void PhyFixed::createPrivateJoint()
{
#ifdef WORLDSIM_USE_NEWTON
m_priv->joint = NewtonConstraintCreateUserJoint( m_worldPriv->world, 6, PhyJointPrivate::userBilateralHandler, 0, m_priv->child, m_priv->parent );
NewtonJointSetUserData( m_priv->joint, this );
#endif
}
NewtonCustomJoint::NewtonCustomJoint (int maxDOF, NewtonBody* body0, NewtonBody* body1)
{
m_joint = NULL;
m_body0 = body0;
m_body1 = body1;
m_maxDox = maxDOF;
m_world = NewtonBodyGetWorld (body0);
m_joint = NewtonConstraintCreateUserJoint (m_world, maxDOF, SubmitConstrainst, m_body0, m_body1);
NewtonJointSetUserData (m_joint, this);
NewtonJointSetDestructor (m_joint, Destructor);
}
void CustomJoint::Init (int maxDOF, NewtonBody* const body0, NewtonBody* const body1)
{
m_autoDestroy = 0;
m_joint = NULL;
m_body0 = body0;
m_body1 = body1;
m_maxDof = maxDOF;
m_world = NewtonBodyGetWorld (body0);
m_joint = NewtonConstraintCreateUserJoint (m_world, maxDOF, SubmitConstraints, GetInfo, m_body0, m_body1);
NewtonJointSetUserData (m_joint, this);
NewtonJointSetDestructor (m_joint, Destructor);
m_userData = NULL;
m_userDestructor = NULL;
m_userConstrationCallback = NULL;
}
void dCustomJoint::Init (int maxDOF, NewtonBody* const body0, NewtonBody* const body1)
{
m_joint = NULL;
m_body0 = body0;
m_body1 = body1;
m_maxDof = maxDOF;
m_autoDestroy = 0;
m_stiffness = 1.0f;
m_world = body0 ? NewtonBodyGetWorld (body0) : NewtonBodyGetWorld (body1);
m_joint = NewtonConstraintCreateUserJoint (m_world, maxDOF, SubmitConstraints, m_body0, m_body1);
NewtonJointSetUserData (m_joint, this);
NewtonJointSetDestructor (m_joint, Destructor);
m_userData = NULL;
m_userDestructor = NULL;
}
iPhysicsJoint* iPhysics::createJoint(iPhysicsBody* body0, iPhysicsBody* body1, int dof)
{
iPhysicsJoint* result = nullptr;
con_assert(body0 != nullptr, "zero pointer");
if (body0 != nullptr)
{
NewtonWaitForUpdateToFinish(static_cast<const NewtonWorld*>(_defaultWorld));
NewtonJoint * joint = NewtonConstraintCreateUserJoint(static_cast<NewtonWorld*>(_defaultWorld), dof, reinterpret_cast<NewtonUserBilateralCallback>(SubmitConstraints), nullptr, static_cast<NewtonBody*>(body0->getNewtonBody()), body1 != nullptr ? static_cast<NewtonBody*>(body1->getNewtonBody()) : nullptr);
result = new iPhysicsJoint(joint, body0->getID(), body1 != nullptr ? body1->getID() : 0);
_jointListMutex.lock();
_joints[result->getID()] = result;
_jointListMutex.unlock();
NewtonJointSetUserData(joint, result);
}
return result;
}
