james-z / fulcrum Goto Github PK

_rigid_body->applyTorque( btVector3() ) does not work in "_object_base.cpp", I googled it and tried every thing I could do and but the problem is still,anyone could help this?
applyCentralForce() is working all the time, and applyAngularVelocity() is also working.
the code in _object_base.cpp row 56 :

void _object_base::apply_physics (void) {
/* _rigid_body->applyCentralImpulse( _force ); _/
_rigid_body->setAngularFactor( 1.0F );
_rigid_body->setLinearFactor( btVector3(1.0F, 1.0 ,1.0) );
_rigid_body->updateInertiaTensor();
std::cout<<_angular.getY();
_rigid_body->applyCentralForce( _force );
_rigid_body->applyTorque( angular );
/ _rigid_body->setLinearVelocity( _force ); /
/ _rigid_body->setAngularVelocity( _angular ); */
}

void _object_base::move_and_turn ( const int state ) {
_state = state;
if( state == MOTION_STATE::FORWORD ) {
_force = btVector3( 0.0F, 0.0F, -10.5F );
_force = _rigid_body->getWorldTransform().getBasis() * _force;
} else if( state == BACKWARD ) {
_force = btVector3( 0.0F, 0.0F, 10.0F );
_force = _rigid_body->getWorldTransform().getBasis() * _force;
} else if( state == MOTION_STATE::CLOCK_WISE_ROTATION ) {
_angular = btVector3( 0.0F, 100.0F, 0.0F );
_angular = _rigid_body->getWorldTransform().getBasis() * _angular;
} else if( state == MOTION_STATE::ANTI_CLOCK_WISE_ROTATION ) {
_angular = btVector3( 0.0F, -100.0F, 0.0F );
_angular = _rigid_body->getWorldTransform().getBasis() * _angular;
} else if( state == MOTION_STATE::STOP ) {
_force = btVector3( 0.0F, 0.0F, 0.0F );
_angular = btVector3( 0.0F, 0.0F, 0.0F );
} else {
/* _angular = btVector3( 0.0F, 0.0F, 0.0F ); /
/ _force = btVector3( 0.0F, 0.0F, 0.0F ); /
/ std::cout<<"else"<<std::endl; */
}
}