本文整理汇总了C++中btRigidBody::setCenterOfMassTransform方法的典型用法代码示例。如果您正苦于以下问题:C++ btRigidBody::setCenterOfMassTransform方法的具体用法?C++ btRigidBody::setCenterOfMassTransform怎么用?C++ btRigidBody::setCenterOfMassTransform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::setCenterOfMassTransform方法的2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:
void Hinge2Vehicle::resetForklift()
{
gVehicleSteering = 0.f;
gBreakingForce = defaultBreakingForce;
gEngineForce = 0.f;
m_carChassis->setCenterOfMassTransform(btTransform::getIdentity());
m_carChassis->setLinearVelocity(btVector3(0,0,0));
m_carChassis->setAngularVelocity(btVector3(0,0,0));
m_dynamicsWorld->getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(m_carChassis->getBroadphaseHandle(),getDynamicsWorld()->getDispatcher());
#if 0
if (m_vehicle)
{
m_vehicle->resetSuspension();
for (int i=0;i<m_vehicle->getNumWheels();i++)
{
//synchronize the wheels with the (interpolated) chassis worldtransform
m_vehicle->updateWheelTransform(i,true);
}
}
#endif
btTransform liftTrans;
liftTrans.setIdentity();
liftTrans.setOrigin(m_liftStartPos);
m_liftBody->activate();
m_liftBody->setCenterOfMassTransform(liftTrans);
m_liftBody->setLinearVelocity(btVector3(0,0,0));
m_liftBody->setAngularVelocity(btVector3(0,0,0));
btTransform forkTrans;
forkTrans.setIdentity();
forkTrans.setOrigin(m_forkStartPos);
m_forkBody->activate();
m_forkBody->setCenterOfMassTransform(forkTrans);
m_forkBody->setLinearVelocity(btVector3(0,0,0));
m_forkBody->setAngularVelocity(btVector3(0,0,0));
// m_liftHinge->setLimit(-LIFT_EPS, LIFT_EPS);
m_liftHinge->setLimit(0.0f, 0.0f);
m_liftHinge->enableAngularMotor(false, 0, 0);
m_forkSlider->setLowerLinLimit(0.1f);
m_forkSlider->setUpperLinLimit(0.1f);
m_forkSlider->setPoweredLinMotor(false);
btTransform loadTrans;
loadTrans.setIdentity();
loadTrans.setOrigin(m_loadStartPos);
m_loadBody->activate();
m_loadBody->setCenterOfMassTransform(loadTrans);
m_loadBody->setLinearVelocity(btVector3(0,0,0));
m_loadBody->setAngularVelocity(btVector3(0,0,0));
}
示例2: rotateBody
void rotateBody(const btScalar& yaw, const btScalar& roll, const btScalar& pitch)
// yaw roll pitch in radian
{
btRigidBody* rb = rigidbody;
// current transform
btTransform trans;
trans = rb->getCenterOfMassTransform();
// rotation transform
btTransform rotation;
rotation.setIdentity();
btQuaternion quat;
quat.setEuler( yaw, roll, pitch); //or quat.setEulerZYX depending on the ordering you want
rotation.setRotation(quat);
// update transform
rotation *= trans;
// update COM
rigidbody->setCenterOfMassTransform(rotation);
}