C++ btMultiBodyConstraintArray类代码示例

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本文整理汇总了C++中btMultiBodyConstraintArray类的典型用法代码示例。如果您正苦于以下问题：C++ btMultiBodyConstraintArray类的具体用法？C++ btMultiBodyConstraintArray怎么用？C++ btMultiBodyConstraintArray使用的例子？那么恭喜您, 这里精选的类代码示例或许可以为您提供帮助。

在下文中一共展示了btMultiBodyConstraintArray类的8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，您的评价将有助于我们的系统推荐出更棒的C++代码示例。

示例1: createConstraintRows

void btMultiBodyJointMotor::createConstraintRows(btMultiBodyConstraintArray& constraintRows,
		btMultiBodyJacobianData& data,
		const btContactSolverInfo& infoGlobal)
{
    // only positions need to be updated -- data.m_jacobians and force
    // directions were set in the ctor and never change.

	if (m_numDofsFinalized != m_jacSizeBoth)
	{
        finalizeMultiDof();
	}

	//don't crash
	if (m_numDofsFinalized != m_jacSizeBoth)
		return;

	const btScalar posError = 0;
	const btVector3 dummy(0, 0, 0);

	for (int row=0;row<getNumRows();row++)
	{
		btMultiBodySolverConstraint& constraintRow = constraintRows.expandNonInitializing();


		fillMultiBodyConstraint(constraintRow,data,jacobianA(row),jacobianB(row),dummy,dummy,dummy,posError,infoGlobal,-m_maxAppliedImpulse,m_maxAppliedImpulse,1,false,m_desiredVelocity);
	}

}

开发者ID:CouleeApps，项目名称:BlazeBall，代码行数:28，代码来源:btMultiBodyJointMotor.cpp

示例2: createConstraintRows

void btMultiBodyJointLimitConstraint::createConstraintRows(btMultiBodyConstraintArray& constraintRows,
		btMultiBodyJacobianData& data,
		const btContactSolverInfo& infoGlobal)
{
    // only positions need to be updated -- data.m_jacobians and force
    // directions were set in the ctor and never change.
    
    // row 0: the lower bound
    setPosition(0, m_bodyA->getJointPos(m_linkA) - m_lowerBound);			//multidof: this is joint-type dependent

    // row 1: the upper bound
    setPosition(1, m_upperBound - m_bodyA->getJointPos(m_linkA));

	for (int row=0;row<getNumRows();row++)
	{
		btMultiBodySolverConstraint& constraintRow = constraintRows.expandNonInitializing();
		constraintRow.m_multiBodyA = m_bodyA;
		constraintRow.m_multiBodyB = m_bodyB;
		const btScalar posError = 0;						//why assume it's zero?
		const btVector3 dummy(0, 0, 0);
		
		btScalar rel_vel = fillMultiBodyConstraint(constraintRow,data,jacobianA(row),jacobianB(row),dummy,dummy,dummy,posError,infoGlobal,0,m_maxAppliedImpulse);
		{
			btScalar penetration = getPosition(row);
			btScalar positionalError = 0.f;
			btScalar	velocityError =  - rel_vel;// * damping;
			btScalar erp = infoGlobal.m_erp2;
			if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold))
			{
				erp = infoGlobal.m_erp;
			}
			if (penetration>0)
			{
				positionalError = 0;
				velocityError = -penetration / infoGlobal.m_timeStep;
			} else
			{
				positionalError = -penetration * erp/infoGlobal.m_timeStep;
			}

			btScalar  penetrationImpulse = positionalError*constraintRow.m_jacDiagABInv;
			btScalar velocityImpulse = velocityError *constraintRow.m_jacDiagABInv;
			if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold))
			{
				//combine position and velocity into rhs
				constraintRow.m_rhs = penetrationImpulse+velocityImpulse;
				constraintRow.m_rhsPenetration = 0.f;

			} else
			{
				//split position and velocity into rhs and m_rhsPenetration
				constraintRow.m_rhs = velocityImpulse;
				constraintRow.m_rhsPenetration = penetrationImpulse;
			}
		}
	}

}

开发者ID:03050903，项目名称:libgdx，代码行数:58，代码来源:btMultiBodyJointLimitConstraint.cpp

示例3: createConstraintRows

void btMultiBodyJointMotor::createConstraintRows(btMultiBodyConstraintArray& constraintRows,
		btMultiBodyJacobianData& data,
		const btContactSolverInfo& infoGlobal)
{
    // only positions need to be updated -- data.m_jacobians and force
    // directions were set in the ctor and never change.
    
