public void applyImpulse(btVector3 impulse, btVector3 rel_pos)
{
if (m_inverseMass != 0f)
{
applyCentralImpulse(impulse);
if (m_angularFactor.X != 0 && m_angularFactor.Y != 0 && m_angularFactor.Z != 0)
{
applyTorqueImpulse(rel_pos.cross(impulse * m_linearFactor));
}
}
}
public void applyForce(btVector3 force, btVector3 rel_pos)
{
applyCentralForce(force);
applyTorque(rel_pos.cross(force * m_linearFactor));
}
public static void cross(ref btVector3 v1, ref btVector3 v2, out btVector3 result)
{
v1.cross(ref v2, out result);
}
public virtual void drawArc(ref btVector3 center,ref btVector3 normal,ref btVector3 axis, float radiusA, float radiusB, float minAngle, float maxAngle,
btVector3 color, bool drawSect, float stepDegrees)
{
btVector3 vx = axis;
btVector3 vy = normal.cross(axis);
float step = stepDegrees * BulletGlobal.SIMD_RADS_PER_DEG;
int nSteps = (int)((maxAngle - minAngle) / step);
if (nSteps == 0) nSteps = 1;
btVector3 prev;// = center + radiusA * vx * (float)Math.Cos(minAngle) + radiusB * vy * (float)Math.Sin(minAngle);
{
btVector3 temp1, temp2, temp3,temp4,temp5;
btVector3.Multiply(ref vx, radiusA, out temp1);
btVector3.Multiply(ref temp1, (float)Math.Cos(minAngle), out temp2);
btVector3.Multiply(ref vy, radiusB, out temp3);
btVector3.Multiply(ref temp3, (float)Math.Sin(minAngle), out temp4);
btVector3.Add(ref center, ref temp2, out temp5);
btVector3.Add(ref temp5, ref temp4, out prev);
}
if (drawSect)
{
drawLine(ref center, ref prev, ref color);
}
for (int i = 1; i <= nSteps; i++)
{
float angle = minAngle + (maxAngle - minAngle) * (float)(i) / (float)(nSteps);
btVector3 next;// = center + radiusA * vx * (float)Math.Cos(angle) + radiusB * vy * (float)Math.Cos(angle);
{
btVector3 temp1, temp2, temp3, temp4, temp5;
btVector3.Multiply(ref vx, radiusA, out temp1);
btVector3.Multiply(ref temp1, (float)Math.Cos(angle), out temp2);
btVector3.Multiply(ref vy, radiusB, out temp3);
btVector3.Multiply(ref temp3, (float)Math.Cos(angle), out temp4);
btVector3.Add(ref center, ref temp2, out temp5);
btVector3.Add(ref temp5, ref temp4, out next);
}
drawLine(ref prev, ref next, ref color);
prev = next;
}
if (drawSect)
{
drawLine(ref center, ref prev, ref color);
}
}
public static btVector3 cross(btVector3 v1, btVector3 v2)
{
return v1.cross(v2);
}