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Fusion360-Addons/usr/Src/Core/pJoint/pJointD6.cpp
mc007 90931a08a6 sdk commons 2008
2021-10-31 19:39:29 +01:00

387 lines
15 KiB
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#include <StdAfx.h>
#include "vtPhysXAll.h"
using namespace vtAgeia;
pJointD6::pJointD6(pRigidBody* _a,pRigidBody* _b) : pJoint(_a,_b,JT_D6)
{
}
void pJointD6::setDriveAngularVelocity(VxVector angVel)
{
NxD6JointDesc descr; NxD6Joint *joint = static_cast<NxD6Joint*>(getJoint()); if (!joint)return; joint->saveToDesc(descr);
//joint->setDriveAngularVelocity(pMath::getFrom(angVel));
descr.driveAngularVelocity = (pMath::getFrom(angVel));
joint->loadFromDesc(descr);
}
//////////////////////////////////////////////////////////////////////////
void pJointD6::setDriveLinearVelocity(VxVector linVel)
{
NxD6JointDesc descr; NxD6Joint *joint = static_cast<NxD6Joint*>(getJoint()); if (!joint)return ; joint->saveToDesc(descr);
//joint->setDriveLinearVelocity(pMath::getFrom(linVel));
descr.driveLinearVelocity = (pMath::getFrom(linVel));
joint->loadFromDesc(descr);
}
//////////////////////////////////////////////////////////////////////////
void pJointD6::setDriveRotation(VxQuaternion rot)
{
NxD6JointDesc descr; NxD6Joint *joint = static_cast<NxD6Joint*>(getJoint()); if (!joint)return ; joint->saveToDesc(descr);
joint->setDriveOrientation(pMath::getFrom(rot));
joint->loadFromDesc(descr);
}
//////////////////////////////////////////////////////////////////////////
void pJointD6::setDrivePosition(VxVector pos)
{
NxD6JointDesc descr; NxD6Joint *joint = static_cast<NxD6Joint*>(getJoint()); if (!joint)return ; joint->saveToDesc(descr);
joint->setDrivePosition(pMath::getFrom(pos));
descr.drivePosition = (pMath::getFrom(pos));
joint->loadFromDesc(descr);
}
//////////////////////////////////////////////////////////////////////////
pJD6Drive pJointD6::getSlerpDrive()
{
NxD6JointDesc descr;NxD6Joint *joint = static_cast<NxD6Joint*>(getJoint());joint->saveToDesc(descr);
pJD6Drive result(descr.slerpDrive.damping,descr.slerpDrive.spring,descr.slerpDrive.forceLimit,descr.slerpDrive.driveType.bitField);
return result;
}
int pJointD6::setSlerpDrive(pJD6Drive drive)
{
NxD6JointDesc descr; NxD6Joint *joint = static_cast<NxD6Joint*>(getJoint()); if (!joint)return -1 ; joint->saveToDesc(descr);
NxJointDriveDesc sdrive; sdrive.damping = drive.damping; sdrive.spring = drive.spring; sdrive.forceLimit = drive.forceLimit; sdrive.driveType=drive.driveType; descr.slerpDrive = sdrive;
descr.flags |=NX_D6JOINT_SLERP_DRIVE;
joint->loadFromDesc(descr);
return 1;
}
//////////////////////////////////////////////////////////////////////////
pJD6Drive pJointD6::getTwistDrive()
{
NxD6JointDesc descr;NxD6Joint *joint = static_cast<NxD6Joint*>(getJoint());joint->saveToDesc(descr);
pJD6Drive result(descr.twistDrive.damping,descr.twistDrive.spring,descr.twistDrive.forceLimit,descr.twistDrive.driveType);
return result;
}
int pJointD6::setTwistDrive(pJD6Drive drive)
{
NxD6JointDesc descr; NxD6Joint *joint = static_cast<NxD6Joint*>(getJoint()); if (!joint)return -1 ; joint->saveToDesc(descr);
NxJointDriveDesc sdrive; sdrive.damping = drive.damping; sdrive.spring = drive.spring; sdrive.forceLimit = drive.forceLimit; sdrive.driveType=drive.driveType; descr.twistDrive = sdrive;
joint->loadFromDesc(descr);
return 1;
}
//////////////////////////////////////////////////////////////////////////
pJD6Drive pJointD6::getSwingDrive()
{
