//internal void DoAngularVelocityFix()
//{
// if( nonSymmetricInertia )
// {
// Vec3 velocity = AngularVelocity;
// float currentAngVelMagSquared = velocity.LengthSqr();
// if( freelySpinning )
// {
// // If the current angular velocity magnitude is greater than
// // that of the previous step, scale it by that of the previous
// // step; otherwise, update the previous value to that of the
// // current step. This ensures that angular velocity never
// // increases for freely-spinning objects.
// if( currentAngVelMagSquared > prevAngVelMagSquared )
// {
// float currentAngVelMag = MathFunctions.Sqrt16( currentAngVelMagSquared );
// velocity = velocity / currentAngVelMag;
// // Vel is now a unit vector. Next, scale this vector
// // by the previous angular velocity magnitude.
// float prevAngVelMag = MathFunctions.Sqrt16( prevAngVelMagSquared );
// AngularVelocity = velocity * prevAngVelMag;
// }
// }
// prevAngVelMagSquared = currentAngVelMagSquared;
// }
// // Reset the "freely-spinning" parameter for the next time step.
// freelySpinning = true;
// //fix MaxAngularVelocity
// {
// float max = ODEPhysicsWorld.Instance.MaxAngularVelocity;
// Vec3 vel = AngularVelocity;
// bool changed = false;
// if( vel.X < -max ) { vel.X = -max; changed = true; }
// else if( vel.X > max ) { vel.X = max; changed = true; }
// if( vel.Y < -max ) { vel.Y = -max; changed = true; }
// else if( vel.Y > max ) { vel.Y = max; changed = true; }
// if( vel.Z < -max ) { vel.Z = -max; changed = true; }
// else if( vel.Z > max ) { vel.Z = max; changed = true; }
// if( changed )
// AngularVelocity = vel;
// }
//}
public override void ClearForces()
{
base.ClearForces();
if (bodyID != dBodyID.Zero)
{
Ode.dBodySetForce(bodyID, 0, 0, 0);
Ode.dBodySetTorque(bodyID, 0, 0, 0);
}
}