本文整理汇总了C#中BulletX.LinerMath.btVector3.Add方法的典型用法代码示例。如果您正苦于以下问题：C# btVector3.Add方法的具体用法？C# btVector3.Add怎么用？C# btVector3.Add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BulletX.LinerMath.btVector3的用法示例。
在下文中一共展示了btVector3.Add方法的6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: Distance
public static bool Distance(ConvexShape shape0, btTransform wtrs0, ConvexShape shape1, btTransform wtrs1, btVector3 guess, ref sResults results)
{
tShape shape = new MinkowskiDiff();
Initialize(shape0, wtrs0, shape1, wtrs1, ref results, ref shape, false);
using(GJK gjk = GJK.CreateFromPool())
{
GJK.eStatus gjk_status = gjk.Evaluate(shape, guess);
if (gjk_status == GJK.eStatus.Valid)
{
btVector3 w0 = new btVector3(0, 0, 0);
btVector3 w1 = new btVector3(0, 0, 0);
for (U i = 0; i < gjk.m_simplex.rank; ++i)
{
float p = gjk.m_simplex.p[i];
btVector3 temp,temp2,temp3;
#region w0 += shape.Support(gjk.m_simplex.c[i].d, 0) * p;
shape.Support(ref gjk.m_simplex.c[i].d, 0, out temp);
btVector3.Multiply(ref temp, p, out temp2);
w0.Add(ref temp2);
#endregion
#region w1 += shape.Support(-gjk.m_simplex.c[i].d, 1) * p;
btVector3.Minus(ref gjk.m_simplex.c[i].d, out temp3);
shape.Support(ref temp3, 1, out temp);
btVector3.Multiply(ref temp, p, out temp2);
w1.Add(ref temp2);
#endregion
}
results.witnesses0 = wtrs0 * w0;
results.witnesses1 = wtrs0 * w1;
results.normal = w0 - w1;
results.distance = results.normal.Length;
results.normal /= results.distance > GJK_MIN_DISTANCE ? results.distance : 1;
return (true);
}
else
{
results.status = gjk_status == GJK.eStatus.Inside ?
sResults.eStatus.Penetrating :
sResults.eStatus.GJK_Failed;
return (false);
}
}
}示例2: Evaluate
//.........这里部分代码省略.........
btVector3 w = cs.c[cs.rank - 1].w;
bool found = false;
for (U i = 0; i < 4; ++i)
{
if ((w - lastw[i]).Length2 < GJK_DUPLICATED_EPS)
{ found = true; break; }
}
if (found)
{/* Return old simplex */
removevertice(m_simplices[m_current]);
break;
}
else
{/* Update lastw */
lastw[clastw = (clastw + 1) & 3] = w;
}
/* Check for termination */
float omega = btVector3.dot(m_ray, w) / rl;
alpha = (float)Math.Max(omega, alpha);
if (((rl - alpha) - (GJK_ACCURARY * rl)) <= 0)
{/* Return old simplex */
removevertice(m_simplices[m_current]);
break;
}
/* Reduce simplex */
//float* weights = stackalloc float[4];
StackPtr<float> weights = StackPtr<float>.Allocate(4);
try
{
U mask = 0;
switch (cs.rank)
{
case 2: sqdist = projectorigin(cs.c[0].w,
cs.c[1].w,
weights, ref mask); break;
case 3: sqdist = projectorigin(cs.c[0].w,
cs.c[1].w,
cs.c[2].w,
weights, ref mask); break;
case 4: sqdist = projectorigin(cs.c[0].w,
cs.c[1].w,
cs.c[2].w,
cs.c[3].w,
weights, ref mask); break;
}
if (sqdist >= 0)
{/* Valid */
ns.rank = 0;
m_ray = new btVector3(0, 0, 0);
m_current = next;
for (U i = 0, ni = cs.rank; i < ni; ++i)
{
if ((mask & (1 << (int)i)) != 0)
{
ns.c[ns.rank] = cs.c[i];
ns.p[ns.rank++] = weights[i];
#region m_ray += cs.c[i].w * weights[i];
{
btVector3 temp;
btVector3.Multiply(ref cs.c[i].w, weights[i], out temp);
m_ray.Add(ref temp);
}
#endregion
}
else
{
m_free[m_nfree++] = cs.c[i];
}
}
if (mask == 15) m_status = eStatus.Inside;
}
else
{/* Return old simplex */
removevertice(m_simplices[m_current]);
break;
}
m_status = ((++iterations) < GJK_MAX_ITERATIONS) ? m_status : eStatus.Failed;
}
finally
{
weights.Dispose();
}
} while (m_status == eStatus.Valid);
m_simplex = m_simplices[m_current];
switch (m_status)
{
case eStatus.Valid: m_distance = m_ray.Length; break;
case eStatus.Inside: m_distance = 0; break;
default:
{
break;
}
}
return (m_status);
}
finally
{
lastw.Dispose();
}
}示例3: Penetration
public static bool Penetration(ConvexShape shape0, btTransform wtrs0, ConvexShape shape1, btTransform wtrs1, btVector3 guess, ref sResults results, bool usemargins)
