本文整理汇总了C#中Rot类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 );
}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 );
}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;
}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;
}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;
}
}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;
}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;
}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;
}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.........
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;
}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.........
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 );
}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.........
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.........
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;
}