当前位置: 首页>>代码示例>>C#>>正文


C# Rot类代码示例

本文整理汇总了C#中Rot的典型用法代码示例。如果您正苦于以下问题:C# Rot类的具体用法?C# Rot怎么用?C# Rot使用的例子?那么恭喜您, 这里精选的类代码示例或许可以为您提供帮助。


Rot类属于命名空间,在下文中一共展示了Rot类的15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: ApplyRotToGLMatrix4d

    public static void ApplyRotToGLMatrix4d( ref GLMatrix4d matrix, Rot rot )
    {
        double fRotAngle = 0;
            Vector3 vAxis = new Vector3();
            mvMath.Rot2AxisAngle( ref vAxis, ref fRotAngle, rot );

            matrix.applyRotate( (float)( fRotAngle / Math.PI * 180 ), (float)vAxis.x, (float)vAxis.y, (float)vAxis.z );
    }
开发者ID:hughperkins,项目名称:SpringMapDesigner,代码行数:8,代码来源:mvMath.cs

示例2: Rot

 public static Vector3 operator *( Vector3 V, Rot rot )
 {
     Rot InverseInRot = rot.Inverse();
         Rot VectorRot = new Rot( V.x, V.y, V.z, 0 );
         Rot IntRot = VectorRot * rot;
         Rot ResultRot = InverseInRot * IntRot;
         return new Vector3( ResultRot.x, ResultRot.y, ResultRot.z );
 }
开发者ID:hughperkins,项目名称:SpringMapDesigner,代码行数:8,代码来源:Vector3.cs

示例3: Rot

    public static Rot operator *( Rot R1, Rot R2 )
    {
        Rot result = new Rot();
            result.s = R1.s * R2.s - R1.x * R2.x - R1.y * R2.y - R1.z * R2.z;

            result.x = R1.s * R2.x + R1.x * R2.s + R1.y * R2.z -R1.z * R2.y;
            result.y = R1.s * R2.y + R1.y * R2.s + R1.z * R2.x - R1.x * R2.z;
            result.z = R1.s * R2.z + R1.z * R2.s + R1.x * R2.y - R1.y * R2.x;

            //Test.Debug(  "RotMULITPLY in=" << Q1 << " " << Q2 << " out=" << Qr <<endl;
            return result;
    }
开发者ID:hughperkins,项目名称:SpringMapDesigner,代码行数:12,代码来源:Rot.cs

示例4: Clip

        public bool Clip(Vertices clipVertices, Vector2 position)
        {
            Rot rot = new Rot(0);
            Transform t = new Transform(ref position, ref rot);

            //Transform shape
            Transform thistransform;
            Body.GetTransform(out thistransform);

            //Transform the shape
            Vertices transformedshape = new Vertices(clipVertices.Count);
            foreach (Vector2 v in clipVertices)
            {
                Vector2 newv = v;
                newv = MathUtils.Mul(ref t, ref newv);
                newv = MathUtils.MulT(ref thistransform, ref newv);
                transformedshape.Add(newv);
            }

            PolyClipError error;
            List<Vertices> result = YuPengClipper.Difference(Vertices, transformedshape, out error);

            //Need to check if the entire shape was cut,
            //so we can destroy/erase it
            if (result.Count == 0)
                return false;

            //The shape was split up,
            //so create a new DestructableBody for each piece
            if (result.Count > 1)
            {
                //Create a new destructable body for each extra shape
                for (int i = 1; i < result.Count; i++)
                {
                    DestructableBody db = new DestructableBody(_world, result[i]);
                    db.Body.Position = Body.Position;
                }
            }

            //Set Shape
            Vertices newshape = result[0];
            SetShape(newshape);

            return true;
        }
开发者ID:boris2,项目名称:mmogameproject2,代码行数:45,代码来源:DestructibleTerrainYuPengTest.cs

示例5: Rot2AxisAngle

    public static void Rot2AxisAngle( ref Vector3 Vr, ref double Thetar, Rot R )
    {
        //QuaternionNormalize( |X,Y,Z,W| );

