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97 lines
3.0 KiB
C++
97 lines
3.0 KiB
C++
/*
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* Copyright (c) Contributors to the Open 3D Engine Project. For complete copyright and license terms please see the LICENSE at the root of this distribution.
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*
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* SPDX-License-Identifier: Apache-2.0 OR MIT
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*
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*/
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#include <PhysX_precompiled.h>
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#include <Source/BallJointComponent.h>
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#include <PhysX/MathConversion.h>
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#include <PhysX/PhysXLocks.h>
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#include <AzCore/Component/TransformBus.h>
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#include <AzFramework/Physics/SimulatedBodies/RigidBody.h>
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#include <AzFramework/Physics/RigidBodyBus.h>
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#include <PxPhysicsAPI.h>
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namespace PhysX
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{
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void BallJointComponent::Reflect(AZ::ReflectContext* context)
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{
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if (auto serializeContext = azrtti_cast<AZ::SerializeContext*>(context))
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{
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serializeContext->Class<BallJointComponent, JointComponent>()
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->Version(2)
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;
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}
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}
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BallJointComponent::BallJointComponent(const GenericJointConfiguration& config
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, const GenericJointLimitsConfiguration& swingLimit)
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: JointComponent(config, swingLimit)
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{
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}
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void BallJointComponent::InitNativeJoint()
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{
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if (m_joint)
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{
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return;
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}
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JointComponent::LeadFollowerInfo leadFollowerInfo;
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ObtainLeadFollowerInfo(leadFollowerInfo);
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if (!leadFollowerInfo.m_followerActor)
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{
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return;
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}
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PHYSX_SCENE_READ_LOCK(leadFollowerInfo.m_followerActor->getScene());
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m_joint = AZStd::make_shared<BallJoint>(physx::PxSphericalJointCreate(
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PxGetPhysics(),
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leadFollowerInfo.m_leadActor,
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leadFollowerInfo.m_leadLocal,
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leadFollowerInfo.m_followerActor,
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leadFollowerInfo.m_followerLocal),
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leadFollowerInfo.m_leadBody,
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leadFollowerInfo.m_followerBody);
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InitSwingLimits();
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}
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void BallJointComponent::InitSwingLimits()
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{
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if (!m_joint)
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{
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return;
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}
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physx::PxSphericalJoint* ballJointNative = static_cast<physx::PxSphericalJoint*>(m_joint->GetNativePointer());
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if (!ballJointNative)
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{
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return;
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}
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if (!m_limits.m_isLimited)
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{
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ballJointNative->setSphericalJointFlag(physx::PxSphericalJointFlag::eLIMIT_ENABLED, false);
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return;
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}
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// Hard limit uses a tolerance value (distance to limit at which limit becomes active).
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// Soft limit allows angle to exceed limit but springs back with configurable spring stiffness and damping.
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physx::PxJointLimitCone swingLimit(AZ::DegToRad(m_limits.m_limitFirst)
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, AZ::DegToRad(m_limits.m_limitSecond)
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, m_limits.m_tolerance);
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if (m_limits.m_isSoftLimit)
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{
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swingLimit.stiffness = m_limits.m_stiffness;
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swingLimit.damping = m_limits.m_damping;
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}
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ballJointNative->setLimitCone(swingLimit);
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ballJointNative->setSphericalJointFlag(physx::PxSphericalJointFlag::eLIMIT_ENABLED, true);
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}
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} // namespace PhysX
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