void OscPistonODE::simulationCallback() { ODEConstraint& me = *static_cast<ODEConstraint*>(special()); dReal pos = dJointGetPistonPosition(me.joint()); dReal rate = dJointGetPistonPositionRate(me.joint()); dReal addforce = - m_response->m_stiffness.m_value*pos - m_response->m_damping.m_value*rate; m_force.m_value = addforce; dJointAddPistonForce(me.joint(), addforce); }
Real32 PhysicsPistonJoint::getPistonPosition(void) const { return dJointGetPistonPosition(_JointID); }