diff options
Diffstat (limited to 'extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverBody.h')
| -rw-r--r-- | extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverBody.h | 13 |
1 files changed, 13 insertions, 0 deletions
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverBody.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverBody.h index ccc45996c8b..27ccefe4169 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverBody.h +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverBody.h @@ -118,6 +118,8 @@ ATTRIBUTE_ALIGNED16 (struct) btSolverBody btVector3 m_turnVelocity; btVector3 m_linearVelocity; btVector3 m_angularVelocity; + btVector3 m_externalForceImpulse; + btVector3 m_externalTorqueImpulse; btRigidBody* m_originalBody; void setWorldTransform(const btTransform& worldTransform) @@ -130,6 +132,17 @@ ATTRIBUTE_ALIGNED16 (struct) btSolverBody return m_worldTransform; } + + + SIMD_FORCE_INLINE void getVelocityInLocalPointNoDelta(const btVector3& rel_pos, btVector3& velocity ) const + { + if (m_originalBody) + velocity = m_linearVelocity + m_externalForceImpulse + (m_angularVelocity+m_externalTorqueImpulse).cross(rel_pos); + else + velocity.setValue(0,0,0); + } + + SIMD_FORCE_INLINE void getVelocityInLocalPointObsolete(const btVector3& rel_pos, btVector3& velocity ) const { if (m_originalBody) |