            Vr = new Vector3();

            double cos_a = R.s;
            Thetar = Math.Acos( cos_a ) * 2;
            double sin_a = Math.Sqrt( 1.0 - cos_a * cos_a );

            if ( Math.Abs( sin_a )> 0.0005 )
            {
                Vr.x = R.x / sin_a;
                Vr.y = R.y / sin_a;
                Vr.z = R.z / sin_a;
            }
            else
            {
                Vr.x = 1;
                Vr.y = 0;
                Vr.z = 0;
            }
    }
开发者ID:hughperkins,项目名称:SpringMapDesigner,代码行数:23,代码来源:mvMath.cs

示例6: InitVelocityConstraints

        internal override void InitVelocityConstraints(ref SolverData data)
        {
            _indexA = BodyA.IslandIndex;
            _indexB = BodyB.IslandIndex;
            _localCenterA = BodyA.Sweep.LocalCenter;
            _localCenterB = BodyB.Sweep.LocalCenter;
            _invMassA = BodyA.InvMass;
            _invMassB = BodyB.InvMass;
            _invIA = BodyA.InvI;
            _invIB = BodyB.InvI;

            Vector2 cA = data.positions[_indexA].c;
            float aA = data.positions[_indexA].a;
            Vector2 vA = data.velocities[_indexA].v;
            float wA = data.velocities[_indexA].w;

            Vector2 cB = data.positions[_indexB].c;
            float aB = data.positions[_indexB].a;
            Vector2 vB = data.velocities[_indexB].v;
            float wB = data.velocities[_indexB].w;

            Rot qA = new Rot(aA), qB = new Rot(aB);

            _rA = MathUtils.Mul(qA, LocalAnchorA - _localCenterA);
            _rB = MathUtils.Mul(qB, LocalAnchorB - _localCenterB);
            _u = cB + _rB - cA - _rA;

            // Handle singularity.
            float length = _u.Length();
            if (length > Settings.LinearSlop)
            {
                _u *= 1.0f / length;
            }
            else
            {
                _u = Vector2.Zero;
            }

            float crAu = MathUtils.Cross(_rA, _u);
            float crBu = MathUtils.Cross(_rB, _u);
            float invMass = _invMassA + _invIA * crAu * crAu + _invMassB + _invIB * crBu * crBu;

            // Compute the effective mass matrix.
            _mass = invMass != 0.0f ? 1.0f / invMass : 0.0f;

            if (Frequency > 0.0f)
            {
                float C = length - Length;

                // Frequency
                float omega = 2.0f * Settings.Pi * Frequency;

                // Damping coefficient
                float d = 2.0f * _mass * DampingRatio * omega;

                // Spring stiffness
                float k = _mass * omega * omega;

                // magic formulas
                float h = data.step.dt;
                _gamma = h * (d + h * k);
                _gamma = _gamma != 0.0f ? 1.0f / _gamma : 0.0f;
                _bias = C * h * k * _gamma;

                invMass += _gamma;
                _mass = invMass != 0.0f ? 1.0f / invMass : 0.0f;
            }
            else
            {
                _gamma = 0.0f;
                _bias = 0.0f;
            }

            if (Settings.EnableWarmstarting)
            {
                // Scale the impulse to support a variable time step.
                _impulse *= data.step.dtRatio;

                Vector2 P = _impulse * _u;
                vA -= _invMassA * P;
                wA -= _invIA * MathUtils.Cross(_rA, P);
                vB += _invMassB * P;
                wB += _invIB * MathUtils.Cross(_rB, P);
            }
            else
            {
                _impulse = 0.0f;
            }

            data.velocities[_indexA].v = vA;
            data.velocities[_indexA].w = wA;
            data.velocities[_indexB].v = vB;
            data.velocities[_indexB].w = wB;
        }
开发者ID:netonjm,项目名称:Rube.Net,代码行数:94,代码来源:DistanceJoint.cs

示例7: 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);

            Vector2 rA = MathUtils.Mul(qA, LocalAnchorA - _localCenterA);
            Vector2 rB = MathUtils.Mul(qB, LocalAnchorB - _localCenterB);

