C++ (Cpp) dMatrix::UnrotateVector Examples

Example #1

File: dRigidbodyNodeInfo.cpp Project: Hurleyworks/newton-dynamics

void dRigidbodyNodeInfo::BakeTransform (const dMatrix& transform)
{
//	SetTransform (transform.Inverse4x4() * GetTransform() * transform);
	dNodeInfo::BakeTransform (transform);

	m_centerOfMass = transform.UnrotateVector(m_centerOfMass);
	m_massMatrix = transform.UnrotateVector(m_massMatrix);
	m_velocity = transform.RotateVector(m_velocity);
}

Example #2

File: PhysicsUtils.cpp Project: MADEAPPS/newton-dynamics

void CalculateAABB (const NewtonCollision* const collision, const dMatrix& matrix, dVector& minP, dVector& maxP)
{
	for (int i = 0; i < 3; i ++) {
		dVector support(0.0f);
		dVector dir (0.0f);
		dir[i] = 1.0f;

		dVector localDir (matrix.UnrotateVector (dir));
		NewtonCollisionSupportVertex (collision, &localDir[0], &support[0]);
		support = matrix.TransformVector (support);
		maxP[i] = support[i];  

		localDir = localDir.Scale (-1.0f);
		NewtonCollisionSupportVertex (collision, &localDir[0], &support[0]);
		support = matrix.TransformVector (support);
		minP[i] = support[i];  
	}
}

Example #3

File: PhysicsUtils.cpp Project: Stranho/newton-dynamics

void CalculateAABB (const NewtonCollision* const collision, const dMatrix& matrix, dVector& minP, dVector& maxP)
{
	dFloat skinThickness = NewtonCollisionGetSkinThickness (collision) * 0.125f;
	for (int i = 0; i < 3; i ++) {
		dVector support;
		dVector dir (0.0f, 0.0f, 0.0f, 0.0f);
		dir[i] = 1.0f;

		dVector localDir (matrix.UnrotateVector (dir));
		NewtonCollisionSupportVertex (collision, &localDir[0], &support[0]);
		support = matrix.TransformVector (support);
		maxP[i] = support[i] - skinThickness;  

		localDir = localDir.Scale (-1.0f);
		NewtonCollisionSupportVertex (collision, &localDir[0], &support[0]);
		support = matrix.TransformVector (support);
		minP[i] = support[i] + skinThickness;  
	}
}