void TinyVRGui::tick(b3Scalar deltaTime, const b3Transform& guiWorldTransform)
{
float time = m_data->m_timeSeries->getCurrentTime();
float v = sinf(time);
m_data->m_timeSeries->insertDataAtCurrentTime(v,0,true);
v = cosf(time);
m_data->m_timeSeries->insertDataAtCurrentTime(v,1,true);
v = tanf(time);
m_data->m_timeSeries->insertDataAtCurrentTime(v,3,true);
m_data->m_timeSeries->insertDataAtCurrentTime(deltaTime*10,2,true);
m_data->m_timeSeries->nextTick();
m_data->m_renderer->updateTexture(m_data->m_textureId,&m_data->m_texelsRGB[0]);
m_data->m_renderer->writeSingleInstanceTransformToCPU(guiWorldTransform.getOrigin(),guiWorldTransform.getRotation(),m_data->m_gfxObjectId);
m_data->m_renderer->writeTransforms();
}
void b3Point2PointConstraint::getInfo2NonVirtual (b3ConstraintInfo2* info, const b3Transform& body0_trans, const b3Transform& body1_trans)
{
//retrieve matrices
// anchor points in global coordinates with respect to body PORs.
// set jacobian
info->m_J1linearAxis[0] = 1;
info->m_J1linearAxis[info->rowskip+1] = 1;
info->m_J1linearAxis[2*info->rowskip+2] = 1;
b3Vector3 a1 = body0_trans.getBasis()*getPivotInA();
b3Vector3 a1a = b3QuatRotate(body0_trans.getRotation(),getPivotInA());
{
b3Vector3* angular0 = (b3Vector3*)(info->m_J1angularAxis);
b3Vector3* angular1 = (b3Vector3*)(info->m_J1angularAxis+info->rowskip);
b3Vector3* angular2 = (b3Vector3*)(info->m_J1angularAxis+2*info->rowskip);
b3Vector3 a1neg = -a1;
a1neg.getSkewSymmetricMatrix(angular0,angular1,angular2);
}
if (info->m_J2linearAxis)
{
info->m_J2linearAxis[0] = -1;
info->m_J2linearAxis[info->rowskip+1] = -1;
info->m_J2linearAxis[2*info->rowskip+2] = -1;
}
b3Vector3 a2 = body1_trans.getBasis()*getPivotInB();
{
// b3Vector3 a2n = -a2;
b3Vector3* angular0 = (b3Vector3*)(info->m_J2angularAxis);
b3Vector3* angular1 = (b3Vector3*)(info->m_J2angularAxis+info->rowskip);
b3Vector3* angular2 = (b3Vector3*)(info->m_J2angularAxis+2*info->rowskip);
a2.getSkewSymmetricMatrix(angular0,angular1,angular2);
}
// set right hand side
b3Scalar currERP = (m_flags & B3_P2P_FLAGS_ERP) ? m_erp : info->erp;
b3Scalar k = info->fps * currERP;
int j;
for (j=0; j<3; j++)
{
info->m_constraintError[j*info->rowskip] = k * (a2[j] + body1_trans.getOrigin()[j] - a1[j] - body0_trans.getOrigin()[j]);
//printf("info->m_constraintError[%d]=%f\n",j,info->m_constraintError[j]);
}
if(m_flags & B3_P2P_FLAGS_CFM)
{
for (j=0; j<3; j++)
{
info->cfm[j*info->rowskip] = m_cfm;
}
}
b3Scalar impulseClamp = m_setting.m_impulseClamp;//
for (j=0; j<3; j++)
{
if (m_setting.m_impulseClamp > 0)
{
info->m_lowerLimit[j*info->rowskip] = -impulseClamp;
info->m_upperLimit[j*info->rowskip] = impulseClamp;
}
}
info->m_damping = m_setting.m_damping;
}