C++ btHingeConstraint类代码示例

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本文整理汇总了C++中btHingeConstraint类的典型用法代码示例。如果您正苦于以下问题：C++ btHingeConstraint类的具体用法？C++ btHingeConstraint怎么用？C++ btHingeConstraint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btHingeConstraint类的5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: btBoxShape


//.........这里部分代码省略.........
			int motorAxis = 3;
			pHinge2->enableMotor(motorAxis,true);
			pHinge2->setMaxMotorForce(motorAxis,1000);
			pHinge2->setTargetVelocity(motorAxis,-1);
		}

		{
			int motorAxis = 5;
			pHinge2->enableMotor(motorAxis,true);
			pHinge2->setMaxMotorForce(motorAxis,1000);
			pHinge2->setTargetVelocity(motorAxis,0);
		}

		pHinge2->setDbgDrawSize(btScalar(5.f));
	}


	{
		btCollisionShape* liftShape = new btBoxShape(btVector3(0.5f,2.0f,0.05f));
		m_collisionShapes.push_back(liftShape);
		btTransform liftTrans;
		m_liftStartPos = btVector3(0.0f, 2.5f, 3.05f);
		liftTrans.setIdentity();
		liftTrans.setOrigin(m_liftStartPos);
		m_liftBody = localCreateRigidBody(10,liftTrans, liftShape);

		btTransform localA, localB;
		localA.setIdentity();
		localB.setIdentity();
		localA.getBasis().setEulerZYX(0, M_PI_2, 0);
		localA.setOrigin(btVector3(0.0, 1.0, 3.05));
		localB.getBasis().setEulerZYX(0, M_PI_2, 0);
		localB.setOrigin(btVector3(0.0, -1.5, -0.05));
		m_liftHinge = new btHingeConstraint(*m_carChassis,*m_liftBody, localA, localB);
//		m_liftHinge->setLimit(-LIFT_EPS, LIFT_EPS);
		m_liftHinge->setLimit(0.0f, 0.0f);
		m_dynamicsWorld->addConstraint(m_liftHinge, true);

		btCollisionShape* forkShapeA = new btBoxShape(btVector3(1.0f,0.1f,0.1f));
		m_collisionShapes.push_back(forkShapeA);
		btCompoundShape* forkCompound = new btCompoundShape();
		m_collisionShapes.push_back(forkCompound);
		btTransform forkLocalTrans;
		forkLocalTrans.setIdentity();
		forkCompound->addChildShape(forkLocalTrans, forkShapeA);

		btCollisionShape* forkShapeB = new btBoxShape(btVector3(0.1f,0.02f,0.6f));
		m_collisionShapes.push_back(forkShapeB);
		forkLocalTrans.setIdentity();
		forkLocalTrans.setOrigin(btVector3(-0.9f, -0.08f, 0.7f));
		forkCompound->addChildShape(forkLocalTrans, forkShapeB);

		btCollisionShape* forkShapeC = new btBoxShape(btVector3(0.1f,0.02f,0.6f));
		m_collisionShapes.push_back(forkShapeC);
		forkLocalTrans.setIdentity();
		forkLocalTrans.setOrigin(btVector3(0.9f, -0.08f, 0.7f));
		forkCompound->addChildShape(forkLocalTrans, forkShapeC);

		btTransform forkTrans;
		m_forkStartPos = btVector3(0.0f, 0.6f, 3.2f);
		forkTrans.setIdentity();
		forkTrans.setOrigin(m_forkStartPos);
		m_forkBody = localCreateRigidBody(5, forkTrans, forkCompound);

		localA.setIdentity();
		localB.setIdentity();

开发者ID:Ochakko，项目名称:MameBake3D，代码行数:67，代码来源:Hinge2Vehicle.cpp

示例2: groundExtents


//.........这里部分代码省略.........
	m_wheelShape = new btCylinderShapeX(btVector3(wheelWidth,wheelRadius,wheelRadius));

	m_guiHelper->createCollisionShapeGraphicsObject(m_wheelShape);
	int wheelGraphicsIndex = m_wheelShape->getUserIndex();

	const float position[4]={0,10,10,0};
	const float quaternion[4]={0,0,0,1};
	const float color[4]={0,1,0,1};
	const float scaling[4] = {1,1,1,1};

	for (int i=0;i<4;i++)
	{
		m_wheelInstances[i] = m_guiHelper->registerGraphicsInstance(wheelGraphicsIndex, position, quaternion, color, scaling);
	}



