C++ SimdTransform类代码示例

	virtual void	GetWheelPosition(int wheelIndex,float& posX,float& posY,float& posZ) const
	{
		SimdTransform	trans = m_vehicle->GetWheelTransformWS(wheelIndex);
		posX = trans.getOrigin().x();
		posY = trans.getOrigin().y();
		posZ = trans.getOrigin().z();
	}

ManifoldContactAddResult::ManifoldContactAddResult(SimdTransform transA,SimdTransform transB,PersistentManifold* manifoldPtr)
		:m_manifoldPtr(manifoldPtr)
{
	m_transAInv = transA.inverse();
	m_transBInv = transB.inverse();

}

	virtual void	GetWheelOrientationQuaternion(int wheelIndex,float& quatX,float& quatY,float& quatZ,float& quatW) const
	{
		SimdTransform	trans = m_vehicle->GetWheelTransformWS(wheelIndex);
		SimdQuaternion quat = trans.getRotation();
		SimdMatrix3x3 orn2(quat);

		quatX = trans.getRotation().x();
		quatY = trans.getRotation().y();
		quatZ = trans.getRotation().z();
		quatW = trans.getRotation()[3];


		//printf("test");


	}

	void	SyncWheels()
	{
		int numWheels = GetNumWheels();
		int i;
		for (i=0;i<numWheels;i++)
		{
			WheelInfo& info = m_vehicle->GetWheelInfo(i);
			PHY_IMotionState* motionState = (PHY_IMotionState*)info.m_clientInfo ;
			m_vehicle->UpdateWheelTransform(i);
			SimdTransform trans = m_vehicle->GetWheelTransformWS(i);
			SimdQuaternion orn = trans.getRotation();
			const SimdVector3& pos = trans.getOrigin();
			motionState->setWorldOrientation(orn.x(),orn.y(),orn.z(),orn[3]);
			motionState->setWorldPosition(pos.x(),pos.y(),pos.z());

		}
	}

void renderme()
{
	float m[16];
	int i;

	for (i=0;i<numObjects;i++)
	{
		SimdTransform transA;
		transA.setIdentity();
		
		float pos[3];
		float rot[4];

		ms[i].getWorldPosition(pos[0],pos[1],pos[2]);
		ms[i].getWorldOrientation(rot[0],rot[1],rot[2],rot[3]);

		SimdQuaternion q(rot[0],rot[1],rot[2],rot[3]);
		transA.setRotation(q);

		SimdPoint3 dpos;
		dpos.setValue(pos[0],pos[1],pos[2]);

		transA.setOrigin( dpos );
		transA.getOpenGLMatrix( m );
		
		SimdVector3 wireColor(0.f,0.f,1.f); //wants deactivation

		///color differently for active, sleeping, wantsdeactivation states
		if (physObjects[i]->GetRigidBody()->GetActivationState() == 1) //active
		{
			wireColor = SimdVector3 (1.f,0.f,0.f);
		}
		if (physObjects[i]->GetRigidBody()->GetActivationState() == 2) //ISLAND_SLEEPING
		{
			wireColor = SimdVector3 (0.f,1.f,0.f);
		}

		char	extraDebug[125];
		//sprintf(extraDebug,"islId, Body=%i , %i",physObjects[i]->GetRigidBody()->m_islandTag1,physObjects[i]->GetRigidBody()->m_debugBodyId);
		shapePtr[shapeIndex[i]]->SetExtraDebugInfo(extraDebug);
		GL_ShapeDrawer::DrawOpenGL(m,shapePtr[shapeIndex[i]],wireColor,getDebugMode());
	}

}

///
/// Debugging method CalcClosest calculates the closest point to the origin, using m_simplexSolver
///
void	GL_Simplex1to4::CalcClosest(float* m)
{
    SimdTransform tr;
    tr.setFromOpenGLMatrix(m);



    GL_ShapeDrawer::DrawCoordSystem();

    if (m_simplexSolver)
    {
        m_simplexSolver->reset();
        bool res;

        SimdVector3 v;
        SimdPoint3 pBuf[4];
        SimdPoint3 qBuf[4];
        SimdPoint3 yBuf[4];


        for (int i=0; i<m_numVertices; i++)
        {
            v =  tr(m_vertices[i]);
            m_simplexSolver->addVertex(v,v,SimdPoint3(0.f,0.f,0.f));
            res = m_simplexSolver->closest(v);
            int res = m_simplexSolver->getSimplex(pBuf, qBuf, yBuf);

