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BulletSim: add comments to force and impulse setting functions 

so it is clear what Bullet is actually doing with the set values.
user_profiles
Robert Adams 2013-01-03 19:35:38 -08:00
parent 92a6958b6d
commit 44492b3a49
1 changed files with 8 additions and 0 deletions
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8
OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
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@ -921,6 +921,7 @@ public override void SetCenterOfMassByPosRot(BulletBody obj, Vector3 pos, Quater
} }
// Add a force to the object as if its mass is one. // Add a force to the object as if its mass is one.
// Deep down in Bullet: m_totalForce += force*m_linearFactor;
public override void ApplyCentralForce(BulletBody obj, Vector3 force) public override void ApplyCentralForce(BulletBody obj, Vector3 force)
{ {
BulletBodyUnman bodyu = obj as BulletBodyUnman; BulletBodyUnman bodyu = obj as BulletBodyUnman;
@ -964,6 +965,7 @@ public override void SetSleepingThresholds(BulletBody obj, float lin_threshold,
BSAPICPP.SetSleepingThresholds2(bodyu.ptr, lin_threshold, ang_threshold); BSAPICPP.SetSleepingThresholds2(bodyu.ptr, lin_threshold, ang_threshold);
} }
// Deep down in Bullet: m_totalTorque += torque*m_angularFactor;
public override void ApplyTorque(BulletBody obj, Vector3 torque) public override void ApplyTorque(BulletBody obj, Vector3 torque)
{ {
BulletBodyUnman bodyu = obj as BulletBodyUnman; BulletBodyUnman bodyu = obj as BulletBodyUnman;
@ -971,6 +973,8 @@ public override void ApplyTorque(BulletBody obj, Vector3 torque)
} }
// Apply force at the given point. Will add torque to the object. // Apply force at the given point. Will add torque to the object.
// Deep down in Bullet: applyCentralForce(force);
// applyTorque(rel_pos.cross(force*m_linearFactor));
public override void ApplyForce(BulletBody obj, Vector3 force, Vector3 pos) public override void ApplyForce(BulletBody obj, Vector3 force, Vector3 pos)
{ {
BulletBodyUnman bodyu = obj as BulletBodyUnman; BulletBodyUnman bodyu = obj as BulletBodyUnman;
@ -978,6 +982,7 @@ public override void ApplyForce(BulletBody obj, Vector3 force, Vector3 pos)
} }
// Apply impulse to the object. Same as "ApplycentralForce" but force scaled by object's mass. // Apply impulse to the object. Same as "ApplycentralForce" but force scaled by object's mass.
// Deep down in Bullet: m_linearVelocity += impulse *m_linearFactor * m_inverseMass;
public override void ApplyCentralImpulse(BulletBody obj, Vector3 imp) public override void ApplyCentralImpulse(BulletBody obj, Vector3 imp)
{ {
BulletBodyUnman bodyu = obj as BulletBodyUnman; BulletBodyUnman bodyu = obj as BulletBodyUnman;
@ -985,6 +990,7 @@ public override void ApplyCentralImpulse(BulletBody obj, Vector3 imp)
} }
// Apply impulse to the object's torque. Force is scaled by object's mass. // Apply impulse to the object's torque. Force is scaled by object's mass.
// Deep down in Bullet: m_angularVelocity += m_invInertiaTensorWorld * torque * m_angularFactor;
public override void ApplyTorqueImpulse(BulletBody obj, Vector3 imp) public override void ApplyTorqueImpulse(BulletBody obj, Vector3 imp)
{ {
BulletBodyUnman bodyu = obj as BulletBodyUnman; BulletBodyUnman bodyu = obj as BulletBodyUnman;
@ -992,6 +998,8 @@ public override void ApplyTorqueImpulse(BulletBody obj, Vector3 imp)
} }
// Apply impulse at the point given. For is scaled by object's mass and effects both linear and angular forces. // Apply impulse at the point given. For is scaled by object's mass and effects both linear and angular forces.
// Deep down in Bullet: applyCentralImpulse(impulse);
// applyTorqueImpulse(rel_pos.cross(impulse*m_linearFactor));
public override void ApplyImpulse(BulletBody obj, Vector3 imp, Vector3 pos) public override void ApplyImpulse(BulletBody obj, Vector3 imp, Vector3 pos)
{ {
BulletBodyUnman bodyu = obj as BulletBodyUnman; BulletBodyUnman bodyu = obj as BulletBodyUnman;