PhysXHingeJoint::PhysXHingeJoint(PxPhysics* physx, const HINGE_JOINT_DESC& desc)
:HingeJoint(desc)
{
PxRigidActor* actor0 = nullptr;
if (desc.bodies[0].body != nullptr)
actor0 = static_cast<PhysXRigidbody*>(desc.bodies[0].body)->_getInternal();
PxRigidActor* actor1 = nullptr;
if (desc.bodies[1].body != nullptr)
actor1 = static_cast<PhysXRigidbody*>(desc.bodies[1].body)->_getInternal();
PxTransform tfrm0 = toPxTransform(desc.bodies[0].position, desc.bodies[0].rotation);
PxTransform tfrm1 = toPxTransform(desc.bodies[1].position, desc.bodies[1].rotation);
PxRevoluteJoint* joint = PxRevoluteJointCreate(*physx, actor0, tfrm0, actor1, tfrm1);
joint->userData = this;
mInternal = bs_new<FPhysXJoint>(joint, desc);
PxRevoluteJointFlags flags;
if (((UINT32)desc.flag & (UINT32)Flag::Limit) != 0)
flags |= PxRevoluteJointFlag::eLIMIT_ENABLED;
if (((UINT32)desc.flag & (UINT32)Flag::Drive) != 0)
flags |= PxRevoluteJointFlag::eDRIVE_ENABLED;
joint->setRevoluteJointFlags(flags);
// Must be set after global flags, as it will append to them.
// Calls to virtual methods are okay here.
setLimit(desc.limit);
setDrive(desc.drive);
}
PhysXHingeJoint::PhysXHingeJoint(PxPhysics* pPhysics, PxRigidActor* pActor0, const PxTransform& localFrame0,
PxRigidActor* pActor1, const PxTransform& localFrame1) : PhysXJoint(pPhysics, pActor0, pActor1)
{
mJoint = PxRevoluteJointCreate(*mPhysics, pActor0, localFrame0, pActor1, localFrame1);
}
