Method getReactionForce

src/constraint/SliderJoint.cpp:301–317

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

 * @return The current force (in Newtons) applied on body 2
 */
Vector3 SliderJoint::getReactionForce(decimal timeStep) const {
    assert(timeStep > MACHINE_EPSILON);

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

    const Vector2 translationImpulse = mWorld.mSliderJointsComponents.mImpulseTranslation[jointIndex];
    const Vector3& n1 = mWorld.mSliderJointsComponents.mN1[jointIndex];
    const Vector3& n2 = mWorld.mSliderJointsComponents.mN2[jointIndex];
    const Vector3 impulseJoint = n1 * translationImpulse.x + n2 * translationImpulse.y;

    const Vector3& sliderAxisWorld = mWorld.mSliderJointsComponents.mSliderAxisWorld[jointIndex];
    const Vector3 impulseLowerLimit = mWorld.mSliderJointsComponents.mImpulseLowerLimit[jointIndex] * sliderAxisWorld;
    const Vector3 impulseUpperLimit = -mWorld.mSliderJointsComponents.mImpulseUpperLimit[jointIndex] * sliderAxisWorld;
    Vector3 impulseMotor = -mWorld.mSliderJointsComponents.mImpulseMotor[jointIndex] * sliderAxisWorld;

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

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