本文整理汇总了C++中PhysicsBody::get_global_transform方法的典型用法代码示例。如果您正苦于以下问题：C++ PhysicsBody::get_global_transform方法的具体用法？C++ PhysicsBody::get_global_transform怎么用？C++ PhysicsBody::get_global_transform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PhysicsBody的用法示例。
在下文中一共展示了PhysicsBody::get_global_transform方法的1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_friction
void VehicleBody::_update_friction(PhysicsDirectBodyState *s) {
//calculate the impulse, so that the wheels don't move sidewards
int numWheel = wheels.size();
if (!numWheel)
return;
m_forwardWS.resize(numWheel);
m_axle.resize(numWheel);
m_forwardImpulse.resize(numWheel);
m_sideImpulse.resize(numWheel);
int numWheelsOnGround = 0;
//collapse all those loops into one!
for (int i=0;i<wheels.size();i++)
{
VehicleWheel& wheelInfo = *wheels[i];
if (wheelInfo.m_raycastInfo.m_isInContact)
numWheelsOnGround++;
m_sideImpulse[i] = real_t(0.);
m_forwardImpulse[i] = real_t(0.);
}
{
for (int i=0;i<wheels.size();i++)
{
VehicleWheel& wheelInfo = *wheels[i];
if (wheelInfo.m_raycastInfo.m_isInContact)
{
//const btTransform& wheelTrans = getWheelTransformWS( i );
Matrix3 wheelBasis0 = wheelInfo.m_worldTransform.basis;//get_global_transform().basis;
m_axle[i] = wheelBasis0.get_axis(Vector3::AXIS_X);
//m_axle[i] = wheelInfo.m_raycastInfo.m_wheelAxleWS;
const Vector3& surfNormalWS = wheelInfo.m_raycastInfo.m_contactNormalWS;
real_t proj = m_axle[i].dot(surfNormalWS);
m_axle[i] -= surfNormalWS * proj;
m_axle[i] = m_axle[i].normalized();
m_forwardWS[i] = surfNormalWS.cross(m_axle[i]);
m_forwardWS[i].normalize();
_resolve_single_bilateral(s, wheelInfo.m_raycastInfo.m_contactPointWS,
wheelInfo.m_raycastInfo.m_groundObject, wheelInfo.m_raycastInfo.m_contactPointWS,
m_axle[i],m_sideImpulse[i]);
m_sideImpulse[i] *= sideFrictionStiffness2;
}
}
}
real_t sideFactor = real_t(1.);
real_t fwdFactor = 0.5;
bool sliding = false;
{
for (int wheel =0;wheel <wheels.size();wheel++)
{
VehicleWheel& wheelInfo = *wheels[wheel];
//class btRigidBody* groundObject = (class btRigidBody*) wheelInfo.m_raycastInfo.m_groundObject;
real_t rollingFriction = 0.f;
if (wheelInfo.m_raycastInfo.m_isInContact)
{
if (engine_force != 0.f)
{
rollingFriction = -engine_force* s->get_step();
} else
{
real_t defaultRollingFrictionImpulse = 0.f;
float cbrake = MAX(wheelInfo.m_brake,brake);
real_t maxImpulse = cbrake ? cbrake : defaultRollingFrictionImpulse;
btVehicleWheelContactPoint contactPt(s,wheelInfo.m_raycastInfo.m_groundObject,wheelInfo.m_raycastInfo.m_contactPointWS,m_forwardWS[wheel],maxImpulse);
rollingFriction = _calc_rolling_friction(contactPt);
}
}
//switch between active rolling (throttle), braking and non-active rolling friction (no throttle/break)
m_forwardImpulse[wheel] = real_t(0.);
wheelInfo.m_skidInfo= real_t(1.);
//.........这里部分代码省略.........