        }


        //draw v?
        glDisable(GL_LIGHTING);
        glBegin(GL_LINES);
        glColor3f(1.f, 0.f, 0.f);
        glVertex3f(0.f, 0.f, 0.f);
        glVertex3f(v.x(),v.y(),v.z());
        glEnd();

        glEnable(GL_LIGHTING);


    }

}

void clientMoveAndDisplay()
{
	if ( !g_pauseAnim )
	{
		SimdMatrix3x3 rot;
		rot.setEulerZYX( g_animAngle * 0.05, g_animAngle * 0.05, g_animAngle * 0.05 );

		SimdTransform t;
		t.setIdentity();
		t.setBasis( rot );

		//g_convexShapesTransform[ 0 ].mult( g_convexShapesTransform[ 0 ], t );
		g_convexShapesTransform[ 1 ].mult( g_convexShapesTransform[ 1 ], t );

		g_shapesPenetrate = calcPenDepth();
	}

	clientDisplay();
}

    virtual void	AddConvexVerticesCollider(std::vector<SimdVector3>& vertices, bool isEntity, const SimdVector3& entityTargetLocation)
    {
        ///perhaps we can do something special with entities (isEntity)
        ///like adding a collision Triggering (as example)

        if (vertices.size() > 0)
        {
            bool isDynamic = false;
            float mass = 0.f;
            SimdTransform startTransform;
            //can use a shift
            startTransform.setIdentity();
            startTransform.setOrigin(SimdVector3(0,0,-10.f));
            //this create an internal copy of the vertices
            CollisionShape* shape = new ConvexHullShape(&vertices[0],vertices.size());

            m_demoApp->LocalCreatePhysicsObject(isDynamic, mass, startTransform,shape);
        }
    }

void LinearConvexCastDemo::initPhysics()
{
	setCameraDistance(30.f);
	tr[0].setOrigin(SimdVector3(0,0,0));
	tr[1].setOrigin(SimdVector3(0,10,0));

	SimdMatrix3x3 basisA;
	basisA.setValue(0.99999958f,0.00022980258f,0.00090992288f,
		-0.00029313788f,0.99753088f,0.070228584f,
		-0.00089153741f,-0.070228823f,0.99753052f);

	SimdMatrix3x3 basisB;
	basisB.setValue(1.0000000f,4.4865553e-018f,-4.4410586e-017f,
		4.4865495e-018f,0.97979438f,0.20000751f,
		4.4410586e-017f,-0.20000751f,0.97979438f);

	tr[0].setBasis(basisA);
	tr[1].setBasis(basisB);



	SimdVector3 boxHalfExtentsA(0.2,4,4);
	SimdVector3 boxHalfExtentsB(6,6,6);

	BoxShape*	boxA = new BoxShape(boxHalfExtentsA);
/*	BU_Simplex1to4	boxB;
	boxB.AddVertex(SimdPoint3(-5,0,-5));
	boxB.AddVertex(SimdPoint3(5,0,-5));
	boxB.AddVertex(SimdPoint3(0,0,5));
	boxB.AddVertex(SimdPoint3(0,5,0));
*/

	BoxShape*	boxB = new BoxShape(boxHalfExtentsB);
	shapePtr[0] = boxA;
	shapePtr[1] = boxB;

	shapePtr[0]->SetMargin(0.01f);
	shapePtr[1]->SetMargin(0.01f);

	SimdTransform tr;
	tr.setIdentity();
}

int main(int argc,char** argv)
{
    setCameraDistance(20.f);

    tr[0].setOrigin(SimdVector3(0.0013328250f,8.1363249f,7.0390840f));
    tr[1].setOrigin(SimdVector3(0.00000000f,9.1262732f,2.0343180f));

    //tr[0].setOrigin(SimdVector3(0,0,0));
    //tr[1].setOrigin(SimdVector3(0,10,0));

    SimdMatrix3x3 basisA;
    basisA.setValue(0.99999958f,0.00022980258f,0.00090992288f,
                    -0.00029313788f,0.99753088f,0.070228584f,
                    -0.00089153741f,-0.070228823f,0.99753052f);

