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80 lines
3.0 KiB
80 lines
3.0 KiB
/****************************************************************************
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Copyright (c) 2020-2023 Xiamen Yaji Software Co., Ltd.
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http://www.cocos.com
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights to
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use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies
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of the Software, and to permit persons to whom the Software is furnished to do so,
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subject to the following conditions:
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The above copyright notice and this permission notice shall be included in
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all copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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THE SOFTWARE.
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****************************************************************************/
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#include "physics/physx/joints/PhysXSpherical.h"
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#include "math/Quaternion.h"
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#include "physics/physx/PhysXSharedBody.h"
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#include "physics/physx/PhysXUtils.h"
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namespace cc {
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namespace physics {
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void PhysXSpherical::onComponentSet() {
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_mJoint = PxSphericalJointCreate(PxGetPhysics(), &getTempRigidActor(), physx::PxTransform{physx::PxIdentity}, nullptr, physx::PxTransform{physx::PxIdentity});
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setEnableDebugVisualization(true);
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}
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void PhysXSpherical::setPivotA(float x, float y, float z) {
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_mPivotA = physx::PxVec3{x, y, z};
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updatePose();
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}
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void PhysXSpherical::setPivotB(float x, float y, float z) {
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_mPivotB = physx::PxVec3{x, y, z};
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updatePose();
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}
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void PhysXSpherical::updateScale0() {
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updatePose();
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}
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void PhysXSpherical::updateScale1() {
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updatePose();
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}
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void PhysXSpherical::updatePose() {
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physx::PxTransform pose0{physx::PxIdentity};
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physx::PxTransform pose1{physx::PxIdentity};
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auto *node0 = _mSharedBody->getNode();
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node0->updateWorldTransform();
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pose0.p = _mPivotA * node0->getWorldScale();
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_mJoint->setLocalPose(physx::PxJointActorIndex::eACTOR0, pose0);
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if (_mConnectedBody) {
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auto *node1 = _mConnectedBody->getNode();
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node1->updateWorldTransform();
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pose1.p = _mPivotB * node1->getWorldScale();
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} else {
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const auto &wr = node0->getWorldRotation();
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auto pos = Vec3(_mPivotA.x, _mPivotA.y, _mPivotA.z);
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pos.multiply(node0->getWorldScale());
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pos.transformQuat(node0->getWorldRotation());
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pos.add(node0->getWorldPosition());
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pose1.p = physx::PxVec3(pos.x, pos.y, pos.z);
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pose1.q = physx::PxQuat{wr.x, wr.y, wr.z, wr.w} * pose0.q;
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}
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_mJoint->setLocalPose(physx::PxJointActorIndex::eACTOR1, pose1);
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}
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} // namespace physics
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} // namespace cc
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