void NpRigidDynamic::setGlobalPose(const PxTransform& pose, bool autowake)
{
NpScene* scene = NpActor::getAPIScene(*this);
#ifdef PX_CHECKED
if(scene)
scene->checkPositionSanity(*this, pose, "PxRigidDynamic::setGlobalPose");
#endif
PX_CHECK_AND_RETURN(pose.isSane(), "NpRigidDynamic::setGlobalPose: pose is not valid.");
NP_WRITE_CHECK(NpActor::getOwnerScene(*this));
PxTransform p = pose.getNormalized();
if(scene)
{
updateDynamicSceneQueryShapes(mShapeManager, scene->getSceneQueryManagerFast());
}
PxTransform newPose = p;
newPose.q.normalize(); //AM: added to fix 1461 where users read and write orientations for no reason.
Scb::Body& b = getScbBodyFast();
PxTransform body2World = newPose * b.getBody2Actor();
b.setBody2World(body2World, false);
if(scene && autowake && !(b.getActorFlags() & PxActorFlag::eDISABLE_SIMULATION))
wakeUpInternal();
}
void NpArticulationLink::setGlobalPose(const PxTransform& pose, bool autowake)
{
NpScene* scene = NpActor::getOwnerScene(*this);
PX_CHECK_AND_RETURN(pose.isValid(), "NpArticulationLink::setGlobalPose pose is not valid.");
NP_WRITE_CHECK(scene);
#if PX_CHECKED
if(scene)
scene->checkPositionSanity(*this, pose, "PxArticulationLink::setGlobalPose");
#endif
PxTransform body2World = pose * getScbBodyFast().getBody2Actor();
getScbBodyFast().setBody2World(body2World, false);
if (scene && autowake)
mRoot->wakeUpInternal(false, true);
}
void NpRigidDynamic::setKinematicTarget(const PxTransform& destination)
{
PX_CHECK_AND_RETURN(destination.isSane(), "NpRigidDynamic::setKinematicTarget: destination is not valid.");
NpScene* scene = NpActor::getAPIScene(*this);
PX_UNUSED(scene);
NP_WRITE_CHECK(NpActor::getOwnerScene(*this));
#ifdef PX_CHECKED
if(scene)
scene->checkPositionSanity(*this, destination, "PxRigidDynamic::setKinematicTarget");
#endif
Scb::Body& b = getScbBodyFast();
PX_UNUSED(b);
//0) make sure this is kinematic
PX_CHECK_AND_RETURN((b.getFlags() & PxRigidBodyFlag::eKINEMATIC), "RigidDynamic::setKinematicTarget: Body must be kinematic!");
PX_CHECK_AND_RETURN(scene, "RigidDynamic::setKinematicTarget: Body must be in a scene!");
PX_CHECK_AND_RETURN(!(b.getActorFlags() & PxActorFlag::eDISABLE_SIMULATION), "RigidDynamic::setKinematicTarget: Not allowed if PxActorFlag::eDISABLE_SIMULATION is set!");
setKinematicTargetInternal(destination.getNormalized());
}