Code/HumanoidRetargeter/Core/Formats/Mmd/MmdPhysics.Impulses.cs
Part of the MMD physics application code, this method applies impulse and torque gestures from morphs to Bullet rigid bodies. It iterates morph weights, skips zero weights and inactive bodies, computes scaled velocity and torque (optionally in local body space) and applies them to the Bullet RigidBody instances.
Native Interop
using HumanoidRetargeter.Core.Formats.Mmd.Bullet.BulletDynamics;
namespace HumanoidRetargeter.Core.Formats.Mmd;
internal static partial class MmdPhysics
{
private static void ApplyImpulses( MmdModel model, RigidBody[] bodies, float[] weights, float frameFraction )
{
for ( var i = 0; i < weights.Length; i++ )
{
if ( weights[ i ] == 0 )
continue;
foreach ( var impulse in model.Morphs[ i ].Impulses )
{
var body = bodies[ impulse.Body ];
if ( model.RigidBodies[ impulse.Body ].Mode == 0 )
continue;
var velocity = Vector( impulse.Velocity * (weights[ i ] * frameFraction) );
var torque = Vector( impulse.Torque * (weights[ i ] * frameFraction) );
if ( impulse.Local )
{
var basis = body.GetWorldTransform()._basis;
velocity = basis * velocity;
torque = basis * torque;
}
body.ApplyCentralImpulse( ref velocity );
body.ApplyTorqueImpulse( ref torque );
}
}
}
}