NxD6JointDesc descr;NxD6Joint *joint = static_cast<NxD6Joint*>(getJoint());joint->saveToDesc(descr);
pJD6Drive result(descr.swingDrive.damping,descr.swingDrive.spring,descr.swingDrive.forceLimit,descr.swingDrive.driveType);
return result;
}
int pJointD6::setSwingDrive(pJD6Drive drive)
{
NxD6JointDesc descr; NxD6Joint *joint = static_cast<NxD6Joint*>(getJoint()); if (!joint)return -1 ; joint->saveToDesc(descr);
NxJointDriveDesc sdrive; sdrive.damping = drive.damping; sdrive.spring = drive.spring; sdrive.forceLimit = drive.forceLimit; sdrive.driveType=drive.driveType; descr.swingDrive = sdrive;
joint->loadFromDesc(descr);
return 1;
}
//////////////////////////////////////////////////////////////////////////
pJD6Drive pJointD6::getZDrive()
{
NxD6JointDesc descr;NxD6Joint *joint = static_cast<NxD6Joint*>(getJoint());joint->saveToDesc(descr);
pJD6Drive result(descr.zDrive.damping,descr.zDrive.spring,descr.zDrive.forceLimit,descr.zDrive.driveType);
return result;
}
int pJointD6::setZDrive(pJD6Drive drive)
{
NxD6JointDesc descr; NxD6Joint *joint = static_cast<NxD6Joint*>(getJoint()); if (!joint)return -1 ; joint->saveToDesc(descr);
NxJointDriveDesc sdrive; sdrive.damping = drive.damping; sdrive.spring = drive.spring; sdrive.forceLimit = drive.forceLimit; sdrive.driveType=drive.driveType; descr.zDrive = sdrive;
joint->loadFromDesc(descr);
return 1;
}
//////////////////////////////////////////////////////////////////////////
pJD6Drive pJointD6::getYDrive()
{
NxD6JointDesc descr;NxD6Joint *joint = static_cast<NxD6Joint*>(getJoint());joint->saveToDesc(descr);
pJD6Drive result(descr.yDrive.damping,descr.yDrive.spring,descr.yDrive.forceLimit,descr.yDrive.driveType);
return result;
}
int pJointD6::setYDrive(pJD6Drive drive)
{
NxD6JointDesc descr; NxD6Joint *joint = static_cast<NxD6Joint*>(getJoint()); if (!joint)return -1 ; joint->saveToDesc(descr);
NxJointDriveDesc sdrive; sdrive.damping = drive.damping; sdrive.spring = drive.spring; sdrive.forceLimit = drive.forceLimit; sdrive.driveType=drive.driveType; descr.yDrive = sdrive;
joint->loadFromDesc(descr);
return 1;
}
//////////////////////////////////////////////////////////////////////////
pJD6Drive pJointD6::getXDrive()
{
NxD6JointDesc descr;NxD6Joint *joint = static_cast<NxD6Joint*>(getJoint());joint->saveToDesc(descr);
pJD6Drive result(descr.xDrive.damping,descr.xDrive.spring,descr.xDrive.forceLimit,descr.xDrive.driveType);
return result;
}
int pJointD6::setXDrive(pJD6Drive drive)
{
NxD6JointDesc descr; NxD6Joint *joint = static_cast<NxD6Joint*>(getJoint()); if (!joint)return -1 ; joint->saveToDesc(descr);
NxJointDriveDesc sdrive; sdrive.damping = drive.damping; sdrive.spring = drive.spring; sdrive.forceLimit = drive.forceLimit; sdrive.driveType=drive.driveType; descr.xDrive = sdrive;
joint->loadFromDesc(descr);
return 1;
}
//////////////////////////////////////////////////////////////////////////
pJD6SoftLimit pJointD6::getTwistLowLimit()
{
NxD6JointDesc descr;NxD6Joint *joint = static_cast<NxD6Joint*>(getJoint());joint->saveToDesc(descr);
pJD6SoftLimit result(descr.twistLimit.low.damping,descr.twistLimit.low.spring,descr.twistLimit.low.value,descr.twistLimit.low.restitution);
return result;
}
int pJointD6::setTwistLowLimit(pJD6SoftLimit limit)
{
NxD6JointDesc descr;
NxD6Joint *joint = static_cast<NxD6Joint*>(getJoint());
if (!joint)return -1 ;
joint->saveToDesc(descr);
NxJointLimitSoftDesc sLimit; sLimit.value = limit.value; sLimit.spring = limit.spring; sLimit.damping = limit.damping; sLimit.restitution = limit.restitution;
