PxArticulationDriveCache* NpArticulation::createDriveCache(PxReal compliance, PxU32 driveIterations) const
{
PX_CHECK_AND_RETURN_NULL(getAPIScene(), "PxArticulation::createDriveCache: object must be in a scene");
NP_READ_CHECK(getOwnerScene()); // doesn't modify the scene, only reads
return reinterpret_cast<PxArticulationDriveCache*>(mArticulation.getScArticulation().createDriveCache(compliance, driveIterations));
}
void NpArticulation::releaseDriveCache(PxArticulationDriveCache&cache ) const
{
PX_CHECK_AND_RETURN(getAPIScene(), "PxArticulation::releaseDriveCache: object must be in a scene");
NP_READ_CHECK(getOwnerScene()); // doesn't modify the scene, only reads
mArticulation.getScArticulation().releaseDriveCache(reinterpret_cast<Sc::ArticulationDriveCache&>(cache));
}
bool NpArticulation::isSleeping() const
{
NP_READ_CHECK(getOwnerScene());
PX_CHECK_AND_RETURN_VAL(getAPIScene(), "Articulation::isSleeping: articulation must be in a scene.", true);
return getArticulation().isSleeping();
}
void NpArticulation::getSolverIterationCounts(PxU32 & positionIters, PxU32 & velocityIters) const
{
NP_READ_CHECK(getOwnerScene());
PxU16 x = getArticulation().getSolverIterationCounts();
velocityIters = PxU32(x >> 8);
positionIters = PxU32(x & 0xff);
}
void NpArticulation::updateDriveCache(PxArticulationDriveCache& cache, PxReal compliance, PxU32 driveIterations) const
{
PX_CHECK_AND_RETURN(getAPIScene(), "PxArticulation::updateDriveCache: object must be in a scene");
Sc::ArticulationDriveCache& c = reinterpret_cast<Sc::ArticulationDriveCache&>(cache);
PX_CHECK_AND_RETURN(mArticulation.getScArticulation().getCacheLinkCount(c) == mArticulationLinks.size(), "PxArticulation::updateDriveCache: Articulation size has changed; drive cache is invalid");
NP_READ_CHECK(getOwnerScene()); // doesn't modify the scene, only reads
mArticulation.getScArticulation().updateDriveCache(c, compliance, driveIterations);
}
PxU32 NpArticulation::getLinks(PxArticulationLink** buffer, PxU32 bufferSize) const
{
NP_READ_CHECK(getOwnerScene());
const PxU32 size = mArticulationLinks.size();
const PxU32 writeCount = PxMin(size, bufferSize);
for(PxU32 i=0; i<writeCount; i++)
buffer[i] = mArticulationLinks[i];
return writeCount;
// return Ps::dumpPointerArray((const void**)mArticulationLinks.begin(), mArticulationLinks.size(), (void**)buffer, bufferSize);
}
PxBounds3 NpArticulation::getWorldBounds(float inflation) const
{
NP_READ_CHECK(getOwnerScene());
PxBounds3 bounds = PxBounds3::empty();
for(PxU32 i=0; i < mArticulationLinks.size(); i++)
{
bounds.include(mArticulationLinks[i]->getWorldBounds());
}
PX_ASSERT(bounds.isValid());
// PT: unfortunately we can't just scale the min/max vectors, we need to go through center/extents.
