void FConstraintInstance::UpdateDriveTarget()
{
#if WITH_PHYSX
if (PxD6Joint* PJoint = GetUnbrokenJoint())
{
FQuat OrientationTargetQuat(AngularOrientationTarget);
PJoint->setDrivePosition(PxTransform(U2PVector(LinearPositionTarget), U2PQuat(OrientationTargetQuat)));
PJoint->setDriveVelocity(U2PVector(LinearVelocityTarget), U2PVector(RevolutionsToRads(AngularVelocityTarget)));
}
#endif
}
void FConstraintInstance::UpdateDriveTarget()
{
#if WITH_PHYSX
ExecuteOnUnbrokenJointReadWrite([&] (PxD6Joint* Joint)
{
FQuat OrientationTargetQuat(AngularOrientationTarget);
Joint->setDrivePosition(PxTransform(U2PVector(LinearPositionTarget), U2PQuat(OrientationTargetQuat)));
Joint->setDriveVelocity(U2PVector(LinearVelocityTarget), U2PVector(RevolutionsToRads(AngularVelocityTarget)));
});
#endif
}
/** Function for setting target angular velocity. */
void FConstraintInstance::SetAngularVelocityTarget(const FVector& InVelTarget)
{
// If settings are the same, don't do anything.
if( AngularVelocityTarget == InVelTarget )
{
return;
}
#if WITH_PHYSX
if (PxD6Joint* Joint = ConstraintData)
{
PxVec3 CurrentLinearVel, CurrentAngVel;
Joint->getDriveVelocity(CurrentLinearVel, CurrentAngVel);
PxVec3 AngVel = U2PVector(RevolutionsToRads(InVelTarget));
Joint->setDriveVelocity(CurrentLinearVel, AngVel);
}
#endif
AngularVelocityTarget = InVelTarget;
}