            // Get the pulley axes.
            Vector2 uA = cA + rA - WorldAnchorA;
            Vector2 uB = cB + rB - WorldAnchorB;

            float lengthA = uA.Length();
            float lengthB = uB.Length();

            if (lengthA > 10.0f * Settings.LinearSlop)
            {
                uA *= 1.0f / lengthA;
            }
            else
            {
                uA = Vector2.Zero;
            }

            if (lengthB > 10.0f * Settings.LinearSlop)
            {
                uB *= 1.0f / lengthB;
            }
            else
            {
                uB = Vector2.Zero;
            }

            // Compute effective mass.
            float ruA = MathUtils.Cross(rA, uA);
            float ruB = MathUtils.Cross(rB, uB);

            float mA = _invMassA + _invIA * ruA * ruA;
            float mB = _invMassB + _invIB * ruB * ruB;

            float mass = mA + Ratio * Ratio * mB;

            if (mass > 0.0f)
            {
                mass = 1.0f / mass;
            }

            float C = Constant - lengthA - Ratio * lengthB;
            float linearError = Math.Abs(C);

            float impulse = -mass * C;

            Vector2 PA = -impulse * uA;
            Vector2 PB = -Ratio * impulse * uB;

            cA += _invMassA * PA;
            aA += _invIA * MathUtils.Cross(rA, PA);
            cB += _invMassB * PB;
            aB += _invIB * MathUtils.Cross(rB, PB);

            data.positions[_indexA].c = cA;
            data.positions[_indexA].a = aA;
            data.positions[_indexB].c = cB;
            data.positions[_indexB].a = aB;

            return linearError < Settings.LinearSlop;
        }
开发者ID:ImmortalJINX,项目名称:Project-EGOR,代码行数:71,代码来源:PulleyJoint.cs

示例8: GetMouseVector

    //! Feedback line buffer for OpenGL feedback, used by mvgraphics.cpp
    /*
        class FeedbackLineBufferItem
        {
            public double type;
            public Vector2[] vertices = new Vector2[2];
        }
        */
    public Vector3 GetMouseVector(Vector3 OurPos, Rot OurRot, int mousex, int mousey)
    {
        IRenderer renderer = RendererFactory.GetInstance();

            Vector3 MouseVectorObserverAxes = new Vector3(
                - renderer.InnerWindowWidth / 2 + mousex,
                - renderer.ScreenDistanceScreenCoords,
                renderer.InnerWindowHeight / 2 - mousey);
            //Console.WriteLine("MouseVectorObserverAxes: " + MouseVectorObserverAxes);
            MouseVectorObserverAxes.Normalize();
            //Console.WriteLine("MouseVectorObserverAxes (normalized): " + MouseVectorObserverAxes);
            Vector3 MouseVectorWorldAxes = MouseVectorObserverAxes * OurRot.Inverse();
            //Console.WriteLine("MouseVectorWorldAxes: " + MouseVectorWorldAxes.ToString());
            MouseVectorWorldAxes.Normalize();
            return MouseVectorWorldAxes;
    }
开发者ID:hughperkins,项目名称:SpringMapDesigner,代码行数:24,代码来源:GraphicsHelperGl.cs

示例9: InitVelocityConstraints

        internal override void InitVelocityConstraints(ref SolverData data)
        {
            _indexA = BodyA.IslandIndex;
            _indexB = BodyB.IslandIndex;
            _localCenterA = BodyA._sweep.LocalCenter;
            _localCenterB = BodyB._sweep.LocalCenter;
            _invMassA = BodyA._invMass;
            _invMassB = BodyB._invMass;
            _invIA = BodyA._invI;
            _invIB = BodyB._invI;

            float aA = data.positions[_indexA].a;
            Vector2 vA = data.velocities[_indexA].v;
            float wA = data.velocities[_indexA].w;

            float aB = data.positions[_indexB].a;
            Vector2 vB = data.velocities[_indexB].v;
            float wB = data.velocities[_indexB].w;

            Rot qA = new Rot(aA), qB = new Rot(aB);

            _rA = MathUtils.Mul(qA, LocalAnchorA - _localCenterA);
            _rB = MathUtils.Mul(qB, LocalAnchorB - _localCenterB);

            // J = [-I -r1_skew I r2_skew]
            //     [ 0       -1 0       1]
            // r_skew = [-ry; rx]

