本文整理汇总了C#中BEPUphysics.Entities.Entity.ApplyAngularImpulse方法的典型用法代码示例。如果您正苦于以下问题：C# Entity.ApplyAngularImpulse方法的具体用法？C# Entity.ApplyAngularImpulse怎么用？C# Entity.ApplyAngularImpulse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BEPUphysics.Entities.Entity的用法示例。
在下文中一共展示了Entity.ApplyAngularImpulse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: PreStep
//.........这里部分代码省略.........
//Compute inverse effective mass matrix
float entryA, entryB;
float entryA2, entryB2;
//these are the transformed coordinates
float tX, tY, tZ;
float tX2, tY2, tZ2;
if (parentA.isDynamic)
{
tX = angularAX * parentA.inertiaTensorInverse.M11 + angularAY * parentA.inertiaTensorInverse.M21 + angularAZ * parentA.inertiaTensorInverse.M31;
tY = angularAX * parentA.inertiaTensorInverse.M12 + angularAY * parentA.inertiaTensorInverse.M22 + angularAZ * parentA.inertiaTensorInverse.M32;
tZ = angularAX * parentA.inertiaTensorInverse.M13 + angularAY * parentA.inertiaTensorInverse.M23 + angularAZ * parentA.inertiaTensorInverse.M33;
entryA = tX * angularAX + tY * angularAY + tZ * angularAZ + 1 / parentA.mass;
tX2 = angularAX2 * parentA.inertiaTensorInverse.M11 + angularAY2 * parentA.inertiaTensorInverse.M21 + angularAZ2 * parentA.inertiaTensorInverse.M31;
tY2 = angularAX2 * parentA.inertiaTensorInverse.M12 + angularAY2 * parentA.inertiaTensorInverse.M22 + angularAZ2 * parentA.inertiaTensorInverse.M32;
tZ2 = angularAX2 * parentA.inertiaTensorInverse.M13 + angularAY2 * parentA.inertiaTensorInverse.M23 + angularAZ2 * parentA.inertiaTensorInverse.M33;
entryA2 = tX2 * angularAX2 + tY2 * angularAY2 * tZ2 * angularAZ2 + 1 / parentA.mass;
}
else
{
entryA = 0;
entryA2 = 0;
}
if (parentB.isDynamic)
{
tX = angularBX * parentB.inertiaTensorInverse.M11 + angularBY * parentB.inertiaTensorInverse.M21 + angularBZ * parentB.inertiaTensorInverse.M31;
tY = angularBX * parentB.inertiaTensorInverse.M12 + angularBY * parentB.inertiaTensorInverse.M22 + angularBZ * parentB.inertiaTensorInverse.M32;
tZ = angularBX * parentB.inertiaTensorInverse.M13 + angularBY * parentB.inertiaTensorInverse.M23 + angularBZ * parentB.inertiaTensorInverse.M33;
entryB = tX * angularBX + tY * angularBY + tZ * angularBZ + 1 / parentB.mass;
tX2 = angularBX2 * parentB.inertiaTensorInverse.M11 + angularBY2 * parentB.inertiaTensorInverse.M21 + angularBZ2 * parentB.inertiaTensorInverse.M31;
tY2 = angularBX2 * parentB.inertiaTensorInverse.M12 + angularBY2 * parentB.inertiaTensorInverse.M22 + angularBZ2 * parentB.inertiaTensorInverse.M32;
tZ2 = angularBX2 * parentB.inertiaTensorInverse.M13 + angularBY2 * parentB.inertiaTensorInverse.M23 + angularBZ2 * parentB.inertiaTensorInverse.M33;
entryB2 = tX2 * angularBX2 + tY2 * angularBY2 + tZ2 * angularBZ2 + 1 / parentB.mass;
}
else
{
entryB = 0;
entryB2 = 0;
}
velocityToImpulse = -1 / (entryA + entryB); //Softness?
velocityToImpulse2 = -1 / (entryA2 + entryB2);
//Warm starting
#if !WINDOWS
Vector3 linear = new Vector3();
Vector3 angular = new Vector3();
#else
Vector3 linear, angular;
#endif
linear.X = accumulatedImpulse * linearAX;
linear.Y = accumulatedImpulse * linearAY;
linear.Z = accumulatedImpulse * linearAZ;
if (parentA.isDynamic)
{
angular.X = accumulatedImpulse * angularAX;
angular.Y = accumulatedImpulse * angularAY;
angular.Z = accumulatedImpulse * angularAZ;
parentA.ApplyLinearImpulse(ref linear);
parentA.ApplyAngularImpulse(ref angular);
}
if (parentB.isDynamic)
{
linear.X = -linear.X;
linear.Y = -linear.Y;
linear.Z = -linear.Z;
angular.X = accumulatedImpulse * angularBX;
angular.Y = accumulatedImpulse * angularBY;
angular.Z = accumulatedImpulse * angularBZ;
parentB.ApplyLinearImpulse(ref linear);
parentB.ApplyAngularImpulse(ref angular);
}
//Warm starting 2
linear.X = accumulatedImpulse2 * linearAX2;
linear.Y = accumulatedImpulse2 * linearAY2;
linear.Z = accumulatedImpulse2 * linearAZ2;
if (parentA.isDynamic)
{
angular.X = accumulatedImpulse2 * angularAX2;
angular.Y = accumulatedImpulse2 * angularAY2;
angular.Z = accumulatedImpulse2 * angularAZ2;
parentA.ApplyLinearImpulse(ref linear);
parentA.ApplyAngularImpulse(ref angular);
}
if (parentB.isDynamic)
{
linear.X = -linear.X;
linear.Y = -linear.Y;
linear.Z = -linear.Z;
angular.X = accumulatedImpulse2 * angularBX2;
angular.Y = accumulatedImpulse2 * angularBY2;
angular.Z = accumulatedImpulse2 * angularBZ2;
parentB.ApplyLinearImpulse(ref linear);
parentB.ApplyAngularImpulse(ref angular);
}
}