public void dMassSetZero () { //dAASSERT (m); _mass = 0.0; _c.setZero();//dSetZero (_c.v);//,sizeof(m.c) / sizeof(double)); _I.setZero();//dSetZero (_I.v);//,sizeof(m.I) / sizeof(double)); }
public void dMassSetZero () { //dAASSERT (m); _mass = 0.0; _c.setZero();//dSetZero (_c.v);//,sizeof(m.c) / sizeof(double)); _I.setZero();//dSetZero (_I.v);//,sizeof(m.I) / sizeof(double)); }
private static void dxQuickStepIsland_Stage6b(dxQuickStepperStage6CallContext stage6CallContext) { DxStepperProcessingCallContext callContext = stage6CallContext.m_stepperCallContext; double stepsize = callContext.m_stepSize(); DxBody[] bodyA = callContext.m_islandBodiesStartA(); int bodyOfs = callContext.m_islandBodiesStartOfs(); // update the position and orientation from the new linear/angular velocity // (over the given timestep) int nb = callContext.m_islandBodiesCount(); int step_size = dxQUICKSTEPISLAND_STAGE6B_STEP; int nb_steps = (nb + (step_size - 1)) / step_size; int bi_step; while ((bi_step = Atomics.ThrsafeIncrementIntUpToLimit(stage6CallContext.m_bi_6b, nb_steps)) != nb_steps) { int bi = bi_step * step_size; int bicnt = Math.min(step_size, nb - bi); int bodycurr = bi; int bodyend = bodycurr + bicnt; while (true) { DxBody b = bodyA[bodyOfs + bodycurr]; b.dxStepBody (stepsize); b.facc.setZero(); b.tacc.setZero(); if (++bodycurr == bodyend) { break; } } } }
private static void dxQuickStepIsland_Stage6b(dxQuickStepperStage6CallContext stage6CallContext) { DxStepperProcessingCallContext callContext = stage6CallContext.m_stepperCallContext; double stepsize = callContext.m_stepSize(); DxBody[] bodyA = callContext.m_islandBodiesStartA(); int bodyOfs = callContext.m_islandBodiesStartOfs(); // update the position and orientation from the new linear/angular velocity // (over the given timestep) int nb = callContext.m_islandBodiesCount(); int step_size = dxQUICKSTEPISLAND_STAGE6B_STEP; int nb_steps = (nb + (step_size - 1)) / step_size; int bi_step; while ((bi_step = Atomics.ThrsafeIncrementIntUpToLimit(stage6CallContext.m_bi_6b, nb_steps)) != nb_steps) { int bi = bi_step * step_size; int bicnt = Math.min(step_size, nb - bi); int bodycurr = bi; int bodyend = bodycurr + bicnt; while (true) { DxBody b = bodyA[bodyOfs + bodycurr]; b.dxStepBody (stepsize); b.facc.setZero(); b.tacc.setZero(); if (++bodycurr == bodyend) { break; } } } }
if (isPlaceable) { _final_posr = dAllocPosr(); _final_posr.pos.setZero();//dSetZero (_final_posr.pos.v,4); _final_posr.Rw().setIdentity();
private void dGeomCreateOffset () { //dAASSERT (g); dUASSERT (_gflags & GEOM_PLACEABLE,"geom must be placeable"); dUASSERT (body, "geom must be on a body"); if (offset_posr != null) { return; // already created } dIASSERT (_final_posr == body._posr); _final_posr = dAllocPosr(); offset_posr = dAllocPosr(); offset_posr.pos.setZero();//dSetZero (offset_posr.pos.v,4); offset_posr.Rw().setIdentity(); _gflags |= GEOM_POSR_BAD; }
if (isPlaceable) { _final_posr = dAllocPosr(); _final_posr.pos.setZero();//dSetZero (_final_posr.pos.v,4); _final_posr.Rw().setIdentity();
private void dGeomCreateOffset () { //dAASSERT (g); dUASSERT (_gflags & GEOM_PLACEABLE,"geom must be placeable"); dUASSERT (body, "geom must be on a body"); if (offset_posr != null) { return; // already created } dIASSERT (_final_posr == body._posr); _final_posr = dAllocPosr(); offset_posr = dAllocPosr(); offset_posr.pos.setZero();//dSetZero (offset_posr.pos.v,4); offset_posr.Rw().setIdentity(); _gflags |= GEOM_POSR_BAD; }
m_vBestNormal.setZero();
m_vBestNormal.setZero();
m_vBestNormal.setZero();
for (i = 0; i < 3; i++) { x.setZero();
m_vBestNormal.setZero();
for (i = 0; i < 3; i++) { x.setZero();
_anchor2.setZero();//dSetZero( _anchor2, 4 );
_anchor2.setZero();//dSetZero( _anchor2, 4 );
m_vBestPoint.setZero();
m_vBestPoint.setZero();