/// Applies target impulse at specified position to this entity. Impulse in Ns (kg*m/s)
void PhysicsProperty::ApplyImpulse(const Vector3f & impulse, const Vector3f & position)
{
/// Static objects don't apply anything anyway.
if (inverseMass == 0)
return;
// Remove IN_REST flag.
state &= ~CollisionState::IN_REST;
/// Give it an increase to the linear momentum.
/// Impulses translate directory into change in linear momentum.
Vector3f deltaLinearMomentum = impulse;
linearMomentum += deltaLinearMomentum;
if (!useForces)
velocity += impulse;
if (!obb)
return;
assert(obb); // lol..
/// Give it an increase to the angular momentum.
Vector3f centerToPosition = position - obb->position;
Vector3f crossProduct = -centerToPosition.CrossProduct(impulse);
/// Try only cross product..?
// Vector3f deltaAngularMomentum = inertiaTensorInverted.product(crossProduct);
angularMomentum += crossProduct;
/// Testing:
/// Impulseive torque (u), Inertiatensor (I) and angularVelocity (Ó):
/// u = IÓ
/// delta(Ó) = I^-1 * u
/// Where the inertia tensor is in world-coordinates.
/// Also, where p = point of application, and g is the impulse.
/// u = p x g
Vector3f impulsiveTorque = centerToPosition.CrossProduct(impulse);
Vector3f deltaAngularVelocity = inertiaTensorInverted.product(impulsiveTorque);
}