            // Matlab
            // K = [ mA+r1y^2*iA+mB+r2y^2*iB,  -r1y*iA*r1x-r2y*iB*r2x,          -r1y*iA-r2y*iB]
            //     [  -r1y*iA*r1x-r2y*iB*r2x, mA+r1x^2*iA+mB+r2x^2*iB,           r1x*iA+r2x*iB]
            //     [          -r1y*iA-r2y*iB,           r1x*iA+r2x*iB,                   iA+iB]

            float mA = _invMassA, mB = _invMassB;
            float iA = _invIA, iB = _invIB;

            Mat33 K = new Mat33();
            K.ex.X = mA + mB + _rA.Y * _rA.Y * iA + _rB.Y * _rB.Y * iB;
            K.ey.X = -_rA.Y * _rA.X * iA - _rB.Y * _rB.X * iB;
            K.ez.X = -_rA.Y * iA - _rB.Y * iB;
            K.ex.Y = K.ey.X;
            K.ey.Y = mA + mB + _rA.X * _rA.X * iA + _rB.X * _rB.X * iB;
            K.ez.Y = _rA.X * iA + _rB.X * iB;
            K.ex.Z = K.ez.X;
            K.ey.Z = K.ez.Y;
            K.ez.Z = iA + iB;

            if (FrequencyHz > 0.0f)
            {
                K.GetInverse22(ref _mass);

                float invM = iA + iB;
                float m = invM > 0.0f ? 1.0f / invM : 0.0f;

                float C = aB - aA - ReferenceAngle;

                // Frequency
                float omega = 2.0f * Settings.Pi * FrequencyHz;

                // Damping coefficient
                float d = 2.0f * m * DampingRatio * omega;

                // Spring stiffness
                float k = m * omega * omega;

                // magic formulas
                float h = data.step.dt;
                _gamma = h * (d + h * k);
                _gamma = _gamma != 0.0f ? 1.0f / _gamma : 0.0f;
                _bias = C * h * k * _gamma;

                invM += _gamma;
                _mass.ez.Z = invM != 0.0f ? 1.0f / invM : 0.0f;
            }
            else
            {
                K.GetSymInverse33(ref _mass);
                _gamma = 0.0f;
                _bias = 0.0f;
            }

            if (Settings.EnableWarmstarting)
            {
                // Scale impulses to support a variable time step.
                _impulse *= data.step.dtRatio;

                Vector2 P = new Vector2(_impulse.X, _impulse.Y);

                vA -= mA * P;
                wA -= iA * (MathUtils.Cross(_rA, P) + _impulse.Z);

                vB += mB * P;
                wB += iB * (MathUtils.Cross(_rB, P) + _impulse.Z);
            }
            else
            {
                _impulse = Vector3.Zero;
            }

            data.velocities[_indexA].v = vA;
//.........这里部分代码省略.........
开发者ID:nagyist,项目名称:Farseer-Physics-Engine-For-MonoMac,代码行数:101,代码来源:WeldJoint.cs

示例10: InitVelocityConstraints

        internal override void InitVelocityConstraints(ref SolverData data)
        {
            _indexA = BodyA.IslandIndex;
            _indexB = BodyB.IslandIndex;
            _localCenterA = BodyA.Sweep.LocalCenter;
            _localCenterB = BodyB.Sweep.LocalCenter;
            _invMassA = BodyA.InvMass;
            _invMassB = BodyB.InvMass;
            _invIA = BodyA.InvI;
            _invIB = BodyB.InvI;

            Vector2 cA = data.positions[_indexA].c;
            float aA = data.positions[_indexA].a;
            Vector2 vA = data.velocities[_indexA].v;
            float wA = data.velocities[_indexA].w;

            Vector2 cB = data.positions[_indexB].c;
            float aB = data.positions[_indexB].a;
            Vector2 vB = data.velocities[_indexB].v;
            float wB = data.velocities[_indexB].w;

            Rot qA = new Rot(aA), qB = new Rot(aB);

            _rA = MathUtils.Mul(qA, LocalAnchorA - _localCenterA);
            _rB = MathUtils.Mul(qB, LocalAnchorB - _localCenterB);
            _u = cB + _rB - cA - _rA;

