本文整理汇总了C++中PxRigidBody::getInvMass方法的典型用法代码示例。如果您正苦于以下问题：C++ PxRigidBody::getInvMass方法的具体用法？C++ PxRigidBody::getInvMass怎么用？C++ PxRigidBody::getInvMass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PxRigidBody的用法示例。
在下文中一共展示了PxRigidBody::getInvMass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: computeVelocityDeltaFromImpulse
void PxRigidBodyExt::computeVelocityDeltaFromImpulse(const PxRigidBody& body, const PxVec3& impulsiveForce, const PxVec3& impulsiveTorque, PxVec3& deltaLinearVelocity, PxVec3& deltaAngularVelocity)
{
{
const PxF32 recipMass = body.getInvMass();
deltaLinearVelocity = impulsiveForce*recipMass;
}
{
const PxTransform globalPose = body.getGlobalPose();
const PxTransform cmLocalPose = body.getCMassLocalPose();
const PxTransform body2World = globalPose*cmLocalPose;
PxMat33 M(body2World.q);
const PxVec3 recipInertiaBodySpace = body.getMassSpaceInvInertiaTensor();
PxMat33 recipInertiaWorldSpace;
const float axx = recipInertiaBodySpace.x*M(0,0), axy = recipInertiaBodySpace.x*M(1,0), axz = recipInertiaBodySpace.x*M(2,0);
const float byx = recipInertiaBodySpace.y*M(0,1), byy = recipInertiaBodySpace.y*M(1,1), byz = recipInertiaBodySpace.y*M(2,1);
const float czx = recipInertiaBodySpace.z*M(0,2), czy = recipInertiaBodySpace.z*M(1,2), czz = recipInertiaBodySpace.z*M(2,2);
recipInertiaWorldSpace(0,0) = axx*M(0,0) + byx*M(0,1) + czx*M(0,2);
recipInertiaWorldSpace(1,1) = axy*M(1,0) + byy*M(1,1) + czy*M(1,2);
recipInertiaWorldSpace(2,2) = axz*M(2,0) + byz*M(2,1) + czz*M(2,2);
recipInertiaWorldSpace(0,1) = recipInertiaWorldSpace(1,0) = axx*M(1,0) + byx*M(1,1) + czx*M(1,2);
recipInertiaWorldSpace(0,2) = recipInertiaWorldSpace(2,0) = axx*M(2,0) + byx*M(2,1) + czx*M(2,2);
recipInertiaWorldSpace(1,2) = recipInertiaWorldSpace(2,1) = axy*M(2,0) + byy*M(2,1) + czy*M(2,2);
deltaAngularVelocity = recipInertiaWorldSpace*(impulsiveTorque);
}
}开发者ID:flair2005，项目名称:Spacetime-Optimization-of-Articulated-Character-Motion，代码行数:29，代码来源:ExtRigidBodyExt.cpp