C++ (Cpp) supportPoint 예제들

예제 #1

파일: CustomPlayerControllerManager.cpp 프로젝트: famorcia/newton-dynamics

void CustomPlayerController::UpdateGroundPlane (dMatrix& matrix, const dMatrix& castMatrix, const dVector& dst, int threadIndex)
{
	CustomPlayerControllerManager* const manager = (CustomPlayerControllerManager*) GetManager();
	NewtonWorld* const world = manager->GetWorld();

	CustomControllerConvexRayFilter filter(m_body);
	NewtonWorldConvexRayCast (world, m_castingShape, &castMatrix[0][0], &dst[0], CustomControllerConvexRayFilter::Filter, &filter, CustomControllerConvexRayFilter::Prefilter, threadIndex);

	m_groundPlane = dVector (0.0f, 0.0f, 0.0f, 0.0f);
	m_groundVelocity = dVector (0.0f, 0.0f, 0.0f, 0.0f);

	if (filter.m_hitBody) {
		m_isJumping = false;
		dVector supportPoint (castMatrix.m_posit + (dst - castMatrix.m_posit).Scale (filter.m_intersectParam));
		m_groundPlane = filter.m_hitNormal;
		m_groundPlane.m_w = - (supportPoint % filter.m_hitNormal);
		NewtonBodyGetPointVelocity (filter.m_hitBody, &supportPoint.m_x, &m_groundVelocity[0]);
		matrix.m_posit = supportPoint;
		matrix.m_posit.m_w = 1.0f;
	}
}

예제 #2

파일: SupportFunctionDataConstructor.cpp 프로젝트: ilya-palachev/polyhedra-correction-library

SupportFunctionDataPtr SupportFunctionDataConstructor::run(
	std::vector<Point_3> directions,
	Polyhedron_3 polyhedron)
{
	DEBUG_START;
	std::vector<Vector_3> vertices = polyhedron.getVertices();

	std::vector<SupportFunctionDataItem> items;

	for (auto &direction: directions)
	{
		Vector_3 vDirection = direction - CGAL::ORIGIN;
		double scalarProductMax = 0.;
		Vector_3 supportPoint(0., 0., 0.);
		int iVertexTangient = 0;
		int iVertex = 0;
		for (auto &vertex: vertices)
		{
			double scalarProduct = vDirection * vertex;
			if (scalarProduct > scalarProductMax)
			{
				scalarProductMax = scalarProduct;
				supportPoint = vertex;
				iVertexTangient = iVertex;
			}
			++iVertex;
		}
		tangientIDs_.push_back(iVertexTangient);
		ASSERT(scalarProductMax > 0);
		SupportFunctionDataItem item(direction, scalarProductMax);
		item.info = SupportFunctionDataItemInfoPtr(
			new SupportFunctionDataItemInfo());
		item.info->point = supportPoint;
		items.push_back(item);
	}
	DEBUG_END;
	return SupportFunctionDataPtr(new SupportFunctionData(items));
}

예제 #3

파일: CustomPlayerControllerManager.cpp 프로젝트: LaKraven/newton-dynamics

void CustomPlayerController::UpdateGroundPlane (dMatrix& matrix, const dMatrix& castMatrix, const dVector& dst, int threadIndex)
{
	CustomPlayerControllerManager* const manager = (CustomPlayerControllerManager*) GetManager();
	NewtonWorld* const world = manager->GetWorld();
	NewtonWorldConvexCastReturnInfo info;
	CustomControllerConvexRayFilter filter(m_body);

	dFloat param = 10.0f;
	int count = NewtonWorldConvexCast (world, &castMatrix[0][0], &dst[0], m_castingShape, &param, &filter, CustomControllerConvexCastPreFilter::Prefilter, &info, 1, threadIndex);

	m_groundPlane = dVector (0.0f);
	m_groundVelocity = dVector (0.0f);

	if (count && (param <= 1.0f)) {
		m_isJumping = false;
		dVector supportPoint (castMatrix.m_posit + (dst - castMatrix.m_posit).Scale (param));
		m_groundPlane = dVector (info.m_normal[0], info.m_normal[1], info.m_normal[2], 0.0f);
		m_groundPlane.m_w = - supportPoint.DotProduct3(m_groundPlane);
		NewtonBodyGetPointVelocity (info.m_hitBody, &supportPoint.m_x, &m_groundVelocity[0]);
		matrix.m_posit = supportPoint;
		matrix.m_posit.m_w = 1.0f;
	}
}