本文整理汇总了C++中btRigidBody::internalGetDeltaLinearVelocity方法的典型用法代码示例。如果您正苦于以下问题：C++ btRigidBody::internalGetDeltaLinearVelocity方法的具体用法？C++ btRigidBody::internalGetDeltaLinearVelocity怎么用？C++ btRigidBody::internalGetDeltaLinearVelocity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::internalGetDeltaLinearVelocity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: resolveSingleConstraintRowLowerLimit
// Project Gauss Seidel or the equivalent Sequential Impulse
void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowLowerLimit(btRigidBody& body1,btRigidBody& body2,const btSolverConstraint& c)
{
btScalar deltaImpulse = c.m_rhs-btScalar(c.m_appliedImpulse)*c.m_cfm;
const btScalar deltaVel1Dotn = c.m_contactNormal.dot(body1.internalGetDeltaLinearVelocity()) + c.m_relpos1CrossNormal.dot(body1.internalGetDeltaAngularVelocity());
const btScalar deltaVel2Dotn = -c.m_contactNormal.dot(body2.internalGetDeltaLinearVelocity()) + c.m_relpos2CrossNormal.dot(body2.internalGetDeltaAngularVelocity());
deltaImpulse -= deltaVel1Dotn*c.m_jacDiagABInv;
deltaImpulse -= deltaVel2Dotn*c.m_jacDiagABInv;
const btScalar sum = btScalar(c.m_appliedImpulse) + deltaImpulse;
if (sum < c.m_lowerLimit)
{
deltaImpulse = c.m_lowerLimit-c.m_appliedImpulse;
c.m_appliedImpulse = c.m_lowerLimit;
}
else
{
c.m_appliedImpulse = sum;
}
body1.internalApplyImpulse(c.m_contactNormal*body1.internalGetInvMass(),c.m_angularComponentA,deltaImpulse);
body2.internalApplyImpulse(-c.m_contactNormal*body2.internalGetInvMass(),c.m_angularComponentB,deltaImpulse);
}