  

	for (int row=0;row<getNumRows();row++)
	{
		btMultiBodySolverConstraint& constraintRow = constraintRows.expandNonInitializing();
		
		btScalar penetration = 0;
		fillConstraintRowMultiBodyMultiBody(constraintRow,data,jacobianA(row),jacobianB(row),infoGlobal,m_desiredVelocity,-m_maxAppliedImpulse,m_maxAppliedImpulse);
	}

}

开发者ID:joyfish，项目名称:GameThirdPartyLibs，代码行数:18，代码来源:btMultiBodyJointMotor.cpp

示例4: createConstraintRows

void btMultiBodyJointMotor::createConstraintRows(btMultiBodyConstraintArray& constraintRows,
		btMultiBodyJacobianData& data,
		const btContactSolverInfo& infoGlobal)
{
    // only positions need to be updated -- data.m_jacobians and force
    // directions were set in the ctor and never change.
	
	if (m_numDofsFinalized != m_jacSizeBoth)
	{
        finalizeMultiDof();
	}

	//don't crash
	if (m_numDofsFinalized != m_jacSizeBoth)
		return;

	const btScalar posError = 0;
	const btVector3 dummy(0, 0, 0);

	for (int row=0;row<getNumRows();row++)
	{
		btMultiBodySolverConstraint& constraintRow = constraintRows.expandNonInitializing();


		fillMultiBodyConstraint(constraintRow,data,jacobianA(row),jacobianB(row),dummy,dummy,dummy,posError,infoGlobal,-m_maxAppliedImpulse,m_maxAppliedImpulse,1,false,m_desiredVelocity);
		constraintRow.m_orgConstraint = this;
		constraintRow.m_orgDofIndex = row;
		if (m_bodyA->isMultiDof())
		{
			//expect either prismatic or revolute joint type for now
			btAssert((m_bodyA->getLink(m_linkA).m_jointType == btMultibodyLink::eRevolute)||(m_bodyA->getLink(m_linkA).m_jointType == btMultibodyLink::ePrismatic));
			switch (m_bodyA->getLink(m_linkA).m_jointType)
			{
				case btMultibodyLink::eRevolute:
				{
					constraintRow.m_contactNormal1.setZero();
					constraintRow.m_contactNormal2.setZero();
					btVector3 revoluteAxisInWorld = quatRotate(m_bodyA->getLink(m_linkA).m_cachedWorldTransform.getRotation(),m_bodyA->getLink(m_linkA).m_axes[0].m_topVec);
					constraintRow.m_relpos1CrossNormal=revoluteAxisInWorld;
					constraintRow.m_relpos2CrossNormal=-revoluteAxisInWorld;
					
					break;
				}
				case btMultibodyLink::ePrismatic:
				{
					btVector3 prismaticAxisInWorld = quatRotate(m_bodyA->getLink(m_linkA).m_cachedWorldTransform.getRotation(),m_bodyA->getLink(m_linkA).m_axes[0].m_bottomVec);
					constraintRow.m_contactNormal1=prismaticAxisInWorld;
					constraintRow.m_contactNormal2=-prismaticAxisInWorld;
					constraintRow.m_relpos1CrossNormal.setZero();
					constraintRow.m_relpos2CrossNormal.setZero();
					
					break;
				}
				default:
				{
					btAssert(0);
				}
			};
			
