本文整理汇总了C++中btRigidBody::applyTorqueImpulse方法的典型用法代码示例。如果您正苦于以下问题：C++ btRigidBody::applyTorqueImpulse方法的具体用法？C++ btRigidBody::applyTorqueImpulse怎么用？C++ btRigidBody::applyTorqueImpulse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btRigidBody的用法示例。
在下文中一共展示了btRigidBody::applyTorqueImpulse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: solveConstraintInt
void btSliderConstraint::solveConstraintInt(btRigidBody& rbA, btRigidBody& rbB)
{
int i;
// linear
btVector3 velA = rbA.getVelocityInLocalPoint(m_relPosA);
btVector3 velB = rbB.getVelocityInLocalPoint(m_relPosB);
btVector3 vel = velA - velB;
for(i = 0; i < 3; i++)
{
const btVector3& normal = m_jacLin[i].m_linearJointAxis;
btScalar rel_vel = normal.dot(vel);
// calculate positional error
btScalar depth = m_depth[i];
// get parameters
btScalar softness = (i) ? m_softnessOrthoLin : (m_solveLinLim ? m_softnessLimLin : m_softnessDirLin);
btScalar restitution = (i) ? m_restitutionOrthoLin : (m_solveLinLim ? m_restitutionLimLin : m_restitutionDirLin);
btScalar damping = (i) ? m_dampingOrthoLin : (m_solveLinLim ? m_dampingLimLin : m_dampingDirLin);
// calcutate and apply impulse
btScalar normalImpulse = softness * (restitution * depth / m_timeStep - damping * rel_vel) * m_jacLinDiagABInv[i];
btVector3 impulse_vector = normal * normalImpulse;
rbA.applyImpulse( impulse_vector, m_relPosA);
rbB.applyImpulse(-impulse_vector, m_relPosB);
if(m_poweredLinMotor && (!i))
{ // apply linear motor
if(m_accumulatedLinMotorImpulse < m_maxLinMotorForce)
{
btScalar desiredMotorVel = m_targetLinMotorVelocity;
btScalar motor_relvel = desiredMotorVel + rel_vel;
normalImpulse = -motor_relvel * m_jacLinDiagABInv[i];
// clamp accumulated impulse
btScalar new_acc = m_accumulatedLinMotorImpulse + btFabs(normalImpulse);
if(new_acc > m_maxLinMotorForce)
{
new_acc = m_maxLinMotorForce;
}
btScalar del = new_acc - m_accumulatedLinMotorImpulse;
if(normalImpulse < btScalar(0.0))
{
normalImpulse = -del;
}
else
{
normalImpulse = del;
}
m_accumulatedLinMotorImpulse = new_acc;
// apply clamped impulse
impulse_vector = normal * normalImpulse;
rbA.applyImpulse( impulse_vector, m_relPosA);
rbB.applyImpulse(-impulse_vector, m_relPosB);
}
}
}
// angular
// get axes in world space
btVector3 axisA = m_calculatedTransformA.getBasis().getColumn(0);
btVector3 axisB = m_calculatedTransformB.getBasis().getColumn(0);
const btVector3& angVelA = rbA.getAngularVelocity();
const btVector3& angVelB = rbB.getAngularVelocity();
btVector3 angVelAroundAxisA = axisA * axisA.dot(angVelA);
btVector3 angVelAroundAxisB = axisB * axisB.dot(angVelB);
btVector3 angAorthog = angVelA - angVelAroundAxisA;
btVector3 angBorthog = angVelB - angVelAroundAxisB;
btVector3 velrelOrthog = angAorthog-angBorthog;
//solve orthogonal angular velocity correction
btScalar len = velrelOrthog.length();
if (len > btScalar(0.00001))
{
btVector3 normal = velrelOrthog.normalized();
btScalar denom = rbA.computeAngularImpulseDenominator(normal) + rbB.computeAngularImpulseDenominator(normal);
velrelOrthog *= (btScalar(1.)/denom) * m_dampingOrthoAng * m_softnessOrthoAng;
}
//solve angular positional correction
btVector3 angularError = axisA.cross(axisB) *(btScalar(1.)/m_timeStep);
btScalar len2 = angularError.length();
if (len2>btScalar(0.00001))
{
btVector3 normal2 = angularError.normalized();
btScalar denom2 = rbA.computeAngularImpulseDenominator(normal2) + rbB.computeAngularImpulseDenominator(normal2);
angularError *= (btScalar(1.)/denom2) * m_restitutionOrthoAng * m_softnessOrthoAng;
}
// apply impulse
rbA.applyTorqueImpulse(-velrelOrthog+angularError);
rbB.applyTorqueImpulse(velrelOrthog-angularError);
btScalar impulseMag;
//solve angular limits
if(m_solveAngLim)
{
impulseMag = (angVelB - angVelA).dot(axisA) * m_dampingLimAng + m_angDepth * m_restitutionLimAng / m_timeStep;
impulseMag *= m_kAngle * m_softnessLimAng;
}
else
{
impulseMag = (angVelB - angVelA).dot(axisA) * m_dampingDirAng + m_angDepth * m_restitutionDirAng / m_timeStep;
impulseMag *= m_kAngle * m_softnessDirAng;
}
btVector3 impulse = axisA * impulseMag;
rbA.applyTorqueImpulse(impulse);
//.........这里部分代码省略.........