C++ NxVec3::dot方法代码示例

//assumes that the Vectors are normalized
hsBool ThreePlaneIntersect(const NxVec3& norm0, const NxVec3& point0, 
                         const NxVec3& norm1, const NxVec3& point1, 
                         const NxVec3& norm2, const NxVec3& point2, NxVec3& loc)
{
    //need to make sure these planes aren't parallel
    hsBool suc=0;
    NxVec3 cross=norm1.cross( norm2);
    float denom=norm0.dot(cross);
    if(abs(denom)<0.0001) return 0;//basically paralell
    // if we are here there must be a point in 3 space
    try{
        float d1,d2,d3;
        d1=norm0.dot(point0);
        d2=norm1.dot(point1);
        d3=norm2.dot(point2);
        NxVec3 n1Xn2=norm1.cross(norm2);
        NxVec3 n2Xn0=norm2.cross(norm0);
        NxVec3 n0Xn1=norm0.cross(norm1);
        NxVec3 pos=(d1*n1Xn2+ d2*n2Xn0  + d3*n0Xn1)/(denom);
        loc.x=pos.x;
        loc.y=pos.y;
        loc.z=pos.z;
        suc= 1;
    }
    catch(...)
    {
        suc=0;
    }

    return suc;

}

// -----------------------------------------------------------------------------------
bool ObjMesh::rayTriangleIntersection(const NxVec3 &orig, const NxVec3 &dir,
	 									 const ObjMeshTriangle &triangle,
	 									 NxReal &t, NxReal &u, NxReal &v) const
{
	const NxVec3 &a = mVertices[triangle.vertexNr[0]];
	const NxVec3 &b = mVertices[triangle.vertexNr[0]];
	const NxVec3 &c = mVertices[triangle.vertexNr[0]];

	NxVec3 edge1, edge2, tvec, pvec, qvec;
	NxReal det,inv_det;

	edge1 = b - a;
	edge2 = c - a;
	pvec.cross(dir, edge2);

	/* if determinant is near zero, ray lies in plane of triangle */
	det = edge1.dot(pvec);

	if (det == 0.0f)
		return false;
	inv_det = 1.0f / det;

	/* calculate distance from vert0 to ray origin */
	tvec = orig - a;

	/* calculate U parameter and test bounds */
	u = tvec.dot(pvec) * inv_det;
	if (u < 0.0f || u > 1.0f)
	return false;

	/* prepare to test V parameter */
	qvec.cross(tvec, edge1);

	/* calculate V parameter and test bounds */
	v = dir.dot(qvec) * inv_det;
	if (v < 0.0f || u + v > 1.0f)
	return false;

	/* calculate t, ray intersects triangle */
	t = edge2.dot(qvec) * inv_det;

	return true;
}

// ray-sphere intersection test from Graphics Gems p.388
// **NOTE** There is a bug in this Graphics Gem.  If the origin
// of the ray is *inside* the sphere being tested, it reports the
// wrong intersection location.  This code has a fix for the bug.
bool  SBM_rayIntersectsSphere(const float *point,const float *direction,const float *_center,float radius,float &t)
{
  bool ret = false;

  NxVec3 rayOrigin(point);
  NxVec3 dir(direction);
  NxVec3 center(_center);

	// notation:
	// point E  = rayOrigin
	// point O  = sphere center

	NxVec3 EO = center - rayOrigin;
  NxVec3 V = dir;

  float dist2 = EO.x*EO.x + EO.y*EO.y + EO.z * EO.z;

  float r2 = radius*radius;

