Method getReactionTorque

src/constraint/HingeJoint.cpp:285–301

Return the torque (in Newtons * meters) on body 2 required to satisfy the joint constraint in world-space * @return The current torque (in Newtons * meters) applied on body 2 */

 * @return The current torque (in Newtons * meters) applied on body 2
 */
Vector3 HingeJoint::getReactionTorque(decimal timeStep) const {

    assert(timeStep > MACHINE_EPSILON);

    const uint32 jointIndex = mWorld.mHingeJointsComponents.getEntityIndex(mEntity);

    const Vector2& impulseRotation = mWorld.mHingeJointsComponents.mImpulseRotation[jointIndex];
    const Vector3& b2CrossA1 = mWorld.mHingeJointsComponents.mB2CrossA1[jointIndex];
    const Vector3& c2CrossA1 = mWorld.mHingeJointsComponents.mC2CrossA1[jointIndex];

    Vector3 impulseJoint = b2CrossA1 * impulseRotation.x + c2CrossA1 * impulseRotation.y;
    Vector3 impulseLowerLimit = mWorld.mHingeJointsComponents.mImpulseLowerLimit[jointIndex] * mWorld.mHingeJointsComponents.mA1[jointIndex];
    Vector3 impulseUpperLimit = -mWorld.mHingeJointsComponents.mImpulseUpperLimit[jointIndex] * mWorld.mHingeJointsComponents.mA1[jointIndex];
    Vector3 impulseMotor = mWorld.mHingeJointsComponents.mImpulseMotor[jointIndex] * mWorld.mHingeJointsComponents.mA1[jointIndex];

    return (impulseJoint + impulseLowerLimit + impulseUpperLimit + impulseMotor) / timeStep;
}

// Return the number of bytes used by the joint
 size_t HingeJoint::getSizeInBytes() const {