本文整理汇总了C++中btAlignedObjectArray::expandNonInitializing方法的典型用法代码示例。如果您正苦于以下问题：C++ btAlignedObjectArray::expandNonInitializing方法的具体用法？C++ btAlignedObjectArray::expandNonInitializing怎么用？C++ btAlignedObjectArray::expandNonInitializing使用的例子？那么恭喜您, 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btAlignedObjectArray的用法示例。
在下文中一共展示了btAlignedObjectArray::expandNonInitializing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: BulletConstraintSolver
void BulletConstraintSolver()
{
btPgsSolver pgs;
btContactSolverInfo info;
rbs.resize(0);
for (int i=0;i<numRigidBodies;i++)
{
btRigidBody& rb = rbs.expandNonInitializing();
rb.m_companionId=-1;
rb.m_angularFactor.setValue(1,1,1);
rb.m_anisotropicFriction.setValue(1,1,1);
rb.m_invMass = bodies[i].getMassInv();
rb.m_linearFactor.setValue(1,1,1);
btVector3 pos(states[i].getPosition().getX(),states[i].getPosition().getY(),states[i].getPosition().getZ());
rb.m_worldTransform.setIdentity();
btQuaternion orn(states[i].getOrientation().getX(),states[i].getOrientation().getY(),states[i].getOrientation().getZ(),states[i].getOrientation().getW());
rb.m_worldTransform.setRotation(orn);
rb.m_worldTransform.setOrigin(pos);
PfxMatrix3 ori(states[i].getOrientation());
rb.m_worldTransform.setRotation(orn);
PfxMatrix3 inertiaInvWorld = ori * bodies[i].getInertiaInv() * transpose(ori);
rb.m_invInertiaWorld.setIdentity();
if (rb.m_invMass)
{
for (int row=0;row<3;row++)
{
for (int col=0;col<3;col++)
{
rb.m_invInertiaWorld[col][row] = inertiaInvWorld.getElem(col,row);
}
}
} else
{
rb.m_invInertiaWorld = btMatrix3x3(0,0,0,0,0,0,0,0,0);
}
rb.m_linearVelocity.setValue(states[i].getLinearVelocity().getX(),states[i].getLinearVelocity().getY(),states[i].getLinearVelocity().getZ());
rb.m_angularVelocity.setValue(states[i].getAngularVelocity().getX(),states[i].getAngularVelocity().getY(),states[i].getAngularVelocity().getZ());
// printf("body added\n");
}
btAlignedObjectArray<btCollisionObject*> bodyPtrs;
bodyPtrs.resize(rbs.size());
for (int i=0;i<rbs.size();i++)
{
bodyPtrs[i] = &rbs[i];
}
unsigned int numCurrentPairs = numPairs[pairSwap];
PfxBroadphasePair *currentPairs = pairsBuff[pairSwap];
PfxSetupContactConstraintsParam param;
param.contactPairs = currentPairs;
param.numContactPairs = numCurrentPairs;
param.offsetContactManifolds = contacts;
param.offsetRigidStates = states;
param.offsetRigidBodies = bodies;
param.offsetSolverBodies = solverBodies;
param.numRigidBodies = numRigidBodies;
param.timeStep = timeStep;
param.separateBias = separateBias;
BulletSetupContactConstraints(param);
btAlignedObjectArray<btPersistentManifold*> manifoldPtrs;
manifoldPtrs.resize(manifolds.size());
for (int i=0;i<manifolds.size();i++)
{
manifoldPtrs[i] = &manifolds[i];
}
if (bodyPtrs.size() && manifoldPtrs.size())
{
pgs.solveGroup(&bodyPtrs[0],bodyPtrs.size(),&manifoldPtrs[0],manifoldPtrs.size(),0,0,info,0,0,0);
for (int i=0;i<numRigidBodies;i++)
{
btVector3 linvel = rbs[i].getLinearVelocity();
btVector3 angvel = rbs[i].getAngularVelocity();
states[i].setLinearVelocity(PfxVector3(linvel.getX(),linvel.getY(),linvel.getZ()));
states[i].setAngularVelocity(PfxVector3(angvel.getX(),angvel.getY(),angvel.getZ()));
}
}
BulletWriteWarmstartContactConstraints(param);
}