/** Applies torques - Assumes caller has obtained writer lock */
void FPhysSubstepTask::ApplyTorques(const FPhysTarget & PhysTarget, FBodyInstance * BodyInstance)
{
#if WITH_PHYSX
/** Apply Torques */
PxRigidDynamic * PRigidDynamic = BodyInstance->GetPxRigidDynamic();
for (int32 i = 0; i < PhysTarget.Torques.Num(); ++i)
{
const FTorqueTarget & TorqueTarget = PhysTarget.Torques[i];
PRigidDynamic->addTorque(U2PVector(TorqueTarget.Torque), PxForceMode::eFORCE, true);
}
#endif
}
void PhysX::AddLocalTorque(PintObjectHandle handle, const Point& local_torque)
{
PxRigidActor* RigidActor = GetActorFromHandle(handle);
if(!RigidActor)
{
PxShape* Shape = GetShapeFromHandle(handle);
ASSERT(Shape);
RigidActor = &Shape->getActor();
}
if(RigidActor->getConcreteType()==PxConcreteType::eRIGID_DYNAMIC)
{
PxRigidDynamic* RigidDynamic = static_cast<PxRigidDynamic*>(RigidActor);
const PxVec3 GlobalTorque = RigidDynamic->getGlobalPose().rotate(ToPxVec3(local_torque));
RigidDynamic->addTorque(GlobalTorque, PxForceMode::eACCELERATION, true);
}
}