Esempi in C++ (Cpp) per PfxRigidState::getOrientation

Esempio n. 1

File: pfx_joint_ball.cpp Progetto: NetjerDjehuty/INFOMGP

PfxInt32 pfxInitializeBallJoint(PfxJoint &joint,
	const PfxRigidState &stateA,const PfxRigidState &stateB,
	const PfxBallJointInitParam &param)
{
	joint.m_active = 1;
	joint.m_numConstraints = 3;
	joint.m_userData = NULL;
	joint.m_type = kPfxJointBall;
	joint.m_rigidBodyIdA = stateA.getRigidBodyId();
	joint.m_rigidBodyIdB = stateB.getRigidBodyId();
	
	for(int i=0;i<3;i++) {
		joint.m_constraints[i].reset();
	}
	
	joint.m_constraints[0].m_lock = SCE_PFX_JOINT_LOCK_FIX;
	joint.m_constraints[1].m_lock = SCE_PFX_JOINT_LOCK_FIX;
	joint.m_constraints[2].m_lock = SCE_PFX_JOINT_LOCK_FIX;
	
	PfxMatrix3 rotA = transpose(PfxMatrix3(stateA.getOrientation()));
	PfxMatrix3 rotB = transpose(PfxMatrix3(stateB.getOrientation()));
	
	joint.m_anchorA = rotA * (param.anchorPoint - stateA.getPosition());
	joint.m_anchorB = rotB * (param.anchorPoint - stateB.getPosition());
	
	joint.m_frameA = PfxMatrix3::identity();
	joint.m_frameB = rotB * PfxMatrix3(stateA.getOrientation()) * joint.m_frameA;
	
	return SCE_PFX_OK;
}

Esempio n. 2

File: pfx_joint_swing_twist.cpp Progetto: WiZFramework/BaseCross

PfxInt32 pfxInitializeSwingTwistJoint(PfxJoint &joint,
	const PfxRigidState &stateA,const PfxRigidState &stateB,
	const PfxSwingTwistJointInitParam &param)
{
	joint.m_active = 1;
	joint.m_numConstraints = 6;
	joint.m_userData = NULL;
	joint.m_type = kPfxJointSwingtwist;
	joint.m_rigidBodyIdA = stateA.getRigidBodyId();
	joint.m_rigidBodyIdB = stateB.getRigidBodyId();
	
	for(int i=0;i<6;i++) {
		joint.m_constraints[i].reset();
	}
	
	joint.m_constraints[0].m_lock = SCE_PFX_JOINT_LOCK_FIX;
	joint.m_constraints[1].m_lock = SCE_PFX_JOINT_LOCK_FIX;
	joint.m_constraints[2].m_lock = SCE_PFX_JOINT_LOCK_FIX;
	joint.m_constraints[3].m_lock = SCE_PFX_JOINT_LOCK_LIMIT;
	joint.m_constraints[4].m_lock = SCE_PFX_JOINT_LOCK_LIMIT;
	joint.m_constraints[5].m_lock = SCE_PFX_JOINT_LOCK_FREE;
	
	// Set twist angle limit
	if(param.twistLowerAngle > param.twistUpperAngle || 
		!SCE_PFX_RANGE_CHECK(param.twistLowerAngle,-SCE_PFX_PI-0.01f,SCE_PFX_PI+0.01f) || 
		!SCE_PFX_RANGE_CHECK(param.twistUpperAngle,-SCE_PFX_PI-0.01f,SCE_PFX_PI+0.01f)) {
		return SCE_PFX_ERR_OUT_OF_RANGE;
	}
	joint.m_constraints[3].m_movableLowerLimit = param.twistLowerAngle;
	joint.m_constraints[3].m_movableUpperLimit = param.twistUpperAngle;
	
