PhysXSphericalJoint::PhysXSphericalJoint(PxPhysics* physx, const SPHERICAL_JOINT_DESC& desc)
:SphericalJoint(desc)
{
PxRigidActor* actor0 = nullptr;
if (desc.bodies[0].body != nullptr)
actor0 = static_cast<PhysXRigidbody*>(desc.bodies[0].body)->_getInternal();
PxRigidActor* actor1 = nullptr;
if (desc.bodies[1].body != nullptr)
actor1 = static_cast<PhysXRigidbody*>(desc.bodies[1].body)->_getInternal();
PxTransform tfrm0 = toPxTransform(desc.bodies[0].position, desc.bodies[0].rotation);
PxTransform tfrm1 = toPxTransform(desc.bodies[1].position, desc.bodies[1].rotation);
PxSphericalJoint* joint = PxSphericalJointCreate(*physx, actor0, tfrm0, actor1, tfrm1);
joint->userData = this;
mInternal = bs_new<FPhysXJoint>(joint, desc);
PxSphericalJointFlags flags;
if (((UINT32)desc.flag & (UINT32)Flag::Limit) != 0)
flags |= PxSphericalJointFlag::eLIMIT_ENABLED;
joint->setSphericalJointFlags(flags);
// Calls to virtual methods are okay here
setLimit(desc.limit);
}
// spherical joint limited to an angle of at most pi/4 radians (45 degrees)
PxJoint* createLimitedSpherical(PxRigidActor* a0, const PxTransform& t0, PxRigidActor* a1, const PxTransform& t1)
{
PxSphericalJoint* j = PxSphericalJointCreate(*gPhysics, a0, t0, a1, t1);
j->setLimitCone(PxJointLimitCone(PxPi / 4, PxPi / 4, 0.05f));
j->setSphericalJointFlag(PxSphericalJointFlag::eLIMIT_ENABLED, true);
return j;
}