PhysicsShape applyTorque function

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

@@ -356,6 +356,17 @@ void BtBody::applyImpulse( const Point3F &origin, const Point3F &force )
       mActor->activate();
 }
 
+void BtBody::applyTorque(const Point3F &torque)
+{
+   AssertFatal(mActor, "BtBody::applyTorque - The actor is null!");
+   AssertFatal(isDynamic(), "BtBody::applyTorque - This call is only for dynamics!");
+
+   mActor->applyTorque( btCast<btVector3>(torque) );
+
+   if (!mActor->isActive())
+      mActor->activate();
+}
+
 Box3F BtBody::getWorldBounds()
 {   
    btVector3 min, max;

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

@@ -111,7 +111,7 @@ public:
                               F32 staticFriction );
    virtual void applyCorrection( const MatrixF &xfm );
    virtual void applyImpulse( const Point3F &origin, const Point3F &force );
-
+   virtual void applyTorque(const Point3F &torque);
    virtual void findContact(SceneObject **contactObject, VectorF *contactNormal, Vector<SceneObject*> *outOverlapObjects) const;
    virtual void moveKinematicTo(const MatrixF &xfm);
 

Engine/source/T3D/physics/physicsBody.h

@@ -114,6 +114,10 @@ public:
    ///
    virtual void applyImpulse( const Point3F &origin, const Point3F &force ) = 0;
 
+   ///
+   virtual void applyTorque(const Point3F &torque) = 0;
+
+
    virtual void findContact(SceneObject **contactObject,
       VectorF *contactNormal,
       Vector<SceneObject*> *outOverlapObjects) const = 0;

Engine/source/T3D/physics/physicsShape.cpp

@@ -857,6 +857,12 @@ void PhysicsShape::applyImpulse( const Point3F &pos, const VectorF &vec )
       mPhysicsRep->applyImpulse( pos, vec );
 }
 
+void PhysicsShape::applyTorque( const Point3F &torque )
+{
+   if (mPhysicsRep && mPhysicsRep->isDynamic())
+      mPhysicsRep->applyTorque( torque );
+}
+
 void PhysicsShape::applyRadialImpulse( const Point3F &origin, F32 radius, F32 magnitude )
 {
    if ( !mPhysicsRep || !mPhysicsRep->isDynamic() )
@@ -1179,4 +1185,12 @@ DefineEngineMethod( PhysicsShape, restore, void, (),,
    "Has no effect if the shape is not destroyed.\n\n")
 {
    object->restore();
+}
+
+DefineEngineMethod( PhysicsShape, applyTorque, void, (Point3F torque), ,
+   "@brief Add a torque to a dynamic physics shape.\n\n"
+   "@param torque to apply to the dynamic physics shape\n"
+   "@note This value is ignored on physics shapes that are not dynamic. Wakes up the dynamic physics shape if it is sleeping.\n")
+{
+   object->applyTorque( torque );
 }

Engine/source/T3D/physics/physicsShape.h

@@ -246,6 +246,7 @@ public:
    Point3F getVelocity() const { return mState.linVelocity; }
    void applyImpulse( const Point3F &pos, const VectorF &vec );
    void applyRadialImpulse( const Point3F &origin, F32 radius, F32 magnitude );
+   void applyTorque( const Point3F &torque );
    void setScale(const VectorF & scale);
 
    // GameBase

Engine/source/T3D/physics/physx3/px3Body.cpp

@@ -417,6 +417,16 @@ void Px3Body::applyImpulse( const Point3F &origin, const Point3F &force )
 
 }
 
+void Px3Body::applyTorque( const Point3F &torque )
+{
+   AssertFatal(mActor, "Px3Body::applyImpulse - The actor is null!");
+
+   mWorld->releaseWriteLock();
+   physx::PxRigidDynamic *actor = mActor->is<physx::PxRigidDynamic>();
+   if (mIsEnabled && isDynamic())
+      actor->addTorque( px3Cast<physx::PxVec3>(torque), physx::PxForceMode::eFORCE, true);
+}
+
 void Px3Body::findContact(SceneObject **contactObject,
    VectorF *contactNormal,
    Vector<SceneObject*> *outOverlapObjects) const

Engine/source/T3D/physics/physx3/px3Body.h

@@ -117,7 +117,7 @@ public:
                               F32 staticFriction );
    virtual void applyCorrection( const MatrixF &xfm );
    virtual void applyImpulse( const Point3F &origin, const Point3F &force );
-
+   virtual void applyTorque( const Point3F &torque );
    virtual void findContact(SceneObject **contactObject, VectorF *contactNormal,
       Vector<SceneObject*> *outOverlapObjects) const;
    virtual void moveKinematicTo(const MatrixF &xfm);