		}

	}

}

开发者ID:AndresTraks，项目名称:bullet3，代码行数:64，代码来源:btMultiBodyJointMotor.cpp

示例5: createConstraintRows

void btMultiBodyFixedConstraint::createConstraintRows(btMultiBodyConstraintArray& constraintRows, btMultiBodyJacobianData& data, const btContactSolverInfo& infoGlobal)
{
	int numDim = BTMBFIXEDCONSTRAINT_DIM;
	for (int i = 0; i < numDim; i++)
	{
		btMultiBodySolverConstraint& constraintRow = constraintRows.expandNonInitializing();
		constraintRow.m_orgConstraint = this;
		constraintRow.m_orgDofIndex = i;
		constraintRow.m_relpos1CrossNormal.setValue(0, 0, 0);
		constraintRow.m_contactNormal1.setValue(0, 0, 0);
		constraintRow.m_relpos2CrossNormal.setValue(0, 0, 0);
		constraintRow.m_contactNormal2.setValue(0, 0, 0);
		constraintRow.m_angularComponentA.setValue(0, 0, 0);
		constraintRow.m_angularComponentB.setValue(0, 0, 0);

		constraintRow.m_solverBodyIdA = data.m_fixedBodyId;
		constraintRow.m_solverBodyIdB = data.m_fixedBodyId;

		// Convert local points back to world
		btVector3 pivotAworld = m_pivotInA;
		btMatrix3x3 frameAworld = m_frameInA;
		if (m_rigidBodyA)
		{
			constraintRow.m_solverBodyIdA = m_rigidBodyA->getCompanionId();
			pivotAworld = m_rigidBodyA->getCenterOfMassTransform() * m_pivotInA;
			frameAworld = frameAworld.transpose() * btMatrix3x3(m_rigidBodyA->getOrientation());
		}
		else
		{
			if (m_bodyA)
			{
				pivotAworld = m_bodyA->localPosToWorld(m_linkA, m_pivotInA);
				frameAworld = m_bodyA->localFrameToWorld(m_linkA, frameAworld);
			}
		}
		btVector3 pivotBworld = m_pivotInB;
		btMatrix3x3 frameBworld = m_frameInB;
		if (m_rigidBodyB)
		{
			constraintRow.m_solverBodyIdB = m_rigidBodyB->getCompanionId();
			pivotBworld = m_rigidBodyB->getCenterOfMassTransform() * m_pivotInB;
			frameBworld = frameBworld.transpose() * btMatrix3x3(m_rigidBodyB->getOrientation());
		}
		else
		{
			if (m_bodyB)
			{
				pivotBworld = m_bodyB->localPosToWorld(m_linkB, m_pivotInB);
				frameBworld = m_bodyB->localFrameToWorld(m_linkB, frameBworld);
			}
		}

		btMatrix3x3 relRot = frameAworld.inverse() * frameBworld;
		btVector3 angleDiff;
		btGeneric6DofSpring2Constraint::matrixToEulerXYZ(relRot, angleDiff);

		btVector3 constraintNormalLin(0, 0, 0);
		btVector3 constraintNormalAng(0, 0, 0);
		btScalar posError = 0.0;
		if (i < 3)
		{
			constraintNormalLin[i] = 1;
			posError = (pivotAworld - pivotBworld).dot(constraintNormalLin);
			fillMultiBodyConstraint(constraintRow, data, 0, 0, constraintNormalAng,
									constraintNormalLin, pivotAworld, pivotBworld,
									posError,
									infoGlobal,
									-m_maxAppliedImpulse, m_maxAppliedImpulse);
		}
		else
		{  //i>=3
			constraintNormalAng = frameAworld.getColumn(i % 3);
			posError = angleDiff[i % 3];
			fillMultiBodyConstraint(constraintRow, data, 0, 0, constraintNormalAng,
									constraintNormalLin, pivotAworld, pivotBworld,
									posError,
									infoGlobal,
									-m_maxAppliedImpulse, m_maxAppliedImpulse, true);
		}
	}
}

开发者ID:F4r3n，项目名称:FarenMediaLibrary，代码行数:81，代码来源:btMultiBodyFixedConstraint.cpp

示例6: contactNormalOnB

void btMultiBodyPoint2Point::createConstraintRows(btMultiBodyConstraintArray& constraintRows,
		btMultiBodyJacobianData& data,
		const btContactSolverInfo& infoGlobal)
{

