NewtonBodyAddTorque doesnt "ADD" torque same for AddForce

[PJani]

Hey i am having a little bit of problem with NewtonBodyAddTorque and NewtonBodyAddForce. For some reason only the last "added" torque or force is set. Is this as it should be or i am missing something?

[Julio Jerez]

This is what Add force and add torque do. set a break point and see if it is hit

Code: Select all

inline void dgDynamicBody::AddForce (const dgVector& force)
{
   SetForce (m_accel + force);
}

inline void dgDynamicBody::AddTorque (const dgVector& torque)
{
   SetTorque (torque + m_alpha);
}

you need to call it form a force and torque callback of from other callback because the m_accel is cleared at the beginning of each frame.
as you can see by the call to the force and torque callback

Code: Select all

inline void dgDynamicBody::ApplyExtenalForces (dgFloat32 timestep, dgInt32 threadIndex)
{
   m_accel = dgVector (dgFloat32 (0.0f), dgFloat32 (0.0f), dgFloat32 (0.0f), dgFloat32 (0.0f));
   m_alpha = dgVector (dgFloat32 (0.0f), dgFloat32 (0.0f), dgFloat32 (0.0f), dgFloat32 (0.0f));
   dgBody::ApplyExtenalForces(timestep, threadIndex);
}

[PJani]

What if i need to add force/torque in SubmitConstraints in newtoncustomjoint ?

EDIT: eh, nevermind i found one really idiot typo mistake in my 2 year old code...for custom joint, instead of setting local position to local point i set it to local direction...go figures 0_0, i don't know how i did't notice this in all this years...