/** Applies torques - Assumes caller has obtained writer lock */
void FPhysSubstepTask::ApplyTorques_AssumesLocked(const FPhysTarget& PhysTarget, FBodyInstance* BodyInstance)
{
#if WITH_PHYSX
/** Apply Torques */
PxRigidBody* PRigidBody = BodyInstance->GetPxRigidBody_AssumesLocked();
for (int32 i = 0; i < PhysTarget.Torques.Num(); ++i)
{
const FTorqueTarget& TorqueTarget = PhysTarget.Torques[i];
PRigidBody->addTorque(U2PVector(TorqueTarget.Torque), TorqueTarget.bAccelChange ? PxForceMode::eACCELERATION : PxForceMode::eFORCE, true);
}
#endif
}
void PhysActor_PhysX::AddTorque(vec3f torque, PhysForceMode::Enum mode)
{
if (!impl->physActor)
{
LOG("Cannot add torque to actor because physActor is null!");
return;
}
PxRigidBody* actor = nullptr;
PxVec3 pushDir;
pushDir.x = torque.x;
pushDir.y = torque.y;
pushDir.z = torque.z;
PxForceMode::Enum physXMode;
switch (mode)
{
case PhysForceMode::Acceleration:
physXMode = PxForceMode::eACCELERATION;
break;
case PhysForceMode::Force:
physXMode = PxForceMode::eFORCE;
break;
case PhysForceMode::VelocityChange:
physXMode = PxForceMode::eVELOCITY_CHANGE;
break;
case PhysForceMode::Impulse:
default:
physXMode = PxForceMode::eIMPULSE;
break;
}
if (impl->physActor->isRigidDynamic() || impl->physActor->isRigidBody())
{
actor = (PxRigidBody*)impl->physActor;
}
else
{
LOG("Cannot add force to actor because actor is not a Rigid Dynamic or Rigid Body actor.");
return;
}
if (actor)
actor->addTorque(pushDir, physXMode);
}
PX_INLINE void addForceAtPosInternal(PxRigidBody& body, const PxVec3& force, const PxVec3& pos, PxForceMode::Enum mode, bool wakeup)
{
if(mode == PxForceMode::eACCELERATION || mode == PxForceMode::eVELOCITY_CHANGE)
{
Ps::getFoundation().error(PxErrorCode::eINVALID_PARAMETER, __FILE__, __LINE__,
"PxRigidBodyExt::addForce methods do not support eACCELERATION or eVELOCITY_CHANGE modes");
return;
}
const PxTransform globalPose = body.getGlobalPose();
const PxVec3 centerOfMass = globalPose.transform(body.getCMassLocalPose().p);
const PxVec3 torque = (pos - centerOfMass).cross(force);
body.addForce(force, mode, wakeup);
body.addTorque(torque, mode, wakeup);
}
