Merge pull request #571 from DavidWyand-GG/BulletImpulseFix

Bullet physics applyImpulse() fix

Engine/source/T3D/physics/bullet/btBody.cpp

@@ -335,16 +335,22 @@ void BtBody::applyImpulse( const Point3F &origin, const Point3F &force )
    AssertFatal( mActor, "BtBody::applyImpulse - The actor is null!" );
    AssertFatal( isDynamic(), "BtBody::applyImpulse - This call is only for dynamics!" );
 
+   // Convert the world position to local
+   MatrixF trans = btCast<MatrixF>( mActor->getCenterOfMassTransform() );
+   trans.inverse();
+   Point3F localOrigin( origin );
+   trans.mulP( localOrigin );
+
    if ( mCenterOfMass )
    {
-      Point3F relOrigin( origin );
+      Point3F relOrigin( localOrigin );
       mCenterOfMass->mulP( relOrigin );
       Point3F relForce( force );
       mCenterOfMass->mulV( relForce );
       mActor->applyImpulse( btCast<btVector3>( relForce ), btCast<btVector3>( relOrigin ) );
    }
    else
-      mActor->applyImpulse( btCast<btVector3>( force ), btCast<btVector3>( origin ) );
+      mActor->applyImpulse( btCast<btVector3>( force ), btCast<btVector3>( localOrigin ) );
 
    if ( !mActor->isActive() )
       mActor->activate();