void pJointD6::setDrivePosition(VxVector pos)
{
NxD6JointDesc descr; NxD6Joint *joint = static_cast<NxD6Joint*>(getJoint()); if (!joint)return ; joint->saveToDesc(descr);
joint->setDrivePosition(pMath::getFrom(pos));
descr.drivePosition = (pMath::getFrom(pos));
joint->loadFromDesc(descr);
}
D6MotionMode pJointD6::getZMotion()
{
NxD6JointDesc descr; NxD6Joint *joint = static_cast<NxD6Joint*>(getJoint());
if (!joint)return D6MM_Locked;
joint->saveToDesc(descr);
return (D6MotionMode)descr.zMotion;
}
void pJointD6::setDriveLinearVelocity(VxVector linVel)
{
NxD6JointDesc descr; NxD6Joint *joint = static_cast<NxD6Joint*>(getJoint()); if (!joint)return ; joint->saveToDesc(descr);
//joint->setDriveLinearVelocity(pMath::getFrom(linVel));
descr.driveLinearVelocity = (pMath::getFrom(linVel));
joint->loadFromDesc(descr);
}
int pJointD6::setZDrive(pJD6Drive drive)
{
NxD6JointDesc descr; NxD6Joint *joint = static_cast<NxD6Joint*>(getJoint()); if (!joint)return -1 ; joint->saveToDesc(descr);
NxJointDriveDesc sdrive; sdrive.damping = drive.damping; sdrive.spring = drive.spring; sdrive.forceLimit = drive.forceLimit; sdrive.driveType=drive.driveType; descr.zDrive = sdrive;
joint->loadFromDesc(descr);
return 1;
}
int pJointD6::setSlerpDrive(pJD6Drive drive)
{
NxD6JointDesc descr; NxD6Joint *joint = static_cast<NxD6Joint*>(getJoint()); if (!joint)return -1 ; joint->saveToDesc(descr);
NxJointDriveDesc sdrive; sdrive.damping = drive.damping; sdrive.spring = drive.spring; sdrive.forceLimit = drive.forceLimit; sdrive.driveType=drive.driveType; descr.slerpDrive = sdrive;
descr.flags |=NX_D6JOINT_SLERP_DRIVE;
joint->loadFromDesc(descr);
return 1;
}
void pJointD6::enableCollision( bool value )
{
NxD6JointDesc descr; NxD6Joint *joint = static_cast<NxD6Joint*>(getJoint()); if (!joint)return ; joint->saveToDesc(descr);
if (value)
{
descr.jointFlags|=NX_JF_COLLISION_ENABLED;
}else
{
descr.jointFlags&=~NX_JF_COLLISION_ENABLED;
}
joint->loadFromDesc(descr);
}
void pJointD6::setRatio(float ratio)
{
NxD6JointDesc descr; NxD6Joint *joint = static_cast<NxD6Joint*>(getJoint()); if (!joint)return ; joint->saveToDesc(descr);
if (ratio!=0.0f)
{
descr.jointFlags|=NX_D6JOINT_GEAR_ENABLED;
descr.gearRatio = ratio;
}else
{
descr.jointFlags&=~NX_D6JOINT_GEAR_ENABLED;
}
joint->loadFromDesc(descr);
}
int pJointD6::setLinearLimit(pJD6SoftLimit limit)
{
NxD6JointDesc descr;
NxD6Joint *joint = static_cast<NxD6Joint*>(getJoint());
if (!joint)return -1 ;
joint->saveToDesc(descr);
NxJointLimitSoftDesc sLimit; sLimit.value = limit.value; sLimit.spring = limit.spring; sLimit.damping = limit.damping; sLimit.restitution = limit.restitution;
if (!sLimit.isValid())return -1;
descr.linearLimit = sLimit;
joint->loadFromDesc(descr);
return 1;
}
void pJointD6::setProjectionAngle(float angle)
{
NxD6JointDesc descr; NxD6Joint *joint = static_cast<NxD6Joint*>(getJoint()); if (!joint)return ; joint->saveToDesc(descr);
descr.projectionAngle= angle;
joint->loadFromDesc(descr);
}
void pJointD6::setProjectionMode(ProjectionMode mode)
{
