Roket_PhysicsJointUniversal::Roket_PhysicsJointUniversal(
NewtonWorld* worldd,
irr::core::vector3df point,
irr::core::vector3df pin0,
irr::core::vector3df pin1,
Roket_PhysicsBody* child,
Roket_PhysicsBody* parent,
RPhysicsJoint* rjoint)
{
world = worldd;
float pointD[3];
pointD[0] = point.X;
pointD[1] = point.Y;
pointD[2] = point.Z;
float pointP0[3];
pointP0[0] = pin0.X;
pointP0[1] = pin0.Y;
pointP0[2] = pin0.Z;
float pointP1[3];
pointP1[0] = pin1.X;
pointP1[1] = pin1.Y;
pointP1[2] = pin1.Z;
if (parent == NULL)
joint = NewtonConstraintCreateUniversal(world, &pointD[0], &pointP0[0], &pointP1[0], child->body, NULL);
else
joint = NewtonConstraintCreateUniversal(world, &pointD[0], &pointP0[0], &pointP1[0], child->body, parent->body);
NewtonJointSetUserData(joint, &rjoint);
NewtonJointSetDestructor(joint, &JointDestructor);
}
/**
* @brief
* Constructor
*/
JointUniversal::JointUniversal(PLPhysics::World &cWorld, PLPhysics::Body *pParentBody, PLPhysics::Body *pChildBody,
const Vector3 &vPivotPoint, const Vector3 &vPinDir1, const Vector3 &vPinDir2) :
PLPhysics::JointUniversal(cWorld, static_cast<World&>(cWorld).CreateJointImpl(), pParentBody, pChildBody, vPivotPoint, vPinDir1, vPinDir2)
{
// Deactivate the physics simulation if required
const bool bSimulationActive = cWorld.IsSimulationActive();
if (bSimulationActive)
cWorld.SetSimulationActive(false);
// Get the Newton physics world
Newton::NewtonWorld *pNewtonWorld = static_cast<World&>(cWorld).GetNewtonWorld();
// Flush assigned bodies (MUST be done before creating the joint!)
if (pParentBody)
static_cast<BodyImpl&>(pParentBody->GetBodyImpl()).Flush();
if (pChildBody)
static_cast<BodyImpl&>(pChildBody ->GetBodyImpl()).Flush();
// Get the Newton physics parent and child bodies
const Newton::NewtonBody *pNewtonParentBody = pParentBody ? static_cast<BodyImpl&>(pParentBody->GetBodyImpl()).GetNewtonBody() : nullptr;
const Newton::NewtonBody *pNewtonChildBody = pChildBody ? static_cast<BodyImpl&>(pChildBody ->GetBodyImpl()).GetNewtonBody() : nullptr;
// [TODO] ??
/*
if (pNewtonParentBody)
NewtonBodySetUserData(pNewtonParentBody, nullptr);
if (pNewtonChildBody)
NewtonBodySetUserData(pNewtonChildBody, nullptr);
*/
// Get body initial transform matrix
if (pParentBody) {
// Get transform matrix
Quaternion qQ;
pParentBody->GetRotation(qQ);
Vector3 vPos;
pParentBody->GetPosition(vPos);
Matrix3x4 mTrans;
mTrans.FromQuatTrans(qQ, vPos);
// And transform the initial joint anchor into the body object space
mTrans.Invert();
m_vLocalAnchor = mTrans*vPivotPoint;
}
// Create the Newton physics joint
Newton::NewtonJoint *pNewtonJoint = NewtonConstraintCreateUniversal(pNewtonWorld, m_vPivotPoint, m_vPinDir1,
m_vPinDir2, pNewtonChildBody, pNewtonParentBody);
// Set Newton universal callback function
NewtonUniversalSetUserCallback(pNewtonJoint, JointUserCallback);
// Initialize the Newton physics joint
static_cast<JointImpl&>(GetJointImpl()).InitializeNewtonJoint(*this, *pNewtonJoint);
// Reactivate the physics simulation if required
if (bSimulationActive)
cWorld.SetSimulationActive(bSimulationActive);
}
