PrismaticJointX::PrismaticJointX(PhysXManager *pMan , kge::ph::Actor *a1, kge::ph::Actor *a2, kge::math::Vector *Anchor, kge::math::Vector *axis)
{
NxActor *nxA1,*nxA2;
NxPrismaticJointDesc nxPrismaticJointDesc;
if( !a1 )
return;
nxPrismaticJointDesc.setToDefault();
if( a1->getType() == EATP_DYNAMIC || a1->getType() == EATP_KINEMATIC )
nxA1 = ((ActorDynamicX*)(a1))->getPhActor();
if( a2 && ( a2->getType() == EATP_DYNAMIC || a2->getType() == EATP_KINEMATIC ) )
nxA2 = ((ActorDynamicX*)(a1))->getPhActor();
nxPrismaticJointDesc.actor[0] = nxA1;
if( a2 )
nxPrismaticJointDesc.actor[1] = nxA2;
nxPrismaticJointDesc.setGlobalAnchor( NxVec3( Anchor->x , Anchor->y , Anchor->z ) );
if( axis )
nxPrismaticJointDesc.setGlobalAxis( NxVec3( axis->x , axis->y , axis->z ) );
m_pPrismaticJoint = ((NxPrismaticJoint*)(pMan->getPhysxScene()->createJoint( nxPrismaticJointDesc )));
}
void create(NxScene& scene, const NxVec3& pos, float rad, NxActor* holder)
{
NxActorDesc actorDesc;
NxBodyDesc bodyDesc;
NxSphereShapeDesc sphereDesc;
bodyDesc.solverIterationCount = 20;
// wheel
sphereDesc.radius = rad;
sphereDesc.materialIndex = wheelMaterialIndex;
actorDesc.shapes.pushBack(&sphereDesc);
bodyDesc.mass = 400;
actorDesc.body = &bodyDesc;
actorDesc.globalPose.t = pos;
wheel = scene.createActor(actorDesc);
// roll axis
bodyDesc.mass = 50;
bodyDesc.massSpaceInertia = NxVec3(1,1,1);
actorDesc.body = &bodyDesc;
actorDesc.shapes.clear();
actorDesc.globalPose.t = pos;
rollAxis = scene.createActor(actorDesc);
// revolute joint connecting wheel with rollAxis
NxRevoluteJointDesc revJointDesc;
revJointDesc.projectionMode = NX_JPM_POINT_MINDIST;
revJointDesc.actor[0] = wheel;
revJointDesc.actor[1] = rollAxis;
revJointDesc.setGlobalAnchor(pos);
revJointDesc.setGlobalAxis(NxVec3(0,0,1));
rollJoint = (NxRevoluteJoint*)scene.createJoint(revJointDesc);
// prismatic joint connecting rollAxis with holder
NxPrismaticJointDesc prisJointDesc;
prisJointDesc.actor[0] = rollAxis;
prisJointDesc.actor[1] = holder;
prisJointDesc.setGlobalAnchor(pos);
prisJointDesc.setGlobalAxis(NxVec3(0,1,0));
scene.createJoint(prisJointDesc);
// add springs and dampers to the suspension (i.e. the related actors)
float springLength = 0.1f;
NxSpringAndDamperEffector * springNdamp = scene.createSpringAndDamperEffector(NxSpringAndDamperEffectorDesc());
springNdamp->setBodies(rollAxis, pos, holder, pos + NxVec3(0,springLength,0));
springNdamp->setLinearSpring(0, springLength, 2*springLength, 100000, 100000);
springNdamp->setLinearDamper(-1, 1, 1e5, 1e5);
// disable collision detection
scene.setActorPairFlags(*wheel, *holder, NX_IGNORE_PAIR);
}
NxPrismaticJoint* CreatePrismaticJoint(NxActor* a0, NxActor* a1, const NxVec3& globalAnchor, const NxVec3& globalAxis, NxScene* gScene)
{
NxPrismaticJointDesc prismaticDesc;
prismaticDesc.actor[0] = a0;
prismaticDesc.actor[1] = a1;
prismaticDesc.setGlobalAnchor(globalAnchor);
prismaticDesc.setGlobalAxis(globalAxis);
NxJoint* joint = gScene->createJoint(prismaticDesc);
// joint->setLimitPoint(globalAnchor);
// joint->addLimitPlane(-globalAxis, globalAnchor + 1.5*globalAxis);
// joint->addLimitPlane(globalAxis, globalAnchor - 1.5*globalAxis);
return static_cast<NxPrismaticJoint*>(joint);
}
NxPrismaticJoint* World::CreatePrismaticJoint(NxActor* a0, NxActor* a1, NxVec3 globalAnchor, NxVec3 globalAxis)
{
NxPrismaticJointDesc prismaticDesc;
prismaticDesc.actor[0] = a0;
prismaticDesc.actor[1] = a1;
prismaticDesc.setGlobalAnchor(globalAnchor); // 0 7 0
prismaticDesc.setGlobalAxis(globalAxis); // 0 1 0
NxJoint* joint = gScene->createJoint(prismaticDesc);
joint->setLimitPoint(globalAnchor);
joint->addLimitPlane(-globalAxis, globalAnchor + 1*globalAxis, 0.5f);
joint->addLimitPlane(globalAxis, globalAnchor - 1*globalAxis, 0.5f);
return (NxPrismaticJoint*)joint;
}
