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);
}
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;
}
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::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);
}
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);
}