    SimdMatrix3x3 basisB;
    basisB.setValue(1.0000000f,4.4865553e-018f,-4.4410586e-017f,
                    4.4865495e-018f,0.97979438f,0.20000751f,
                    4.4410586e-017f,-0.20000751f,0.97979438f);

    tr[0].setBasis(basisA);
    tr[1].setBasis(basisB);



    SimdVector3 boxHalfExtentsA(1.0000004768371582f,1.0000004768371582f,1.0000001192092896f);
    SimdVector3 boxHalfExtentsB(3.2836332321166992f,3.2836332321166992f,3.2836320400238037f);

    BoxShape	boxA(boxHalfExtentsA);
    BoxShape	boxB(boxHalfExtentsB);
    shapePtr[0] = &boxA;
    shapePtr[1] = &boxB;


    SimdTransform tr;
    tr.setIdentity();


    return glutmain(argc, argv,screenWidth,screenHeight,"Collision Demo");
}

void	PolyhedralConvexShape::CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
{
	//not yet, return box inertia

	float margin = GetMargin();

	SimdTransform ident;
	ident.setIdentity();
	SimdVector3 aabbMin,aabbMax;
	GetAabb(ident,aabbMin,aabbMax);
	SimdVector3 halfExtents = (aabbMax-aabbMin)*0.5f;

	SimdScalar lx=2.f*(halfExtents.x()+margin);
	SimdScalar ly=2.f*(halfExtents.y()+margin);
	SimdScalar lz=2.f*(halfExtents.z()+margin);
	const SimdScalar x2 = lx*lx;
	const SimdScalar y2 = ly*ly;
	const SimdScalar z2 = lz*lz;
	const SimdScalar scaledmass = mass * 0.08333333f;

	inertia = scaledmass * (SimdVector3(y2+z2,x2+z2,x2+y2));

}

Transform	GetTransformFromSimdTransform(const SimdTransform& trans)
{
			//const SimdVector3& rowA0 = trans.getBasis().getRow(0);
			////const SimdVector3& rowA1 = trans.getBasis().getRow(1);
			//const SimdVector3& rowA2 = trans.getBasis().getRow(2);

			SimdVector3 rowA0 = trans.getBasis().getColumn(0);
			SimdVector3 rowA1 = trans.getBasis().getColumn(1);
			SimdVector3 rowA2 = trans.getBasis().getColumn(2);


			Vector3	x(rowA0.getX(),rowA0.getY(),rowA0.getZ());
			Vector3	y(rowA1.getX(),rowA1.getY(),rowA1.getZ());
			Vector3	z(rowA2.getX(),rowA2.getY(),rowA2.getZ());
			
			Matrix33 ornA(x,y,z);
	
			Point3 transA(
				trans.getOrigin().getX(),
				trans.getOrigin().getY(),
				trans.getOrigin().getZ());

			return Transform(ornA,transA);
}

void ConvexDecompositionDemo::initPhysics(const char* filename)
{
	ConvexDecomposition::WavefrontObj wo;

	tcount = wo.loadObj(filename);

	CollisionDispatcher* dispatcher = new	CollisionDispatcher();


	SimdVector3 worldAabbMin(-10000,-10000,-10000);
	SimdVector3 worldAabbMax(10000,10000,10000);

	OverlappingPairCache* broadphase = new AxisSweep3(worldAabbMin,worldAabbMax);
	//OverlappingPairCache* broadphase = new SimpleBroadphase();

	m_physicsEnvironmentPtr = new CcdPhysicsEnvironment(dispatcher,broadphase);
	m_physicsEnvironmentPtr->setDeactivationTime(2.f);

	m_physicsEnvironmentPtr->setGravity(0,-10,0);

	SimdTransform startTransform;
	startTransform.setIdentity();
	startTransform.setOrigin(SimdVector3(0,-4,0));

	LocalCreatePhysicsObject(false,0,startTransform,new BoxShape(SimdVector3(30,2,30)));

	class MyConvexDecomposition : public ConvexDecomposition::ConvexDecompInterface
	{

		ConvexDecompositionDemo*	m_convexDemo;
		public:

		MyConvexDecomposition (FILE* outputFile,ConvexDecompositionDemo* demo)
			:m_convexDemo(demo),
				mBaseCount(0),
			mHullCount(0),
			mOutputFile(outputFile)

		{
		}
		
			virtual void ConvexDecompResult(ConvexDecomposition::ConvexResult &result)
			{

				TriangleMesh* trimesh = new TriangleMesh();

