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* Implements the torque/Rotational Impulse methods in the PhysicsAPI and the ODEPlugin and pipes them to their respective LSL method.

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* NBody will need to be updated, this is an API change.   Torque property and AddAngularForce
This commit is contained in:
Teravus Ovares
2008-12-14 14:30:28 +00:00
parent 795cdf624b
commit 8ad6f575eb
11 changed files with 287 additions and 8 deletions
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62
OpenSim/Region/Environment/Scenes/SceneObjectPart.cs
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@@ -1180,6 +1180,68 @@ if (m_shape != null) {
}
}
/// <summary>
/// hook to the physics scene to apply angular impulse
/// This is sent up to the group, which then finds the root prim
/// and applies the force on the root prim of the group
/// </summary>
/// <param name="impulsei">Vector force</param>
/// <param name="localGlobalTF">true for the local frame, false for the global frame</param>
public void ApplyAngularImpulse(Vector3 impulsei, bool localGlobalTF)
{
PhysicsVector impulse = new PhysicsVector(impulsei.X, impulsei.Y, impulsei.Z);
if (localGlobalTF)
{
Quaternion grot = GetWorldRotation();
Quaternion AXgrot = grot;
Vector3 AXimpulsei = impulsei;
Vector3 newimpulse = AXimpulsei * AXgrot;
impulse = new PhysicsVector(newimpulse.X, newimpulse.Y, newimpulse.Z);
}
if (m_parentGroup != null)
{
m_parentGroup.applyAngularImpulse(impulse);
}
}
/// <summary>
/// hook to the physics scene to apply angular impulse
/// This is sent up to the group, which then finds the root prim
/// and applies the force on the root prim of the group
/// </summary>
/// <param name="impulsei">Vector force</param>
/// <param name="localGlobalTF">true for the local frame, false for the global frame</param>
public void SetAngularImpulse(Vector3 impulsei, bool localGlobalTF)
{
PhysicsVector impulse = new PhysicsVector(impulsei.X, impulsei.Y, impulsei.Z);
if (localGlobalTF)
{
Quaternion grot = GetWorldRotation();
Quaternion AXgrot = grot;
Vector3 AXimpulsei = impulsei;
Vector3 newimpulse = AXimpulsei * AXgrot;
impulse = new PhysicsVector(newimpulse.X, newimpulse.Y, newimpulse.Z);
}
if (m_parentGroup != null)
{
m_parentGroup.setAngularImpulse(impulse);
}
}
public Vector3 GetTorque()
{
if (m_parentGroup != null)
{
m_parentGroup.GetTorque();
}
return Vector3.Zero;
}
/// <summary>
/// Apply physics to this part.
/// </summary>