Merge pull request #1903 from rextimmy/physics_applyforce

PhysicsShape applyForce function

Engine/source/T3D/physics/bullet/btBody.cpp

@@ -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;

Engine/source/T3D/physics/bullet/btBody.h

@@ -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);
 

Engine/source/T3D/physics/physicsBody.h

@@ -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,

Engine/source/T3D/physics/physicsShape.cpp

@@ -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 );
 }

Engine/source/T3D/physics/physicsShape.h

@@ -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

Engine/source/T3D/physics/physx3/px3Body.cpp

@@ -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

Engine/source/T3D/physics/physx3/px3Body.h

@@ -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);