void pJointBall::setSwingLimitAxis( const VxVector& swingLimitAxis )
{
NxSphericalJointDesc descr;
NxSphericalJoint *joint = static_cast<NxSphericalJoint*>(getJoint()); if (!joint)return ; joint->saveToDesc(descr);
descr.swingAxis = pMath::getFrom(swingLimitAxis);
joint->loadFromDesc(descr);
}
pJointLimit pJointBall::getSwingLimit()
{
NxSphericalJointDesc descr;
NxSphericalJoint *joint = static_cast<NxSphericalJoint*>(getJoint());
if (!joint)return pJointLimit();
joint->saveToDesc(descr);
return pJointLimit (descr.swingLimit.hardness,descr.swingLimit.restitution,descr.swingLimit.value);
}
pSpring pJointBall::getJointSpring()
{
NxSphericalJointDesc descr;
NxSphericalJoint *joint = static_cast<NxSphericalJoint*>(getJoint());
if (!joint)return pSpring();
joint->saveToDesc(descr);
return pSpring (descr.jointSpring.damper,descr.jointSpring.spring,descr.jointSpring.targetValue);
}
void pJointBall::enableCollision( bool collision )
{
NxSphericalJointDesc descr;
NxSphericalJoint *joint = static_cast<NxSphericalJoint*>(getJoint()); if (!joint)return ; joint->saveToDesc(descr);
if (collision)
{
descr.jointFlags |= NX_JF_COLLISION_ENABLED;
}else
descr.jointFlags &= ~NX_JF_COLLISION_ENABLED;
joint->loadFromDesc(descr);
}
bool pJointBall::setJointSpring( pSpring spring )
{
NxSphericalJointDesc descr;
NxSphericalJoint *joint = static_cast<NxSphericalJoint*>(getJoint());
if (!joint)return false ;
joint->saveToDesc(descr);
NxSpringDesc sLimit; sLimit.damper = spring.damper;sLimit.spring=spring.spring;sLimit.targetValue=spring.targetValue;
if (!sLimit.isValid())return false;
descr.jointSpring= sLimit;
joint->loadFromDesc(descr);
return 1;
}
void pJointBall::enableFlag(int flag,bool enable)
{
NxSphericalJointDesc descr;
NxSphericalJoint *joint = static_cast<NxSphericalJoint*>(getJoint());
if (!joint)return;
joint->saveToDesc(descr);
if (enable)
descr.flags |=flag;
else
descr.flags &=~flag;
joint->loadFromDesc(descr);
return ;
}
bool pJointBall::setSwingLimit( pJointLimit limit )
{
NxSphericalJointDesc descr;
NxSphericalJoint *joint = static_cast<NxSphericalJoint*>(getJoint());
if (!joint)return false ;
joint->saveToDesc(descr);
if ( limit.hardness != 0.0f || limit.restitution != 0.0f || limit.value !=0.0f )
{
enableFlag(NX_SJF_SWING_LIMIT_ENABLED,1);
NxJointLimitDesc sLimit; sLimit.value = limit.value;sLimit.restitution = limit.restitution;sLimit.hardness = limit.hardness;
if (!sLimit.isValid())return false;
descr.swingLimit= sLimit;
joint->loadFromDesc(descr);
return true;
}else
{
enableFlag(NX_SJF_SWING_LIMIT_ENABLED,0);
}
return false;
}
void pJointBall::setProjectionMode(ProjectionMode mode)
{
NxSphericalJointDesc descr; NxSphericalJoint *joint = static_cast<NxSphericalJoint*>(getJoint()); if (!joint)return ; joint->saveToDesc(descr);
descr.projectionMode = (NxJointProjectionMode)mode;
joint->loadFromDesc(descr);
}
void pJointBall::setAnchor( const VxVector& anchor )
{
NxSphericalJointDesc descr;
NxSphericalJoint *joint = static_cast<NxSphericalJoint*>(getJoint()); if (!joint)return ; joint->saveToDesc(descr);
joint->setGlobalAnchor(pMath::getFrom(anchor));
}
void pJointBall::setProjectionDistance(float distance)
{
NxSphericalJointDesc descr; NxSphericalJoint *joint = static_cast<NxSphericalJoint*>(getJoint()); if (!joint)return ; joint->saveToDesc(descr);
descr.projectionDistance= distance;
joint->loadFromDesc(descr);
}
bool NxuPhysicsExport::Write(NxJoint *j,const char *userProperties,const char *id)
{
bool ret = false;
NxSceneDesc *current = getCurrentScene();
CustomCopy cc(mCollection,current);
NxJointDesc *joint = 0;
switch ( j->getType() )
{
case NX_JOINT_PRISMATIC:
if ( 1 )
{
::NxPrismaticJointDesc d1;
NxPrismaticJoint *sj = j->isPrismaticJoint();
sj->saveToDesc(d1);
addActor( d1.actor[0] );
addActor( d1.actor[1] );
NxPrismaticJointDesc *desc = new NxPrismaticJointDesc;
