Esempio n. 1
0
/** 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
}
Esempio n. 2
0
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);
}
Esempio n. 3
0
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);
}