NxD6JointDesc descr; NxD6Joint *joint = static_cast<NxD6Joint*>(getJoint()); if (!joint)return ; joint->saveToDesc(descr);
descr.projectionMode = (NxJointProjectionMode)mode;
joint->loadFromDesc(descr);
}
pJD6SoftLimit pJointD6::getTwistHighLimit()
{
NxD6JointDesc descr;NxD6Joint *joint = static_cast<NxD6Joint*>(getJoint());joint->saveToDesc(descr);
pJD6SoftLimit result(descr.twistLimit.high.damping,descr.twistLimit.high.spring,descr.twistLimit.high.value,descr.twistLimit.high.restitution);
return result;
}
void pJointD6::setZMotionMode(D6MotionMode mode)
{
NxD6JointDesc descr; NxD6Joint *joint = static_cast<NxD6Joint*>(getJoint());if (!joint)return;joint->saveToDesc(descr);
descr.zMotion = (NxD6JointMotion)mode;
joint->loadFromDesc(descr);
}
void pJointD6::setDriveRotation(VxQuaternion rot)
{
NxD6JointDesc descr; NxD6Joint *joint = static_cast<NxD6Joint*>(getJoint()); if (!joint)return ; joint->saveToDesc(descr);
joint->setDriveOrientation(pMath::getFrom(rot));
joint->loadFromDesc(descr);
}
pJD6SoftLimit pJointD6::getLinearLimit()
{
NxD6JointDesc descr;NxD6Joint *joint = static_cast<NxD6Joint*>(getJoint());joint->saveToDesc(descr);
pJD6SoftLimit result(descr.linearLimit.damping,descr.linearLimit.spring,descr.linearLimit.value,descr.linearLimit.restitution);
return result;
}
pJD6Drive pJointD6::getZDrive()
{
NxD6JointDesc descr;NxD6Joint *joint = static_cast<NxD6Joint*>(getJoint());joint->saveToDesc(descr);
pJD6Drive result(descr.zDrive.damping,descr.zDrive.spring,descr.zDrive.forceLimit,descr.zDrive.driveType);
return result;
}
void pJointD6::setGlobalAxis(VxVector axis)
{
NxD6JointDesc descr; NxD6Joint *joint = static_cast<NxD6Joint*>(getJoint()); if (!joint)return ; joint->saveToDesc(descr);
joint->setGlobalAxis(pMath::getFrom(axis));
//joint->setGlobalA(pMath::getFrom(anchor));
}
bool NxuPhysicsExport::Write(NxJoint *j,const char *userProperties,const char *id)
{
bool ret = false;
NxSceneDesc *current = getCurrentScene();
CustomCopy cc(mCollection,current);
NxJointDesc *joint = 0;
switch ( j->getType() )
{
case NX_JOINT_PRISMATIC:
if ( 1 )
{
::NxPrismaticJointDesc d1;
NxPrismaticJoint *sj = j->isPrismaticJoint();
sj->saveToDesc(d1);
addActor( d1.actor[0] );
addActor( d1.actor[1] );
NxPrismaticJointDesc *desc = new NxPrismaticJointDesc;
desc->copyFrom(d1,cc);
joint = static_cast<NxJointDesc *>(desc);
}
break;
case NX_JOINT_REVOLUTE:
if ( 1 )
{
::NxRevoluteJointDesc d1;
NxRevoluteJoint *sj = j->isRevoluteJoint();
sj->saveToDesc(d1);
addActor( d1.actor[0] );
addActor( d1.actor[1] );
NxRevoluteJointDesc *desc = new NxRevoluteJointDesc;
desc->copyFrom(d1,cc);
joint = static_cast<NxJointDesc *>(desc);
}
break;
case NX_JOINT_CYLINDRICAL:
if ( 1 )
{
::NxCylindricalJointDesc d1;
NxCylindricalJoint *sj = j->isCylindricalJoint();
sj->saveToDesc(d1);
addActor( d1.actor[0] );
addActor( d1.actor[1] );
NxCylindricalJointDesc *desc = new NxCylindricalJointDesc;
desc->copyFrom(d1,cc);
joint = static_cast<NxJointDesc *>(desc);
}
break;
case NX_JOINT_SPHERICAL:
if ( 1 )
{
::NxSphericalJointDesc d1;
