1//************************************ bs::framework - Copyright 2018 Marko Pintera **************************************//
2//*********** Licensed under the MIT license. See LICENSE.md for full terms. This notice is not to be removed. ***********//
3#include "BsPhysXSphericalJoint.h"
4#include "BsFPhysXJoint.h"
5#include "BsPhysXRigidbody.h"
6#include "PxRigidDynamic.h"
7
8using namespace physx;
9
10namespace bs
11{
12 PxSphericalJointFlag::Enum toPxFlag(SphericalJointFlag flag)
13 {
14 switch (flag)
15 {
16 default:
17 case SphericalJointFlag::Limit:
18 return PxSphericalJointFlag::eLIMIT_ENABLED;
19 }
20 }
21
22 PhysXSphericalJoint::PhysXSphericalJoint(PxPhysics* physx, const SPHERICAL_JOINT_DESC& desc)
23 :SphericalJoint(desc)
24 {
25 PxRigidActor* actor0 = nullptr;
26 if (desc.bodies[0].body != nullptr)
27 actor0 = static_cast<PhysXRigidbody*>(desc.bodies[0].body)->_getInternal();
28
29 PxRigidActor* actor1 = nullptr;
30 if (desc.bodies[1].body != nullptr)
31 actor1 = static_cast<PhysXRigidbody*>(desc.bodies[1].body)->_getInternal();
32
33 PxTransform tfrm0 = toPxTransform(desc.bodies[0].position, desc.bodies[0].rotation);
34 PxTransform tfrm1 = toPxTransform(desc.bodies[1].position, desc.bodies[1].rotation);
35
36 PxSphericalJoint* joint = PxSphericalJointCreate(*physx, actor0, tfrm0, actor1, tfrm1);
37 joint->userData = this;
38
39 mInternal = bs_new<FPhysXJoint>(joint, desc);
40
41 PxSphericalJointFlags flags;
42
43 if (((UINT32)desc.flag & (UINT32)SphericalJointFlag::Limit) != 0)
44 flags |= PxSphericalJointFlag::eLIMIT_ENABLED;
45
46 joint->setSphericalJointFlags(flags);
47
48 // Calls to virtual methods are okay here
49 setLimit(desc.limit);
50 }
51
52 PhysXSphericalJoint::~PhysXSphericalJoint()
53 {
54 bs_delete(mInternal);
55 }
56
57 LimitConeRange PhysXSphericalJoint::getLimit() const
58 {
59 PxJointLimitCone pxLimit = getInternal()->getLimitCone();
60
61 LimitConeRange limit;
62 limit.yLimitAngle = pxLimit.yAngle;
63 limit.zLimitAngle = pxLimit.zAngle;
64 limit.contactDist = pxLimit.contactDistance;
65 limit.restitution = pxLimit.restitution;
66 limit.spring.stiffness = pxLimit.stiffness;
67 limit.spring.damping = pxLimit.damping;
68
69 return limit;
70 }
71
72 void PhysXSphericalJoint::setLimit(const LimitConeRange& limit)
73 {
74 PxJointLimitCone pxLimit(limit.yLimitAngle.valueRadians(), limit.zLimitAngle.valueRadians(), limit.contactDist);
75 pxLimit.stiffness = limit.spring.stiffness;
76 pxLimit.damping = limit.spring.damping;
77 pxLimit.restitution = limit.restitution;
78
79 getInternal()->setLimitCone(pxLimit);
80 }
81
82 void PhysXSphericalJoint::setFlag(SphericalJointFlag flag, bool enabled)
83 {
84 getInternal()->setSphericalJointFlag(toPxFlag(flag), enabled);
85 }
86
87 bool PhysXSphericalJoint::hasFlag(SphericalJointFlag flag) const
88 {
89 return getInternal()->getSphericalJointFlags() & toPxFlag(flag);
90 }
91
92 PxSphericalJoint* PhysXSphericalJoint::getInternal() const
93 {
94 FPhysXJoint* internal = static_cast<FPhysXJoint*>(mInternal);
95
96 return static_cast<PxSphericalJoint*>(internal->_getInternal());
97 }
98}