				SimdVector3 localScaling(6.f,6.f,6.f);

				//export data to .obj
				printf("ConvexResult\n");
				if (mOutputFile)
				{
					fprintf(mOutputFile,"## Hull Piece %d with %d vertices and %d triangles.\r\n", mHullCount, result.mHullVcount, result.mHullTcount );

					fprintf(mOutputFile,"usemtl Material%i\r\n",mBaseCount);
					fprintf(mOutputFile,"o Object%i\r\n",mBaseCount);

					for (unsigned int i=0; i<result.mHullVcount; i++)
					{
						const float *p = &result.mHullVertices[i*3];
						fprintf(mOutputFile,"v %0.9f %0.9f %0.9f\r\n", p[0], p[1], p[2] );
					}

					//calc centroid, to shift vertices around center of mass
					centroid.setValue(0,0,0);
					if ( 1 )
					{
						const unsigned int *src = result.mHullIndices;
						for (unsigned int i=0; i<result.mHullTcount; i++)
						{
							unsigned int index0 = *src++;
							unsigned int index1 = *src++;
							unsigned int index2 = *src++;
							SimdVector3 vertex0(result.mHullVertices[index0*3], result.mHullVertices[index0*3+1],result.mHullVertices[index0*3+2]);
							SimdVector3 vertex1(result.mHullVertices[index1*3], result.mHullVertices[index1*3+1],result.mHullVertices[index1*3+2]);
							SimdVector3 vertex2(result.mHullVertices[index2*3], result.mHullVertices[index2*3+1],result.mHullVertices[index2*3+2]);
							vertex0 *= localScaling;
							vertex1 *= localScaling;
							vertex2 *= localScaling;
							centroid += vertex0;
							centroid += vertex1;
							centroid += vertex2;
							
						}
					}

					centroid *= 1.f/(float(result.mHullTcount) * 3);

					if ( 1 )
					{
						const unsigned int *src = result.mHullIndices;
						for (unsigned int i=0; i<result.mHullTcount; i++)
						{
							unsigned int index0 = *src++;
							unsigned int index1 = *src++;
							unsigned int index2 = *src++;


							SimdVector3 vertex0(result.mHullVertices[index0*3], result.mHullVertices[index0*3+1],result.mHullVertices[index0*3+2]);
							SimdVector3 vertex1(result.mHullVertices[index1*3], result.mHullVertices[index1*3+1],result.mHullVertices[index1*3+2]);
//.........这里部分代码省略.........

void clientDisplay(void) {

    glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
    glDisable(GL_LIGHTING);

    //GL_ShapeDrawer::DrawCoordSystem();

    float m[16];
    int i;

    GjkPairDetector	convexConvex(shapePtr[0],shapePtr[1],&sGjkSimplexSolver,0);

    SimdVector3 seperatingAxis(0.00000000f,0.059727669f,0.29259586f);
    convexConvex.SetCachedSeperatingAxis(seperatingAxis);

    PointCollector gjkOutput;
    GjkPairDetector::ClosestPointInput input;
    input.m_transformA = tr[0];
    input.m_transformB = tr[1];

    convexConvex.GetClosestPoints(input ,gjkOutput,0);

    if (gjkOutput.m_hasResult)
    {
        SimdVector3 endPt = gjkOutput.m_pointInWorld +
                            gjkOutput.m_normalOnBInWorld*gjkOutput.m_distance;

        glBegin(GL_LINES);
        glColor3f(1, 0, 0);
        glVertex3d(gjkOutput.m_pointInWorld.x(), gjkOutput.m_pointInWorld.y(),gjkOutput.m_pointInWorld.z());
        glVertex3d(endPt.x(),endPt.y(),endPt.z());
        //glVertex3d(gjkOutputm_pointInWorld.x(), gjkOutputm_pointInWorld.y(),gjkOutputm_pointInWorld.z());
        //glVertex3d(gjkOutputm_pointInWorld.x(), gjkOutputm_pointInWorld.y(),gjkOutputm_pointInWorld.z());
        glEnd();

    }

    for (i=0; i<numObjects; i++)
    {

        tr[i].getOpenGLMatrix( m );

        GL_ShapeDrawer::DrawOpenGL(m,shapePtr[i],SimdVector3(1,1,1),getDebugMode());


