Bullet: getTotalForce/Torque exposed

panda/src/bullet/bulletRigidBodyNode.cxx

@@ -122,11 +122,22 @@ PN_stdfloat BulletRigidBodyNode::
 get_mass() const {
 
   btScalar inv_mass = _rigid->getInvMass();
-  btScalar mass = inv_mass == btScalar(0.0) ? btScalar(0.0) : btScalar(1.0) / inv_mass;
+  btScalar mass = (inv_mass == btScalar(0.0)) ? btScalar(0.0) : btScalar(1.0) / inv_mass;
 
   return mass;
 }
 
+////////////////////////////////////////////////////////////////////
+//     Function: BulletRigidBodyNode::get_inv_mass
+//       Access: Published
+//  Description: Returns the inverse mass of a rigid body.
+////////////////////////////////////////////////////////////////////
+PN_stdfloat BulletRigidBodyNode::
+get_inv_mass() const {
+
+  return (PN_stdfloat)_rigid->getInvMass();
+}
+
 ////////////////////////////////////////////////////////////////////
 //     Function: BulletRigidBodyNode::set_inertia
 //       Access: Published
@@ -177,6 +188,28 @@ get_inertia() const {
   return inertia;
 }
 
+////////////////////////////////////////////////////////////////////
+//     Function: BulletRigidBodyNode::get_inv_inertia_diag_local
+//       Access: Published
+//  Description: 
+////////////////////////////////////////////////////////////////////
+LVector3 BulletRigidBodyNode::
+get_inv_inertia_diag_local() const {
+
+  return btVector3_to_LVector3(_rigid->getInvInertiaDiagLocal());
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: BulletRigidBodyNode::get_inv_inertia_tensor_world
+//       Access: Published
+//  Description: 
+////////////////////////////////////////////////////////////////////
+LMatrix3 BulletRigidBodyNode::
+get_inv_inertia_tensor_world() const {
+
+  return btMatrix3x3_to_LMatrix3(_rigid->getInvInertiaTensorWorld());
+}
+
 ////////////////////////////////////////////////////////////////////
 //     Function: BulletRigidBodyNode::apply_force
 //       Access: Published
@@ -479,6 +512,28 @@ set_angular_factor(const LVector3 &factor) {
   _rigid->setAngularFactor(LVecBase3_to_btVector3(factor));
 }
 
+////////////////////////////////////////////////////////////////////
+//     Function: BulletRigidBodyNode::get_total_force
+//       Access: Published
+//  Description:
+////////////////////////////////////////////////////////////////////
+LVector3 BulletRigidBodyNode::
+get_total_force() const {
+
+  return btVector3_to_LVector3(_rigid->getTotalForce());
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: BulletRigidBodyNode::get_total_torque
+//       Access: Published
+//  Description:
+////////////////////////////////////////////////////////////////////
+LVector3 BulletRigidBodyNode::
+get_total_torque() const {
+
+  return btVector3_to_LVector3(_rigid->getTotalTorque());
+}
+
 ////////////////////////////////////////////////////////////////////
 //     Function: BulletRigidBodyNode::MotionState::Constructor
 //       Access: Public

panda/src/bullet/bulletRigidBodyNode.h

@@ -39,8 +39,11 @@ PUBLISHED:
   // Mass & inertia
   void set_mass(PN_stdfloat mass);
   PN_stdfloat get_mass() const;
+  PN_stdfloat get_inv_mass() const;
   void set_inertia(const LVecBase3 &inertia);
   LVector3 get_inertia() const;
+  LVector3 get_inv_inertia_diag_local() const;
+  LMatrix3 get_inv_inertia_tensor_world() const;
 
   // Velocity
   LVector3 get_linear_velocity() const;
@@ -63,6 +66,9 @@ PUBLISHED:
   void apply_torque(const LVector3 &torque);
   void apply_torque_impulse(const LVector3 &torque);
 
+  LVector3 get_total_force() const;
+  LVector3 get_total_torque() const;
+
   // Deactivation thresholds
   PN_stdfloat get_linear_sleep_threshold() const;
   PN_stdfloat get_angular_sleep_threshold() const;