Vec3D<> CVX_Voxel::force()
{
//forces from internal bonds
Vec3D<> totalForce(0,0,0);
for (int i=0; i<6; i++){
if (links[i]) totalForce += links[i]->force(isNegative((linkDirection)i)); //total force in LCS
}
totalForce = orient.RotateVec3D(totalForce);
//other forces
totalForce += extForce; //external forces
totalForce -= velocity()*mat->globalDampingTranslateC(); //global damping
if (isGravityEnabled()) totalForce.z -= mat->_mass*9.80665; //gravity, according to f=mg
if (isFloorEnabled()) addFloorForces(&totalForce); //adds forces from interacting with the floor
//Collisions: todo
return totalForce;
}
void PhysicsBody::setDynamic(bool dynamic)
{
if (dynamic != _dynamic)
{
_dynamic = dynamic;
if (dynamic)
{
cpBodySetMass(_info->getBody(), _mass);
cpBodySetMoment(_info->getBody(), _moment);
if (_world != nullptr)
{
// reset the gravity enable
if (isGravityEnabled())
{
_gravityEnabled = false;
setGravityEnable(true);
}
cpSpaceAddBody(_world->_info->getSpace(), _info->getBody());
}
}
else
{
if (_world != nullptr)
{
cpSpaceRemoveBody(_world->_info->getSpace(), _info->getBody());
}
// avoid incorrect collion simulation.
cpBodySetMass(_info->getBody(), PHYSICS_INFINITY);
cpBodySetMoment(_info->getBody(), PHYSICS_INFINITY);
cpBodySetVel(_info->getBody(), cpvzero);
cpBodySetAngVel(_info->getBody(), 0.0f);
resetForces();
}
}
}