    }

    simplex.SetSimplexSolver(&sGjkSimplexSolver);
    SimdPoint3 ybuf[4],pbuf[4],qbuf[4];
    int numpoints = sGjkSimplexSolver.getSimplex(pbuf,qbuf,ybuf);
    simplex.Reset();

    for (i=0; i<numpoints; i++)
        simplex.AddVertex(ybuf[i]);

    SimdTransform ident;
    ident.setIdentity();
    ident.getOpenGLMatrix(m);
    GL_ShapeDrawer::DrawOpenGL(m,&simplex,SimdVector3(1,1,1),getDebugMode());


    SimdQuaternion orn;
    orn.setEuler(yaw,pitch,roll);
    tr[0].setRotation(orn);

//	pitch += 0.005f;
//	yaw += 0.01f;

    glFlush();
    glutSwapBuffers();
}

int			CcdPhysicsEnvironment::createConstraint(class PHY_IPhysicsController* ctrl0,class PHY_IPhysicsController* ctrl1,PHY_ConstraintType type,
													float pivotX,float pivotY,float pivotZ,
													float axisX,float axisY,float axisZ)
{


	CcdPhysicsController* c0 = (CcdPhysicsController*)ctrl0;
	CcdPhysicsController* c1 = (CcdPhysicsController*)ctrl1;

	RigidBody* rb0 = c0 ? c0->GetRigidBody() : 0;
	RigidBody* rb1 = c1 ? c1->GetRigidBody() : 0;

	ASSERT(rb0);

	SimdVector3 pivotInA(pivotX,pivotY,pivotZ);
	SimdVector3 pivotInB = rb1 ? rb1->getCenterOfMassTransform().inverse()(rb0->getCenterOfMassTransform()(pivotInA)) : pivotInA;
	SimdVector3 axisInA(axisX,axisY,axisZ);
	SimdVector3 axisInB = rb1 ? 
		(rb1->getCenterOfMassTransform().getBasis().inverse()*(rb0->getCenterOfMassTransform().getBasis() * axisInA)) : 
	rb0->getCenterOfMassTransform().getBasis() * axisInA;

	bool angularOnly = false;

	switch (type)
	{
	case PHY_POINT2POINT_CONSTRAINT:
		{

			Point2PointConstraint* p2p = 0;

			if (rb1)
			{
				p2p = new Point2PointConstraint(*rb0,
					*rb1,pivotInA,pivotInB);
			} else
			{
				p2p = new Point2PointConstraint(*rb0,
					pivotInA);
			}

			m_constraints.push_back(p2p);
			p2p->SetUserConstraintId(gConstraintUid++);
			p2p->SetUserConstraintType(type);
			//64 bit systems can't cast pointer to int. could use size_t instead.
			return p2p->GetUserConstraintId();

			break;
		}

	case PHY_GENERIC_6DOF_CONSTRAINT:
		{
			Generic6DofConstraint* genericConstraint = 0;

			if (rb1)
			{
				SimdTransform frameInA;
				SimdTransform frameInB;
				
				SimdVector3 axis1, axis2;
				SimdPlaneSpace1( axisInA, axis1, axis2 );

				frameInA.getBasis().setValue( axisInA.x(), axis1.x(), axis2.x(),
					                          axisInA.y(), axis1.y(), axis2.y(),
											  axisInA.z(), axis1.z(), axis2.z() );

	
				SimdPlaneSpace1( axisInB, axis1, axis2 );
				frameInB.getBasis().setValue( axisInB.x(), axis1.x(), axis2.x(),
					                          axisInB.y(), axis1.y(), axis2.y(),
											  axisInB.z(), axis1.z(), axis2.z() );

				frameInA.setOrigin( pivotInA );
				frameInB.setOrigin( pivotInB );

				genericConstraint = new Generic6DofConstraint(
					*rb0,*rb1,
					frameInA,frameInB);


			} else
			{
				// TODO: Implement single body case...

			}
			

			m_constraints.push_back(genericConstraint);
			genericConstraint->SetUserConstraintId(gConstraintUid++);
			genericConstraint->SetUserConstraintType(type);
			//64 bit systems can't cast pointer to int. could use size_t instead.
			return genericConstraint->GetUserConstraintId();

			break;
		}
	case PHY_ANGULAR_CONSTRAINT:
		angularOnly = true;


	case PHY_LINEHINGE_CONSTRAINT:
		{
//.........这里部分代码省略.........