NxSphericalJoint *sj = j->isSphericalJoint();
sj->saveToDesc(d1);
addActor( d1.actor[0] );
addActor( d1.actor[1] );
NxSphericalJointDesc *desc = new NxSphericalJointDesc;
desc->copyFrom(d1,cc);
joint = static_cast<NxJointDesc *>(desc);
}
break;
case NX_JOINT_POINT_ON_LINE:
if ( 1 )
{
::NxPointOnLineJointDesc d1;
NxPointOnLineJoint *sj = j->isPointOnLineJoint();
sj->saveToDesc(d1);
addActor( d1.actor[0] );
addActor( d1.actor[1] );
NxPointOnLineJointDesc *desc = new NxPointOnLineJointDesc;
desc->copyFrom(d1,cc);
joint = static_cast<NxJointDesc *>(desc);
}
break;
case NX_JOINT_POINT_IN_PLANE:
if ( 1 )
{
::NxPointInPlaneJointDesc d1;
NxPointInPlaneJoint *sj = j->isPointInPlaneJoint();
sj->saveToDesc(d1);
addActor( d1.actor[0] );
addActor( d1.actor[1] );
NxPointInPlaneJointDesc *desc = new NxPointInPlaneJointDesc;
desc->copyFrom(d1,cc);
joint = static_cast<NxJointDesc *>(desc);
}
break;
case NX_JOINT_DISTANCE:
if ( 1 )
{
::NxDistanceJointDesc d1;
NxDistanceJoint *sj = j->isDistanceJoint();
sj->saveToDesc(d1);
addActor( d1.actor[0] );
addActor( d1.actor[1] );
NxDistanceJointDesc *desc = new NxDistanceJointDesc;
desc->copyFrom(d1,cc);
joint = static_cast<NxJointDesc *>(desc);
}
break;
case NX_JOINT_PULLEY:
if ( 1 )
{
::NxPulleyJointDesc d1;
NxPulleyJoint *sj = j->isPulleyJoint();
sj->saveToDesc(d1);
addActor( d1.actor[0] );
addActor( d1.actor[1] );
NxPulleyJointDesc *desc = new NxPulleyJointDesc;
desc->copyFrom(d1,cc);
joint = static_cast<NxJointDesc *>(desc);
}
break;
case NX_JOINT_FIXED:
if ( 1 )
{
::NxFixedJointDesc d1;
NxFixedJoint *sj = j->isFixedJoint();
sj->saveToDesc(d1);
addActor( d1.actor[0] );
addActor( d1.actor[1] );
NxFixedJointDesc *desc = new NxFixedJointDesc;
desc->copyFrom(d1,cc);
joint = static_cast<NxJointDesc *>(desc);
}
break;
case NX_JOINT_D6:
if ( 1 )
{
::NxD6JointDesc d1;
NxD6Joint *sj = j->isD6Joint();
sj->saveToDesc(d1);
addActor( d1.actor[0] );
addActor( d1.actor[1] );
NxD6JointDesc *desc = new NxD6JointDesc;
desc->copyFrom(d1,cc);
joint = static_cast<NxJointDesc *>(desc);
}
break;
default:
break;
}
//Add Limits
// in addition, we also have to write out its limit planes!
j->resetLimitPlaneIterator();
if (j->hasMoreLimitPlanes())
{
// write limit point
joint->mOnActor2 = j->getLimitPoint(joint->mPlaneLimitPoint);
NxArray< NxPlaneInfoDesc *> plist;
// write the plane normals
while (j->hasMoreLimitPlanes())
{
NxPlaneInfoDesc *pInfo = new NxPlaneInfoDesc();
#if NX_SDK_VERSION_NUMBER >= 272
j->getNextLimitPlane(pInfo->mPlaneNormal, pInfo->mPlaneD, &pInfo->restitution);
#else
j->getNextLimitPlane(pInfo->mPlaneNormal, pInfo->mPlaneD);
#endif
plist.push_back(pInfo);
}
if ( plist.size() )
{
for (int i=plist.size()-1; i>=0; i--)
{
NxPlaneInfoDesc *p = plist[i];
joint->mPlaneInfo.pushBack(p);
}
}
}
if ( joint )
{
if ( id )
{
joint->mId = id;
}
else
{
char scratch[512];
sprintf(scratch,"Joint_%d", current->mJoints.size());
joint->mId = getGlobalString(scratch);
joint->mUserProperties = getGlobalString(userProperties);
}
current->mJoints.push_back(joint);
ret = true;
}
return ret;
}