            _length = _u.Length();

            float C = _length - MaxLength;
            if (C > 0.0f)
            {
                _state = LimitState.AtUpper;
            }
            else
            {
                _state = LimitState.Inactive;
            }

            if (_length > Settings.LinearSlop)
            {
                _u *= 1.0f / _length;
            }
            else
            {
                _u = Vector2.Zero;
                _mass = 0.0f;
                _impulse = 0.0f;
                return;
            }

            // Compute effective mass.
            float crA = MathUtils.Cross(_rA, _u);
            float crB = MathUtils.Cross(_rB, _u);
            float invMass = _invMassA + _invIA * crA * crA + _invMassB + _invIB * crB * crB;

            _mass = invMass != 0.0f ? 1.0f / invMass : 0.0f;

            if (Settings.EnableWarmstarting)
            {
                // Scale the impulse to support a variable time step.
                _impulse *= data.step.dtRatio;

                Vector2 P = _impulse * _u;
                vA -= _invMassA * P;
                wA -= _invIA * MathUtils.Cross(_rA, P);
                vB += _invMassB * P;
                wB += _invIB * MathUtils.Cross(_rB, P);
            }
            else
            {
                _impulse = 0.0f;
            }

            data.velocities[_indexA].v = vA;
            data.velocities[_indexA].w = wA;
            data.velocities[_indexB].v = vB;
            data.velocities[_indexB].w = wB;
        }
开发者ID:netonjm,项目名称:Rube.Net,代码行数:79,代码来源:RopeJoint.cs

示例11: InitVelocityConstraints

        internal override void InitVelocityConstraints(ref SolverData data)
        {
            _indexA = _bodyA.IslandIndex;
            _indexB = _bodyB.IslandIndex;
            _indexC = _bodyC.IslandIndex;
            _indexD = _bodyD.IslandIndex;
            _lcA = _bodyA.Sweep.LocalCenter;
            _lcB = _bodyB.Sweep.LocalCenter;
            _lcC = _bodyC.Sweep.LocalCenter;
            _lcD = _bodyD.Sweep.LocalCenter;
            _mA = _bodyA.InvMass;
            _mB = _bodyB.InvMass;
            _mC = _bodyC.InvMass;
            _mD = _bodyD.InvMass;
            _iA = _bodyA.InvI;
            _iB = _bodyB.InvI;
            _iC = _bodyC.InvI;
            _iD = _bodyD.InvI;

            float aA = data.positions[_indexA].a;
            Vector2 vA = data.velocities[_indexA].v;
            float wA = data.velocities[_indexA].w;

            float aB = data.positions[_indexB].a;
            Vector2 vB = data.velocities[_indexB].v;
            float wB = data.velocities[_indexB].w;

            float aC = data.positions[_indexC].a;
            Vector2 vC = data.velocities[_indexC].v;
            float wC = data.velocities[_indexC].w;

            float aD = data.positions[_indexD].a;
            Vector2 vD = data.velocities[_indexD].v;
            float wD = data.velocities[_indexD].w;

            Rot qA = new Rot(aA), qB = new Rot(aB), qC = new Rot(aC), qD = new Rot(aD);

            _mass = 0.0f;

            if (_typeA == JointType.Revolute)
            {
                _JvAC = Vector2.Zero;
                _JwA = 1.0f;
                _JwC = 1.0f;
                _mass += _iA + _iC;
            }
            else
            {
                Vector2 u = MathUtils.Mul(qC, _localAxisC);
                Vector2 rC = MathUtils.Mul(qC, _localAnchorC - _lcC);
                Vector2 rA = MathUtils.Mul(qA, _localAnchorA - _lcA);
                _JvAC = u;
                _JwC = MathUtils.Cross(rC, u);
                _JwA = MathUtils.Cross(rA, u);
                _mass += _mC + _mA + _iC * _JwC * _JwC + _iA * _JwA * _JwA;
            }

            if (_typeB == JointType.Revolute)
            {
                _JvBD = Vector2.Zero;
                _JwB = _ratio;
                _JwD = _ratio;
                _mass += _ratio * _ratio * (_iB + _iD);
            }
            else
            {
                Vector2 u = MathUtils.Mul(qD, _localAxisD);
                Vector2 rD = MathUtils.Mul(qD, _localAnchorD - _lcD);
                Vector2 rB = MathUtils.Mul(qB, _localAnchorB - _lcB);
                _JvBD = _ratio * u;
                _JwD = _ratio * MathUtils.Cross(rD, u);
                _JwB = _ratio * MathUtils.Cross(rB, u);
                _mass += _ratio * _ratio * (_mD + _mB) + _iD * _JwD * _JwD + _iB * _JwB * _JwB;
            }