{
tShape shape=new MinkowskiDiff();
Initialize(shape0,wtrs0,shape1,wtrs1,ref results,ref shape,usemargins);
using (GJK gjk = GJK.CreateFromPool())
{
GJK.eStatus gjk_status = gjk.Evaluate(shape, -guess);
switch (gjk_status)
{
case GJK.eStatus.Inside:
{
using(EPA epa = EPA.CreateFromPool())
{
EPA.eStatus epa_status = epa.Evaluate(gjk, -guess);
if (epa_status != EPA.eStatus.Failed)
{
btVector3 w0 = new btVector3(0, 0, 0);
for (U i = 0; i < epa.m_result.rank; ++i)
{
#region w0 += shape.Support(epa.m_result.c[i].d, 0) * epa.m_result.p[i];
{
btVector3 temp1, temp2;
shape.Support(ref epa.m_result.c[i].d, 0, out temp1);
btVector3.Multiply(ref temp1, epa.m_result.p[i], out temp2);
w0.Add(ref temp2);
}
#endregion
}
results.status = sResults.eStatus.Penetrating;
results.witnesses0 = wtrs0 * w0;
results.witnesses1 = wtrs0 * (w0 - epa.m_normal * epa.m_depth);
results.normal = -epa.m_normal;
results.distance = -epa.m_depth;
return (true);
}
else results.status = sResults.eStatus.EPA_Failed;
}
}
break;
case GJK.eStatus.Failed:
results.status = sResults.eStatus.GJK_Failed;
break;
default:
{
break;
}
}
return (false);
}
}示例4: calculateTemporalAabb
///calculateTemporalAabb calculates the enclosing aabb for the moving object over interval [0..timeStep)
///result is conservative
public void calculateTemporalAabb(btTransform curTrans, btVector3 linvel, btVector3 angvel, float timeStep, out btVector3 temporalAabbMin, out btVector3 temporalAabbMax)
{
//start with static aabb
getAabb(curTrans, out temporalAabbMin, out temporalAabbMax);
float temporalAabbMaxx = temporalAabbMax.X;
float temporalAabbMaxy = temporalAabbMax.Y;
float temporalAabbMaxz = temporalAabbMax.Z;
float temporalAabbMinx = temporalAabbMin.X;
float temporalAabbMiny = temporalAabbMin.Y;
float temporalAabbMinz = temporalAabbMin.Z;
// add linear motion
btVector3 linMotion;// = linvel * timeStep;
btVector3.Multiply(ref linvel, timeStep, out linMotion);
///@todo: simd would have a vector max/min operation, instead of per-element access
if (linMotion.X > 0f)
temporalAabbMaxx += linMotion.X;
else
temporalAabbMinx += linMotion.X;
if (linMotion.Y > 0f)
temporalAabbMaxy += linMotion.Y;
else
temporalAabbMiny += linMotion.Y;
if (linMotion.Z > 0f)
temporalAabbMaxz += linMotion.Z;
else
temporalAabbMinz += linMotion.Z;
//add conservative angular motion
float angularMotion = angvel.Length * getAngularMotionDisc() * timeStep;
btVector3 angularMotion3d = new btVector3(angularMotion, angularMotion, angularMotion);
temporalAabbMin = new btVector3(temporalAabbMinx, temporalAabbMiny, temporalAabbMinz);
temporalAabbMax = new btVector3(temporalAabbMaxx, temporalAabbMaxy, temporalAabbMaxz);
//temporalAabbMin -= angularMotion3d;
//temporalAabbMax += angularMotion3d;
temporalAabbMin.Subtract(ref angularMotion3d);
temporalAabbMax.Add(ref angularMotion3d);
}示例5: getAabbNonVirtual
public void getAabbNonVirtual(btTransform t, out btVector3 aabbMin, out btVector3 aabbMax)
{
switch (ShapeType)
{
case BroadphaseNativeTypes.SPHERE_SHAPE_PROXYTYPE:
{
SphereShape sphereShape = (SphereShape)this;
float radius = sphereShape.ImplicitShapeDimensions.X;// * convexShape->getLocalScaling().getX();
float margin = radius + sphereShape.MarginNonVirtual;
btVector3 center = t.Origin;
btVector3 extent = new btVector3(margin, margin, margin);
//aabbMin = center - extent;
btVector3.Subtract(ref center, ref extent, out aabbMin);
//aabbMax = center + extent;
btVector3.Add(ref center, ref extent, out aabbMax);
}
break;
case BroadphaseNativeTypes.CYLINDER_SHAPE_PROXYTYPE:
/* fall through */
case BroadphaseNativeTypes.BOX_SHAPE_PROXYTYPE:
{
