本文整理汇总了C++中btRigidBody::internalApplyPushImpulse方法的典型用法代码示例。如果您正苦于以下问题:C++ btRigidBody::internalApplyPushImpulse方法的具体用法?C++ btRigidBody::internalApplyPushImpulse怎么用?C++ btRigidBody::internalApplyPushImpulse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::internalApplyPushImpulse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: btScalar
void btSequentialImpulseConstraintSolver::resolveSplitPenetrationImpulseCacheFriendly(
btRigidBody& body1,
btRigidBody& body2,
const btSolverConstraint& c)
{
if (c.m_rhsPenetration)
{
gNumSplitImpulseRecoveries++;
btScalar deltaImpulse = c.m_rhsPenetration-btScalar(c.m_appliedPushImpulse)*c.m_cfm;
const btScalar deltaVel1Dotn = c.m_contactNormal.dot(body1.internalGetPushVelocity()) + c.m_relpos1CrossNormal.dot(body1.internalGetTurnVelocity());
const btScalar deltaVel2Dotn = -c.m_contactNormal.dot(body2.internalGetPushVelocity()) + c.m_relpos2CrossNormal.dot(body2.internalGetTurnVelocity());
deltaImpulse -= deltaVel1Dotn*c.m_jacDiagABInv;
deltaImpulse -= deltaVel2Dotn*c.m_jacDiagABInv;
const btScalar sum = btScalar(c.m_appliedPushImpulse) + deltaImpulse;
if (sum < c.m_lowerLimit)
{
deltaImpulse = c.m_lowerLimit-c.m_appliedPushImpulse;
c.m_appliedPushImpulse = c.m_lowerLimit;
}
else
{
c.m_appliedPushImpulse = sum;
}
body1.internalApplyPushImpulse(c.m_contactNormal*body1.internalGetInvMass(),c.m_angularComponentA,deltaImpulse);
body2.internalApplyPushImpulse(-c.m_contactNormal*body2.internalGetInvMass(),c.m_angularComponentB,deltaImpulse);
}
}