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95 lines
3.5 KiB
C++
95 lines
3.5 KiB
C++
/*
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* Copyright (c) Contributors to the Open 3D Engine Project.
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* 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 <Source/FixedJointComponent.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 <PhysX/Joint/Configuration/PhysXJointConfiguration.h>
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#include <AzFramework/Physics/PhysicsScene.h>
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#include <AzCore/Interface/Interface.h>
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#include <PxPhysicsAPI.h>
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namespace PhysX
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{
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void FixedJointComponent::Reflect(AZ::ReflectContext* context)
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{
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AZ::SerializeContext* serializeContext = azrtti_cast<AZ::SerializeContext*>(context);
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if (serializeContext)
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{
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serializeContext->Class<FixedJointComponent, JointComponent>()
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->Version(2)
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;
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}
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}
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FixedJointComponent::FixedJointComponent(
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const JointComponentConfiguration& configuration,
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const JointGenericProperties& genericProperties)
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: JointComponent(configuration, genericProperties)
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{
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}
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FixedJointComponent::FixedJointComponent(
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const JointComponentConfiguration& configuration,
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const JointGenericProperties& genericProperties,
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const JointLimitProperties& limitProperties)
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: JointComponent(configuration, genericProperties, limitProperties)
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{
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}
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void FixedJointComponent::InitNativeJoint()
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{
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if (m_jointHandle != AzPhysics::InvalidJointHandle)
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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 == nullptr ||
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leadFollowerInfo.m_followerBody == nullptr)
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{
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return;
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}
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// if there is no lead body, this will be a constraint of the follower's global position, so use invalid body handle.
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AzPhysics::SimulatedBodyHandle parentHandle = AzPhysics::InvalidSimulatedBodyHandle;
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if (leadFollowerInfo.m_leadBody != nullptr)
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{
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parentHandle = leadFollowerInfo.m_leadBody->m_bodyHandle;
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}
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else
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{
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AZ_TracePrintf("PhysX",
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"Entity [%s] Fixed Joint component missing lead entity. This joint will be a global constraint on the follower's global position.",
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GetEntity()->GetName().c_str());
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}
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FixedJointConfiguration configuration;
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configuration.m_parentLocalPosition = leadFollowerInfo.m_leadLocal.GetTranslation();
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configuration.m_parentLocalRotation = leadFollowerInfo.m_leadLocal.GetRotation();
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configuration.m_childLocalPosition = leadFollowerInfo.m_followerLocal.GetTranslation();
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configuration.m_childLocalRotation = leadFollowerInfo.m_followerLocal.GetRotation();
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configuration.m_genericProperties = m_genericProperties;
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if (auto* sceneInterface = AZ::Interface<AzPhysics::SceneInterface>::Get())
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{
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m_jointHandle = sceneInterface->AddJoint(
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leadFollowerInfo.m_followerBody->m_sceneOwner,
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&configuration,
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parentHandle,
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leadFollowerInfo.m_followerBody->m_bodyHandle);
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m_jointSceneOwner = leadFollowerInfo.m_followerBody->m_sceneOwner;
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}
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}
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} // namespace PhysX
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