local torque and local impulse

panda/src/physics/physicsObject.I

@@ -109,6 +109,34 @@ set_velocity(float x, float y, float z) {
   _velocity.set(x, y, z);
 }
 
+////////////////////////////////////////////////////////////////////
+//    Function : add_local_torque
+//      Access : Public
+// Description : Adds an torque force (i.e. an instantanious change
+//               in velocity).  This is a quicker way to get the 
+//               angular velocity, add a vector to it and set that
+//               value to be the new angular velocity.
+////////////////////////////////////////////////////////////////////
+INLINE void PhysicsObject::
+add_local_torque(const LRotationf &torque) {
+  nassertv(!torque.is_nan());
+  _rotation+=_orientation.xform(torque);
+}
+
+////////////////////////////////////////////////////////////////////
+//    Function : add_local_impulse
+//      Access : Public
+// Description : Adds an impulse force (i.e. an instantanious change
+//               in velocity).  This is a quicker way to get the 
+//               velocity, add a vector to it and set that value to
+//               be the new velocity.
+////////////////////////////////////////////////////////////////////
+INLINE void PhysicsObject::
+add_local_impulse(const LVector3f &impulse) {
+  nassertv(!impulse.is_nan());
+  _velocity+=_orientation.xform(impulse);
+}
+
 ////////////////////////////////////////////////////////////////////
 //    Function : add_torque
 //      Access : Public

panda/src/physics/physicsObject.cxx

@@ -91,6 +91,30 @@ make_copy() const {
   return new PhysicsObject(*this);
 }
 
+////////////////////////////////////////////////////////////////////
+//    Function : add_local_impact
+//      Access : Public
+// Description : Adds an impulse and/or torque (i.e. an instantanious
+//               change in velocity) based on how well the offset and
+//               impulse align with the center of mass (aka position).
+//               If you wanted to immitate this function you could
+//               work out the impulse and torque and call add_impulse
+//               and add_torque respectively.
+//               offset and force are in local coordinates.
+////////////////////////////////////////////////////////////////////
+void PhysicsObject::
+add_local_impact(const LPoint3f &offset_from_center_of_mass,
+    const LVector3f &force) {
+  nassertv(!offset_from_center_of_mass.is_nan());
+  nassertv(!force.is_nan());
+  LRotationf torque;
+  LVector3f impulse;
+  torque = LRotationf::ident_quat(); // place holder
+  impulse = LVector3f::zero(); // place holder
+  add_torque(torque);
+  add_impulse(impulse);
+}
+
 ////////////////////////////////////////////////////////////////////
 //    Function : add_impact
 //      Access : Public
@@ -100,6 +124,7 @@ make_copy() const {
 //               If you wanted to immitate this function you could
 //               work out the impulse and torque and call add_impulse
 //               and add_torque respectively.
+//               offset and force are in global (or parent) coordinates.
 ////////////////////////////////////////////////////////////////////
 void PhysicsObject::
 add_impact(const LPoint3f &offset_from_center_of_mass,

panda/src/physics/physicsObject.h

@@ -63,11 +63,18 @@ PUBLISHED:
   INLINE LVector3f get_velocity() const;
   INLINE LVector3f get_implicit_velocity() const;
 
+  // Global instantanious forces
   INLINE void add_torque(const LRotationf &torque);
   INLINE void add_impulse(const LVector3f &impulse);
   virtual void add_impact(
       const LPoint3f &offset_from_center_of_mass, const LVector3f &impulse);
 
+  // Local instantanious forces
+  INLINE void add_local_torque(const LRotationf &torque);
+  INLINE void add_local_impulse(const LVector3f &impulse);
+  virtual void add_local_impact(
+      const LPoint3f &offset_from_center_of_mass, const LVector3f &impulse);
+
   INLINE void set_terminal_velocity(float tv);
   INLINE float get_terminal_velocity() const;