C++ (Cpp) setAngularLimits 예제들

예제 #1

파일: b3Generic6DofConstraint.cpp 프로젝트: 20-sim/bullet3

void b3Generic6DofConstraint::getInfo2 (b3ConstraintInfo2* info,const b3RigidBodyData* bodies)
{

	b3Transform transA = getCenterOfMassTransform(bodies[m_rbA]);
	b3Transform transB = getCenterOfMassTransform(bodies[m_rbB]);
	const b3Vector3& linVelA = bodies[m_rbA].m_linVel;
	const b3Vector3& linVelB = bodies[m_rbB].m_linVel;
	const b3Vector3& angVelA = bodies[m_rbA].m_angVel;
	const b3Vector3& angVelB = bodies[m_rbB].m_angVel;

	if(m_useOffsetForConstraintFrame)
	{ // for stability better to solve angular limits first
		int row = setAngularLimits(info, 0,transA,transB,linVelA,linVelB,angVelA,angVelB);
		setLinearLimits(info, row, transA,transB,linVelA,linVelB,angVelA,angVelB);
	}
	else
	{ // leave old version for compatibility
		int row = setLinearLimits(info, 0, transA,transB,linVelA,linVelB,angVelA,angVelB);
		setAngularLimits(info, row,transA,transB,linVelA,linVelB,angVelA,angVelB);
	}

}

예제 #2

파일: btGeneric6DofSpring2Constraint.cpp 프로젝트: 03050903/libgdx

void btGeneric6DofSpring2Constraint::getInfo2 (btConstraintInfo2* info)
{
	const btTransform& transA = m_rbA.getCenterOfMassTransform();
	const btTransform& transB = m_rbB.getCenterOfMassTransform();
	const btVector3& linVelA = m_rbA.getLinearVelocity();
	const btVector3& linVelB = m_rbB.getLinearVelocity();
	const btVector3& angVelA = m_rbA.getAngularVelocity();
	const btVector3& angVelB = m_rbB.getAngularVelocity();

	// for stability better to solve angular limits first
	int row = setAngularLimits(info, 0,transA,transB,linVelA,linVelB,angVelA,angVelB);
	setLinearLimits(info, row, transA,transB,linVelA,linVelB,angVelA,angVelB);
}

예제 #3

파일: btGeneric6DofConstraint.cpp 프로젝트: F4r3n/FarenMediaLibrary

void btGeneric6DofConstraint::getInfo2(btConstraintInfo2* info)
{
	btAssert(!m_useSolveConstraintObsolete);

	const btTransform& transA = m_rbA.getCenterOfMassTransform();
	const btTransform& transB = m_rbB.getCenterOfMassTransform();
	const btVector3& linVelA = m_rbA.getLinearVelocity();
	const btVector3& linVelB = m_rbB.getLinearVelocity();
	const btVector3& angVelA = m_rbA.getAngularVelocity();
	const btVector3& angVelB = m_rbB.getAngularVelocity();

	if (m_useOffsetForConstraintFrame)
	{  // for stability better to solve angular limits first
		int row = setAngularLimits(info, 0, transA, transB, linVelA, linVelB, angVelA, angVelB);
		setLinearLimits(info, row, transA, transB, linVelA, linVelB, angVelA, angVelB);
	}
	else
	{  // leave old version for compatibility
		int row = setLinearLimits(info, 0, transA, transB, linVelA, linVelB, angVelA, angVelB);
		setAngularLimits(info, row, transA, transB, linVelA, linVelB, angVelA, angVelB);
	}
}

예제 #4

파일: b3Generic6DofConstraint.cpp 프로젝트: 20-sim/bullet3

void b3Generic6DofConstraint::getInfo2NonVirtual (b3ConstraintInfo2* info, const b3Transform& transA,const b3Transform& transB,const b3Vector3& linVelA,const b3Vector3& linVelB,const b3Vector3& angVelA,const b3Vector3& angVelB,const b3RigidBodyData* bodies)
{
	
	//prepare constraint
	calculateTransforms(transA,transB,bodies);

	int i;
	for (i=0;i<3 ;i++ )
	{
		testAngularLimitMotor(i);
	}

	if(m_useOffsetForConstraintFrame)
	{ // for stability better to solve angular limits first
		int row = setAngularLimits(info, 0,transA,transB,linVelA,linVelB,angVelA,angVelB);
		setLinearLimits(info, row, transA,transB,linVelA,linVelB,angVelA,angVelB);
	}
	else
	{ // leave old version for compatibility
		int row = setLinearLimits(info, 0, transA,transB,linVelA,linVelB,angVelA,angVelB);
		setAngularLimits(info, row,transA,transB,linVelA,linVelB,angVelA,angVelB);
	}
}

예제 #5

파일: btGeneric6DofConstraint.cpp 프로젝트: F4r3n/FarenMediaLibrary

void btGeneric6DofConstraint::getInfo2NonVirtual(btConstraintInfo2* info, const btTransform& transA, const btTransform& transB, const btVector3& linVelA, const btVector3& linVelB, const btVector3& angVelA, const btVector3& angVelB)
{
	btAssert(!m_useSolveConstraintObsolete);
	//prepare constraint
	calculateTransforms(transA, transB);

	int i;
	for (i = 0; i < 3; i++)
	{
		testAngularLimitMotor(i);
	}

	if (m_useOffsetForConstraintFrame)
	{  // for stability better to solve angular limits first
		int row = setAngularLimits(info, 0, transA, transB, linVelA, linVelB, angVelA, angVelB);
		setLinearLimits(info, row, transA, transB, linVelA, linVelB, angVelA, angVelB);
	}
	else
	{  // leave old version for compatibility
		int row = setLinearLimits(info, 0, transA, transB, linVelA, linVelB, angVelA, angVelB);
		setAngularLimits(info, row, transA, transB, linVelA, linVelB, angVelA, angVelB);
	}
}

예제 #6

파일: JointBt.hpp 프로젝트: netzz/minemonics

	void setAngularLimits(const Ogre::Vector3 angularLowerLimit,
			const Ogre::Vector3 angularUpperLimit) {
		setAngularLimits(OgreBulletUtils::convert(angularLowerLimit),
				OgreBulletUtils::convert(angularUpperLimit));
	}

예제 #7

파일: btGeneric6DofConstraint.cpp 프로젝트: CZdravko/Horde

void btGeneric6DofConstraint::getInfo2 (btConstraintInfo2* info)
{
	btAssert(!m_useSolveConstraintObsolete);
	int row = setLinearLimits(info);
	setAngularLimits(info, row);
}