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C# RigidBody.ComputeImpulseDenominator方法代码示例

本文整理汇总了C#中BulletXNA.BulletDynamics.RigidBody.ComputeImpulseDenominator方法的典型用法代码示例。如果您正苦于以下问题:C# RigidBody.ComputeImpulseDenominator方法的具体用法?C# RigidBody.ComputeImpulseDenominator怎么用?C# RigidBody.ComputeImpulseDenominator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BulletXNA.BulletDynamics.RigidBody的用法示例。


在下文中一共展示了RigidBody.ComputeImpulseDenominator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: WheelContactPoint

	    public WheelContactPoint(RigidBody body0,RigidBody body1,ref IndexedVector3 frictionPosWorld,ref IndexedVector3 frictionDirectionWorld, float maxImpulse)
	    {
            m_body0 = body0;
            m_body1 = body1;
            m_frictionPositionWorld = frictionPosWorld;
            m_frictionDirectionWorld = frictionDirectionWorld;
            m_maxImpulse = maxImpulse;
		    float denom0 = body0.ComputeImpulseDenominator(ref frictionPosWorld,ref frictionDirectionWorld);
		    float denom1 = body1.ComputeImpulseDenominator(ref frictionPosWorld,ref frictionDirectionWorld);
		    float relaxation = 1f;
		    m_jacDiagABInv = relaxation/(denom0+denom1);
	    }
开发者ID:JohnLouderback,项目名称:illuminati-engine-xna,代码行数:12,代码来源:RaycastVehicle.cs

示例2: ResolveSingleCollision

		//response  between two dynamic objects without friction, assuming 0 penetration depth
		public static float ResolveSingleCollision(
				RigidBody body1,
				CollisionObject colObj2,
				ref IndexedVector3 contactPositionWorld,
				ref IndexedVector3 contactNormalOnB,
				ContactSolverInfo solverInfo,
				float distance)
		{
			RigidBody body2 = RigidBody.Upcast(colObj2);


			IndexedVector3 normal = contactNormalOnB;

			IndexedVector3 rel_pos1 = contactPositionWorld - body1.GetWorldTransform()._origin;
			IndexedVector3 rel_pos2 = contactPositionWorld - colObj2.GetWorldTransform()._origin;

			IndexedVector3 vel1 = body1.GetVelocityInLocalPoint(ref rel_pos1);
			IndexedVector3 vel2 = body2 != null ? body2.GetVelocityInLocalPoint(ref rel_pos2) : IndexedVector3.Zero;
			IndexedVector3 vel = vel1 - vel2;
			float rel_vel = normal.Dot(ref vel);

			float combinedRestitution = body1.GetRestitution() * colObj2.GetRestitution();
			float restitution = combinedRestitution * -rel_vel;

			float positionalError = solverInfo.m_erp * -distance / solverInfo.m_timeStep;
			float velocityError = -(1.0f + restitution) * rel_vel;// * damping;
			float denom0 = body1.ComputeImpulseDenominator(ref contactPositionWorld, ref normal);
			float denom1 = body2 != null ? body2.ComputeImpulseDenominator(ref contactPositionWorld, ref normal) : 0.0f;
			float relaxation = 1.0f;
			float jacDiagABInv = relaxation / (denom0 + denom1);

			float penetrationImpulse = positionalError * jacDiagABInv;
			float velocityImpulse = velocityError * jacDiagABInv;

			float normalImpulse = penetrationImpulse + velocityImpulse;
			normalImpulse = 0.0f > normalImpulse ? 0.0f : normalImpulse;

			body1.ApplyImpulse(normal * (normalImpulse), rel_pos1);
			if (body2 != null)
			{
				body2.ApplyImpulse(-normal * (normalImpulse), rel_pos2);
			}

			return normalImpulse;
		}
开发者ID:JohnLouderback,项目名称:illuminati-engine-xna,代码行数:46,代码来源:ContactConstraint.cs


注:本文中的BulletXNA.BulletDynamics.RigidBody.ComputeImpulseDenominator方法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。