// fixed, breakable joint
PxJoint* createBreakableFixed(PxRigidActor* a0, const PxTransform& t0, PxRigidActor* a1, const PxTransform& t1)
{
PxFixedJoint* j = PxFixedJointCreate(*gPhysics, a0, t0, a1, t1);
j->setBreakForce(100000, 10000000);
j->setConstraintFlag(PxConstraintFlag::eDRIVE_LIMITS_ARE_FORCES, true);
return j;
}
/**
* Method is used to add joint between two scene actors. This joints can be broken when defined
* amount of force/troque have been applied.
* @param name is first actor name id.
* @param name2 is second actor name id.
* @param force is amount of force needed to brake joint.
* @param torque is amount of torque needed to brake joint.
*/
void PhysicsManager::addJoint(const string& name, const string& name2, const float force, const float torque)
{
DynamicActor* first = nullptr;
DynamicActor* second = nullptr;
DynamicActors::const_iterator it = dynamicActors.begin();
for(; it != dynamicActors.end(); ++it)
if((*it)->entityLogic->entityName == name)
break;
if(it == dynamicActors.end())
return;
first = (*it);
it = dynamicActors.begin();
for(; it != dynamicActors.end(); ++it)
if((*it)->entityLogic->entityName == name2)
break;
if(it == dynamicActors.end())
return;
second = (*it);
PxTransform transformation;
PxVec3 position = PxVec3(first->entityLogic->entityState.position[0],first->entityLogic->entityState.position[1],first->entityLogic->entityState.position[2]);
PxQuat orientation = PxQuat(first->entityLogic->entityState.orientation[0],first->entityLogic->entityState.orientation[1],first->entityLogic->entityState.orientation[2],first->entityLogic->entityState.orientation[3]);
transformation.p = position;
transformation.q = orientation;
PxTransform transformation2;
PxVec3 position2 = PxVec3(second->entityLogic->entityState.position[0],second->entityLogic->entityState.position[1],second->entityLogic->entityState.position[2]);
PxQuat orientation2 = PxQuat(second->entityLogic->entityState.orientation[0],second->entityLogic->entityState.orientation[1],second->entityLogic->entityState.orientation[2],second->entityLogic->entityState.orientation[3]);
transformation2.p = position2;
transformation2.q = orientation2;
PxFixedJoint* fixed = PxFixedJointCreate(*physicsSDK,first->entityPhysics,transformation,second->entityPhysics,transformation2);
fixed->setBreakForce(force,torque);
}
PhysXFixedJoint::PhysXFixedJoint(PxPhysics* pPhysics, PxRigidActor* pActor0, const PxTransform& localFrame0,
PxRigidActor* pActor1, const PxTransform& localFrame1) : PhysXJoint(pPhysics, pActor0, pActor1)
{
mJoint = PxFixedJointCreate(*mPhysics, pActor0, localFrame0, pActor1, localFrame1);
}
