本文整理汇总了C++中btVector3::rotate方法的典型用法代码示例。如果您正苦于以下问题：C++ btVector3::rotate方法的具体用法？C++ btVector3::rotate怎么用？C++ btVector3::rotate使用的例子？那么, 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btVector3的用法示例。
在下文中一共展示了btVector3::rotate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: applyMotor
void CharacterController::applyMotor(int index, btScalar dt, btVector3& worldVelocity, std::vector<btVector3>& velocities, std::vector<btScalar>& weights) {
assert(index < (int)(_motors.size()));
CharacterController::CharacterMotor& motor = _motors[index];
if (motor.hTimescale >= MAX_CHARACTER_MOTOR_TIMESCALE && motor.vTimescale >= MAX_CHARACTER_MOTOR_TIMESCALE) {
// nothing to do
return;
}
// rotate into motor-frame
btVector3 axis = motor.rotation.getAxis();
btScalar angle = motor.rotation.getAngle();
btVector3 velocity = worldVelocity.rotate(axis, -angle);
if (_state == State::Hover || motor.hTimescale == motor.vTimescale) {
// modify velocity
btScalar tau = dt / motor.hTimescale;
if (tau > 1.0f) {
tau = 1.0f;
}
velocity += (motor.velocity - velocity) * tau;
// rotate back into world-frame
velocity = velocity.rotate(axis, angle);
// store the velocity and weight
velocities.push_back(velocity);
weights.push_back(tau);
} else {
// compute local UP
btVector3 up = _currentUp.rotate(axis, -angle);
// split velocity into horizontal and vertical components
btVector3 vVelocity = velocity.dot(up) * up;
btVector3 hVelocity = velocity - vVelocity;
btVector3 vTargetVelocity = motor.velocity.dot(up) * up;
btVector3 hTargetVelocity = motor.velocity - vTargetVelocity;
// modify each component separately
btScalar maxTau = 0.0f;
if (motor.hTimescale < MAX_CHARACTER_MOTOR_TIMESCALE) {
btScalar tau = dt / motor.hTimescale;
if (tau > 1.0f) {
tau = 1.0f;
}
maxTau = tau;
hVelocity += (hTargetVelocity - hVelocity) * tau;
}
if (motor.vTimescale < MAX_CHARACTER_MOTOR_TIMESCALE) {
btScalar tau = dt / motor.vTimescale;
if (tau > 1.0f) {
tau = 1.0f;
}
if (tau > maxTau) {
maxTau = tau;
}
vVelocity += (vTargetVelocity - vVelocity) * tau;
}
// add components back together and rotate into world-frame
velocity = (hVelocity + vVelocity).rotate(axis, angle);
// store velocity and weights
velocities.push_back(velocity);
weights.push_back(maxTau);
}
}