  // Bug Fix For Gem, if origin is *inside* the sphere, invert the
  // direction vector so that we get a valid intersection location.
  if ( dist2 < r2 )
    V*=-1;

	float v = EO.dot(V);

	float disc = r2 - (EO.magnitudeSquared() - v*v);

	if (disc > 0.0f)
	{
    t = sqrtf(disc);
		ret = true;
	}

	return ret;
}

Jumper::CanopyOpening::CanopyOpening(Jumper* jumper, NxActor* phFreeFall, NxActor* phFlight, MatrixConversion* mcFlight, PilotchuteSimulator* pc, CanopySimulator* c, NxVec3 fla, NxVec3 fra, NxVec3 rla, NxVec3 rra) :
    JumperAction( jumper )
{
    // set action properties
    _actionTime = 0.0f;
    _blendTime = 0.2f;
    _endOfAction = false;
    _phActor = phFlight;
    _matrixConversion = mcFlight;
    _pilotchute = pc;
    _canopy = c;
    _frontLeftAnchor  = fla;
    _frontRightAnchor = fra;
    _rearLeftAnchor   = rla;
    _rearRightAnchor  = rra;
    _initialLD = phFlight->getLinearDamping();

    // activate jumper body simulator
    Matrix4f sampleLTM = Jumper::getCollisionFC( _clump )->getFrame()->getLTM();
    phFlight->setGlobalPose( wrap( sampleLTM ) );
    phFlight->wakeUp();
    phFlight->setLinearVelocity( phFreeFall->getLinearVelocity() );
    phFlight->setAngularVelocity( phFreeFall->getAngularVelocity() );    

    // connect & open canopy    
    _canopy->connect(
        _phActor, 
        _frontLeftAnchor,
        _frontRightAnchor,
        _rearLeftAnchor,
        _rearRightAnchor,
        Jumper::getFrontLeftRiser( _clump ),
        Jumper::getFrontRightRiser( _clump ),
        Jumper::getRearLeftRiser( _clump ),
        Jumper::getRearRightRiser( _clump )
    );

	// age
	if (_jumper->getCanopyReserveSimulator() && _jumper->getCanopyReserveSimulator() == _canopy) {
		++jumper->getVirtues()->equipment.reserve.age;
	} else {
		++jumper->getVirtues()->equipment.canopy.age;
	}

    // retrieve pilotchute velocity
    float pcVel = pc->getPhActor()->getLinearVelocity().magnitude();
	float anglVel = phFreeFall->getAngularVelocity().magnitude();

    // retrieve pilotchute reference velocity
	database::Canopy* canopyInfo = _canopy->getGearRecord();
	database::Pilotchute* pcInfo;
	if (_jumper->getCanopyReserveSimulator() == _canopy) {
		pcInfo = canopyInfo->pilots;
	} else {
		assert( canopyInfo->numPilots > _jumper->getVirtues()->equipment.pilotchute );
		pcInfo = canopyInfo->pilots + _jumper->getVirtues()->equipment.pilotchute;
	}

    // probability of lineover
    float lineoverProb  = _jumper->getVirtues()->getLineoverProbability( pcVel / pcInfo->Vrec );
	// no slider has not smaller probability
	if (_jumper->getVirtues()->equipment.sliderOption != soRemoved) {
		lineoverProb *= 0.3f;
	}
	// reserves have 70% less lineover probability
	if (_jumper->getCanopyReserveSimulator() == _canopy) {
		lineoverProb *= 0.3f;
	}
    bool  leftLineover  = ( getCore()->getRandToolkit()->getUniform( 0, 1 ) < lineoverProb );
    bool  rightLineover = !leftLineover && ( getCore()->getRandToolkit()->getUniform( 0, 1 ) < lineoverProb );
    float leftLOW  = leftLineover ? getCore()->getRandToolkit()->getUniform( 0.5, 1.0f ) : 0;
    float rightLOW = rightLineover ? getCore()->getRandToolkit()->getUniform( 0.5, 1.0f ) : 0;

    // probability of linetwists
	// add probability if spinning
	//if( _jumper->isPlayer() ) getCore()->logMessage( "angular velocity component on deployment: %2.10f", anglVel * 0.13f );
    float linetwistsProb = _jumper->getVirtues()->getLinetwistsProbability( pcVel ) + anglVel * 0.13f;
    float linetwistsDice = getCore()->getRandToolkit()->getUniform( 0.0f, 1.0f );
	
	// probability of linetwists because of incorrect body position
	NxVec3 motionDir = _jumper->getFreefallActor()->getLinearVelocity(); motionDir.normalize();
    NxVec3 canopyDown  = _jumper->getFreefallActor()->getGlobalPose().M.getColumn(2); canopyDown.normalize();
    float relativity = 1.0f + fabs(canopyDown.dot( motionDir ));
	linetwistsProb *= relativity;

