* Implements the torque/Rotational Impulse methods in the PhysicsAPI and the ODEPlugin and pipes them to their respective LSL method.

* NBody will need to be updated, this is an API change.   Torque property and AddAngularForce

2 files changed, 120 insertions, 0 deletions

diff --git a/OpenSim/Region/Environment/Scenes/SceneObjectGroup.cs b/OpenSim/Region/Environment/Scenes/SceneObjectGroup.cs
index fabf276..cc99929 100644
--- a/OpenSim/Region/Environment/Scenes/SceneObjectGroup.cs
+++ b/OpenSim/Region/Environment/Scenes/SceneObjectGroup.cs
@@ -1466,6 +1466,64 @@ namespace OpenSim.Region.Environment.Scenes
             }
         }
 
+        public void applyAngularImpulse(PhysicsVector impulse)
+        {
+            // We check if rootpart is null here because scripts don't delete if you delete the host.
+            // This means that unfortunately, we can pass a null physics actor to Simulate!
+            // Make sure we don't do that!
+            SceneObjectPart rootpart = m_rootPart;
+            if (rootpart != null)
+            {
+                if (rootpart.PhysActor != null)
+                {
+                    if (!IsAttachment)
+                    {
+                        rootpart.PhysActor.AddAngularForce(impulse, true);
+                        m_scene.PhysicsScene.AddPhysicsActorTaint(rootpart.PhysActor);
+                    }
+                }
+            }
+        }
+
+        public void setAngularImpulse(PhysicsVector impulse)
+        {
+            // We check if rootpart is null here because scripts don't delete if you delete the host.
+            // This means that unfortunately, we can pass a null physics actor to Simulate!
+            // Make sure we don't do that!
+            SceneObjectPart rootpart = m_rootPart;
+            if (rootpart != null)
+            {
+                if (rootpart.PhysActor != null)
+                {
+                    if (!IsAttachment)
+                    {
+                        rootpart.PhysActor.Torque = impulse;
+                        m_scene.PhysicsScene.AddPhysicsActorTaint(rootpart.PhysActor);
+                    }
+                }
+            }
+        }
+
+        public Vector3 GetTorque()
+        {
+            // We check if rootpart is null here because scripts don't delete if you delete the host.
+            // This means that unfortunately, we can pass a null physics actor to Simulate!
+            // Make sure we don't do that!
+            SceneObjectPart rootpart = m_rootPart;
+            if (rootpart != null)
+            {
+                if (rootpart.PhysActor != null)
+                {
+                    if (!IsAttachment)
+                    {
+                        PhysicsVector torque = rootpart.PhysActor.Torque;
+                        return new Vector3(torque.X, torque.Y, torque.Z);
+                    }
+                }
+            }
+            return Vector3.Zero;
+        }
+
         public void moveToTarget(Vector3 target, float tau)
         {
             SceneObjectPart rootpart = m_rootPart;
diff --git a/OpenSim/Region/Environment/Scenes/SceneObjectPart.cs b/OpenSim/Region/Environment/Scenes/SceneObjectPart.cs
index efc9289..5a43df6 100644
--- a/OpenSim/Region/Environment/Scenes/SceneObjectPart.cs
+++ b/OpenSim/Region/Environment/Scenes/SceneObjectPart.cs
@@ -1180,6 +1180,68 @@ if (m_shape != null) {
             }
         }
 
+
+        /// <summary>
+        /// hook to the physics scene to apply angular impulse
+        /// This is sent up to the group, which then finds the root prim
+        /// and applies the force on the root prim of the group
+        /// </summary>
+        /// <param name="impulsei">Vector force</param>
+        /// <param name="localGlobalTF">true for the local frame, false for the global frame</param>
+        public void ApplyAngularImpulse(Vector3 impulsei, bool localGlobalTF)
+        {
+            PhysicsVector impulse = new PhysicsVector(impulsei.X, impulsei.Y, impulsei.Z);
+
+            if (localGlobalTF)
+            {
+                Quaternion grot = GetWorldRotation();
+                Quaternion AXgrot = grot;
+                Vector3 AXimpulsei = impulsei;
+                Vector3 newimpulse = AXimpulsei * AXgrot;
+                impulse = new PhysicsVector(newimpulse.X, newimpulse.Y, newimpulse.Z);
+            }
+
+            if (m_parentGroup != null)
+            {
+                m_parentGroup.applyAngularImpulse(impulse);
+            }
+        }
+
+        /// <summary>
+        /// hook to the physics scene to apply angular impulse
+        /// This is sent up to the group, which then finds the root prim
+        /// and applies the force on the root prim of the group
+        /// </summary>
+        /// <param name="impulsei">Vector force</param>
+        /// <param name="localGlobalTF">true for the local frame, false for the global frame</param>
+        public void SetAngularImpulse(Vector3 impulsei, bool localGlobalTF)
+        {
+            PhysicsVector impulse = new PhysicsVector(impulsei.X, impulsei.Y, impulsei.Z);
+
+            if (localGlobalTF)
+            {
+                Quaternion grot = GetWorldRotation();
+                Quaternion AXgrot = grot;
+                Vector3 AXimpulsei = impulsei;
+                Vector3 newimpulse = AXimpulsei * AXgrot;
+                impulse = new PhysicsVector(newimpulse.X, newimpulse.Y, newimpulse.Z);
+            }
+
+            if (m_parentGroup != null)
+            {
+                m_parentGroup.setAngularImpulse(impulse);
+            }
+        }
+
+        public Vector3 GetTorque()
+        {
+            if (m_parentGroup != null)
+            {
+                m_parentGroup.GetTorque();
+            }
+            return Vector3.Zero;
+        }
+
         /// <summary>
         /// Apply physics to this part.
         /// </summary>