	// Set swing angle limit
	if(param.swingLowerAngle > param.swingUpperAngle || 
		!SCE_PFX_RANGE_CHECK(param.swingLowerAngle,0.0f,SCE_PFX_PI+0.01f) || 
		!SCE_PFX_RANGE_CHECK(param.swingUpperAngle,0.0f,SCE_PFX_PI+0.01f)) {
		return SCE_PFX_ERR_OUT_OF_RANGE;
	}
	joint.m_constraints[4].m_movableLowerLimit = param.swingLowerAngle;
	joint.m_constraints[4].m_movableUpperLimit = param.swingUpperAngle;
	
	// Calc joint frame
	PfxMatrix3 rotA = transpose(PfxMatrix3(stateA.getOrientation()));
	PfxMatrix3 rotB = transpose(PfxMatrix3(stateB.getOrientation()));
	
	PfxVector3 axisInA = rotA * normalize(param.twistAxis);
	
	joint.m_anchorA = rotA * (param.anchorPoint - stateA.getPosition());
	joint.m_anchorB = rotB * (param.anchorPoint - stateB.getPosition());
	
	PfxVector3 axis1, axis2;
	
	pfxGetPlaneSpace(axisInA, axis1, axis2 );
	
	joint.m_frameA = PfxMatrix3(axisInA, axis1, axis2);
	joint.m_frameB = rotB * PfxMatrix3(stateA.getOrientation()) * joint.m_frameA;
	
	return SCE_PFX_OK;
}

Esempio n. 3

File: pfx_joint_slider.cpp Progetto: NetjerDjehuty/INFOMGP

PfxInt32 pfxInitializeSliderJoint(PfxJoint &joint,
	const PfxRigidState &stateA,const PfxRigidState &stateB,
	const PfxSliderJointInitParam &param)
{
	joint.m_active = 1;
	joint.m_numConstraints = 6;
	joint.m_userData = NULL;
	joint.m_type = kPfxJointSlider;
	joint.m_rigidBodyIdA = stateA.getRigidBodyId();
	joint.m_rigidBodyIdB = stateB.getRigidBodyId();
	
	for(int i=0;i<6;i++) {
		joint.m_constraints[i].reset();
	}

	if(param.lowerDistance == 0.0f && param.upperDistance == 0.0f) {
		joint.m_constraints[0].m_lock = SCE_PFX_JOINT_LOCK_FREE;
	}
	else {
		joint.m_constraints[0].m_lock = SCE_PFX_JOINT_LOCK_LIMIT;
	}
	joint.m_constraints[1].m_lock = SCE_PFX_JOINT_LOCK_FIX;
	joint.m_constraints[2].m_lock = SCE_PFX_JOINT_LOCK_FIX;
	joint.m_constraints[3].m_lock = SCE_PFX_JOINT_LOCK_FIX;
	joint.m_constraints[4].m_lock = SCE_PFX_JOINT_LOCK_FIX;
	joint.m_constraints[5].m_lock = SCE_PFX_JOINT_LOCK_FIX;
	
	if(param.lowerDistance > param.upperDistance ) {
		return SCE_PFX_ERR_OUT_OF_RANGE;
	}
	
	joint.m_constraints[0].m_movableLowerLimit = param.lowerDistance;
	joint.m_constraints[0].m_movableUpperLimit = param.upperDistance;
	
	// Calc joint frame
	PfxMatrix3 rotA = transpose(PfxMatrix3(stateA.getOrientation()));
	PfxMatrix3 rotB = transpose(PfxMatrix3(stateB.getOrientation()));
	
	PfxVector3 axisInA = rotA * normalize(param.direction);
	
	joint.m_anchorA = rotA * (param.anchorPoint - stateA.getPosition());
	joint.m_anchorB = rotB * (param.anchorPoint - stateB.getPosition());
	
	PfxVector3 axis1, axis2;
	
	pfxGetPlaneSpace(axisInA, axis1, axis2 );
	
	joint.m_frameA = PfxMatrix3(axisInA, axis1, axis2);
	joint.m_frameB = rotB * PfxMatrix3(stateA.getOrientation()) * joint.m_frameA;
	
	return SCE_PFX_OK;
}