void pJoint::setLocalAnchor0(VxVector anchor0) { if (getJoint()) { if(getJoint()->isRevoluteJoint()) { NxRevoluteJointDesc descr; NxRevoluteJoint *joint = static_cast<NxRevoluteJoint*>(getJoint()); if (!joint)return; joint->saveToDesc(descr); descr.localAnchor[0] = getFrom(anchor0); joint->loadFromDesc(descr); } } }
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; }