//	int i=1;
int numDim = BTMBP2PCONSTRAINT_DIM;
	for (int i=0;i<numDim;i++)
	{

		btMultiBodySolverConstraint& constraintRow = constraintRows.expandNonInitializing();
        //memset(&constraintRow,0xffffffff,sizeof(btMultiBodySolverConstraint));
        constraintRow.m_relpos1CrossNormal.setValue(0,0,0);
        constraintRow.m_contactNormal1.setValue(0,0,0);
        constraintRow.m_relpos2CrossNormal.setValue(0,0,0);
        constraintRow.m_contactNormal2.setValue(0,0,0);
        constraintRow.m_angularComponentA.setValue(0,0,0);
        constraintRow.m_angularComponentB.setValue(0,0,0);

		constraintRow.m_solverBodyIdA = data.m_fixedBodyId;
		constraintRow.m_solverBodyIdB = data.m_fixedBodyId;

		btVector3 contactNormalOnB(0,0,0);
#ifndef BTMBP2PCONSTRAINT_BLOCK_ANGULAR_MOTION_TEST
		contactNormalOnB[i] = -1;
#else
		contactNormalOnB[i%3] = -1;
#endif


		 // Convert local points back to world
		btVector3 pivotAworld = m_pivotInA;
		if (m_rigidBodyA)
		{

			constraintRow.m_solverBodyIdA = m_rigidBodyA->getCompanionId();
			pivotAworld = m_rigidBodyA->getCenterOfMassTransform()*m_pivotInA;
		} else
		{
			if (m_bodyA)
				pivotAworld = m_bodyA->localPosToWorld(m_linkA, m_pivotInA);
		}
		btVector3 pivotBworld = m_pivotInB;
		if (m_rigidBodyB)
		{
			constraintRow.m_solverBodyIdB = m_rigidBodyB->getCompanionId();
			pivotBworld = m_rigidBodyB->getCenterOfMassTransform()*m_pivotInB;
		} else
		{
			if (m_bodyB)
				pivotBworld = m_bodyB->localPosToWorld(m_linkB, m_pivotInB);

		}

		btScalar posError = i < 3 ? (pivotAworld-pivotBworld).dot(contactNormalOnB) : 0;

#ifndef BTMBP2PCONSTRAINT_BLOCK_ANGULAR_MOTION_TEST


		fillMultiBodyConstraint(constraintRow, data, 0, 0,
															contactNormalOnB, pivotAworld, pivotBworld,						//sucks but let it be this way "for the time being"
															posError,
															infoGlobal,
															-m_maxAppliedImpulse, m_maxAppliedImpulse
															);
    //@todo: support the case of btMultiBody versus btRigidBody,
    //see btPoint2PointConstraint::getInfo2NonVirtual
#else
		const btVector3 dummy(0, 0, 0);

		btAssert(m_bodyA->isMultiDof());

		btScalar* jac1 = jacobianA(i);
		const btVector3 &normalAng = i >= 3 ? contactNormalOnB : dummy;
		const btVector3 &normalLin = i < 3 ? contactNormalOnB : dummy;

		m_bodyA->filConstraintJacobianMultiDof(m_linkA, pivotAworld, normalAng, normalLin, jac1, data.scratch_r, data.scratch_v, data.scratch_m);

		fillMultiBodyConstraint(constraintRow, data, jac1, 0,
													dummy, dummy, dummy,						//sucks but let it be this way "for the time being"
													posError,
													infoGlobal,
													-m_maxAppliedImpulse, m_maxAppliedImpulse
													);
#endif
	}
}

开发者ID:Aatch，项目名称:bullet3，代码行数:87，代码来源:btMultiBodyPoint2Point.cpp

示例7: createConstraintRows

void btMultiBodyJointLimitConstraint::createConstraintRows(btMultiBodyConstraintArray& constraintRows,
		btMultiBodyJacobianData& data,
		const btContactSolverInfo& infoGlobal)
{
	
    // only positions need to be updated -- data.m_jacobians and force
    // directions were set in the ctor and never change.

	if (m_numDofsFinalized != m_jacSizeBoth)
	{
        finalizeMultiDof();
	}


    // row 0: the lower bound
    setPosition(0, m_bodyA->getJointPos(m_linkA) - m_lowerBound);			//multidof: this is joint-type dependent

