public static VFixedPoint acos(VFixedPoint a)
{
int num = (int)a.ValueBar * AcosLookupTable.HALF_COUNT / (1 << VFixedPoint.SHIFT_AMOUNT) + AcosLookupTable.HALF_COUNT;
num = Math.Min(Math.Max(num, 0), AcosLookupTable.COUNT);
return(VFixedPoint.Create(AcosLookupTable.table[num]) / VFixedPoint.Create(0x2710L));
}
public VIntQuaternion(Quaternion q)
{
this.x = VFixedPoint.Create(q.x);
this.y = VFixedPoint.Create(q.y);
this.z = VFixedPoint.Create(q.z);
this.w = VFixedPoint.Create(q.w);
}
static bool coarseCullingTri(VInt3 center, VInt3 dir, VFixedPoint t, VFixedPoint radius, VInt3[] triVerts)
{
VInt3 triCenter = (triVerts[0] + triVerts[1] + triVerts[2]) / VFixedPoint.Create(3);
// PT: distance between the triangle center and the swept path (an LSS)
VFixedPoint d = FMath.Sqrt(squareDistance(center, dir, t, triCenter)) - radius - Globals.EPS;
if (d < VFixedPoint.Zero)
{
return(true);
}
d *= d;
if (d <= (triCenter - triVerts[0]).sqrMagnitude)
{
return(true);
}
if (d <= (triCenter - triVerts[1]).sqrMagnitude)
{
return(true);
}
if (d <= (triCenter - triVerts[2]).sqrMagnitude)
{
return(true);
}
return(false);
}
static VFixedPoint eee(VFixedPoint a)
{
if (a > VFixedPoint.Create(0.01f))
{
VFixedPoint ee = eee(a / VFixedPoint.Create(2));
return(ee * ee);
}
return(VFixedPoint.One + a + a * a / VFixedPoint.Create(2) + Pow(a, 3) / VFixedPoint.Create(6));
}
protected void stepForwardAndStrafe(CollisionWorld collisionWorld, VInt3 walkMove)
{
VIntTransform start = VIntTransform.Identity, end = VIntTransform.Identity;
targetPosition = currentPosition + walkMove;
VFixedPoint fraction = VFixedPoint.One;
int maxIter = 10;
while (fraction > VFixedPoint.Create(0.01f) && maxIter-- > 0)
{
start.position = currentPosition;
end.position = targetPosition;
List <CastResult> results = new List <CastResult>();
me.setWorldTransform(start);
collisionWorld.SweepTest(me, end.position, results);
if (results.Count > 0)
{
VFixedPoint closestHitFraction = results[0].fraction;
VInt3 hitNormalWorld = results[0].normal;
for (int i = 1; i < results.Count; i++)
{
VFixedPoint afraction = results[i].fraction;
if (afraction <= closestHitFraction)
{
closestHitFraction = afraction;
hitNormalWorld = results[i].normal;
}
}
fraction -= closestHitFraction;
updateTargetPositionBasedOnCollision(hitNormalWorld);
VInt3 currentDir = targetPosition - currentPosition;
VFixedPoint distance2 = currentDir.sqrMagnitude;
if (distance2 > Globals.EPS2)
{
currentDir = currentDir.Normalize();
if (VInt3.Dot(currentDir, normalizedDirection) <= VFixedPoint.Zero)
{
break;
}
}
else
{
break;
}
}
else
{
currentPosition = targetPosition;
}
}
}
public KinematicCharacterController(CollisionObject me, VFixedPoint stepHeight, int upAxis)
{
this.upAxis = upAxis;
this.addedMargin = VFixedPoint.Two / VFixedPoint.Create(100);
this.me = me;
this.stepHeight = stepHeight;
this.gravity = VFixedPoint.Create(10); // 1G acceleration
this.fallSpeed = VFixedPoint.Create(55); // Terminal velocity of a sky diver in m/s.