            // Compute effective mass.
            _mass = _mass > 0.0f ? 1.0f / _mass : 0.0f;

            if (Settings.EnableWarmstarting)
            {
                vA += (_mA * _impulse) * _JvAC;
                wA += _iA * _impulse * _JwA;
                vB += (_mB * _impulse) * _JvBD;
                wB += _iB * _impulse * _JwB;
                vC -= (_mC * _impulse) * _JvAC;
                wC -= _iC * _impulse * _JwC;
                vD -= (_mD * _impulse) * _JvBD;
                wD -= _iD * _impulse * _JwD;
            }
            else
            {
                _impulse = 0.0f;
            }

            data.velocities[_indexA].v = vA;
            data.velocities[_indexA].w = wA;
            data.velocities[_indexB].v = vB;
            data.velocities[_indexB].w = wB;
            data.velocities[_indexC].v = vC;
            data.velocities[_indexC].w = wC;
//.........这里部分代码省略.........
开发者ID:boris2,项目名称:mmogameproject2,代码行数:101,代码来源:GearJoint.cs

示例12: Rotate

 public void Rotate( Rot rot )
 {
     double fRotAngle = 0;
         Vector3 vAxis = new Vector3();
         mvMath.Rot2AxisAngle( ref vAxis, ref fRotAngle, rot );
         Gl.glRotatef( (float)( fRotAngle / Math.PI * 180 ), (float)vAxis.x, (float)vAxis.y, (float)vAxis.z );
 }
开发者ID:hughperkins,项目名称:SpringMapDesigner,代码行数:7,代码来源:GraphicsHelperGl.cs

示例13: InitVelocityConstraints

        internal override void InitVelocityConstraints(ref SolverData data)
        {
            _indexA = BodyA.IslandIndex;
            _indexB = BodyB.IslandIndex;
            _localCenterA = BodyA._sweep.LocalCenter;
            _localCenterB = BodyB._sweep.LocalCenter;
            _invMassA = BodyA._invMass;
            _invMassB = BodyB._invMass;
            _invIA = BodyA._invI;
            _invIB = BodyB._invI;

            Vector2 cA = data.positions[_indexA].c;
            float aA = data.positions[_indexA].a;
            Vector2 vA = data.velocities[_indexA].v;
            float wA = data.velocities[_indexA].w;

            Vector2 cB = data.positions[_indexB].c;
            float aB = data.positions[_indexB].a;
            Vector2 vB = data.velocities[_indexB].v;
            float wB = data.velocities[_indexB].w;

            Rot qA = new Rot(aA), qB = new Rot(aB);

            // Compute the effective masses.
            Vector2 rA = MathUtils.Mul(qA, LocalAnchorA - _localCenterA);
            Vector2 rB = MathUtils.Mul(qB, LocalAnchorB - _localCenterB);
            Vector2 d = (cB - cA) + rB - rA;

            float mA = _invMassA, mB = _invMassB;
            float iA = _invIA, iB = _invIB;

            // Compute motor Jacobian and effective mass.
            {
                _axis = MathUtils.Mul(qA, LocalXAxis);
                _a1 = MathUtils.Cross(d + rA, _axis);
                _a2 = MathUtils.Cross(rB, _axis);

                _motorMass = mA + mB + iA * _a1 * _a1 + iB * _a2 * _a2;
                if (_motorMass > 0.0f)
                {
                    _motorMass = 1.0f / _motorMass;
                }
            }

            // Prismatic constraint.
            {
                _perp = MathUtils.Mul(qA, _localYAxisA);