    // row 1: the upper bound
    setPosition(1, m_upperBound - m_bodyA->getJointPos(m_linkA));
	
	for (int row=0;row<getNumRows();row++)
	{
		btScalar penetration = getPosition(row);

		//todo: consider adding some safety threshold here
		if (penetration>0)
		{
			continue;
		}
		btScalar direction = row? -1 : 1;

		btMultiBodySolverConstraint& constraintRow = constraintRows.expandNonInitializing();
        constraintRow.m_orgConstraint = this;
        constraintRow.m_orgDofIndex = row;
        
		constraintRow.m_multiBodyA = m_bodyA;
		constraintRow.m_multiBodyB = m_bodyB;
		const btScalar posError = 0;						//why assume it's zero?
		const btVector3 dummy(0, 0, 0);

		btScalar rel_vel = fillMultiBodyConstraint(constraintRow,data,jacobianA(row),jacobianB(row),dummy,dummy,dummy,dummy,posError,infoGlobal,0,m_maxAppliedImpulse);

		{
			//expect either prismatic or revolute joint type for now
			btAssert((m_bodyA->getLink(m_linkA).m_jointType == btMultibodyLink::eRevolute)||(m_bodyA->getLink(m_linkA).m_jointType == btMultibodyLink::ePrismatic));
			switch (m_bodyA->getLink(m_linkA).m_jointType)
			{
				case btMultibodyLink::eRevolute:
				{
					constraintRow.m_contactNormal1.setZero();
					constraintRow.m_contactNormal2.setZero();
					btVector3 revoluteAxisInWorld = direction*quatRotate(m_bodyA->getLink(m_linkA).m_cachedWorldTransform.getRotation(),m_bodyA->getLink(m_linkA).m_axes[0].m_topVec);
					constraintRow.m_relpos1CrossNormal=revoluteAxisInWorld;
					constraintRow.m_relpos2CrossNormal=-revoluteAxisInWorld;
					
					break;
				}
				case btMultibodyLink::ePrismatic:
				{
					btVector3 prismaticAxisInWorld = direction* quatRotate(m_bodyA->getLink(m_linkA).m_cachedWorldTransform.getRotation(),m_bodyA->getLink(m_linkA).m_axes[0].m_bottomVec);
					constraintRow.m_contactNormal1=prismaticAxisInWorld;
					constraintRow.m_contactNormal2=-prismaticAxisInWorld;
					constraintRow.m_relpos1CrossNormal.setZero();
					constraintRow.m_relpos2CrossNormal.setZero();
					
					break;
				}
				default:
				{
					btAssert(0);
				}
			};
			
		}

		{
			
			btScalar positionalError = 0.f;
			btScalar	velocityError =  - rel_vel;// * damping;
			btScalar erp = infoGlobal.m_erp2;
			if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold))
			{
				erp = infoGlobal.m_erp;
			}
			if (penetration>0)
			{
				positionalError = 0;
				velocityError = -penetration / infoGlobal.m_timeStep;
			} else
			{
				positionalError = -penetration * erp/infoGlobal.m_timeStep;
			}

			btScalar  penetrationImpulse = positionalError*constraintRow.m_jacDiagABInv;
			btScalar velocityImpulse = velocityError *constraintRow.m_jacDiagABInv;
			if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold))
			{
				//combine position and velocity into rhs
				constraintRow.m_rhs = penetrationImpulse+velocityImpulse;
				constraintRow.m_rhsPenetration = 0.f;
//.........这里部分代码省略.........

开发者ID:AndrewMeadows，项目名称:bullet3，代码行数:101，代码来源:btMultiBodyJointLimitConstraint.cpp

示例8: createConstraintRows

void btMultiBodyGearConstraint::createConstraintRows(btMultiBodyConstraintArray& constraintRows,
		btMultiBodyJacobianData& data,
		const btContactSolverInfo& infoGlobal)
{
    // only positions need to be updated -- data.m_jacobians and force
    // directions were set in the ctor and never change.
	
	if (m_numDofsFinalized != m_jacSizeBoth)
	{
        finalizeMultiDof();
	}

	//don't crash
	if (m_numDofsFinalized != m_jacSizeBoth)
		return;

	
	if (m_maxAppliedImpulse==0.f)
		return;
	
