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Bullet: getTotalForce/Torque exposed

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This commit is contained in:
enn0x 2013-05-31 15:13:19 +00:00
parent 297864e834
commit 3830ef2f85
2 changed files with 62 additions and 1 deletions
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57
panda/src/bullet/bulletRigidBodyNode.cxx
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@ -122,11 +122,22 @@ PN_stdfloat BulletRigidBodyNode::
get_mass() const { get_mass() const {
btScalar inv_mass = _rigid->getInvMass(); btScalar inv_mass = _rigid->getInvMass();
btScalar mass = inv_mass == btScalar(0.0) ? btScalar(0.0) : btScalar(1.0) / inv_mass; btScalar mass = (inv_mass == btScalar(0.0)) ? btScalar(0.0) : btScalar(1.0) / inv_mass;
return mass; return mass;
} }
////////////////////////////////////////////////////////////////////
// Function: BulletRigidBodyNode::get_inv_mass
// Access: Published
// Description: Returns the inverse mass of a rigid body.
////////////////////////////////////////////////////////////////////
PN_stdfloat BulletRigidBodyNode::
get_inv_mass() const {
return (PN_stdfloat)_rigid->getInvMass();
}
//////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////
// Function: BulletRigidBodyNode::set_inertia // Function: BulletRigidBodyNode::set_inertia
// Access: Published // Access: Published
@ -177,6 +188,28 @@ get_inertia() const {
return inertia; return inertia;
} }
////////////////////////////////////////////////////////////////////
// Function: BulletRigidBodyNode::get_inv_inertia_diag_local
// Access: Published
// Description:
////////////////////////////////////////////////////////////////////
LVector3 BulletRigidBodyNode::
get_inv_inertia_diag_local() const {
return btVector3_to_LVector3(_rigid->getInvInertiaDiagLocal());
}
////////////////////////////////////////////////////////////////////
// Function: BulletRigidBodyNode::get_inv_inertia_tensor_world
// Access: Published
// Description:
////////////////////////////////////////////////////////////////////
LMatrix3 BulletRigidBodyNode::
get_inv_inertia_tensor_world() const {
return btMatrix3x3_to_LMatrix3(_rigid->getInvInertiaTensorWorld());
}
//////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////
// Function: BulletRigidBodyNode::apply_force // Function: BulletRigidBodyNode::apply_force
// Access: Published // Access: Published
@ -479,6 +512,28 @@ set_angular_factor(const LVector3 &factor) {
_rigid->setAngularFactor(LVecBase3_to_btVector3(factor)); _rigid->setAngularFactor(LVecBase3_to_btVector3(factor));
} }
////////////////////////////////////////////////////////////////////
// Function: BulletRigidBodyNode::get_total_force
// Access: Published
// Description:
////////////////////////////////////////////////////////////////////
LVector3 BulletRigidBodyNode::
get_total_force() const {
return btVector3_to_LVector3(_rigid->getTotalForce());
}
////////////////////////////////////////////////////////////////////
// Function: BulletRigidBodyNode::get_total_torque
// Access: Published
// Description:
////////////////////////////////////////////////////////////////////
LVector3 BulletRigidBodyNode::
get_total_torque() const {
return btVector3_to_LVector3(_rigid->getTotalTorque());
}
//////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////
// Function: BulletRigidBodyNode::MotionState::Constructor // Function: BulletRigidBodyNode::MotionState::Constructor
// Access: Public // Access: Public

6
panda/src/bullet/bulletRigidBodyNode.h
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@ -39,8 +39,11 @@ PUBLISHED:
// Mass & inertia // Mass & inertia
void set_mass(PN_stdfloat mass); void set_mass(PN_stdfloat mass);
PN_stdfloat get_mass() const; PN_stdfloat get_mass() const;
PN_stdfloat get_inv_mass() const;
void set_inertia(const LVecBase3 &inertia); void set_inertia(const LVecBase3 &inertia);
LVector3 get_inertia() const; LVector3 get_inertia() const;
LVector3 get_inv_inertia_diag_local() const;
LMatrix3 get_inv_inertia_tensor_world() const;
// Velocity // Velocity
LVector3 get_linear_velocity() const; LVector3 get_linear_velocity() const;
@ -63,6 +66,9 @@ PUBLISHED:
void apply_torque(const LVector3 &torque); void apply_torque(const LVector3 &torque);
void apply_torque_impulse(const LVector3 &torque); void apply_torque_impulse(const LVector3 &torque);
LVector3 get_total_force() const;
LVector3 get_total_torque() const;
// Deactivation thresholds // Deactivation thresholds
PN_stdfloat get_linear_sleep_threshold() const; PN_stdfloat get_linear_sleep_threshold() const;
PN_stdfloat get_angular_sleep_threshold() const; PN_stdfloat get_angular_sleep_threshold() const;