BoxShape convexShape = (BoxShape)this;
float margin = convexShape.MarginNonVirtual;
btVector3 halfExtents = convexShape.ImplicitShapeDimensions;
#region halfExtents += new btVector3(margin, margin, margin);
{
btVector3 temp = new btVector3(margin, margin, margin);
halfExtents.Add(ref temp);
}
#endregion
btMatrix3x3 abs_b;// = t.Basis.absolute();
t.Basis.absolute(out abs_b);
btVector3 center = t.Origin;
btVector3 extent = new btVector3(abs_b.el0.dot(halfExtents), abs_b.el1.dot(halfExtents), abs_b.el2.dot(halfExtents));
//aabbMin = center - extent;
btVector3.Subtract(ref center, ref extent, out aabbMin);
//aabbMax = center + extent;
btVector3.Add(ref center, ref extent, out aabbMax);
break;
}
case BroadphaseNativeTypes.TRIANGLE_SHAPE_PROXYTYPE:
throw new NotImplementedException();
#if false
{
btTriangleShape* triangleShape = (btTriangleShape*)this;
float margin = triangleShape->getMarginNonVirtual();
for (int i=0;i<3;i++)
{
btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.));
vec[i] = btScalar(1.);
btVector3 sv = localGetSupportVertexWithoutMarginNonVirtual(vec*t.getBasis());
btVector3 tmp = t(sv);
aabbMax[i] = tmp[i]+margin;
vec[i] = btScalar(-1.);
tmp = t(localGetSupportVertexWithoutMarginNonVirtual(vec*t.getBasis()));
aabbMin[i] = tmp[i]-margin;
}
}
break;
#endif
case BroadphaseNativeTypes.CAPSULE_SHAPE_PROXYTYPE:
{
CapsuleShape capsuleShape = (CapsuleShape)this;
btVector3 halfExtents = new btVector3(capsuleShape.Radius, capsuleShape.Radius, capsuleShape.Radius);
int m_upAxis = capsuleShape.UpAxis;
halfExtents[m_upAxis] = capsuleShape.Radius + capsuleShape.HalfHeight;
#region halfExtents += new btVector3(capsuleShape.MarginNonVirtual, capsuleShape.MarginNonVirtual, capsuleShape.MarginNonVirtual);
{
btVector3 temp = new btVector3(capsuleShape.MarginNonVirtual, capsuleShape.MarginNonVirtual, capsuleShape.MarginNonVirtual);
halfExtents.Add(ref temp);
}
#endregion
btMatrix3x3 abs_b;// = t.Basis.absolute();
t.Basis.absolute(out abs_b);
btVector3 center = t.Origin;
btVector3 extent = new btVector3(abs_b.el0.dot(halfExtents), abs_b.el1.dot(halfExtents), abs_b.el2.dot(halfExtents));
//aabbMin = center - extent;
btVector3.Subtract(ref center, ref extent, out aabbMin);
//aabbMax = center + extent;
btVector3.Add(ref center, ref extent, out aabbMax);
}
break;
case BroadphaseNativeTypes.CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE:
case BroadphaseNativeTypes.CONVEX_HULL_SHAPE_PROXYTYPE:
throw new NotImplementedException();
#if false
{
btPolyhedralConvexAabbCachingShape* convexHullShape = (btPolyhedralConvexAabbCachingShape*)this;
btScalar margin = convexHullShape->getMarginNonVirtual();
convexHullShape->getNonvirtualAabb (t, aabbMin, aabbMax, margin);
}
break;
#endif
default:
this.getAabb(t, out aabbMin, out aabbMax);
Debug.Assert(false);
break;
//.........这里部分代码省略.........
示例6: drawAabb
public virtual void drawAabb(ref btVector3 from,ref btVector3 to,ref btVector3 color)
{
btVector3 halfExtents = (to - from) * 0.5f;
btVector3 center;// = (to + from) * 0.5f;
{
btVector3 temp;
btVector3.Add(ref to, ref from, out temp);
btVector3.Multiply(ref temp, 0.5f, out center);
}
int i, j;
btVector3 edgecoord = new btVector3(1f, 1f, 1f), pa, pb;
for (i = 0; i < 4; i++)
{
for (j = 0; j < 3; j++)
{
pa = new btVector3(edgecoord.X * halfExtents.X, edgecoord.Y * halfExtents.Y,
edgecoord.Z * halfExtents.Z);
//pa += center;
pa.Add(ref center);
int othercoord = j % 3;
edgecoord[othercoord] *= -1f;
pb = new btVector3(edgecoord.X * halfExtents.X, edgecoord.Y * halfExtents.Y,
edgecoord.Z * halfExtents.Z);
//pb += center;
pb.Add(ref center);
drawLine(ref pa,ref pb,ref color);
}
edgecoord = new btVector3(-1f, -1f, -1f);
if (i < 3)
edgecoord[i] *= -1f;
}
}