	// note: we rely on the fact that data.m_jacobians are
	// always initialized to zero by the Constraint ctor
	int linkDoF = 0;
	unsigned int offsetA = 6 + (m_bodyA->getLink(m_linkA).m_dofOffset + linkDoF);
	unsigned int offsetB = 6 + (m_bodyB->getLink(m_linkB).m_dofOffset + linkDoF);

	// row 0: the lower bound
	jacobianA(0)[offsetA] = 1;
	jacobianB(0)[offsetB] = m_gearRatio;

	const btScalar posError = 0;
	const btVector3 dummy(0, 0, 0);
	btScalar erp = infoGlobal.m_erp;
	btScalar kp = 1;
	btScalar kd = 1;
	int numRows = getNumRows();

	for (int row=0;row<numRows;row++)
	{
		btMultiBodySolverConstraint& constraintRow = constraintRows.expandNonInitializing();


        int dof = 0;
        btScalar currentPosition = m_bodyA->getJointPosMultiDof(m_linkA)[dof];
        btScalar currentVelocity = m_bodyA->getJointVelMultiDof(m_linkA)[dof];
		btScalar auxVel = 0;
		
		if (m_gearAuxLink>=0)
		{
			auxVel = m_bodyA->getJointVelMultiDof(m_gearAuxLink)[dof];
		}
		currentVelocity += auxVel;
			
		//btScalar positionStabiliationTerm = erp*(m_desiredPosition-currentPosition)/infoGlobal.m_timeStep;
        //btScalar velocityError = (m_desiredVelocity - currentVelocity);

        btScalar desiredRelativeVelocity =   auxVel;
    
		fillMultiBodyConstraint(constraintRow,data,jacobianA(row),jacobianB(row),dummy,dummy,dummy,dummy,posError,infoGlobal,-m_maxAppliedImpulse,m_maxAppliedImpulse,false,1,false,desiredRelativeVelocity);

		constraintRow.m_orgConstraint = this;
		constraintRow.m_orgDofIndex = row;
		{
			//expect either prismatic or revolute joint type for now
			btAssert((m_bodyA->getLink(m_linkA).m_jointType == btMultibodyLink::eRevolute)||(m_bodyA->getLink(m_linkA).m_jointType == btMultibodyLink::ePrismatic));
			switch (m_bodyA->getLink(m_linkA).m_jointType)
			{
				case btMultibodyLink::eRevolute:
				{
					constraintRow.m_contactNormal1.setZero();
					constraintRow.m_contactNormal2.setZero();
					btVector3 revoluteAxisInWorld = quatRotate(m_bodyA->getLink(m_linkA).m_cachedWorldTransform.getRotation(),m_bodyA->getLink(m_linkA).m_axes[0].m_topVec);
					constraintRow.m_relpos1CrossNormal=revoluteAxisInWorld;
					constraintRow.m_relpos2CrossNormal=-revoluteAxisInWorld;
					
					break;
				}
				case btMultibodyLink::ePrismatic:
				{
					btVector3 prismaticAxisInWorld = quatRotate(m_bodyA->getLink(m_linkA).m_cachedWorldTransform.getRotation(),m_bodyA->getLink(m_linkA).m_axes[0].m_bottomVec);
					constraintRow.m_contactNormal1=prismaticAxisInWorld;
					constraintRow.m_contactNormal2=-prismaticAxisInWorld;
					constraintRow.m_relpos1CrossNormal.setZero();
					constraintRow.m_relpos2CrossNormal.setZero();					
					break;
				}
				default:
				{
					btAssert(0);
				}
			};
			
		}

	}

}

开发者ID:bingjeff，项目名称:bullet3，代码行数:97，代码来源:btMultiBodyGearConstraint.cpp

注：本文中的btMultiBodyConstraintArray类示例由纯净天空整理自Github/MSDocs等源码及文档管理平台，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。

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C++ btMultiBodyConstraintArray类代码示例

示例1: createConstraintRows

示例2: createConstraintRows

示例3: createConstraintRows

示例4: createConstraintRows

示例5: createConstraintRows

示例6: contactNormalOnB

示例7: createConstraintRows

示例8: createConstraintRows

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