本文整理汇总了C++中btTransform::invXform方法的典型用法代码示例。如果您正苦于以下问题：C++ btTransform::invXform方法的具体用法？C++ btTransform::invXform怎么用？C++ btTransform::invXform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btTransform的用法示例。
在下文中一共展示了btTransform::invXform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: ManifoldResultAddContactPoint
///return true if it requires a dma transfer back
bool ManifoldResultAddContactPoint(const btVector3& normalOnBInWorld,
const btVector3& pointInWorld,
float depth,
btPersistentManifold* manifoldPtr,
btTransform& transA,
btTransform& transB,
btScalar combinedFriction,
btScalar combinedRestitution,
bool isSwapped)
{
// float contactTreshold = manifoldPtr->getContactBreakingThreshold();
//spu_printf("SPU: add contactpoint, depth:%f, contactTreshold %f, manifoldPtr %llx\n",depth,contactTreshold,manifoldPtr);
#ifdef DEBUG_SPU_COLLISION_DETECTION
spu_printf("SPU: contactTreshold %f\n",contactTreshold);
#endif //DEBUG_SPU_COLLISION_DETECTION
//if (depth > manifoldPtr->getContactBreakingThreshold())
// return false;
if (depth > manifoldPtr->getContactProcessingThreshold())
return false;
btVector3 pointA;
btVector3 localA;
btVector3 localB;
btVector3 normal;
if (isSwapped)
{
normal = normalOnBInWorld * -1;
pointA = pointInWorld + normal * depth;
localA = transA.invXform(pointA );
localB = transB.invXform(pointInWorld);
}
else
{
normal = normalOnBInWorld;
pointA = pointInWorld + normal * depth;
localA = transA.invXform(pointA );
localB = transB.invXform(pointInWorld);
}
btManifoldPoint newPt(localA,localB,normal,depth);
newPt.m_positionWorldOnA = pointA;
newPt.m_positionWorldOnB = pointInWorld;
newPt.m_combinedFriction = combinedFriction;
newPt.m_combinedRestitution = combinedRestitution;
int insertIndex = manifoldPtr->getCacheEntry(newPt);
if (insertIndex >= 0)
{
// we need to replace the current contact point, otherwise small errors will accumulate (spheres start rolling etc)
manifoldPtr->replaceContactPoint(newPt,insertIndex);
return true;
} else
{
/*
///@todo: SPU callbacks, either immediate (local on the SPU), or deferred
//User can override friction and/or restitution
if (gContactAddedCallback &&
//and if either of the two bodies requires custom material
((m_body0->m_collisionFlags & btCollisionObject::customMaterialCallback) ||
(m_body1->m_collisionFlags & btCollisionObject::customMaterialCallback)))
{
//experimental feature info, for per-triangle material etc.
(*gContactAddedCallback)(newPt,m_body0,m_partId0,m_index0,m_body1,m_partId1,m_index1);
}
*/
manifoldPtr->addManifoldPoint(newPt);
return true;
}
return false;
}