                _s1 = MathUtils.Cross(d + rA, _perp);
                _s2 = MathUtils.Cross(rB, _perp);

                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 bodies with fixed rotation.
                    k22 = 1.0f;
                }
                float k23 = iA * _a1 + iB * _a2;
                float k33 = mA + mB + iA * _a1 * _a1 + iB * _a2 * _a2;

                _K.ex = new Vector3(k11, k12, k13);
                _K.ey = new Vector3(k12, k22, k23);
                _K.ez = new Vector3(k13, k23, k33);
            }

            // Compute motor and limit terms.
            if (_enableLimit)
            {
                float jointTranslation = Vector2.Dot(_axis, d);
                if (Math.Abs(_upperTranslation - _lowerTranslation) < 2.0f * Settings.LinearSlop)
                {
                    _limitState = LimitState.Equal;
                }
                else if (jointTranslation <= _lowerTranslation)
                {
                    if (_limitState != LimitState.AtLower)
                    {
                        _limitState = LimitState.AtLower;
                        _impulse.Z = 0.0f;
                    }
                }
                else if (jointTranslation >= _upperTranslation)
                {
                    if (_limitState != LimitState.AtUpper)
                    {
                        _limitState = LimitState.AtUpper;
                        _impulse.Z = 0.0f;
                    }
                }
                else
                {
                    _limitState = LimitState.Inactive;
                    _impulse.Z = 0.0f;
                }
            }
            else
            {
//.........这里部分代码省略.........
开发者ID:ImmortalJINX,项目名称:Project-EGOR,代码行数:101,代码来源:PrismaticJoint.cs

示例14: InitVelocityConstraints

        internal override void InitVelocityConstraints(ref SolverData data)
        {
            m_indexA = BodyA.IslandIndex;
            m_indexB = BodyB.IslandIndex;
            m_localCenterA = BodyA.Sweep.LocalCenter;
            m_localCenterB = BodyB.Sweep.LocalCenter;
            m_invMassA = BodyA.InvMass;
            m_invMassB = BodyB.InvMass;
            m_invIA = BodyA.InvI;
            m_invIB = BodyB.InvI;

            float mA = m_invMassA, mB = m_invMassB;
            float iA = m_invIA, iB = m_invIB;

            FVector2 cA = data.positions[m_indexA].c;
            float aA = data.positions[m_indexA].a;
            FVector2 vA = data.velocities[m_indexA].v;
            float wA = data.velocities[m_indexA].w;

            FVector2 cB = data.positions[m_indexB].c;
            float aB = data.positions[m_indexB].a;
            FVector2 vB = data.velocities[m_indexB].v;
            float wB = data.velocities[m_indexB].w;

            Rot qA = new Rot(aA), qB = new Rot(aB);

            // Compute the effective masses.
            FVector2 rA = MathUtils.Mul(qA, LocalAnchorA - m_localCenterA);
            FVector2 rB = MathUtils.Mul(qB, LocalAnchorB - m_localCenterB);
            FVector2 d1 = cB + rB - cA - rA;

            // Point to line constraint
            {
                m_ay = MathUtils.Mul(qA, m_localYAxisA);
                m_sAy = MathUtils.Cross(d1 + rA, m_ay);
                m_sBy = MathUtils.Cross(rB, m_ay);

                m_mass = mA + mB + iA * m_sAy * m_sAy + iB * m_sBy * m_sBy;

                if (m_mass > 0.0f)
                {
                    m_mass = 1.0f / m_mass;
                }
            }

            // Spring constraint
            m_springMass = 0.0f;
            m_bias = 0.0f;
            m_gamma = 0.0f;
            if (SpringFrequencyHz > 0.0f)
            {
                m_ax = MathUtils.Mul(qA, m_localXAxisA);
                m_sAx = MathUtils.Cross(d1 + rA, m_ax);
                m_sBx = MathUtils.Cross(rB, m_ax);

                float invMass = mA + mB + iA * m_sAx * m_sAx + iB * m_sBx * m_sBx;

                if (invMass > 0.0f)
                {
                    m_springMass = 1.0f / invMass;

                    float C = FVector2.Dot(d1, m_ax);

