C++ (Cpp) k_tensor 예제들

예제 #1

파일: cpPivotJoint.c 프로젝트: cxuhua/cxengine

static void
preStep(cpPivotJoint *joint, cpFloat dt)
{
	cpBody *a = joint->constraint.a;
	cpBody *b = joint->constraint.b;
	
	joint->r1 = cpTransformVect(a->transform, cpvsub(joint->anchorA, a->cog));
	joint->r2 = cpTransformVect(b->transform, cpvsub(joint->anchorB, b->cog));
	
	// Calculate mass tensor
	joint-> k = k_tensor(a, b, joint->r1, joint->r2);
	
	// calculate bias velocity
	cpVect delta = cpvsub(cpvadd(b->p, joint->r2), cpvadd(a->p, joint->r1));
	joint->bias = cpvclamp(cpvmult(delta, -bias_coef(joint->constraint.errorBias, dt)/dt), joint->constraint.maxBias);
}

예제 #2

파일: cpGrooveJoint.c 프로젝트: Avizzv92/WreckingBall

static void
preStep(cpGrooveJoint *joint, cpFloat dt, cpFloat dt_inv)
{
	cpBody *a = joint->constraint.a;
	cpBody *b = joint->constraint.b;
	
	// calculate endpoints in worldspace
	cpVect ta = cpBodyLocal2World(a, joint->grv_a);
	cpVect tb = cpBodyLocal2World(a, joint->grv_b);

	// calculate axis
	cpVect n = cpvrotate(joint->grv_n, a->rot);
	cpFloat d = cpvdot(ta, n);
	
	joint->grv_tn = n;
	joint->r2 = cpvrotate(joint->anchr2, b->rot);
	
	// calculate tangential distance along the axis of r2
	cpFloat td = cpvcross(cpvadd(b->p, joint->r2), n);
	// calculate clamping factor and r2
	if(td <= cpvcross(ta, n)){
		joint->clamp = 1.0f;
		joint->r1 = cpvsub(ta, a->p);
	} else if(td >= cpvcross(tb, n)){
		joint->clamp = -1.0f;
		joint->r1 = cpvsub(tb, a->p);
	} else {
		joint->clamp = 0.0f;
		joint->r1 = cpvsub(cpvadd(cpvmult(cpvperp(n), -td), cpvmult(n, d)), a->p);
	}
	
	// Calculate mass tensor
	k_tensor(a, b, joint->r1, joint->r2, &joint->k1, &joint->k2);	
	
	// compute max impulse
	joint->jMaxLen = J_MAX(joint, dt);
	
	// calculate bias velocity
	cpVect delta = cpvsub(cpvadd(b->p, joint->r2), cpvadd(a->p, joint->r1));
	joint->bias = cpvclamp(cpvmult(delta, -joint->constraint.biasCoef*dt_inv), joint->constraint.maxBias);
	
	// apply accumulated impulse
	apply_impulses(a, b, joint->r1, joint->r2, joint->jAcc);
}

예제 #3

파일: cpPivotJoint.c 프로젝트: 604339917/cocos2d-iphone

static void
preStep(cpPivotJoint *joint, cpFloat dt)
{
	cpBody *a = joint->constraint.a;
	cpBody *b = joint->constraint.b;

	joint->r1 = cpvrotate(joint->anchr1, a->rot);
	joint->r2 = cpvrotate(joint->anchr2, b->rot);

	// Calculate mass tensor
	k_tensor(a, b, joint->r1, joint->r2, &joint->k1, &joint->k2);

	// compute max impulse
	joint->jMaxLen = J_MAX(joint, dt);

	// calculate bias velocity
	cpVect delta = cpvsub(cpvadd(b->p, joint->r2), cpvadd(a->p, joint->r1));
	joint->bias = cpvclamp(cpvmult(delta, -bias_coef(joint->constraint.errorBias, dt)/dt), joint->constraint.maxBias);
}

예제 #4

파일: cpPivotJoint.cpp 프로젝트: magicjva/i51

static void
preStep(cpPivotJoint *joint, cpFloat dt, cpFloat dt_inv)
{
	CONSTRAINT_BEGIN(joint, a, b);
	
	joint->r1 = cpvrotate(joint->anchr1, a->rot);
	joint->r2 = cpvrotate(joint->anchr2, b->rot);
	
	// Calculate mass tensor
	k_tensor(a, b, joint->r1, joint->r2, &joint->k1, &joint->k2);
	
	// compute max impulse
	joint->jMaxLen = J_MAX(joint, dt);
	
	// calculate bias velocity
	cpVect delta = cpvsub(cpvadd(b->p, joint->r2), cpvadd(a->p, joint->r1));
	joint->bias = cpvclamp(cpvmult(delta, -joint->constraint.biasCoef*dt_inv), joint->constraint.maxBias);
	
	// apply accumulated impulse
	apply_impulses(a, b, joint->r1, joint->r2, joint->jAcc);
}

예제 #5

파일: cpGrooveJoint.c 프로젝트: cxuhua/cxengine

static void
preStep(cpGrooveJoint *joint, cpFloat dt)
{
	cpBody *a = joint->constraint.a;
	cpBody *b = joint->constraint.b;
	
	// calculate endpoints in worldspace
	cpVect ta = cpTransformPoint(a->transform, joint->grv_a);
	cpVect tb = cpTransformPoint(a->transform, joint->grv_b);

	// calculate axis
	cpVect n = cpTransformVect(a->transform, joint->grv_n);
	cpFloat d = cpvdot(ta, n);
	
	joint->grv_tn = n;
	joint->r2 = cpTransformVect(b->transform, cpvsub(joint->anchorB, b->cog));
	
	// calculate tangential distance along the axis of r2
	cpFloat td = cpvcross(cpvadd(b->p, joint->r2), n);
	// calculate clamping factor and r2
	if(td <= cpvcross(ta, n)){
		joint->clamp = 1.0f;
		joint->r1 = cpvsub(ta, a->p);
	} else if(td >= cpvcross(tb, n)){
		joint->clamp = -1.0f;
		joint->r1 = cpvsub(tb, a->p);
	} else {
		joint->clamp = 0.0f;
		joint->r1 = cpvsub(cpvadd(cpvmult(cpvperp(n), -td), cpvmult(n, d)), a->p);
	}
	
	// Calculate mass tensor
	joint->k = k_tensor(a, b, joint->r1, joint->r2);
	
	// calculate bias velocity
	cpVect delta = cpvsub(cpvadd(b->p, joint->r2), cpvadd(a->p, joint->r1));
	joint->bias = cpvclamp(cpvmult(delta, -bias_coef(joint->constraint.errorBias, dt)/dt), joint->constraint.maxBias);
}