActor->getGlobalPose());

    robotActor->putToSleep();

//.........这里部分代码省略.........