check if imposter is "grounded"

[Pryme8]

How would I go about only applying impulses to an imposter if it is in contact with another mesh that uses a mesh imposter?

 

scene.registerBeforeRender(function(){
		insideSphere.position = sphere.position;
		
		var forward = scene.activeCamera.position.subtract(sphere.position).normalize();
		forward.y = 0;
		
		if(keys.up){
			sphere.applyImpulse(forward.scale(-1), sphere.position);
		}else if(keys.down){
			sphere.applyImpulse(forward.scale(1), sphere.position);
			
		}
		
		if(keys.left){
			camera.spinAccel += 0.1;
			camera.rotationOffset -= camera.spinAccel;
			
			
		}else if(keys.right){
			camera.spinAccel += 0.1;
			camera.rotationOffset += camera.spinAccel;			
			
		}
		
		if(!keys.left && !keys.right){camera.spinAccel = 1}
			
	});

and then on a side note, is it possible to apply torque as apposed to an impulse?  I tried using:
 

var mq = sphere.rotationQuaternion;
		// create quaternion to add
		var q = BABYLON.Quaternion.RotationYawPitchRoll(0, -0.1, 0);
		sphere.rotationQuaternion = q.multiply(mq);
		sphere.body.body.setQuaternion(sphere.rotationQuaternion);
		sphere.body.body.sleeping = false;

but unfortunately that only spins the model and does not react to the physics engine it looks like?

[RaananW]

To your first question - you can only apply impulses to meshes that have physics impostors (of course you could simulate it by yourself, but then the physics engine is not iin the game at all). So you will have to create an impostor to this mesh and simply apply an impulse!

Or, did I misunderstand your question?

About your second question:

If you use Oimo.js you could apply angular velocity to the body, which will cause it to spin:

sphere.body.body.angularVelocity.init(velocity.x, velocity.y, velocity.z);

 

[adam]

When using OIMO.js:

You can check sphere.body.body.numContacts to see if it is in contact with another imposter.

Use sphere.body.body.contactLink (linked list) to access the shapes it is in contact with.  Use shape.parent to get the rigidbody.

[Pryme8]

Your awnsers combined solved all my questions concerning torque and grounded state thanks you friends! 

[Pryme8]

ok, I dont mean to be a bother but...

How can I do the torque and the collide with cannon?  I need the meshImposter support...

***HALF SOLVED***
this is how I got around the grounded state

when I create the Imposter:

playerObj.MESH.body.grounded = false;
				
				playerObj.MESH.body.collisionResponse = 0;
				playerObj.MESH.body.addEventListener("collide", function(e){ playerObj.MESH.body.grounded = true;
				playerObj.MESH.body.collisionResponse = 1;
				 } );
				gameSettings.playerObject = playerObj.MESH;

on my scene register:
 

if(gameSettings.playerObject.body.collisionResponse){
			gameSettings.playerObject.body.grounded = true;
			}else{
			gameSettings.playerObject.body.grounded = false;	
			}
			if(keys.space && gameSettings.playerObject.body.grounded){
				gameSettings.playerObject.body.collisionResponse = 0;
				var jumpVector = new BABYLON.Vector3(0,6.5,0);
				gameSettings.playerObject.applyImpulse(jumpVector, gameSettings.playerObject.position);	
					
			}

there is a little extra script in there but anyone that wants check if an object is grounded can go about it in this manor.

[Pryme8]

public setAngularVelocity(velocity: Vector3) {
            this._physicsEngine.getPhysicsPlugin().setAngularVelocity(this, velocity);
        }

I have found this line in https://github.com/BabylonJS/Babylon.js/blob/master/src/Physics/babylon.physicsEngine.ts

but for some reason all attempts to call this method have failed
i figured it would be as simple as playerObject.setAngularVelocity(vec3) or playerObject.body.setAngularVelocity(vec3) or even playerObject.body.body.setAngularVelocity()  but all have failed :-(

[RaananW]

This line if from the physics impostor and not from the physics engine. Which would give a clue as to which object holds it

playerObject.physicsImpostor.setAngularVelocity(vec3) 

would do the job.