Ejemplo n.º 1
0
	void ContactResolver::UpdateBodyPenetration(
		RigidBody* body, Contact& contact, int sign, 
		const Vector3D<Real>& relativePos, const Vector3D<Real>& linearChange, 
		const Vector3D<Real>& angularChange)
	{
		UNUSED(body)
		Vector3D<Real> deltaPosition = linearChange + angularChange.CrossProduct(relativePos);
		contact.m_penetration += deltaPosition.Dot(contact.m_contactNormal) * sign;
	}
Ejemplo n.º 2
0
	void RigidBody::ApplyForceToWorldPoint(const Vector3D<Real>& worldPos, const Vector3D<Real>& force)
	{
		Vector3D<Real> position = worldPos;
		position -= GetPosition();

		m_forceAccunulator += force;
		m_torqueAccumulator += position.CrossProduct(force);

		m_isAwake = true;
	}
void Camera::RotateZ (GLfloat Angle)
{
	Vector3D up;
	Vector3D right;

	up = UpVector * cos(Angle) +  RightVector* sin(Angle);

	right = -UpVector * sin(Angle) +  RightVector* cos(Angle);
	ForwardVector = -right.CrossProduct(up);

	UpVector = up;
	RightVector = right;


}
void Camera::RotateX (GLfloat Angle)
{

	Vector3D fwd;
	Vector3D up;

	fwd = ForwardVector * cos(Angle) +  UpVector* sin(Angle);

	up = -ForwardVector * sin(Angle) +  UpVector* cos(Angle);
	up = fwd.CrossProduct(RightVector);

	ForwardVector = fwd;
	UpVector = -up;




}
Ejemplo n.º 5
0
void Frustum::CalculateFrustum(float angle, float ratio, float near, float far,
                               Vector3D &camPos, Vector3D &lookAt, Vector3D &up)
{
   Vector3D xVec, yVec, zVec;
	Vector3D vecN, vecF;
	Vector3D nearTopLeft, nearTopRight,
	         nearBottomLeft, nearBottomRight;
   Vector3D farTopLeft, farTopRight,
            farBottomLeft, farBottomRight;

	float radians = (float)tan((DEG_TO_RAD(angle)) * 0.5);
	float nearH = near  * radians;
	float nearW = nearH * ratio;
	float farH = far    * radians;
	float farW = farH   * ratio;

	zVec = camPos - lookAt;
	zVec.Normalize();

	xVec = up.CrossProduct(zVec);
	xVec.Normalize();

	yVec = zVec.CrossProduct(xVec);

	vecN = camPos - zVec * near;
	vecF = camPos - zVec * far;

	nearTopLeft     = vecN + yVec * nearH - xVec * nearW;
	nearTopRight    = vecN + yVec * nearH + xVec * nearW;
	nearBottomLeft  = vecN - yVec * nearH - xVec * nearW;
	nearBottomRight = vecN - yVec * nearH + xVec * nearW;

	farTopLeft      = vecF + yVec * farH - xVec * farW;
	farTopRight     = vecF + yVec * farH + xVec * farW;
	farBottomLeft   = vecF - yVec * farH - xVec * farW;
	farBottomRight  = vecF - yVec * farH + xVec * farW;

   m_frustum.clear();

   Plane plane;

   plane.CreatePlaneFromTri(nearTopRight, nearTopLeft,
                            farTopLeft);
   AddPlane(plane);

   plane.CreatePlaneFromTri(nearBottomLeft, nearBottomRight,
                            farBottomRight);
   AddPlane(plane);

   plane.CreatePlaneFromTri(nearTopLeft, nearBottomLeft,
                            farBottomLeft);
   AddPlane(plane);

   plane.CreatePlaneFromTri(nearBottomRight, nearTopRight,
                            farBottomRight);
   AddPlane(plane);

   plane.CreatePlaneFromTri(nearTopLeft, nearTopRight,
                            nearBottomRight);
   AddPlane(plane);

   plane.CreatePlaneFromTri(farTopRight, farTopLeft,
                            farBottomLeft);
   AddPlane(plane);
}