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Merge pull request #1903 from rextimmy/physics_applyforce

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PhysicsShape applyForce function
This commit is contained in:
Areloch 2017-01-06 18:51:42 -06:00 committed by GitHub
parent bedf2488a7 1559e7a3d3
commit aa121c50b7
7 changed files with 51 additions and 3 deletions
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20
Engine/source/T3D/physics/bullet/btBody.cpp
View file

@ -356,7 +356,7 @@ void BtBody::applyImpulse( const Point3F &origin, const Point3F &force )
mActor->activate();
}
void BtBody::applyTorque(const Point3F &torque)
void BtBody::applyTorque( const Point3F &torque )
{
AssertFatal(mActor, "BtBody::applyTorque - The actor is null!");
AssertFatal(isDynamic(), "BtBody::applyTorque - This call is only for dynamics!");
@ -367,6 +367,24 @@ void BtBody::applyTorque(const Point3F &torque)
mActor->activate();
}
void BtBody::applyForce( const Point3F &force )
{
AssertFatal(mActor, "BtBody::applyForce - The actor is null!");
AssertFatal(isDynamic(), "BtBody::applyForce - This call is only for dynamics!");
if (mCenterOfMass)
{
Point3F relForce(force);
mCenterOfMass->mulV(relForce);
mActor->applyCentralForce(btCast<btVector3>(relForce));
}
else
mActor->applyCentralForce(btCast<btVector3>(force));
if (!mActor->isActive())
mActor->activate();
}
Box3F BtBody::getWorldBounds()
{
btVector3 min, max;

3
Engine/source/T3D/physics/bullet/btBody.h
View file

@ -111,7 +111,8 @@ 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 applyTorque( const Point3F &torque );
virtual void applyForce( const Point3F &force );
virtual void findContact(SceneObject **contactObject, VectorF *contactNormal, Vector<SceneObject*> *outOverlapObjects) const;
virtual void moveKinematicTo(const MatrixF &xfm);

5
Engine/source/T3D/physics/physicsBody.h
View file

@ -115,7 +115,10 @@ public:
virtual void applyImpulse( const Point3F &origin, const Point3F &force ) = 0;
///
virtual void applyTorque(const Point3F &torque) = 0;
virtual void applyTorque( const Point3F &torque ) = 0;
///
virtual void applyForce( const Point3F &force ) = 0;
virtual void findContact(SceneObject **contactObject,

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

@ -863,6 +863,12 @@ void PhysicsShape::applyTorque( const Point3F &torque )
mPhysicsRep->applyTorque( torque );
}
void PhysicsShape::applyForce( const Point3F &force )
{
if (mPhysicsRep && mPhysicsRep->isDynamic())
mPhysicsRep->applyForce( force );
}
void PhysicsShape::applyRadialImpulse( const Point3F &origin, F32 radius, F32 magnitude )
{
if ( !mPhysicsRep || !mPhysicsRep->isDynamic() )
@ -1193,4 +1199,12 @@ DefineEngineMethod( PhysicsShape, applyTorque, void, (Point3F torque), ,
"@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 );
}
DefineEngineMethod(PhysicsShape, applyForce, void, (Point3F force), ,
"@brief Add a force to a dynamic physics shape.\n\n"
"@param force 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->applyForce( force );
}

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

@ -247,6 +247,7 @@ public:
void applyImpulse( const Point3F &pos, const VectorF &vec );
void applyRadialImpulse( const Point3F &origin, F32 radius, F32 magnitude );
void applyTorque( const Point3F &torque );
void applyForce( const Point3F &force );
void setScale(const VectorF & scale);
// GameBase

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

@ -427,6 +427,16 @@ void Px3Body::applyTorque( const Point3F &torque )
actor->addTorque( px3Cast<physx::PxVec3>(torque), physx::PxForceMode::eFORCE, true);
}
void Px3Body::applyForce( const Point3F &force )
{
AssertFatal(mActor, "Px3Body::applyTorque - The actor is null!");
mWorld->releaseWriteLock();
physx::PxRigidDynamic *actor = mActor->is<physx::PxRigidDynamic>();
if (mIsEnabled && isDynamic())
actor->addForce( px3Cast<physx::PxVec3>(force), physx::PxForceMode::eFORCE, true);
}
void Px3Body::findContact(SceneObject **contactObject,
VectorF *contactNormal,
Vector<SceneObject*> *outOverlapObjects) const

1
Engine/source/T3D/physics/physx3/px3Body.h
View file

@ -118,6 +118,7 @@ public:
virtual void applyCorrection( const MatrixF &xfm );
virtual void applyImpulse( const Point3F &origin, const Point3F &force );
virtual void applyTorque( const Point3F &torque );
virtual void applyForce( const Point3F &force );
virtual void findContact(SceneObject **contactObject, VectorF *contactNormal,
Vector<SceneObject*> *outOverlapObjects) const;
virtual void moveKinematicTo(const MatrixF &xfm);