btTransform toBtTransform(const Geometry::SRT& s){ btTransform t; t.setIdentity(); t.setOrigin( toBtVector3(s.getTranslation()) ); t.setBasis( toBtMatrix3x3(s.getRotation()) ); return t; }
void VRPhysics::addTorque(OSG::Vec3f i) { if (body == 0 || mass == 0) return; Lock lock(mtx()); body->applyTorque(toBtVector3(i)); }
void VRPhysics::addConstantTorque(OSG::Vec3f i) { Lock lock(mtx()); constantTorque = toBtVector3(i); }
void VRPhysics::addForce(OSG::Vec3f i) { if (body == 0 || mass == 0) return; Lock lock(mtx()); body->applyForce(toBtVector3(i), btVector3(0.0,0.0,0.0)); }