/**
* @brief
* Static Newton joint user callback function
*/
unsigned JointUniversal::JointUserCallback(const Newton::NewtonJoint *pNewtonJoint, Newton::NewtonHingeSliderUpdateDesc *pDesc)
{
// Get joint
const JointUniversal *pJoint = static_cast<JointUniversal*>(NewtonJointGetUserData(pNewtonJoint));
if (!pJoint)
return 0;
// [TODO] Breakable
// Get min/max angle limits
const float fAngleMinLimit1 = pJoint->GetLowRange1();
const float fAngleMaxLimit1 = pJoint->GetHighRange1();
const float fAngleMinLimit2 = pJoint->GetLowRange2();
const float fAngleMaxLimit2 = pJoint->GetHighRange2();
// Check limits
uint32 nReturn = 0;
// Limit 1
float fAngle = NewtonUniversalGetJointAngle0(pNewtonJoint);
if (fAngle > fAngleMaxLimit1) {
// If the joint angle is large than the defined value, stop the universal
pDesc[0].m_accel = NewtonUniversalCalculateStopAlpha0(pNewtonJoint, pDesc, fAngleMaxLimit1);
nReturn |= 1;
} else if (fAngle < fAngleMinLimit1) {
// If the joint angle is smaller than the defined value, stop the universal
pDesc[0].m_accel = NewtonUniversalCalculateStopAlpha0(pNewtonJoint, pDesc, fAngleMinLimit1);
nReturn |= 1;
}
// Limit 2
fAngle = NewtonUniversalGetJointAngle1(pNewtonJoint);
if (fAngle > fAngleMaxLimit2) {
// If the joint angle is large than the defined value, stop the universal
pDesc[1].m_accel = NewtonUniversalCalculateStopAlpha1(pNewtonJoint, &pDesc[1], fAngleMaxLimit2);
nReturn |= 2;
} else if (fAngle < fAngleMinLimit2) {
// If the joint angle is smaller than the defined value, stop the universal
pDesc[1].m_accel = NewtonUniversalCalculateStopAlpha1(pNewtonJoint, &pDesc[1], fAngleMinLimit2);
nReturn |= 2;
}
// No action need it if the joint angle is with the limits
return nReturn;
}
dFloat Roket_PhysicsJointUniversal::getAngle1()
{
return NewtonUniversalGetJointAngle1(joint);
}
