void dVehicleSingleBody::StatesToRigidBody(dFloat timestep)
{
dComplementaritySolver::dBodyState* const chassisBody = GetBody();
dVector force(chassisBody->GetForce());
dVector torque(chassisBody->GetTorque());
NewtonBodySetForce(m_newtonBody, &force[0]);
NewtonBodySetTorque(m_newtonBody, &torque[0]);
dVehicleInterface::StatesToRigidBody(timestep);
}
void LaunchPuck()
{
if (!m_launched) {
m_launched = true;
NewtonInvalidateCache (NewtonBodyGetWorld(m_puckBody));
dVector zeros(0.0f, 0.0f, 0.0f, 0.0f);
NewtonBodySetVelocity(m_puckBody, &zeros.m_x);
NewtonBodySetOmega(m_puckBody, &zeros.m_x);
NewtonBodySetForce(m_puckBody, &zeros.m_x);
NewtonBodySetTorque(m_puckBody, &zeros.m_x);
dVector vel(171.299469f, 0.0f, 0.0f);
NewtonBodySetVelocity(m_puckBody, &vel.m_x);
}
}
static void MagneticFieldNoForce (const NewtonBody* body, dFloat timestep, int threadIndex)
{
dMatrix matrix;
dVector zero (0.0f, 0.0f, 0.0f, 0.0f);
NewtonBodySetForce (body, &zero[0]);
NewtonBodySetTorque (body, &zero[0]);
NewtonBodySetOmega (body, &zero[0]);
NewtonBodySetVelocity (body, &zero[0]);
// telepor the magnetic field trigger to the center of the core
Magnet* magnet;
magnet = (Magnet*)NewtonBodyGetUserData(body);
NewtonBodyGetMatrix (magnet->m_magneticCore, &matrix[0][0]);
dMatrix posit (GetIdentityMatrix());
posit.m_posit = matrix.m_posit;
NewtonBodySetMatrix (body, &posit[0][0]);
}
void NzPhysObject::ForceAndTorqueCallback(const NewtonBody* body, float timeStep, int threadIndex)
{
NazaraUnused(timeStep);
NazaraUnused(threadIndex);
NzPhysObject* me = static_cast<NzPhysObject*>(NewtonBodyGetUserData(body));
if (!NzNumberEquals(me->m_gravityFactor, 0.f))
me->m_forceAccumulator += me->m_world->GetGravity() * me->m_gravityFactor * me->m_mass;
/*for (std::set<PhysObjectListener*>::iterator it = me->m_listeners.begin(); it != me->m_listeners.end(); ++it)
(*it)->PhysObjectApplyForce(me);*/
NewtonBodySetForce(body, me->m_forceAccumulator);
NewtonBodySetTorque(body, me->m_torqueAccumulator);
me->m_torqueAccumulator.Set(0.f);
me->m_forceAccumulator.Set(0.f);
///TODO: Implanter la force gyroscopique?
}
void dNewtonDynamicBody::OnForceAndTorque(dFloat timestep, int threadIndex)
{
NewtonBodySetForce(m_body, &m_externalForce[0]);
NewtonBodySetTorque(m_body, &m_externalTorque[0]);
}
void iPhysics::setTorque(void* newtonBody, const iaVector3f& torque)
{
NewtonBodySetTorque(static_cast<const NewtonBody*>(newtonBody), torque.getData());
}
