Method ApplyForces

engine/Poseidon/World/Simulation/Simul.cpp:592–635

}

void Entity::ApplyForces(float deltaT, Vector3Par force, Vector3Par torque, Vector3Par friction,
                         Vector3Par torqueFriction, float staticFric)
{
    Vector3 accel = DirectionWorldToModel(force * GetInvMass());
    Vector3 fricAccel = DirectionWorldToModel(friction * GetInvMass());
    Vector3 oldSpeed = _speed;
    Vector3 speed(VMultiply, DirWorldToModel(), _speed);
    Friction(speed, fricAccel, accel, deltaT);
    DirectionModelToWorld(_speed, speed);
    if (deltaT > 0)
    {
        _acceleration = (_speed - oldSpeed) * (1 / deltaT);
    }
    else
    {
        _acceleration = VZero;
    }
    Friction(_angMomentum, torqueFriction, torque, deltaT);

    float rigid = Rigid();
    _speed += _impulseForce * (GetInvMass() * rigid);
    _angMomentum += _impulseTorque * rigid;

    float staticCanHold = staticFric * GetInvMass() * deltaT;
    if (_speed.SquareSize() < Square(staticCanHold))
    {
        _speed = VZero;
    }
    _impulseTorque = VZero;
    _impulseForce = VZero;

    Matrix3Val orientation0 = Transform().Orientation();
    Matrix3Val invOrientation0 = InvTransform().Orientation();
    if (_shape)
    {
        _invAngInertia = orientation0 * InvInertia() * invOrientation0;
    }
    else
    {
        _invAngInertia = M3Zero;
    }

    _angVelocity = _invAngInertia * _angMomentum;
}

inline float fFric(float x)
{