void PhysXD6Joint::setLimitSwing(const LimitConeRange& limit)
{
PxJointLimitCone pxLimit(limit.yLimitAngle.valueRadians(), limit.zLimitAngle.valueRadians(), limit.contactDist);
pxLimit.stiffness = limit.spring.stiffness;
pxLimit.damping = limit.spring.damping;
pxLimit.restitution = limit.restitution;
getInternal()->setSwingLimit(pxLimit);
}
void PhysXHingeJoint::setLimit(const LimitAngularRange& limit)
{
PxJointAngularLimitPair pxLimit(limit.lower.valueRadians(), limit.upper.valueRadians(), limit.contactDist);
pxLimit.stiffness = limit.spring.stiffness;
pxLimit.damping = limit.spring.damping;
pxLimit.restitution = limit.restitution;
getInternal()->setLimit(pxLimit);
}
void PhysXD6Joint::setLimitLinear(const LimitLinear& limit)
{
PxJointLinearLimit pxLimit(gPhysX().getScale(), limit.extent, limit.contactDist);
pxLimit.stiffness = limit.spring.stiffness;
pxLimit.damping = limit.spring.damping;
pxLimit.restitution = limit.restitution;
getInternal()->setLinearLimit(pxLimit);
}
