C# RigidBody.InternalGetAngularVelocity方法代码示例

		//! apply the correction impulses for two bodies
		public float SolveAngularLimits(float timeStep, ref IndexedVector3 axis, float jacDiagABInv, RigidBody body0, RigidBody body1)
		{
			if (NeedApplyTorques() == false)
			{
				return 0.0f;
			}

			float target_velocity = m_targetVelocity;
			float maxMotorForce = m_maxMotorForce;

			//current error correction
			if (m_currentLimit != 0)
			{
				target_velocity = -m_stopERP * m_currentLimitError / (timeStep);
				maxMotorForce = m_maxLimitForce;
			}

			maxMotorForce *= timeStep;

			// current velocity difference

			IndexedVector3 angVelA = IndexedVector3.Zero;
			body0.InternalGetAngularVelocity(ref angVelA);
			IndexedVector3 angVelB = IndexedVector3.Zero;
			body1.InternalGetAngularVelocity(ref angVelB);

			IndexedVector3 vel_diff = angVelA - angVelB;

			float rel_vel = IndexedVector3.Dot(axis, vel_diff);

			// correction velocity
			float motor_relvel = m_limitSoftness * (target_velocity - m_damping * rel_vel);

			if (motor_relvel < MathUtil.SIMD_EPSILON && motor_relvel > -MathUtil.SIMD_EPSILON)
			{
				return 0.0f;//no need for applying force
			}


			// correction impulse
			float unclippedMotorImpulse = (1 + m_bounce) * motor_relvel * jacDiagABInv;

			// clip correction impulse
			float clippedMotorImpulse;

			///@todo: should clip against accumulated impulse
			if (unclippedMotorImpulse > 0.0f)
			{
				clippedMotorImpulse = unclippedMotorImpulse > maxMotorForce ? maxMotorForce : unclippedMotorImpulse;
			}
			else
			{
				clippedMotorImpulse = unclippedMotorImpulse < -maxMotorForce ? -maxMotorForce : unclippedMotorImpulse;
			}


			// sort with accumulated impulses
			float lo = float.MinValue;
			float hi = float.MaxValue;

			float oldaccumImpulse = m_accumulatedImpulse;
			float sum = oldaccumImpulse + clippedMotorImpulse;
			m_accumulatedImpulse = sum > hi ? 0f : sum < lo ? 0f : sum;

			clippedMotorImpulse = m_accumulatedImpulse - oldaccumImpulse;

			IndexedVector3 motorImp = clippedMotorImpulse * axis;

			//body0.applyTorqueImpulse(motorImp);
			//body1.applyTorqueImpulse(-motorImp);

            body0.InternalApplyImpulse(IndexedVector3.Zero, body0.GetInvInertiaTensorWorld() * axis, clippedMotorImpulse, "Generic6DoF body0");
            body1.InternalApplyImpulse(IndexedVector3.Zero, body1.GetInvInertiaTensorWorld() * axis, -clippedMotorImpulse, "Generic6DoF body1");

			return clippedMotorImpulse;
		}

        public void solveConstraintObsolete(RigidBody bodyA, RigidBody bodyB, float timeStep)
{
	if (m_useSolveConstraintObsolete)
	{
		IndexedVector3 pivotAInW = m_rbA.GetCenterOfMassTransform()*m_rbAFrame._origin;
		IndexedVector3 pivotBInW = m_rbB.GetCenterOfMassTransform()*m_rbBFrame._origin;

		float tau = 0.3f;

		//linear part
		if (!m_angularOnly)
		{
			IndexedVector3 rel_pos1 = pivotAInW - m_rbA.GetCenterOfMassPosition(); 
			IndexedVector3 rel_pos2 = pivotBInW - m_rbB.GetCenterOfMassPosition();

            IndexedVector3 vel1 = IndexedVector3.Zero;
			bodyA.InternalGetVelocityInLocalPointObsolete(ref rel_pos1,ref vel1);
            IndexedVector3 vel2 = IndexedVector3.Zero;
			bodyB.InternalGetVelocityInLocalPointObsolete(ref rel_pos2,ref vel2);
			IndexedVector3 vel = vel1 - vel2;

			for (int i=0;i<3;i++)
			{		
				IndexedVector3 normal = m_jac[i].m_linearJointAxis;
				float jacDiagABInv = 1.0f / m_jac[i].GetDiagonal();

				float rel_vel = normal.Dot(ref vel);
				//positional error (zeroth order error)
				float depth = -(pivotAInW - pivotBInW).Dot(ref normal); //this is the error projected on the normal
				float impulse = depth*tau/timeStep  * jacDiagABInv -  rel_vel * jacDiagABInv;
				m_appliedImpulse += impulse;
				