desc->copyFrom(d1,cc);
joint = static_cast<NxJointDesc *>(desc);
}
break;
case NX_JOINT_REVOLUTE:
if ( 1 )
{
::NxRevoluteJointDesc d1;
NxRevoluteJoint *sj = j->isRevoluteJoint();
sj->saveToDesc(d1);
addActor( d1.actor[0] );
addActor( d1.actor[1] );
NxRevoluteJointDesc *desc = new NxRevoluteJointDesc;
desc->copyFrom(d1,cc);
joint = static_cast<NxJointDesc *>(desc);
}
break;
case NX_JOINT_CYLINDRICAL:
if ( 1 )
{
::NxCylindricalJointDesc d1;
NxCylindricalJoint *sj = j->isCylindricalJoint();
sj->saveToDesc(d1);
addActor( d1.actor[0] );
addActor( d1.actor[1] );
NxCylindricalJointDesc *desc = new NxCylindricalJointDesc;
desc->copyFrom(d1,cc);
joint = static_cast<NxJointDesc *>(desc);
}
break;
case NX_JOINT_SPHERICAL:
if ( 1 )
{
::NxSphericalJointDesc d1;
NxSphericalJoint *sj = j->isSphericalJoint();
sj->saveToDesc(d1);
addActor( d1.actor[0] );
addActor( d1.actor[1] );
NxSphericalJointDesc *desc = new NxSphericalJointDesc;
desc->copyFrom(d1,cc);
joint = static_cast<NxJointDesc *>(desc);
}
break;
case NX_JOINT_POINT_ON_LINE:
if ( 1 )
{
::NxPointOnLineJointDesc d1;
NxPointOnLineJoint *sj = j->isPointOnLineJoint();
sj->saveToDesc(d1);
addActor( d1.actor[0] );
addActor( d1.actor[1] );
NxPointOnLineJointDesc *desc = new NxPointOnLineJointDesc;
desc->copyFrom(d1,cc);
joint = static_cast<NxJointDesc *>(desc);
}
break;
case NX_JOINT_POINT_IN_PLANE:
if ( 1 )
{
::NxPointInPlaneJointDesc d1;
NxPointInPlaneJoint *sj = j->isPointInPlaneJoint();
sj->saveToDesc(d1);
addActor( d1.actor[0] );
addActor( d1.actor[1] );
NxPointInPlaneJointDesc *desc = new NxPointInPlaneJointDesc;
desc->copyFrom(d1,cc);
joint = static_cast<NxJointDesc *>(desc);
}
break;
case NX_JOINT_DISTANCE:
if ( 1 )
{
::NxDistanceJointDesc d1;
NxDistanceJoint *sj = j->isDistanceJoint();
sj->saveToDesc(d1);
addActor( d1.actor[0] );
addActor( d1.actor[1] );
NxDistanceJointDesc *desc = new NxDistanceJointDesc;
desc->copyFrom(d1,cc);
joint = static_cast<NxJointDesc *>(desc);
}
break;
case NX_JOINT_PULLEY:
if ( 1 )
{
::NxPulleyJointDesc d1;
NxPulleyJoint *sj = j->isPulleyJoint();
sj->saveToDesc(d1);
addActor( d1.actor[0] );
addActor( d1.actor[1] );
NxPulleyJointDesc *desc = new NxPulleyJointDesc;
desc->copyFrom(d1,cc);
joint = static_cast<NxJointDesc *>(desc);
}
break;
case NX_JOINT_FIXED:
if ( 1 )
{
::NxFixedJointDesc d1;
NxFixedJoint *sj = j->isFixedJoint();
sj->saveToDesc(d1);
addActor( d1.actor[0] );
addActor( d1.actor[1] );
NxFixedJointDesc *desc = new NxFixedJointDesc;
desc->copyFrom(d1,cc);
joint = static_cast<NxJointDesc *>(desc);
}
break;
case NX_JOINT_D6:
if ( 1 )
{
::NxD6JointDesc d1;
NxD6Joint *sj = j->isD6Joint();
sj->saveToDesc(d1);
addActor( d1.actor[0] );
addActor( d1.actor[1] );
NxD6JointDesc *desc = new NxD6JointDesc;
desc->copyFrom(d1,cc);
joint = static_cast<NxJointDesc *>(desc);
}
break;
default:
break;
}
//Add Limits
// in addition, we also have to write out its limit planes!
j->resetLimitPlaneIterator();
if (j->hasMoreLimitPlanes())
{
// write limit point
joint->mOnActor2 = j->getLimitPoint(joint->mPlaneLimitPoint);
NxArray< NxPlaneInfoDesc *> plist;
// write the plane normals
while (j->hasMoreLimitPlanes())
{
NxPlaneInfoDesc *pInfo = new NxPlaneInfoDesc();
#if NX_SDK_VERSION_NUMBER >= 272
j->getNextLimitPlane(pInfo->mPlaneNormal, pInfo->mPlaneD, &pInfo->restitution);
#else
j->getNextLimitPlane(pInfo->mPlaneNormal, pInfo->mPlaneD);
#endif
plist.push_back(pInfo);
}
if ( plist.size() )
{
for (int i=plist.size()-1; i>=0; i--)
{
NxPlaneInfoDesc *p = plist[i];
joint->mPlaneInfo.pushBack(p);
}
}
}
if ( joint )
{
if ( id )
{
joint->mId = id;
}
else
{
char scratch[512];
sprintf(scratch,"Joint_%d", current->mJoints.size());
joint->mId = getGlobalString(scratch);
joint->mUserProperties = getGlobalString(userProperties);
}
current->mJoints.push_back(joint);
ret = true;
}
return ret;
}
