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  • Rigidbody

    2019-09-20 15:13:25
    游戏的三种联网模式有: 单机 弱联网 强联网 C/S架构: Server服务器 Client客户端 强联网 自己计算: 圆形检测,Dentist; AABB; 包围盒:Collider; 场景中计算: 八叉树:三维坐标,8个...Center:中...

    游戏的三种联网模式有:

    • 单机
    • 弱联网
    • 强联网

    C/S架构:

    • Server服务器
    • Client客户端

    强联网

    • 自己计算:
      1. 圆形检测,Dentist;
      2. AABB;
      3. 包围盒:Collider;
    • 场景中计算:
      1. 八叉树:三维坐标,8个象限,同一象限内物体两两计算。

    属性

    Collider(包围盒):
    • IsTrigger:将包围盒变成触发器,只触发事件,不渲染效果;
    • Center:中心点;
    • Size(Radius/Height):大小;
    • Direction:方向;
    • Mash:网格(Convex,立方体);
    Rigidbody:

    发生碰撞条件:
    碰撞物体必须互相都有包围盒;
    两个物体有一个Rigidbody即可;

    • Mass:质量;
    • Drag:阻力:
    • Angluar Drag:角阻力;
    • Use Gravity:使用重力;
    • Is Kinematic:运动学(需要移动,需要碰撞的时候,使用代码移动);
    • Interpolate:插值;
      • Interpolate:插值(两帧之间的物理效果);
      • Extrapolate
    • Collisioin Detection:碰撞检测
      • Discrete:不检测; 速度太快检测不到碰撞效果;
      • Continuous:持续检测;
      • Continuous Dynamic:持续动态检测;
      • Continuous Speculative:高频检测; 用于检测子弹等高速物体;
    • Constraints:Freeze
      • Position:冻结位置;
      • Rotation:冻结轴旋转;
    • AddExplosionForce:爆炸力
    • AddForceAtPosition:某个点添加力
    • AddRelativeForce:添加相对自己位置的力
    • AddTorque:添加扭矩,转力;
    • velocity:属性值,速度;
    展开全文
  • DrakeJoint in RigidBody

    2020-11-29 02:59:39
    </code> member to the <code>RigidBody</code> class, but doesn't use it for anything yet. Both <code>constructModelmex</code> and <code>URDFRigidBodyManipulator</code> set the <code>joint</code> ...
  • DrakeJoint in RigidBody redo

    2020-11-29 09:36:19
    DrakeJoint in RigidBody" (#344) <p>Adds a <code>std::unique_ptr<DrakeJoint></code> member to the <code>RigidBody</code> class, but doesn't use it for anything yet. Both <code>...
  • Work on RigidBodyTree

    2020-11-29 15:13:39
    - [ ] Remove <a href="https://github.com/RobotLocomotion/drake/blob/master/drake/systems/plants/CMakeLists.txt#L12">dependency of <code>RigidBodyTree.cpp</code> on <code>parser_common.cc</code></a>....
  • <div><p>This extracts from #4363 the changes to <code>RigidBodyTree</code>. It removes the parsing code from RigidBodyTree, which paves the way for moving the parsers into their own libraries, which ...
  • .../bullet/RigidBody.hx:461: characters 8-25 : bullet.RigidBody has no field setWorldTransform .../bullet/RigidBody.hx:257: characters 100-122 : bullet.CollisionObject has no field CF_NO_CONTACT_...
  • The solution, to reference cache entries by body id (an int) rather by a pointer to the <code>RigidBody</code>. The solution is simple, place the entries in the cache in the exact same order bodies ...
  • <div><p>I was working on compiling and installing drake from rigidbody. I got pretty far, up to the make step, but I got the error posted below. Have any of you ever gotten this error? I'm on ...
  • <div><p>If there is a passive rigidbody which is child of another object and the parent object is being moved via script the passive rigidbody will not follow, even though it should. Because passive ...
  • <div><p>This is a more focused version of #1544 which just adds some initial bindings for RigidBodyTree and IK. Currently, everything works in both Python and Matlab, which is really exciting. The ...
  • Essentially just a simple refactor that changes <code>RigidBody</code> by <code>RigidBody<double></code>. <code>RigidBody<T></code> is only used withing implementations already templated ...
  • <div><p>Renamed them to be Rigid/body::position_start_index_ and RigidBody::velocity_start_index_. Added accessors. <p>Builds upon #2905. <p>Public access to mutable class member variables is a big no...
  • <div><p>…ies(), and RigidBodyTree::GetBody(). <p>Resolves https://github.com/RobotLocomotion/drake/issues/3142.</p> <p>This change is ...
  • <ol><li>Add an input parameter called <code>include_acceleration_terms</code> to <code>RigidBodyTree::inverseDynamics()</code>.</li><li>Add <code>RigidBodyTree::EvalGravityForces()</code> that calls ...
  • The next step is to further decouple the <code>RigidBodyTree</code> from the URDF parser by making them only exchange information using a <code>Model</code> container object. <p>This change is ...
  • ll work on further decoupling the parsers from the <code>RigidBodyTree</code> using <code>Model</code> container objects. <p>This change is ...
  • Since joints cannot be added without having a body attaching to it, the method belongs to the <code>RigidBody</code> (think of the joint as adding DOF's). <p>This change is ...
  • <div><p>When I use GDScript to update global position of RigidBody2D (as done <a href="https://github.com/iamdejan/godot-simple-pong/blob/efe1eb4e5c2412a8850ce8100201b2cf7a05aea6/Ball.gd#L7-L8">here),...
  • <div><p>This extracts <code>RigidBody::CollisionElement</code> into its own files <code>rigid_body_collision_element.{h,cc}</code> and class <code>RigidBodyCollisionElement, and updates all of the ...
  • <p><code>RigidBodyTree::computePositionNameToIndexMap()</code> returns a <code>std::map</code> where the key is a joint position's name and the value is its index within the <code>RigidBodyTree...
  • s relatively simple for me to imagine templating the RigidBody class on ScalarType and having the inertial parameters potentially become autodiff. Then we would want to design the interface -- off the...
  • <p>Modify the constructor of <code>RigidBodyTree</code> to set the model instance ID of the <code>RigidBody</code> representing the world using the following code: <pre><code> b->set_model_instance...
  • <div><p>This goes towards the goal of decoupling the <code>RigidBodyTree</code> from the parsers. The layering should be: parsers depend on <code>RigidBodyTree</code> and <em>not the other way around...
  • <div><p>A first pass at adding torsional springs to RigidBodyTree. This implementation adds them to DrakeJoint, and then generates the spring forces in a manner similar to frictionTorques. No URDF ...
  • RigidBodyTree::doKinematics<:block>, -1, 1, false>, Eigen::Block<:matrix>, -1, 1, false> >(Eigen::MatrixBase<:block>, -1, 1, false> > const&, Eigen::MatrixBase<...
  • Both of these methods use the SDF parser, which calls <code>RigidBodyTree::compile()</code> internally. Thus, <code>AutomotiveSimulator</code> does not need to call <code>RigidBodyTree::compile()...
  • The ability to clone RigidBodyTree is necessary to support <code>RigidBodyTree:: DoToAutoDiffXd()</code>. <p>This change is <a href="https://reviewable.io/reviews/robotlocomotion/drake/4958"><img ...
  • the issue remains but it now references <code>MultibodyPlant(whereas it originally referenced <code>RigidBodyTree). Concrete code examples (and output) have been excised as not compiling against ...

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