	{
		btCollisionShape* liftShape = new btBoxShape(btVector3(0.5f,2.0f,0.05f));
		m_collisionShapes.push_back(liftShape);
		btTransform liftTrans;
		m_liftStartPos = btVector3(0.0f, 2.5f, 3.05f);
		liftTrans.setIdentity();
		liftTrans.setOrigin(m_liftStartPos);
		m_liftBody = localCreateRigidBody(10,liftTrans, liftShape);

		btTransform localA, localB;
		localA.setIdentity();
		localB.setIdentity();
		localA.getBasis().setEulerZYX(0, M_PI_2, 0);
		localA.setOrigin(btVector3(0.0, 1.0, 3.05));
		localB.getBasis().setEulerZYX(0, M_PI_2, 0);
		localB.setOrigin(btVector3(0.0, -1.5, -0.05));
		m_liftHinge = new btHingeConstraint(*m_carChassis,*m_liftBody, localA, localB);
//		m_liftHinge->setLimit(-LIFT_EPS, LIFT_EPS);
		m_liftHinge->setLimit(0.0f, 0.0f);
		m_dynamicsWorld->addConstraint(m_liftHinge, true);

		btCollisionShape* forkShapeA = new btBoxShape(btVector3(1.0f,0.1f,0.1f));
		m_collisionShapes.push_back(forkShapeA);
		btCompoundShape* forkCompound = new btCompoundShape();
		m_collisionShapes.push_back(forkCompound);
		btTransform forkLocalTrans;
		forkLocalTrans.setIdentity();
		forkCompound->addChildShape(forkLocalTrans, forkShapeA);

		btCollisionShape* forkShapeB = new btBoxShape(btVector3(0.1f,0.02f,0.6f));
		m_collisionShapes.push_back(forkShapeB);
		forkLocalTrans.setIdentity();
		forkLocalTrans.setOrigin(btVector3(-0.9f, -0.08f, 0.7f));
		forkCompound->addChildShape(forkLocalTrans, forkShapeB);

		btCollisionShape* forkShapeC = new btBoxShape(btVector3(0.1f,0.02f,0.6f));
		m_collisionShapes.push_back(forkShapeC);
		forkLocalTrans.setIdentity();
		forkLocalTrans.setOrigin(btVector3(0.9f, -0.08f, 0.7f));
		forkCompound->addChildShape(forkLocalTrans, forkShapeC);

		btTransform forkTrans;
		m_forkStartPos = btVector3(0.0f, 0.6f, 3.2f);
		forkTrans.setIdentity();
		forkTrans.setOrigin(m_forkStartPos);
		m_forkBody = localCreateRigidBody(5, forkTrans, forkCompound);

		localA.setIdentity();
		localB.setIdentity();

开发者ID:MixerMovies，项目名称:RedShadow，代码行数:67，代码来源:ForkLiftDemo.cpp

示例3:

void Hinge2Vehicle::resetForklift()
{
	gVehicleSteering = 0.f;
	gBreakingForce = defaultBreakingForce;
	gEngineForce = 0.f;

	m_carChassis->setCenterOfMassTransform(btTransform::getIdentity());
	m_carChassis->setLinearVelocity(btVector3(0,0,0));
	m_carChassis->setAngularVelocity(btVector3(0,0,0));
	m_dynamicsWorld->getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(m_carChassis->getBroadphaseHandle(),getDynamicsWorld()->getDispatcher());
#if 0
	if (m_vehicle)
	{
		m_vehicle->resetSuspension();
		for (int i=0;i<m_vehicle->getNumWheels();i++)
		{
			//synchronize the wheels with the (interpolated) chassis worldtransform
			m_vehicle->updateWheelTransform(i,true);
		}
	}
#endif
	btTransform liftTrans;
	liftTrans.setIdentity();
	liftTrans.setOrigin(m_liftStartPos);
	m_liftBody->activate();
	m_liftBody->setCenterOfMassTransform(liftTrans);
	m_liftBody->setLinearVelocity(btVector3(0,0,0));
	m_liftBody->setAngularVelocity(btVector3(0,0,0));

	btTransform forkTrans;
	forkTrans.setIdentity();
	forkTrans.setOrigin(m_forkStartPos);
	m_forkBody->activate();
	m_forkBody->setCenterOfMassTransform(forkTrans);
	m_forkBody->setLinearVelocity(btVector3(0,0,0));
	m_forkBody->setAngularVelocity(btVector3(0,0,0));

//	m_liftHinge->setLimit(-LIFT_EPS, LIFT_EPS);
	m_liftHinge->setLimit(0.0f, 0.0f);
	m_liftHinge->enableAngularMotor(false, 0, 0);

	
	m_forkSlider->setLowerLinLimit(0.1f);
	m_forkSlider->setUpperLinLimit(0.1f);
	m_forkSlider->setPoweredLinMotor(false);

	btTransform loadTrans;
	loadTrans.setIdentity();
	loadTrans.setOrigin(m_loadStartPos);
	m_loadBody->activate();
	m_loadBody->setCenterOfMassTransform(loadTrans);
	m_loadBody->setLinearVelocity(btVector3(0,0,0));
	m_loadBody->setAngularVelocity(btVector3(0,0,0));

