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C# CollisionObject.GetWorldTransform方法代码示例

本文整理汇总了C#中CollisionObject.GetWorldTransform方法的典型用法代码示例。如果您正苦于以下问题:C# CollisionObject.GetWorldTransform方法的具体用法?C# CollisionObject.GetWorldTransform怎么用?C# CollisionObject.GetWorldTransform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CollisionObject的用法示例。


在下文中一共展示了CollisionObject.GetWorldTransform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: AdjustInternalEdgeContacts

        /// Changes a btManifoldPoint collision normal to the normal from the mesh.
        public static void AdjustInternalEdgeContacts(ManifoldPoint cp, CollisionObject colObj0, CollisionObject colObj1, int partId0, int index0, InternalEdgeAdjustFlags normalAdjustFlags)
        {
            //btAssert(colObj0.GetCollisionShape().GetShapeType() == TRIANGLE_SHAPE_PROXYTYPE);
            if (colObj0.GetCollisionShape().GetShapeType() != BroadphaseNativeTypes.TRIANGLE_SHAPE_PROXYTYPE)
                return;

            BvhTriangleMeshShape trimesh = null;

            if (colObj0.GetRootCollisionShape().GetShapeType() == BroadphaseNativeTypes.SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE)
            {
                //trimesh = ((ScaledBvhTriangleMeshShape)colObj0.GetRootCollisionShape()).GetChildShape();
            }
            else
            {
                trimesh = (BvhTriangleMeshShape)colObj0.GetRootCollisionShape();
            }

            TriangleInfoMap triangleInfoMapPtr = (TriangleInfoMap)trimesh.GetTriangleInfoMap();
            if (triangleInfoMapPtr == null)
            {
                return;
            }

            int hash = GetHash(partId0, index0);

            TriangleInfo info;
            if (!triangleInfoMapPtr.TryGetValue(hash, out info))
            {
                return;
            }


            float frontFacing = (normalAdjustFlags & InternalEdgeAdjustFlags.BT_TRIANGLE_CONVEX_BACKFACE_MODE) == 0 ? 1.0f : -1.0f;

            TriangleShape tri_shape = colObj0.GetCollisionShape() as TriangleShape;
            IndexedVector3 v0, v1, v2;
            tri_shape.GetVertex(0, out v0);
            tri_shape.GetVertex(1, out v1);
            tri_shape.GetVertex(2, out v2);

            IndexedVector3 center = (v0 + v1 + v2) * (1.0f / 3.0f);

            IndexedVector3 red = new IndexedVector3(1, 0, 0), green = new IndexedVector3(0, 1, 0), blue = new IndexedVector3(0, 0, 1), white = new IndexedVector3(1, 1, 1), black = new IndexedVector3(0, 0, 0);
            IndexedVector3 tri_normal;
            tri_shape.CalcNormal(out tri_normal);

            //float dot = tri_normal.dot(cp.m_normalWorldOnB);
            IndexedVector3 nearest;
            NearestPointInLineSegment(ref cp.m_localPointB, ref v0, ref v1, out nearest);

            IndexedVector3 contact = cp.m_localPointB;
#if BT_INTERNAL_EDGE_DEBUG_DRAW
            IndexedMatrix tr = colObj0.GetWorldTransform();
            DebugDrawLine(tr * nearest, tr * cp.m_localPointB, red);
#endif //BT_INTERNAL_EDGE_DEBUG_DRAW



            bool isNearEdge = false;

            int numConcaveEdgeHits = 0;
            int numConvexEdgeHits = 0;

            IndexedVector3 localContactNormalOnB = colObj0.GetWorldTransform()._basis.Transpose() * cp.m_normalWorldOnB;
            localContactNormalOnB.Normalize();//is this necessary?

            // Get closest edge
            int bestedge = -1;
            float disttobestedge = MathUtil.BT_LARGE_FLOAT;
            //
            // Edge 0 . 1
            if (Math.Abs(info.m_edgeV0V1Angle) < triangleInfoMapPtr.m_maxEdgeAngleThreshold)
            {
                //IndexedVector3 nearest;
                NearestPointInLineSegment(ref cp.m_localPointB, ref v0, ref v1, out nearest);
                float len = (contact - nearest).Length();
                //
                if (len < disttobestedge)
                {
                    bestedge = 0;
                    disttobestedge = len;
                }
            }
            // Edge 1 . 2
            if (Math.Abs(info.m_edgeV1V2Angle) < triangleInfoMapPtr.m_maxEdgeAngleThreshold)
            {
                //IndexedVector3 nearest;
                NearestPointInLineSegment(ref  cp.m_localPointB, ref v1, ref v2, out nearest);
                float len = (contact - nearest).Length();
                //
                if (len < disttobestedge)
                {
                    bestedge = 1;
                    disttobestedge = len;
                }
            }
            // Edge 2 . 0
            if (Math.Abs(info.m_edgeV2V0Angle) < triangleInfoMapPtr.m_maxEdgeAngleThreshold)
            {
//.........这里部分代码省略.........
开发者ID:JohnLouderback,项目名称:illuminati-engine-xna,代码行数:101,代码来源:InternalEdgeUtility.cs


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