const PxVec3 center = bounds.getCenter();
const PxVec3 inflatedExtents = bounds.getExtents() * inflation;
return PxBounds3::centerExtents(center, inflatedExtents);
}
void NpArticulation::computeImpulseResponse(PxArticulationLink* link,
PxVec3& linearResponse,
PxVec3& angularResponse,
const PxArticulationDriveCache& driveCache,
const PxVec3& force,
const PxVec3& torque) const
{
PX_CHECK_AND_RETURN(getAPIScene(), "PxArticulation::computeImpulseResponse: object must be in a scene");
PX_CHECK_AND_RETURN(force.isFinite() && torque.isFinite(), "PxArticulation::computeImpulseResponse: invalid force/torque");
NP_READ_CHECK(getOwnerScene());
const Sc::ArticulationDriveCache& c = reinterpret_cast<const Sc::ArticulationDriveCache&>(driveCache);
PX_CHECK_AND_RETURN(mArticulation.getScArticulation().getCacheLinkCount(c) == mArticulationLinks.size(), "PxArticulation::computeImpulseResponse: Articulation size has changed; drive cache is invalid");
PX_UNUSED(&c);
mArticulation.getScArticulation().computeImpulseResponse(static_cast<NpArticulationLink*>(link)->getScbBodyFast().getScBody(),
linearResponse, angularResponse,
reinterpret_cast<const Sc::ArticulationDriveCache&>(driveCache),
force, torque);
}
const char* NpArticulation::getName() const
{
NP_READ_CHECK(getOwnerScene());
return mName;
}
PxReal NpArticulationJoint::getExternalCompliance() const
{
NP_READ_CHECK(getOwnerScene());
return mJoint.getExternalCompliance();
}
PxAggregate* NpArticulation::getAggregate() const
{
NP_READ_CHECK(getOwnerScene());
return mAggregate;
}
PxU32 NpArticulation::getNbLinks() const
{
NP_READ_CHECK(getOwnerScene());
return mArticulationLinks.size();
}
void NpArticulationJoint::getSwingLimit(PxReal &yLimit, PxReal &zLimit) const
{
NP_READ_CHECK(getOwnerScene());
mJoint.getSwingLimit(yLimit, zLimit);
}
PxVec3 NpArticulationJoint::getTargetVelocity() const
{
NP_READ_CHECK(getOwnerScene());
return mJoint.getTargetVelocity();
}
bool NpArticulationJoint::getTwistLimitEnabled() const
{
NP_READ_CHECK(getOwnerScene());
return mJoint.getTwistLimitEnabled();
}
PxReal NpArticulationJoint::getTangentialDamping() const
{
NP_READ_CHECK(getOwnerScene());
return mJoint.getTangentialDamping();
}
PxReal NpArticulation::getSleepThreshold() const
{
NP_READ_CHECK(getOwnerScene());
return getArticulation().getSleepThreshold();
}
PxReal NpArticulation::getSeparationTolerance() const
{
NP_READ_CHECK(getOwnerScene());
return getArticulation().getSeparationTolerance();
}
PxArticulationJointDriveType::Enum NpArticulationJoint::getDriveType() const
{
NP_READ_CHECK(getOwnerScene());
return mJoint.getDriveType();
}
PxU32 NpArticulation::getMaxProjectionIterations() const
{
NP_READ_CHECK(getOwnerScene());
return getArticulation().getMaxProjectionIterations();
}
PxU32 NpArticulation::getExternalDriveIterations() const
{
NP_READ_CHECK(getOwnerScene());
return getArticulation().getExternalDriveIterations();
}
PxTransform NpArticulationJoint::getParentPose() const
{
NP_READ_CHECK(getOwnerScene());
return mParent->getCMassLocalPose().transform(mJoint.getParentPose());
}
PxReal NpArticulationJoint::getTwistLimitContactDistance() const
{
NP_READ_CHECK(getOwnerScene());
return mJoint.getTwistLimitContactDistance();
}
PxReal NpArticulation::getStabilizationThreshold() const
{
NP_READ_CHECK(getOwnerScene());
return getArticulation().getFreezeThreshold();
}
PxReal NpArticulationJoint::getStiffness() const
{
NP_READ_CHECK(getOwnerScene());
return mJoint.getStiffness();
}
PxReal NpArticulation::getWakeCounter() const
{
NP_READ_CHECK(getOwnerScene());
return getArticulation().getWakeCounter();
}
PxQuat NpArticulationJoint::getTargetOrientation() const
{
NP_READ_CHECK(getOwnerScene());
return mJoint.getTargetOrientation();
}
void NpArticulationJoint::getTwistLimit(PxReal &lower, PxReal &upper) const
{
NP_READ_CHECK(getOwnerScene());
mJoint.getTwistLimit(lower, upper);
}
