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Bullet physics applyImpulse() fix

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Bullet physics requires a local origin be passed into it's
applyImpulse() rather than a world origin.
This commit is contained in:
DavidWyand-GG 2014-02-09 18:10:53 -05:00
parent 65099897f4
commit cff2ab046a
1 changed files with 8 additions and 2 deletions
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10
Engine/source/T3D/physics/bullet/btBody.cpp
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@ -335,16 +335,22 @@ void BtBody::applyImpulse( const Point3F &origin, const Point3F &force )
AssertFatal( mActor, "BtBody::applyImpulse - The actor is null!" ); AssertFatal( mActor, "BtBody::applyImpulse - The actor is null!" );
AssertFatal( isDynamic(), "BtBody::applyImpulse - This call is only for dynamics!" ); AssertFatal( isDynamic(), "BtBody::applyImpulse - This call is only for dynamics!" );
// Convert the world position to local
MatrixF trans = btCast<MatrixF>( mActor->getCenterOfMassTransform() );
trans.inverse();
Point3F localOrigin( origin );
trans.mulP( localOrigin );
if ( mCenterOfMass ) if ( mCenterOfMass )
{ {
Point3F relOrigin( origin ); Point3F relOrigin( localOrigin );
mCenterOfMass->mulP( relOrigin ); mCenterOfMass->mulP( relOrigin );
Point3F relForce( force ); Point3F relForce( force );
mCenterOfMass->mulV( relForce ); mCenterOfMass->mulV( relForce );
mActor->applyImpulse( btCast<btVector3>( relForce ), btCast<btVector3>( relOrigin ) ); mActor->applyImpulse( btCast<btVector3>( relForce ), btCast<btVector3>( relOrigin ) );
} }
else else
mActor->applyImpulse( btCast<btVector3>( force ), btCast<btVector3>( origin ) ); mActor->applyImpulse( btCast<btVector3>( force ), btCast<btVector3>( localOrigin ) );
if ( !mActor->isActive() ) if ( !mActor->isActive() )
mActor->activate(); mActor->activate();