C++ NxMat33::getColumnMajorStride4方法代码示例

	void Update ( void )
	{
		NxVec3 forceDir ( -1, 0, 0 );
		NxReal forceStrength = 100;
		NxVec3 forceVec = forceStrength*forceDir;
		this->tractor->addForce(forceVec);

		g_iValue = 10;

		for (int i=0; i<2; i++)
		{
			NxMat34 pose   = frontWheels [ i ].wheel->getGlobalPose ( );
			NxMat33 orient = pose.M;
			NxVec3  pos    = pose.t;

			float glmat[16];
			orient.getColumnMajorStride4(&(glmat[0]));
			pos.get(&(glmat[12]));
			glmat[3] = glmat[7] = glmat[11] = 0.0f;
			glmat[15] = 1.0f;

			SetWorldMatrix ( g_iValue, ( D3DXMATRIX* ) &glmat );
			sObject* pObject = dbGetObject ( g_iValue++ );
			pObject->position.vecPosition = D3DXVECTOR3 ( glmat [ 12 ], glmat [ 13 ], glmat [ 14 ] );
		}

		for (int i=0; i<2; i++)
		{
			NxMat34 pose   = steerWheels [ i ].wheel.wheel->getGlobalPose ( );
			NxMat33 orient = pose.M;
			NxVec3  pos    = pose.t;

			float glmat[16];
			orient.getColumnMajorStride4(&(glmat[0]));
			pos.get(&(glmat[12]));
			glmat[3] = glmat[7] = glmat[11] = 0.0f;
			glmat[15] = 1.0f;

			SetWorldMatrix ( g_iValue, ( D3DXMATRIX* ) &glmat );
			sObject* pObject = dbGetObject ( g_iValue++ );
			pObject->position.vecPosition = D3DXVECTOR3 ( glmat [ 12 ], glmat [ 13 ], glmat [ 14 ] );
		}

		//dbPositionObject ( g_iValue, glmat [ 12 ], glmat [ 13 ], glmat [ 14 ] );

	
	}

void SetupGLMatrix(const NxVec3& pos, const NxMat33& orient)
{
	float glmat[16];	//4x4 column major matrix for OpenGL.
	orient.getColumnMajorStride4(&(glmat[0]));
	pos.get(&(glmat[12]));

	//clear the elements we don't need:
	glmat[3] = glmat[7] = glmat[11] = 0.0f;
	glmat[15] = 1.0f;

	glMultMatrixf(&(glmat[0]));
}

void PhysUpdate ( void )
{
	int iObject = 1;

    // Render all the actors in the scene
    int nbActors = gScene->getNbActors();
    NxActor** actors = gScene->getActors();

	while (nbActors--)
    {
        NxActor* actor = *actors++;

		// Get an OpenGL transform (float[16]) from a Novodex shape’s global pose     
		// (NxMat34)
		NxShape* shape = NULL;

		NxMat34 pose = actor->getGlobalPose();

		NxMat33 orient = pose.M;
		NxVec3 pos = pose.t;	

		float glmat[16];    // 4x4 column major OpenGL matrix
		orient.getColumnMajorStride4(&(glmat[0]));
		pos.get(&(glmat[12]));

		// clear the elements we don't need:
		glmat[3] = glmat[7] = glmat[11] = 0.0f;
		glmat[15] = 1.0f;

		{
			sPhysObject* pPhys = ( sPhysObject* ) actor->userData;
			
			if ( pPhys )
			{
				SetWorldMatrix ( pPhys->iID, ( D3DXMATRIX* ) &glmat );

				sObject* pObject = dbGetObject ( pPhys->iID );

				pObject->position.vecPosition = D3DXVECTOR3 ( glmat [ 12 ], glmat [ 13 ], glmat [ 14 ] );
			}
		}
    }
}

void TickCar ( void )
{
	g_iValue = 10;

	NxReal steeringAngle = gSteeringValue * gMaxSteeringAngle;

	NxArray<CarWheelContact>::iterator i = wheelContactPoints.begin();
	while(i != wheelContactPoints.end())
	{
		CarWheelContact& cwc = *i;

		WheelShapeUserData* wheelData = (WheelShapeUserData *)(cwc.wheel->userData);

		/*
		struct CarWheelContact
		{
			NxActor* car;
			NxShape* wheel;
			NxVec3 contactPoint;
			NxVec3 contactNormalForce;
			NxVec3 contactFrictionForce;
		};
		*/

		{
			NxMat34 pose   = cwc.wheel->getGlobalPose ( );
			NxMat33 orient = pose.M;
			NxVec3  pos    = pose.t;

			float glmat[16];
			orient.getColumnMajorStride4(&(glmat[0]));
			pos.get(&(glmat[12]));
			glmat[3] = glmat[7] = glmat[11] = 0.0f;
			glmat[15] = 1.0f;

			SetWorldMatrix ( g_iValue, ( D3DXMATRIX* ) &glmat );
			sObject* pObject = dbGetObject ( g_iValue );
			pObject->position.vecPosition = D3DXVECTOR3 ( glmat [ 12 ], glmat [ 13 ], glmat [ 14 ] );

			//dbPositionObject ( g_iValue, glmat [ 12 ], glmat [ 13 ], glmat [ 14 ] );

			g_iValue++;
		}

		//apply to powered wheels only.
		if (wheelData->frontWheel)
	    {
			//steering:
			NxMat33 wheelOrientation = cwc.wheel->getLocalOrientation();
			wheelOrientation.setColumn(0,  NxVec3(NxMath::cos(steeringAngle), 0,  NxMath::sin(steeringAngle) ));
			wheelOrientation.setColumn(2,  NxVec3(NxMath::sin(steeringAngle), 0, -NxMath::cos(steeringAngle) ));
			cwc.wheel->setLocalOrientation(wheelOrientation);

			if (frontWheelIsPowered)
			{
				//get the world space orientation:
				wheelOrientation = cwc.wheel->getGlobalOrientation();
				NxVec3 steeringDirection;
				wheelOrientation.getColumn(0, steeringDirection);

				//the power direction of the front wheel is the wheel's axis as it is steered.
				if (gMotorForce)
				{
					cwc.car->addForceAtPos(steeringDirection * gMotorForce,cwc.contactPoint);
				}
			}
		}
		if (!wheelData->frontWheel && rearWheelIsPowered)
		{
			//get the orientation of this car:
			NxMat33 m = cwc.car->getGlobalOrientation();
			NxVec3 carForwardAxis;
			m.getColumn(0, carForwardAxis);
			//the power direction of the rear wheel is always the car's length axis.
			cwc.car->addForceAtPos(carForwardAxis * gMotorForce,cwc.contactPoint);
		}
		i++;
	}

	wheelContactPoints.clear();
}