				IndexedVector3 ftorqueAxis1 = rel_pos1.Cross(ref normal);
				IndexedVector3 ftorqueAxis2 = rel_pos2.Cross(ref normal);
				bodyA.InternalApplyImpulse(normal*m_rbA.GetInvMass(), m_rbA.GetInvInertiaTensorWorld()*ftorqueAxis1,impulse,null);
				bodyB.InternalApplyImpulse(normal*m_rbB.GetInvMass(), m_rbB.GetInvInertiaTensorWorld()*ftorqueAxis2,-impulse,null);
		
			}
		}

		// apply motor
		if (m_bMotorEnabled)
		{
			// compute current and predicted transforms
			IndexedMatrix trACur = m_rbA.GetCenterOfMassTransform();
			IndexedMatrix trBCur = m_rbB.GetCenterOfMassTransform();
			IndexedVector3 omegaA = IndexedVector3.Zero; bodyA.InternalGetAngularVelocity(ref omegaA);
            IndexedVector3 omegaB = IndexedVector3.Zero; bodyB.InternalGetAngularVelocity(ref omegaB);
			IndexedMatrix trAPred;
			IndexedVector3 zerovec = new IndexedVector3(0,0,0);
			TransformUtil.IntegrateTransform(ref trACur, ref zerovec, ref omegaA, timeStep, out trAPred);
			IndexedMatrix trBPred;
			TransformUtil.IntegrateTransform(ref trBCur, ref zerovec, ref omegaB, timeStep, out trBPred);

			// compute desired transforms in world
			IndexedMatrix trPose = IndexedMatrix.CreateFromQuaternion(m_qTarget);
			IndexedMatrix trABDes = m_rbBFrame * trPose * m_rbAFrame.Inverse();
			IndexedMatrix trADes = trBPred * trABDes;
			IndexedMatrix trBDes = trAPred * trABDes.Inverse();

			// compute desired omegas in world
			IndexedVector3 omegaADes, omegaBDes;
			
			TransformUtil.CalculateVelocity(ref trACur, ref trADes, timeStep, out zerovec, out omegaADes);
			TransformUtil.CalculateVelocity(ref trBCur, ref trBDes, timeStep, out zerovec, out omegaBDes);

			// compute delta omegas
			IndexedVector3 dOmegaA = omegaADes - omegaA;
			IndexedVector3 dOmegaB = omegaBDes - omegaB;

			// compute weighted avg axis of dOmega (weighting based on inertias)
            IndexedVector3 axisA = IndexedVector3.Zero, axisB = IndexedVector3.Zero;
			float kAxisAInv = 0, kAxisBInv = 0;

			if (dOmegaA.LengthSquared() > MathUtil.SIMD_EPSILON)
			{
				axisA = dOmegaA.Normalized();
				kAxisAInv = GetRigidBodyA().ComputeAngularImpulseDenominator(ref axisA);
			}

			if (dOmegaB.LengthSquared() > MathUtil.SIMD_EPSILON)
			{
				axisB = dOmegaB.Normalized();
				kAxisBInv = GetRigidBodyB().ComputeAngularImpulseDenominator(ref axisB);
			}

			IndexedVector3 avgAxis = kAxisAInv * axisA + kAxisBInv * axisB;

			if (bDoTorque && avgAxis.LengthSquared() > MathUtil.SIMD_EPSILON)
			{
				avgAxis.Normalize();
				kAxisAInv = GetRigidBodyA().ComputeAngularImpulseDenominator(ref avgAxis);
				kAxisBInv = GetRigidBodyB().ComputeAngularImpulseDenominator(ref avgAxis);
				float kInvCombined = kAxisAInv + kAxisBInv;

				IndexedVector3 impulse = (kAxisAInv * dOmegaA - kAxisBInv * dOmegaB) /
									(kInvCombined * kInvCombined);

				if (m_maxMotorImpulse >= 0)
				{
//.........这里部分代码省略.........