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local torque and local impulse

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This commit is contained in:
Dave Schuyler 2006-03-11 00:16:16 +00:00
parent 241942299a
commit 5a52512d8e
3 changed files with 60 additions and 0 deletions
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28
panda/src/physics/physicsObject.I
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@ -109,6 +109,34 @@ set_velocity(float x, float y, float z) {
_velocity.set(x, y, z);
}
////////////////////////////////////////////////////////////////////
// Function : add_local_torque
// Access : Public
// Description : Adds an torque force (i.e. an instantanious change
// in velocity). This is a quicker way to get the
// angular velocity, add a vector to it and set that
// value to be the new angular velocity.
////////////////////////////////////////////////////////////////////
INLINE void PhysicsObject::
add_local_torque(const LRotationf &torque) {
nassertv(!torque.is_nan());
_rotation+=_orientation.xform(torque);
}
////////////////////////////////////////////////////////////////////
// Function : add_local_impulse
// Access : Public
// Description : Adds an impulse force (i.e. an instantanious change
// in velocity). This is a quicker way to get the
// velocity, add a vector to it and set that value to
// be the new velocity.
////////////////////////////////////////////////////////////////////
INLINE void PhysicsObject::
add_local_impulse(const LVector3f &impulse) {
nassertv(!impulse.is_nan());
_velocity+=_orientation.xform(impulse);
}
////////////////////////////////////////////////////////////////////
// Function : add_torque
// Access : Public

25
panda/src/physics/physicsObject.cxx
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@ -91,6 +91,30 @@ make_copy() const {
return new PhysicsObject(*this);
}
////////////////////////////////////////////////////////////////////
// Function : add_local_impact
// Access : Public
// Description : Adds an impulse and/or torque (i.e. an instantanious
// change in velocity) based on how well the offset and
// impulse align with the center of mass (aka position).
// If you wanted to immitate this function you could
// work out the impulse and torque and call add_impulse
// and add_torque respectively.
// offset and force are in local coordinates.
////////////////////////////////////////////////////////////////////
void PhysicsObject::
add_local_impact(const LPoint3f &offset_from_center_of_mass,
const LVector3f &force) {
nassertv(!offset_from_center_of_mass.is_nan());
nassertv(!force.is_nan());
LRotationf torque;
LVector3f impulse;
torque = LRotationf::ident_quat(); // place holder
impulse = LVector3f::zero(); // place holder
add_torque(torque);
add_impulse(impulse);
}
////////////////////////////////////////////////////////////////////
// Function : add_impact
// Access : Public
@ -100,6 +124,7 @@ make_copy() const {
// If you wanted to immitate this function you could
// work out the impulse and torque and call add_impulse
// and add_torque respectively.
// offset and force are in global (or parent) coordinates.
////////////////////////////////////////////////////////////////////
void PhysicsObject::
add_impact(const LPoint3f &offset_from_center_of_mass,

7
panda/src/physics/physicsObject.h
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@ -63,11 +63,18 @@ PUBLISHED:
INLINE LVector3f get_velocity() const;
INLINE LVector3f get_implicit_velocity() const;
// Global instantanious forces
INLINE void add_torque(const LRotationf &torque);
INLINE void add_impulse(const LVector3f &impulse);
virtual void add_impact(
const LPoint3f &offset_from_center_of_mass, const LVector3f &impulse);
// Local instantanious forces
INLINE void add_local_torque(const LRotationf &torque);
INLINE void add_local_impulse(const LVector3f &impulse);
virtual void add_local_impact(
const LPoint3f &offset_from_center_of_mass, const LVector3f &impulse);
INLINE void set_terminal_velocity(float tv);
INLINE float get_terminal_velocity() const;