}

开发者ID:Ochakko，项目名称:MameBake3D，代码行数:55，代码来源:Hinge2Vehicle.cpp

示例4: if

void Hinge2Vehicle::lockLiftHinge(void)
{
	btScalar hingeAngle = m_liftHinge->getHingeAngle();
	btScalar lowLim = m_liftHinge->getLowerLimit();
	btScalar hiLim = m_liftHinge->getUpperLimit();
	m_liftHinge->enableAngularMotor(false, 0, 0);
	if(hingeAngle < lowLim)
	{
//		m_liftHinge->setLimit(lowLim, lowLim + LIFT_EPS);
		m_liftHinge->setLimit(lowLim, lowLim);
	}
	else if(hingeAngle > hiLim)
	{
//		m_liftHinge->setLimit(hiLim - LIFT_EPS, hiLim);
		m_liftHinge->setLimit(hiLim, hiLim);
	}
	else
	{
//		m_liftHinge->setLimit(hingeAngle - LIFT_EPS, hingeAngle + LIFT_EPS);
		m_liftHinge->setLimit(hingeAngle, hingeAngle);
	}
	return;
} // Hinge2Vehicle::lockLiftHinge()

开发者ID:Ochakko，项目名称:MameBake3D，代码行数:23，代码来源:Hinge2Vehicle.cpp

示例5: btDantzigSolver

void Hinge2Vehicle::specialKeyboard(int key, int x, int y)
{
#if 0
	if (key==GLUT_KEY_END)
		return;

	//	printf("key = %i x=%i y=%i\n",key,x,y);

	int state;
	state=glutGetModifiers();
	if (state & GLUT_ACTIVE_SHIFT) 
	{
		switch (key) 
			{
			case GLUT_KEY_LEFT : 
				{
				
					m_liftHinge->setLimit(-M_PI/16.0f, M_PI/8.0f);
					m_liftHinge->enableAngularMotor(true, -0.1, maxMotorImpulse);
					break;
				}
			case GLUT_KEY_RIGHT : 
				{
					
					m_liftHinge->setLimit(-M_PI/16.0f, M_PI/8.0f);
					m_liftHinge->enableAngularMotor(true, 0.1, maxMotorImpulse);
					break;
				}
			case GLUT_KEY_UP :
				{
					m_forkSlider->setLowerLinLimit(0.1f);
					m_forkSlider->setUpperLinLimit(3.9f);
					m_forkSlider->setPoweredLinMotor(true);
					m_forkSlider->setMaxLinMotorForce(maxMotorImpulse);
					m_forkSlider->setTargetLinMotorVelocity(1.0);
					break;
				}
			case GLUT_KEY_DOWN :
				{
					m_forkSlider->setLowerLinLimit(0.1f);
					m_forkSlider->setUpperLinLimit(3.9f);
					m_forkSlider->setPoweredLinMotor(true);
					m_forkSlider->setMaxLinMotorForce(maxMotorImpulse);
					m_forkSlider->setTargetLinMotorVelocity(-1.0);
					break;
				}

			default:
				DemoApplication::specialKeyboard(key,x,y);
				break;
			}

	} else
	{
			switch (key) 
			{
			case GLUT_KEY_LEFT : 
				{
					gVehicleSteering += steeringIncrement;
					if (	gVehicleSteering > steeringClamp)
						gVehicleSteering = steeringClamp;

					break;
				}
			case GLUT_KEY_RIGHT : 
				{
					gVehicleSteering -= steeringIncrement;
					if (	gVehicleSteering < -steeringClamp)
						gVehicleSteering = -steeringClamp;

					break;
				}
			case GLUT_KEY_UP :
				{
					gEngineForce = maxEngineForce;
					gBreakingForce = 0.f;
					break;
				}
			case GLUT_KEY_DOWN :
				{
					gEngineForce = -maxEngineForce;
					gBreakingForce = 0.f;
					break;
				}

			case GLUT_KEY_F7:
				{
					btDiscreteDynamicsWorld* world = (btDiscreteDynamicsWorld*)m_dynamicsWorld;
					world->setLatencyMotionStateInterpolation(!world->getLatencyMotionStateInterpolation());
					printf("world latencyMotionStateInterpolation = %d\n", world->getLatencyMotionStateInterpolation());
					break;
				}
			case GLUT_KEY_F6:
				{
					//switch solver (needs demo restart)
					useMCLPSolver = !useMCLPSolver;
					printf("switching to useMLCPSolver = %d\n", useMCLPSolver);

					delete m_solver;
					if (useMCLPSolver)
//.........这里部分代码省略.........

开发者ID:Ochakko，项目名称:MameBake3D，代码行数:101，代码来源:Hinge2Vehicle.cpp

注：本文中的btHingeConstraint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++ btHingeConstraint类代码示例

示例1: btBoxShape

示例2: groundExtents

示例3:

示例4: if

示例5: btDantzigSolver

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