unsigned cPhysicsJointHingeNewton::LimitCallback(const NewtonJoint* pHinge, NewtonHingeSliderUpdateDesc* pDesc)
{
cPhysicsJointHingeNewton* pHingeJoint = (cPhysicsJointHingeNewton*)NewtonJointGetUserData(pHinge);
//pHingeJoint->OnPhysicsUpdate();
if(pHingeJoint->mfMaxAngle == 0 && pHingeJoint->mfMinAngle == 0) return 0;
float fAngle = NewtonHingeGetJointAngle (pHinge);
//Avoid oscillation
CheckLimitAutoSleep(pHingeJoint, pHingeJoint->mfMinAngle,pHingeJoint->mfMaxAngle,fAngle);
bool bSkipLimitCheck = false;
if(fabs(pHingeJoint->mfPreviousAngle - fAngle) > cMath::ToRad(300)) bSkipLimitCheck = true;
//Max limit
if (fAngle > pHingeJoint->mfMaxAngle && bSkipLimitCheck==false)
{
pHingeJoint->OnMaxLimit();
pDesc->m_accel = NewtonHingeCalculateStopAlpha (pHinge, pDesc, pHingeJoint->mfMaxAngle);
pDesc->m_maxFriction =0;
pHingeJoint->mfPreviousAngle = fAngle;
return 1;
}
//Min limit
else if (fAngle < pHingeJoint->mfMinAngle && bSkipLimitCheck==false)
{
pHingeJoint->OnMinLimit();
pDesc->m_accel = NewtonHingeCalculateStopAlpha (pHinge, pDesc, pHingeJoint->mfMinAngle);
pDesc->m_minFriction =0;
pHingeJoint->mfPreviousAngle = fAngle;
return 1;
}
else
{
if(pHingeJoint->mpParentBody ==NULL || pHingeJoint->mpParentBody->GetMass()==0)
{
if( (pHingeJoint->mfStickyMaxDistance != 0 &&
fabs(fAngle - pHingeJoint->mfMaxAngle) < pHingeJoint->mfStickyMaxDistance)
||
(pHingeJoint->mfStickyMinDistance != 0 &&
fabs(fAngle - pHingeJoint->mfMinAngle) < pHingeJoint->mfStickyMinDistance)
)
{
pHingeJoint->mpChildBody->SetAngularVelocity(0);
pHingeJoint->mpChildBody->SetLinearVelocity(0);
}
}
pHingeJoint->OnNoLimit();
}
pHingeJoint->mfPreviousAngle = fAngle;
return 0;
}
unsigned cPhysicsJointScrewNewton::LimitCallback(const NewtonJoint* pScrew, NewtonHingeSliderUpdateDesc* pDesc)
{
cPhysicsJointScrewNewton* pScrewJoint = (cPhysicsJointScrewNewton*)NewtonJointGetUserData(pScrew);
//pScrewJoint->OnPhysicsUpdate();
float fDistance = NewtonCorkscrewGetJointPosit (pScrew);
//Log("Dist: %f\n",fDistance);
if(pScrewJoint->mfMinDistance == 0 && pScrewJoint->mfMaxDistance == 0) return 0;
//Avoid oscillation
CheckLimitAutoSleep(pScrewJoint, pScrewJoint->mfMinDistance,pScrewJoint->mfMaxDistance,fDistance);
if (fDistance < pScrewJoint->mfMinDistance)
{
pScrewJoint->OnMinLimit();
pDesc->m_accel = NewtonCorkscrewCalculateStopAccel (pScrew, pDesc, pScrewJoint->mfMinDistance);
pDesc->m_minFriction =0;
return 1;
}
else if (fDistance > pScrewJoint->mfMaxDistance)
{
pScrewJoint->OnMaxLimit();
pDesc->m_accel = NewtonCorkscrewCalculateStopAccel (pScrew, pDesc, pScrewJoint->mfMaxDistance);
pDesc->m_maxFriction =0;
return 1;
}
else
{
if(pScrewJoint->mpParentBody ==NULL || pScrewJoint->mpParentBody->GetMass()==0)
{
if( (pScrewJoint->mfStickyMaxDistance != 0 &&
fabs(fDistance - pScrewJoint->mfMaxDistance) < pScrewJoint->mfStickyMaxDistance)
||
(pScrewJoint->mfStickyMinDistance != 0 &&
fabs(fDistance - pScrewJoint->mfMinDistance) < pScrewJoint->mfStickyMinDistance)
)
{
pScrewJoint->mpChildBody->SetAngularVelocity(0);
pScrewJoint->mpChildBody->SetLinearVelocity(0);
}
}
pScrewJoint->OnNoLimit();
}
return 0;
}