	// reserves have 50% less linetwist probability
	if (_jumper->getCanopyReserveSimulator() == _canopy) {
		linetwistsProb *= 0.5f;
	}
	
	// base canopies gave 40% less linetwist probability
	else if (!canopyInfo->skydiving) {
		linetwistsProb *= 0.4f;
	}

    bool  linetwists = ( linetwistsDice <= linetwistsProb );
	//if( _jumper->isPlayer() ) {
		//getCore()->logMessage( "linetwists prob: %3.5f", linetwistsProb );
		//getCore()->logMessage( "linetwists dice: %3.5f", linetwistsDice );
	//} else {
//.........这里部分代码省略.........

hsVectorStream* plPhysXCooking::IMakePolytope(const plMaxMeshExtractor::NeutralMesh& inMesh)
{
    hsBool success=0;
    std::vector<hsPoint3> outCloud;
    hsPoint3 offset;
    int numPlanes=26;
    float planeMax[26];
    int indexMax[26];
    hsPoint3 AABBMin(FLT_MAX,FLT_MAX,FLT_MAX);
    hsPoint3 AABBMax(-FLT_MAX,-FLT_MAX,-FLT_MAX);
    //prep
    NxVec3* vectors = new NxVec3[26];
    
    int curvec=0;
    for(int xcomp= -1;xcomp<2;xcomp++)
    {
        for(int ycomp= -1;ycomp<2;ycomp++)
        {
            for(int zcomp= -1;zcomp<2;zcomp++)
            {
                if(!((xcomp==0)&&(ycomp==0)&&(zcomp==0)))
                {
                    vectors[curvec].set((float)(xcomp),(float)(ycomp),(float)(zcomp));
                    vectors[curvec].normalize();
                    planeMax[curvec]=(-FLT_MAX);
                    //indexMax[curvec]=0;
                    curvec++;
                }
            }
        }
    }
    /*
    for(int i=0;i<26;i++)
    {//make your max and mins
        planeMax[i]=(-FLT_MAX);
    }
    */
    hsPoint3 centroid(0.0f,0.0f,0.0f);
    for(int i=0;i<inMesh.fNumVerts;i++) centroid+=inMesh.fVerts[i];
    centroid=centroid/(float)inMesh.fNumVerts;
    //temp
    NxVec3* nxLocs=new NxVec3[inMesh.fNumVerts];
    NxVec3* nxLocs2=new NxVec3[inMesh.fNumVerts];
    for(int i=0;i<inMesh.fNumVerts;i++)
    {
        hsPoint3 temppt=inMesh.fVerts[i] - centroid;
        nxLocs[i]=plPXConvert::Point(temppt);
    }
    NxMat33 rot;
    NxVec3 eigen;
    PCA(nxLocs,inMesh.fNumVerts,rot);
    NxMat33 invrot;
    rot.getInverse(invrot);
    for(int i=0; i<inMesh.fNumVerts;i++)
    {
        nxLocs2[i]=invrot*nxLocs[i];
    }
    for(int i=0;i<inMesh.fNumVerts;i++)
    {
        for(int plane=0;plane<26;plane++)
        {
            float dist=nxLocs2[i].dot(vectors[plane]);
            if(dist>=planeMax[plane])
            {
                planeMax[plane]=dist;
                indexMax[plane]=i;
            }
        }
    }
    for(int i=0;i<inMesh.fNumVerts;i++)
    {
        AABBMin.fX = hsMinimum(nxLocs2[i].x, AABBMin.fX);
        AABBMin.fY = hsMinimum(nxLocs2[i].y, AABBMin.fY);
        AABBMin.fZ = hsMinimum(nxLocs2[i].z, AABBMin.fZ);
        AABBMax.fX = hsMaximum(nxLocs2[i].x, AABBMax.fX);
        AABBMax.fY = hsMaximum(nxLocs2[i].y, AABBMax.fY);
        AABBMax.fZ = hsMaximum(nxLocs2[i].z, AABBMax.fZ);
    }
    
