TorqueGameEngines/Torque3D
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PhysicsShape applyTorque function

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This commit is contained in:
rextimmy 2017-01-04 13:23:36 +10:00
parent f42c9bd9b7
commit 55e9af9786
7 changed files with 42 additions and 2 deletions
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11
Engine/source/T3D/physics/bullet/btBody.cpp
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@ -356,6 +356,17 @@ void BtBody::applyImpulse( const Point3F &origin, const Point3F &force )
mActor->activate();
}
void BtBody::applyTorque(const Point3F &torque)
{
AssertFatal(mActor, "BtBody::applyTorque - The actor is null!");
AssertFatal(isDynamic(), "BtBody::applyTorque - This call is only for dynamics!");
mActor->applyTorque( btCast<btVector3>(torque) );
if (!mActor->isActive())
mActor->activate();
}
Box3F BtBody::getWorldBounds()
{
btVector3 min, max;

2
Engine/source/T3D/physics/bullet/btBody.h
View file

@ -111,7 +111,7 @@ public:
F32 staticFriction );
virtual void applyCorrection( const MatrixF &xfm );
virtual void applyImpulse( const Point3F &origin, const Point3F &force );
virtual void applyTorque(const Point3F &torque);
virtual void findContact(SceneObject **contactObject, VectorF *contactNormal, Vector<SceneObject*> *outOverlapObjects) const;
virtual void moveKinematicTo(const MatrixF &xfm);

4
Engine/source/T3D/physics/physicsBody.h
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@ -114,6 +114,10 @@ public:
///
virtual void applyImpulse( const Point3F &origin, const Point3F &force ) = 0;
///
virtual void applyTorque(const Point3F &torque) = 0;
virtual void findContact(SceneObject **contactObject,
VectorF *contactNormal,
Vector<SceneObject*> *outOverlapObjects) const = 0;

14
Engine/source/T3D/physics/physicsShape.cpp
View file

@ -857,6 +857,12 @@ void PhysicsShape::applyImpulse( const Point3F &pos, const VectorF &vec )
mPhysicsRep->applyImpulse( pos, vec );
}
void PhysicsShape::applyTorque( const Point3F &torque )
{
if (mPhysicsRep && mPhysicsRep->isDynamic())
mPhysicsRep->applyTorque( torque );
}
void PhysicsShape::applyRadialImpulse( const Point3F &origin, F32 radius, F32 magnitude )
{
if ( !mPhysicsRep || !mPhysicsRep->isDynamic() )
@ -1179,4 +1185,12 @@ DefineEngineMethod( PhysicsShape, restore, void, (),,
"Has no effect if the shape is not destroyed.\n\n")
{
object->restore();
}
DefineEngineMethod( PhysicsShape, applyTorque, void, (Point3F torque), ,
"@brief Add a torque to a dynamic physics shape.\n\n"
"@param torque to apply to the dynamic physics shape\n"
"@note This value is ignored on physics shapes that are not dynamic. Wakes up the dynamic physics shape if it is sleeping.\n")
{
object->applyTorque( torque );
}

1
Engine/source/T3D/physics/physicsShape.h
View file

@ -246,6 +246,7 @@ public:
Point3F getVelocity() const { return mState.linVelocity; }
void applyImpulse( const Point3F &pos, const VectorF &vec );
void applyRadialImpulse( const Point3F &origin, F32 radius, F32 magnitude );
void applyTorque( const Point3F &torque );
void setScale(const VectorF & scale);
// GameBase

10
Engine/source/T3D/physics/physx3/px3Body.cpp
View file

@ -417,6 +417,16 @@ void Px3Body::applyImpulse( const Point3F &origin, const Point3F &force )
}
void Px3Body::applyTorque( const Point3F &torque )
{
AssertFatal(mActor, "Px3Body::applyImpulse - The actor is null!");
mWorld->releaseWriteLock();
physx::PxRigidDynamic *actor = mActor->is<physx::PxRigidDynamic>();
if (mIsEnabled && isDynamic())
actor->addTorque( px3Cast<physx::PxVec3>(torque), physx::PxForceMode::eFORCE, true);
}
void Px3Body::findContact(SceneObject **contactObject,
VectorF *contactNormal,
Vector<SceneObject*> *outOverlapObjects) const

2
Engine/source/T3D/physics/physx3/px3Body.h
View file

@ -117,7 +117,7 @@ public:
F32 staticFriction );
virtual void applyCorrection( const MatrixF &xfm );
virtual void applyImpulse( const Point3F &origin, const Point3F &force );
virtual void applyTorque( const Point3F &torque );
virtual void findContact(SceneObject **contactObject, VectorF *contactNormal,
Vector<SceneObject*> *outOverlapObjects) const;
virtual void moveKinematicTo(const MatrixF &xfm);