本文整理汇总了C#中Mat22.Solve方法的典型用法代码示例。如果您正苦于以下问题：C# Mat22.Solve方法的具体用法？C# Mat22.Solve怎么用？C# Mat22.Solve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Mat22的用法示例。
在下文中一共展示了Mat22.Solve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: SolvePositionConstraints
internal override bool SolvePositionConstraints(ref SolverData data)
{
Vector2 cA = data.positions[_indexA].c;
float aA = data.positions[_indexA].a;
Vector2 cB = data.positions[_indexB].c;
float aB = data.positions[_indexB].a;
Rot qA = new Rot(aA), qB = new Rot(aB);
float mA = _invMassA, mB = _invMassB;
float iA = _invIA, iB = _invIB;
// Compute fresh Jacobians
Vector2 rA = MathUtils.Mul(qA, LocalAnchorA - _localCenterA);
Vector2 rB = MathUtils.Mul(qB, LocalAnchorB - _localCenterB);
Vector2 d = cB + rB - cA - rA;
Vector2 axis = MathUtils.Mul(qA, LocalXAxis);
float a1 = MathUtils.Cross(d + rA, axis);
float a2 = MathUtils.Cross(rB, axis);
Vector2 perp = MathUtils.Mul(qA, _localYAxisA);
float s1 = MathUtils.Cross(d + rA, perp);
float s2 = MathUtils.Cross(rB, perp);
Vector3 impulse;
Vector2 C1 = new Vector2();
C1.X = Vector2.Dot(perp, d);
C1.Y = aB - aA - ReferenceAngle;
float linearError = Math.Abs(C1.X);
float angularError = Math.Abs(C1.Y);
bool active = false;
float C2 = 0.0f;
if (_enableLimit)
{
float translation = Vector2.Dot(axis, d);
if (Math.Abs(_upperTranslation - _lowerTranslation) < 2.0f * Settings.LinearSlop)
{
// Prevent large angular corrections
C2 = MathUtils.Clamp(translation, -Settings.MaxLinearCorrection, Settings.MaxLinearCorrection);
linearError = Math.Max(linearError, Math.Abs(translation));
active = true;
}
else if (translation <= _lowerTranslation)
{
// Prevent large linear corrections and allow some slop.
C2 = MathUtils.Clamp(translation - _lowerTranslation + Settings.LinearSlop, -Settings.MaxLinearCorrection, 0.0f);
linearError = Math.Max(linearError, _lowerTranslation - translation);
active = true;
}
else if (translation >= _upperTranslation)
{
// Prevent large linear corrections and allow some slop.
C2 = MathUtils.Clamp(translation - _upperTranslation - Settings.LinearSlop, 0.0f, Settings.MaxLinearCorrection);
linearError = Math.Max(linearError, translation - _upperTranslation);
active = true;
}
}
if (active)
{
float k11 = mA + mB + iA * s1 * s1 + iB * s2 * s2;
float k12 = iA * s1 + iB * s2;
float k13 = iA * s1 * a1 + iB * s2 * a2;
float k22 = iA + iB;
if (k22 == 0.0f)
{
// For fixed rotation
k22 = 1.0f;
}
float k23 = iA * a1 + iB * a2;
float k33 = mA + mB + iA * a1 * a1 + iB * a2 * a2;
Mat33 K = new Mat33();
K.ex = new Vector3(k11, k12, k13);
K.ey = new Vector3(k12, k22, k23);
K.ez = new Vector3(k13, k23, k33);
Vector3 C = new Vector3();
C.X = C1.X;
C.Y = C1.Y;
C.Z = C2;
impulse = K.Solve33(-C);
}
else
{
float k11 = mA + mB + iA * s1 * s1 + iB * s2 * s2;
float k12 = iA * s1 + iB * s2;
float k22 = iA + iB;
if (k22 == 0.0f)
{
k22 = 1.0f;
}
Mat22 K = new Mat22();
K.ex = new Vector2(k11, k12);
K.ey = new Vector2(k12, k22);
//.........这里部分代码省略.........
示例2: SolvePositionConstraints
internal override bool SolvePositionConstraints(ref SolverData data)
{
FVector2 cA = data.positions[m_indexA].c;
float aA = data.positions[m_indexA].a;
FVector2 cB = data.positions[m_indexB].c;
float aB = data.positions[m_indexB].a;
Rot qA = new Rot(aA), qB = new Rot(aB);
float angularError = 0.0f;
float positionError;
bool fixedRotation = (m_invIA + m_invIB == 0.0f);
// Solve angular limit constraint.
if (_enableLimit && _limitState != LimitState.Inactive && fixedRotation == false)
{
float angle = aB - aA - ReferenceAngle;
float limitImpulse = 0.0f;
if (_limitState == LimitState.Equal)
{
// Prevent large angular corrections
float C = MathUtils.Clamp(angle - _lowerAngle, -Settings.MaxAngularCorrection, Settings.MaxAngularCorrection);
limitImpulse = -m_motorMass * C;
angularError = Math.Abs(C);
}
else if (_limitState == LimitState.AtLower)
{
float C = angle - _lowerAngle;
angularError = -C;
// Prevent large angular corrections and allow some slop.
C = MathUtils.Clamp(C + Settings.AngularSlop, -Settings.MaxAngularCorrection, 0.0f);
limitImpulse = -m_motorMass * C;
}
else if (_limitState == LimitState.AtUpper)
{
float C = angle - _upperAngle;
angularError = C;
// Prevent large angular corrections and allow some slop.
C = MathUtils.Clamp(C - Settings.AngularSlop, 0.0f, Settings.MaxAngularCorrection);
limitImpulse = -m_motorMass * C;
}
aA -= m_invIA * limitImpulse;
aB += m_invIB * limitImpulse;
}
// Solve point-to-point constraint.
{
qA.Set(aA);
qB.Set(aB);
FVector2 rA = MathUtils.Mul(qA, LocalAnchorA - m_localCenterA);
FVector2 rB = MathUtils.Mul(qB, LocalAnchorB - m_localCenterB);
FVector2 C = cB + rB - cA - rA;
positionError = C.Length();
float mA = m_invMassA, mB = m_invMassB;
float iA = m_invIA, iB = m_invIB;
Mat22 K = new Mat22();
K.ex.X = mA + mB + iA * rA.Y * rA.Y + iB * rB.Y * rB.Y;
K.ex.Y = -iA * rA.X * rA.Y - iB * rB.X * rB.Y;
K.ey.X = K.ex.Y;
K.ey.Y = mA + mB + iA * rA.X * rA.X + iB * rB.X * rB.X;
FVector2 impulse = -K.Solve(C);
cA -= mA * impulse;
aA -= iA * MathUtils.Cross(rA, impulse);
cB += mB * impulse;
aB += iB * MathUtils.Cross(rB, impulse);
}
data.positions[m_indexA].c = cA;
data.positions[m_indexA].a = aA;
data.positions[m_indexB].c = cB;
data.positions[m_indexB].a = aB;
return positionError <= Settings.LinearSlop && angularError <= Settings.AngularSlop;
}