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added torque handling

master
Otto Naderer 8 years ago
parent
commit
1f5df9a4a0
  1. 11
      include/irrDynamics.h
  2. 16
      src/irrDynamics.cpp

11
include/irrDynamics.h

@ -96,9 +96,18 @@ class irrDynamics
* Use this method to apply such a push represented as a 3D vector. As expected, the 'longer' the vector,
* the more powerful the push will be.
* \param node The scene node the force should be applied to.
* \param force The force to apply, the vector represents its direction, the vector length its power.*/
* \param force The force to apply, the vector represents its direction, the vector length its power.
* \see setDamping to continuously reduce the effect of applied forces*/
static void applyCentralForce(irr::scene::ISceneNode* node, const irr::core::vector3df& force);
static void applyCentralImpulse(irr::scene::ISceneNode* node, const irr::core::vector3df& force);
//! Applies a rotational force to the object
/** Similarly to force/impule application to move an object, use this method to rotate an object.
* Set one or more axis values in the provided vector to rotate around the respective axis. As usual
* the higher the value in an axis, the more powerful the torque.
* \param node The scene node the torque should be applied to.
* \param torque The torque to apply, the vector represents the axis to rotate around, the axis value its power.
* \see setDamping to continuously reduce the effect of applied torque*/
static void applyTorque(irr::scene::ISceneNode* node, const irr::core::vector3df& torque);
static void setDamping(irr::scene::ISceneNode* node, irr::f32 linearDamping, irr::f32 angularDamping);
static void setPosition(irr::scene::ISceneNode* node, const irr::core::vector3df& newPos);
//! Change default gravity

16
src/irrDynamics.cpp

@ -379,6 +379,22 @@ void irrDynamics::applyCentralImpulse(scene::ISceneNode* node, const core::vecto
iter->second->activate();
}
void irrDynamics::applyTorque(scene::ISceneNode* node, const core::vector3df& torque)
{
irrDynamics* inst = getInstance();
//find the corresponding rigid body:
std::map<scene::ISceneNode*, btRigidBody*>::iterator iter;
iter = inst->objects.find(node);
if (iter == inst->objects.end())
{
printf("irrdynamics: Unable to find node in list. Torque application aborted.\n");
return;
}
iter->second->applyTorque(btVector3(torque.X, torque.Y, torque.Z));
iter->second->activate();
}
btRigidBody* irrDynamics::addFloor(const core::vector3df& normal, const core::vector3df& offset)
{
irrDynamics* inst = getInstance();

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