    int resultingPoints=0;
    for(int i=0;i<26;i++)
    {
        for(int j=0;j<26;j++)
        {
            for(int k=0;k<26;k++)
            {   
                NxVec3 res;
                if(ThreePlaneIntersect(vectors[i],nxLocs2[indexMax[i]],vectors[j],nxLocs2[indexMax[j]], vectors[k],nxLocs2[indexMax[k]],res))
                {
                    //check it is within all slabs
                    bool within=true;
                    int curplane=0;
                    do
                    {
                        float intersecdist=res.dot(vectors[curplane]);
                        if((intersecdist-planeMax[curplane])>0.0001)

                        {
                            within=false;
                    
//.........这里部分代码省略.........

void pWheel2::_updateVirtoolsEntity(bool position,bool rotation)
{

	CK3dEntity *ent  = static_cast<CK3dEntity*>(GetPMan()->GetContext()->GetObject(getEntID()));
	if (ent && position) 
	{

		NxWheelShape *wShape = getWheelShape();
		NxMat34 pose = wShape->getGlobalPose();
		NxWheelContactData wcd; 
		NxShape* contactShape = wShape->getContact(wcd);
		NxVec3 suspensionOffsetDirection;
		pose.M.getColumn(1, suspensionOffsetDirection);
		suspensionOffsetDirection =-suspensionOffsetDirection;

		if (contactShape && wcd.contactForce > -1000)
		{
			NxVec3 toContact = wcd.contactPoint - pose.t;
			double alongLength = suspensionOffsetDirection.dot(toContact);
			NxVec3 across = toContact - alongLength * suspensionOffsetDirection;
			double r = wShape->getRadius();
			double pullBack = sqrt(r*r - across.dot(across));
			pose.t += (alongLength - pullBack) * suspensionOffsetDirection;
		} else {
			pose.t += wShape->getSuspensionTravel() * suspensionOffsetDirection;
		}

		VxVector oPos  = getFrom(pose.t);
		ent->SetPosition(&oPos);

		if (hasGroundContact())
		{

			NxWheelShape *wShape = getWheelShape();
			NxMat34& wheelPose = wShape->getGlobalPose();

/*			NxWheelContactData wcd;
			NxShape* cShape = wShape->getContact(wcd);	
			NxReal  stravel = wShape->getSuspensionTravel();
			NxReal radius = wShape->getRadius();

			VxVector gPos  = getFrom(getWheelPose().t);

			/*
			if( cShape && wcd.contactPosition <=  (stravel + radius) ) 
			{
			}*/

			//////////////////////////////////////////////////////////////////////////

			/*VxVector gPos  = getFrom(getWheelPose().t);
			//gPos*=-1.0f;
			gPos -=getWheelPos();
			V	3.
				xVector gPos2  = getFrom(getWheelShape()->getLocalPose().t);
			ent->SetPosition(&gPos2,getBody()->GetVT3DObject());
			*/
		}else
		{
//			VxVector gPos  = getWheelPos();
//			ent->SetPosition(&gPos,getBody()->GetVT3DObject());
		}
	}
	if (ent && rotation)
	{


		//float rollAngle = getWheelRollAngle();
		//rollAngle+=wShape->getAxleSpeed() * (dt* 0.01f);
        
		VxQuaternion rot  = pMath::getFrom( getWheelPose().M );
		ent->SetQuaternion(&rot,NULL);
	}


	/*



	NxWheelShape *wShape = getWheelShape();

	


	while (rollAngle > NxTwoPi)	//normally just 1x
	rollAngle-= NxTwoPi;
	while (rollAngle< -NxTwoPi)	//normally just 1x
	rollAngle+= NxTwoPi;

	setWheelRollAngle(rollAngle);


	NxMat34& wheelPose = wShape->getGlobalPose();

	NxWheelContactData wcd;
	NxShape* cShape = wShape->getContact(wcd);	
	NxReal  stravel = wShape->getSuspensionTravel();
	NxReal radius = wShape->getRadius();


//.........这里部分代码省略.........