PxD6Joint* physx::PxD6JointCreate(PxPhysics& physics,
PxRigidActor* actor0, const PxTransform& localFrame0,
PxRigidActor* actor1, const PxTransform& localFrame1)
{
PX_CHECK_AND_RETURN_NULL(localFrame0.isValid(), "PxD6JointCreate: local frame 0 is not a valid transform");
PX_CHECK_AND_RETURN_NULL(localFrame1.isValid(), "PxD6JointCreate: local frame 1 is not a valid transform");
D6Joint* j = PX_NEW(D6Joint)(physics.getTolerancesScale(), actor0, localFrame0, actor1, localFrame1);
if(j->attach(physics, actor0, actor1))
return j;
PX_DELETE(j);
return NULL;
}
PxD6Joint* physx::PxD6JointCreate(PxPhysics& physics,
PxRigidActor* actor0, const PxTransform& localFrame0,
PxRigidActor* actor1, const PxTransform& localFrame1)
{
PX_CHECK_AND_RETURN_NULL(localFrame0.isSane(), "PxD6JointCreate: local frame 0 is not a valid transform");
PX_CHECK_AND_RETURN_NULL(localFrame1.isSane(), "PxD6JointCreate: local frame 1 is not a valid transform");
PX_CHECK_AND_RETURN_NULL(actor0 != actor1, "PxD6JointCreate: actors must be different");
PX_CHECK_AND_RETURN_NULL((actor0 && actor0->is<PxRigidBody>()) || (actor1 && actor1->is<PxRigidBody>()), "PxD6JointCreate: at least one actor must be dynamic");
D6Joint *j;
PX_NEW_SERIALIZED(j,D6Joint)(physics.getTolerancesScale(), actor0, localFrame0, actor1, localFrame1);
if(j->attach(physics, actor0, actor1))
return j;
PX_DELETE(j);
return NULL;
}