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C# RigidBody.GetInvInertiaDiagLocal方法代码示例

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

		///bilateral constraint between two dynamic objects
		///positive distance = separation, negative distance = penetration
		public static void ResolveSingleBilateral(RigidBody body1, ref IndexedVector3 pos1,
							  RigidBody body2, ref IndexedVector3 pos2,
							  float distance, ref IndexedVector3 normal, ref float impulse, float timeStep)
		{
			float normalLenSqr = normal.LengthSquared();
			Debug.Assert(Math.Abs(normalLenSqr) < 1.1f);
			if (normalLenSqr > 1.1f)
			{
				impulse = 0f;
				return;
			}
			IndexedVector3 rel_pos1 = pos1 - body1.GetCenterOfMassPosition();
			IndexedVector3 rel_pos2 = pos2 - body2.GetCenterOfMassPosition();
			//this jacobian entry could be re-used for all iterations

			IndexedVector3 vel1 = body1.GetVelocityInLocalPoint(ref rel_pos1);
			IndexedVector3 vel2 = body2.GetVelocityInLocalPoint(ref rel_pos2);
			IndexedVector3 vel = vel1 - vel2;

            IndexedBasisMatrix m1 = body1.GetCenterOfMassTransform()._basis.Transpose();
            IndexedBasisMatrix m2 = body2.GetCenterOfMassTransform()._basis.Transpose();


			JacobianEntry jac = new JacobianEntry(m1, m2, rel_pos1, rel_pos2, normal,
				body1.GetInvInertiaDiagLocal(), body1.GetInvMass(),
				body2.GetInvInertiaDiagLocal(), body2.GetInvMass());

			float jacDiagAB = jac.GetDiagonal();
			float jacDiagABInv = 1f / jacDiagAB;


			float rel_vel = jac.GetRelativeVelocity(
				body1.GetLinearVelocity(),
                body1.GetCenterOfMassTransform()._basis.Transpose() * body1.GetAngularVelocity(),
                body2.GetLinearVelocity(),
                body2.GetCenterOfMassTransform()._basis.Transpose() * body2.GetAngularVelocity());
            float a = jacDiagABInv;

			rel_vel = normal.Dot(ref vel);

			//todo: move this into proper structure
			float contactDamping = 0.2f;

			if (ONLY_USE_LINEAR_MASS)
			{
				float massTerm = 1f / (body1.GetInvMass() + body2.GetInvMass());
				impulse = -contactDamping * rel_vel * massTerm;
			}
			else
			{
				float velocityImpulse = -contactDamping * rel_vel * jacDiagABInv;
				impulse = velocityImpulse;
			}
		}
开发者ID:JohnLouderback,项目名称:illuminati-engine-xna,代码行数:56,代码来源:ContactConstraint.cs


注:本文中的BulletXNA.BulletDynamics.RigidBody.GetInvInertiaDiagLocal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。