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83 lines
3.0 KiB
83 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/PhysXFixedJoint.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 PhysXFixedJoint::onComponentSet() {
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_transA = physx::PxTransform(physx::PxIdentity);
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_transB = physx::PxTransform(physx::PxIdentity);
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physx::PxRigidActor *actor0 = _mSharedBody->getImpl().rigidActor;
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physx::PxRigidActor *actor1 = nullptr;
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if (_mConnectedBody) {
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actor1 = _mConnectedBody->getImpl().rigidActor;
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}
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_mJoint = PxFixedJointCreate(PxGetPhysics(), actor0, _transA, actor1, _transB);
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updatePose();
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setEnableDebugVisualization(true);
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}
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void PhysXFixedJoint::setBreakForce(float force) {
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_breakForce = force;
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_mJoint->setBreakForce(_breakForce, _breakTorque);
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}
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void PhysXFixedJoint::setBreakTorque(float torque) {
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_breakTorque = torque;
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_mJoint->setBreakForce(_breakForce, _breakTorque);
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}
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void PhysXFixedJoint::updateScale0() {
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updatePose();
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}
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void PhysXFixedJoint::updateScale1() {
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updatePose();
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}
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void PhysXFixedJoint::updatePose() {
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_transA = physx::PxTransform(physx::PxIdentity);
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_transB = physx::PxTransform(physx::PxIdentity);
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pxSetVec3Ext(_transA.p, _mSharedBody->getNode()->getWorldPosition());
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pxSetQuatExt(_transA.q, _mSharedBody->getNode()->getWorldRotation());
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if (_mConnectedBody) {
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pxSetVec3Ext(_transB.p, _mConnectedBody->getNode()->getWorldPosition());
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pxSetQuatExt(_transB.q, _mConnectedBody->getNode()->getWorldRotation());
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}
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_mJoint->setLocalPose(physx::PxJointActorIndex::eACTOR0, _transA.getInverse());
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_mJoint->setLocalPose(physx::PxJointActorIndex::eACTOR1, _transB.getInverse());
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}
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} // namespace physics
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} // namespace cc
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