//
// ESciVis::CreatePhysMesh
//
NxActor *ESciVis::CreatePhysMesh( IPxTriMesh mesh, const EVec4 &pos, const EQuat &orient, float mass )
{
NxVec3 p = ToNxVec3( EVec3(pos.x, pos.y, pos.z) );
NxQuat q = ToNxQuat( orient );
// actor descriptor
NxActorDesc actor_desc;
NxBodyDesc body_desc;
NxActor *actor = NULL;
// setup actor shape :
NxConvexShapeDesc shape_desc;
shape_desc.meshData = BuildConvexMesh( mesh );
shape_desc.localPose.t = NxVec3(0, 0, 0);
shape_desc.group = 0;
actor_desc.shapes.pushBack(&shape_desc);
ASSERT(shape_desc.isValid());
// setup actor :
actor_desc.body = &body_desc;
actor_desc.density = 0;
actor_desc.globalPose.t = p;
actor_desc.globalPose.M = NxMat33(q);
actor_desc.group = 0;
// setup body :
body_desc.mass = mass;
ASSERT(body_desc.isValid());
ASSERT(actor_desc.isValid());
// create actor :
actor = nx_scene->createActor(actor_desc);
ASSERT(actor);
return actor;
}
void PhysXShape::setLocalTranslation(const math::vector3d&v)
{
m_nxShape->setLocalPosition(ToNxVec3(v));
}
// returns true if point is on node2
bool PhysXCylinderJoint::getLimitPoint(math::vector3d&p){
return m_joint->getLimitPoint(ToNxVec3(p));
}
void PhysXCylinderJoint::setLimitPoint(const math::vector3d&p,bool pointOnNode2){
m_joint->setLimitPoint(ToNxVec3(p),pointOnNode2);
}
//Sets the direction of the joint's primary axis, specified in global coordinates.
void PhysXCylinderJoint::setGlobalAxis(const math::vector3d &v){
m_joint->setGlobalAxis(ToNxVec3(v));
}
bool PhysXCylinderJoint::addLimitPlane(const math::vector3d& normal, const math::vector3d & pointInPlane,
float restitution )
{
return m_joint->addLimitPlane(ToNxVec3(normal),ToNxVec3(pointInPlane),restitution);
}
/// Sets a constant gravity for the entire scene.
virtual void SetGravity ( const Vector3 &vec ) { m_pScene->setGravity( ToNxVec3(vec) ); }