this.jumpSpeed = VFixedPoint.Create(10);
this.wasOnGround = false;
VFixedPoint maxSlopeRadians = VFixedPoint.Create(45) / FMath.Trig.Rag2Deg;
maxSlopeCosine = FMath.Trig.Cos(maxSlopeRadians);
}
public static VFixedPoint Exp(VFixedPoint a)
{
if (a < VFixedPoint.Zero)
{
return(VFixedPoint.One / Exp(-a));
}
int n = (int)a.ToInt;
a -= VFixedPoint.Create(n);
VFixedPoint e1 = Pow(e, n);
VFixedPoint e2 = eee(a);
return(e1 * e2);
}
public override bool process(BroadphaseProxy proxy)
{
///terminate further ray tests, once the closestHitFraction reached zero
if (aabbMin == aabbMax)
{
return(false);
}
CollisionObject collisionObject = proxy.clientObject;
SweepAlgorithm algorithm = dispatcher.findSweepAlgorithm(collisionObject, this.collisionObject);
algorithm(this.collisionObject, end, collisionObject, results, VFixedPoint.Create(0.01f));
return(true);
}
/// <summary>
/// 一个自定的ASin函数，对应Excel中针对Sin的计算公式
/// </summary>
/// <param name="a"></param>
/// <returns></returns>
public static VFixedPoint AsinSelfDefine(VFixedPoint a)
{
if (a >= VFixedPoint.Create(2))
{
return(Pi);
}
else if (a > VFixedPoint.One)
{
return(Pi + asin(a - VFixedPoint.Create(2)));
}
else if (a > VFixedPoint.Zero)
{
return(asin(a));
}
else
{
return(VFixedPoint.Zero);
}
}
/// <summary>
/// 一个自定义的Sin函数，对应Excel中针对Sin的计算公式
/// </summary>
/// <param name="a"></param>
/// <returns></returns>
public static VFixedPoint SinSelfDefine(VFixedPoint a)
{
if (a >= Pi)
{
return(VFixedPoint.Create(2));
}
else if (a > Pi * VFixedPoint.Half)
{
return(VFixedPoint.Create(2) + Sin(a + Pi));
}
else if (a > VFixedPoint.Zero)
{
return(Sin(a));
}
else
{
return(VFixedPoint.Zero);
}
}
public static VFixedPoint atan2(VFixedPoint y, VFixedPoint x)
{
int num;
int num2;
if (x < VFixedPoint.Zero)
{
if (y < VFixedPoint.Zero)
{
x = -x;
y = -y;
num2 = 1;
}
else
{
x = -x;
num2 = -1;
}
num = -31416;
}
else
{
if (y < VFixedPoint.Zero)
{
y = -y;
num2 = -1;
}
else
{
num2 = 1;
}
num = 0;
}
int dIM = Atan2LookupTable.DIM;
long num4 = dIM - 1;
long b = (x >= y) ? x.ValueBar : y.ValueBar;
int num6 = (int)(x.ValueBar * num4 / b);
int num7 = (int)(y.ValueBar * num4 / b);
int num8 = Atan2LookupTable.table[(num7 * dIM) + num6];
return(VFixedPoint.Create((num8 + num) * num2) / VFixedPoint.Create(0x2710L));
}
VInt3(int _x, int _y, int _z)
{
this.x = VFixedPoint.Create(_x);
this.y = VFixedPoint.Create(_y);
this.z = VFixedPoint.Create(_z);
}
public VInt3(Vector3 vec3)
{
x = VFixedPoint.Create(vec3.x);
y = VFixedPoint.Create(vec3.y);
z = VFixedPoint.Create(vec3.z);
}
public static VFixedPoint Sin(VFixedPoint theta)
{
int index = SinCosLookupTable.getIndex(theta.ValueBar, 1 << VFixedPoint.SHIFT_AMOUNT);
return(VFixedPoint.Create(SinCosLookupTable.sin_table[index]) / VFixedPoint.Create(SinCosLookupTable.FACTOR));
}
public static VFixedPoint getContactBreakingThreshold()
{
return(VFixedPoint.Create(4) / VFixedPoint.Create(100));
}