void cPhysicsBodyNewton::AddImpulse(const cVector3f &a_vImpulse)
{
cVector3f vMassCentre = GetMassCentre();
if (vMassCentre != cVector3f(0,0,0))
{
cVector3f vCentreOffset = cMath::MatrixMul(GetWorldMatrix().GetRotation(), vMassCentre);
cVector3f vWorldPosition = GetWorldPosition() + vCentreOffset;
NewtonBodyAddImpulse(m_pNewtonBody, a_vImpulse.v, vWorldPosition.v);
}
else
NewtonBodyAddImpulse(m_pNewtonBody, a_vImpulse.v, GetWorldPosition().v);
}
void cPhysicsBodyNewton::AddForceAtPosition(const cVector3f &a_vForce, const cVector3f &a_vPos)
{
m_vTotalForce += a_vForce;
cVector3f vLocalPos = a_vPos - GetLocalPosition();
cVector3f vMassCentre = GetMassCentre();
if (vMassCentre != cVector3f(0,0,0))
{
vMassCentre = cMath::MatrixMul(GetLocalMatrix().GetRotation(), vMassCentre);
vLocalPos -= vMassCentre;
}
cVector3f vTorque = cMath::Vector3Cross(vLocalPos, a_vPos);
m_vTotalTorque += vTorque;
SetEnabled(true);
}
void cPhysicsBodyNewton::AddForceAtPosition(const cVector3f &avForce, const cVector3f &avPos)
{
mvTotalForce += avForce;
cVector3f vLocalPos = avPos - GetLocalPosition();
cVector3f vMassCentre = GetMassCentre();
if(vMassCentre != cVector3f(0,0,0))
{
vMassCentre = cMath::MatrixMul(GetLocalMatrix().GetRotation(),vMassCentre);
vLocalPos -= vMassCentre;
}
cVector3f vTorque = cMath::Vector3Cross(vLocalPos, avForce);
mvTotalTorque += vTorque;
SetEnabled(true);
//Log("Added force %s\n",avForce.ToString().c_str());
}
