PhysXHingeJoint::PhysXHingeJoint(PxPhysics* physx, const HINGE_JOINT_DESC& desc)
:HingeJoint(desc)
{
PxRigidActor* actor0 = nullptr;
if (desc.bodies[0].body != nullptr)
actor0 = static_cast<PhysXRigidbody*>(desc.bodies[0].body)->_getInternal();
PxRigidActor* actor1 = nullptr;
if (desc.bodies[1].body != nullptr)
actor1 = static_cast<PhysXRigidbody*>(desc.bodies[1].body)->_getInternal();
PxTransform tfrm0 = toPxTransform(desc.bodies[0].position, desc.bodies[0].rotation);
PxTransform tfrm1 = toPxTransform(desc.bodies[1].position, desc.bodies[1].rotation);
PxRevoluteJoint* joint = PxRevoluteJointCreate(*physx, actor0, tfrm0, actor1, tfrm1);
joint->userData = this;
mInternal = bs_new<FPhysXJoint>(joint, desc);
PxRevoluteJointFlags flags;
if (((UINT32)desc.flag & (UINT32)Flag::Limit) != 0)
flags |= PxRevoluteJointFlag::eLIMIT_ENABLED;
if (((UINT32)desc.flag & (UINT32)Flag::Drive) != 0)
flags |= PxRevoluteJointFlag::eDRIVE_ENABLED;
joint->setRevoluteJointFlags(flags);
// Must be set after global flags, as it will append to them.
// Calls to virtual methods are okay here.
setLimit(desc.limit);
setDrive(desc.drive);
}
PhysXD6Joint::PhysXD6Joint(PxPhysics* physx, const D6_JOINT_DESC& desc)
:D6Joint(desc)
{
PxRigidActor* actor0 = nullptr;
if (desc.bodies[0].body != nullptr)
actor0 = static_cast<PhysXRigidbody*>(desc.bodies[0].body)->_getInternal();
PxRigidActor* actor1 = nullptr;
if (desc.bodies[1].body != nullptr)
actor1 = static_cast<PhysXRigidbody*>(desc.bodies[1].body)->_getInternal();
PxTransform tfrm0 = toPxTransform(desc.bodies[0].position, desc.bodies[0].rotation);
PxTransform tfrm1 = toPxTransform(desc.bodies[1].position, desc.bodies[1].rotation);
PxD6Joint* joint = PxD6JointCreate(*physx, actor0, tfrm0, actor1, tfrm1);
joint->userData = this;
mInternal = bs_new<FPhysXJoint>(joint, desc);
// Calls to virtual methods are okay here
for (UINT32 i = 0; i < (UINT32)D6JointAxis::Count; i++)
setMotion((D6JointAxis)i, desc.motion[i]);
for (UINT32 i = 0; i < (UINT32)D6JointDriveType::Count; i++)
setDrive((D6JointDriveType)i, desc.drive[i]);
setLimitLinear(desc.limitLinear);
setLimitTwist(desc.limitTwist);
setLimitSwing(desc.limitSwing);
setDriveTransform(desc.drivePosition, desc.driveRotation);
setDriveVelocity(desc.driveLinearVelocity, desc.driveAngularVelocity);
}
PhysXSphericalJoint::PhysXSphericalJoint(PxPhysics* physx, const SPHERICAL_JOINT_DESC& desc)
:SphericalJoint(desc)
{
PxRigidActor* actor0 = nullptr;
if (desc.bodies[0].body != nullptr)
actor0 = static_cast<PhysXRigidbody*>(desc.bodies[0].body)->_getInternal();
PxRigidActor* actor1 = nullptr;
if (desc.bodies[1].body != nullptr)
actor1 = static_cast<PhysXRigidbody*>(desc.bodies[1].body)->_getInternal();
PxTransform tfrm0 = toPxTransform(desc.bodies[0].position, desc.bodies[0].rotation);
PxTransform tfrm1 = toPxTransform(desc.bodies[1].position, desc.bodies[1].rotation);
PxSphericalJoint* joint = PxSphericalJointCreate(*physx, actor0, tfrm0, actor1, tfrm1);
joint->userData = this;
mInternal = bs_new<FPhysXJoint>(joint, desc);
PxSphericalJointFlags flags;
if (((UINT32)desc.flag & (UINT32)Flag::Limit) != 0)
flags |= PxSphericalJointFlag::eLIMIT_ENABLED;
joint->setSphericalJointFlags(flags);
// Calls to virtual methods are okay here
setLimit(desc.limit);
}
PhysXMeshCollider::PhysXMeshCollider(PxPhysics* physx, const Vector3& position, const Quaternion& rotation)
{
PxSphereGeometry geometry(0.01f); // Dummy
PxShape* shape = physx->createShape(geometry, *gPhysX().getDefaultMaterial(), true);
shape->setLocalPose(toPxTransform(position, rotation));
shape->userData = this;
mInternal = bs_new<FPhysXCollider>(shape);
}
PhysXRigidbody::PhysXRigidbody(PxPhysics* physx, PxScene* scene, const HSceneObject& linkedSO)
:Rigidbody(linkedSO)
{
PxTransform tfrm = toPxTransform(linkedSO->getWorldPosition(), linkedSO->getWorldRotation());
mInternal = physx->createRigidDynamic(tfrm);
mInternal->userData = this;
scene->addActor(*mInternal);
}
void PhysXRigidbody::setCenterOfMass(const Vector3& position, const Quaternion& rotation)
{
if (((UINT32)mFlags & (UINT32)Flag::AutoTensors) != 0)
{
LOGWRN("Attempting to set Rigidbody center of mass, but it has automatic tensor calculation turned on.");
return;
}
mInternal->setCMassLocalPose(toPxTransform(position, rotation));
}
PhysXSphereCollider::PhysXSphereCollider(PxPhysics* physx, const Vector3& position, const Quaternion& rotation,
float radius)
:mRadius(radius)
{
PxSphereGeometry geometry(radius);
PxShape* shape = physx->createShape(geometry, *gPhysX().getDefaultMaterial(), true);
shape->setLocalPose(toPxTransform(position, rotation));
shape->userData = this;
mInternal = bs_new<FPhysXCollider>(shape);
applyGeometry();
}
PhysXBoxCollider::PhysXBoxCollider(PxPhysics* physx, const Vector3& position, const Quaternion& rotation,
const Vector3& extents)
:mExtents(extents)
{
PxBoxGeometry geometry(extents.x, extents.y, extents.z);
PxShape* shape = physx->createShape(geometry, *gPhysX().getDefaultMaterial(), true);
shape->setLocalPose(toPxTransform(position, rotation));
shape->userData = this;
mInternal = bs_new<FPhysXCollider>(shape);
applyGeometry();
}
void PhysXRigidbody::setTransform(const Vector3& pos, const Quaternion& rot)
{
mInternal->setGlobalPose(toPxTransform(pos, rot));
}
void PhysXD6Joint::setDriveTransform(const Vector3& position, const Quaternion& rotation)
{
getInternal()->setDrivePosition(toPxTransform(position, rotation));
}
void FPhysXJoint::setTransform(JointBody body, const Vector3& position, const Quaternion& rotation)
{
PxTransform transform = toPxTransform(position, rotation);
mJoint->setLocalPose(toJointActor(body), transform);
}