public static Vector3D MatrixToEulerAngle(Matrix3D pMatrix)
{
NewtonVector3 aNewtonVector3 = new NewtonVector3( new Vector3D() );
Newton.NewtonGetEulerAngle(new NewtonMatrix(pMatrix).NWMatrix,
aNewtonVector3.NWVector3);
return aNewtonVector3.ToDirectX();
}
public Vector3D GetContactForce()
{
NewtonVector3 aForce = new NewtonVector3(new Vector3D());
Newton.NewtonMaterialGetContactForce(m_Handle, aForce.NWVector3);
return(aForce.ToDirectX());
}
public static Vector3D MatrixToEulerAngle(Matrix3D pMatrix)
{
NewtonVector3 aNewtonVector3 = new NewtonVector3(new Vector3D());
Newton.NewtonGetEulerAngle(new NewtonMatrix(pMatrix).NWMatrix,
aNewtonVector3.NWVector3);
return(aNewtonVector3.ToDirectX());
}
public Vector3D GetContactForce()
{
NewtonVector3 aForce = new NewtonVector3(new Vector3D());
Newton.NewtonMaterialGetContactForce(m_Handle, aForce.NWVector3);
return aForce.ToDirectX();
}
/// <summary>
/// This wants the force in world coords
/// </summary>
public void AddForce(Vector3D pForce)
{
NewtonVector3 aForce = new NewtonVector3(pForce);
Newton.NewtonBodyAddForce(m_Handle, aForce.NWVector3);
}
/// <summary>
/// This appears to want the torque in world coords
/// </summary>
public void AddTorque(Vector3D pTorque)
{
NewtonVector3 aTorque = new NewtonVector3(pTorque);
Newton.NewtonBodyAddTorque(m_Handle, aTorque.NWVector3);
}
/// <summary>
/// This wants the force in world coords
/// </summary>
public void AddForce(Vector3D pForce)
{
NewtonVector3 aForce = new NewtonVector3(pForce);
Newton.NewtonBodyAddForce(m_Handle, aForce.NWVector3);
}
/// <summary>
/// This appears to want the torque in world coords
/// </summary>
public void AddTorque(Vector3D pTorque)
{
NewtonVector3 aTorque = new NewtonVector3(pTorque);
Newton.NewtonBodyAddTorque(m_Handle, aTorque.NWVector3);
}