                    // Frequency
                    float omega = 2.0f * Settings.Pi * SpringFrequencyHz;

                    // Damping coefficient
                    float d = 2.0f * m_springMass * SpringDampingRatio * omega;

                    // Spring stiffness
                    float k = m_springMass * omega * omega;

                    // magic formulas
                    float h = data.step.dt;
                    m_gamma = h * (d + h * k);
                    if (m_gamma > 0.0f)
                    {
                        m_gamma = 1.0f / m_gamma;
                    }

                    m_bias = C * h * k * m_gamma;

                    m_springMass = invMass + m_gamma;
                    if (m_springMass > 0.0f)
                    {
                        m_springMass = 1.0f / m_springMass;
                    }
                }
            }
            else
            {
                m_springImpulse = 0.0f;
            }

            // Rotational motor
            if (m_enableMotor)
            {
                m_motorMass = iA + iB;
                if (m_motorMass > 0.0f)
                {
//.........这里部分代码省略.........
开发者ID:pracalic,项目名称:Farseer-Unity3D,代码行数:101,代码来源:WheelJoint.cs

示例15: InitVelocityConstraints

        internal override void InitVelocityConstraints(ref SolverData data)
        {
            _indexB = BodyA.IslandIndex;
            _localCenterB = BodyA.Sweep.LocalCenter;
            _invMassB = BodyA.InvMass;
            _invIB = 0;

            FVector2 cB = data.positions[_indexB].c;
            float aB = data.positions[_indexB].a;
            FVector2 vB = data.velocities[_indexB].v;
            float wB = data.velocities[_indexB].w;

            Rot qB = new Rot(aB);

            float mass = BodyA.Mass;

            // Frequency
            float omega = 2.0f * FSSettings.Pi * Frequency;

            // Damping coefficient
            float d = 2.0f * mass * DampingRatio * omega;

            // Spring stiffness
            float k = mass * (omega * omega);

            // magic formulas
            // gamma has units of inverse mass.
            // beta has units of inverse time.
            float h = data.step.dt;
            Debug.Assert(d + h * k > FSSettings.Epsilon);
            _gamma = h * (d + h * k);
            if (!Mathf.Approximately(_gamma, 0.0f))
                _gamma = 1.0f / _gamma;

            _beta = h * k * _gamma;

            // Compute the effective mass matrix.
            _rB = MathUtils.Mul(qB, LocalAnchorB - _localCenterB);
            // K    = [(1/m1 + 1/m2) * eye(2) - skew(r1) * invI1 * skew(r1) - skew(r2) * invI2 * skew(r2)]
            //      = [1/m1+1/m2     0    ] + invI1 * [r1.Y*r1.Y -r1.X*r1.Y] + invI2 * [r1.Y*r1.Y -r1.X*r1.Y]
            //        [    0     1/m1+1/m2]           [-r1.X*r1.Y r1.X*r1.X]           [-r1.X*r1.Y r1.X*r1.X]
            var K = new Mat22();
            K.ex.X = _invMassB + _invIB * _rB.Y * _rB.Y + _gamma;
            K.ex.Y = -_invIB * _rB.X * _rB.Y;
            K.ey.X = K.ex.Y;
            K.ey.Y = _invMassB + _invIB * _rB.X * _rB.X + _gamma;

            _mass = K.Inverse;

            _C = cB + _rB - _targetA;
            _C *= _beta;

            // Cheat with some damping
            wB *= 0.98f;

            // 			if (Settings.EnableWarmstarting)
            // 			{
                _impulse *= data.step.dtRatio;
                vB += _invMassB * _impulse;
                wB += _invIB * MathUtils.Cross(_rB, _impulse);
            // 			}
            // 			else
            // 				_impulse = FVector2.Zero;

            data.velocities[_indexB].v = vB;
            data.velocities[_indexB].w = wB;
        }
开发者ID:horsman,项目名称:survival,代码行数:67,代码来源:FSFixedMouseJoint.cs


注:本文中的Rot类示例由纯净天空整理自Github/MSDocs等开源代码及文档管理平台,相关代码片段筛选自各路编程大神贡献的开源项目,源码版权归原作者所有,传播和使用请参考对应项目的License;未经允许,请勿转载。