if (!sLimit.isValid())return -1;
descr.twistLimit.low= sLimit;
joint->loadFromDesc(descr);
return 1;
}
//////////////////////////////////////////////////////////////////////////
pJD6SoftLimit pJointD6::getTwistHighLimit()
{
NxD6JointDesc descr;NxD6Joint *joint = static_cast<NxD6Joint*>(getJoint());joint->saveToDesc(descr);
pJD6SoftLimit result(descr.twistLimit.high.damping,descr.twistLimit.high.spring,descr.twistLimit.high.value,descr.twistLimit.high.restitution);
return result;
}
int pJointD6::setTwistHighLimit(pJD6SoftLimit limit)
{
NxD6JointDesc descr;
NxD6Joint *joint = static_cast<NxD6Joint*>(getJoint());
if (!joint)return -1 ;
joint->saveToDesc(descr);
NxJointLimitSoftDesc sLimit; sLimit.value = limit.value; sLimit.spring = limit.spring; sLimit.damping = limit.damping; sLimit.restitution = limit.restitution;
if (!sLimit.isValid())return -1;
descr.twistLimit.high= sLimit;
joint->loadFromDesc(descr);
return 1;
}
//////////////////////////////////////////////////////////////////////////
pJD6SoftLimit pJointD6::getSwing2Limit()
{
NxD6JointDesc descr;NxD6Joint *joint = static_cast<NxD6Joint*>(getJoint());joint->saveToDesc(descr);
pJD6SoftLimit result(descr.swing2Limit.damping,descr.swing2Limit.spring,descr.swing2Limit.value,descr.swing2Limit.restitution);
return result;
}
int pJointD6::setSwing2Limit(pJD6SoftLimit limit)
{
NxD6JointDesc descr;
NxD6Joint *joint = static_cast<NxD6Joint*>(getJoint());
if (!joint)return -1 ;
joint->saveToDesc(descr);
NxJointLimitSoftDesc sLimit; sLimit.value = limit.value; sLimit.spring = limit.spring; sLimit.damping = limit.damping; sLimit.restitution = limit.restitution;
if (!sLimit.isValid())return -1;
descr.swing2Limit= sLimit;
joint->loadFromDesc(descr);
return 1;
}
//////////////////////////////////////////////////////////////////////////
pJD6SoftLimit pJointD6::getSwing1Limit()
{
NxD6JointDesc descr;NxD6Joint *joint = static_cast<NxD6Joint*>(getJoint());joint->saveToDesc(descr);
pJD6SoftLimit result(descr.swing1Limit.damping,descr.swing1Limit.spring,descr.swing1Limit.value,descr.swing1Limit.restitution);
return result;
}
int pJointD6::setSwing1Limit(pJD6SoftLimit limit)
{
NxD6JointDesc descr;
NxD6Joint *joint = static_cast<NxD6Joint*>(getJoint());
if (!joint)return -1 ;
joint->saveToDesc(descr);
NxJointLimitSoftDesc sLimit; sLimit.value = limit.value; sLimit.spring = limit.spring; sLimit.damping = limit.damping; sLimit.restitution = limit.restitution;
if (!sLimit.isValid())return -1;
descr.swing1Limit= sLimit;
joint->loadFromDesc(descr);
return 1;
}
//////////////////////////////////////////////////////////////////////////
pJD6SoftLimit pJointD6::getLinearLimit()
{
NxD6JointDesc descr;NxD6Joint *joint = static_cast<NxD6Joint*>(getJoint());joint->saveToDesc(descr);
pJD6SoftLimit result(descr.linearLimit.damping,descr.linearLimit.spring,descr.linearLimit.value,descr.linearLimit.restitution);
return result;
}
int pJointD6::setLinearLimit(pJD6SoftLimit limit)
{
NxD6JointDesc descr;
NxD6Joint *joint = static_cast<NxD6Joint*>(getJoint());
if (!joint)return -1 ;
joint->saveToDesc(descr);
NxJointLimitSoftDesc sLimit; sLimit.value = limit.value; sLimit.spring = limit.spring; sLimit.damping = limit.damping; sLimit.restitution = limit.restitution;
if (!sLimit.isValid())return -1;
descr.linearLimit = sLimit;
joint->loadFromDesc(descr);
return 1;
}
//////////////////////////////////////////////////////////////////////////
void pJointD6::setTwistMotionMode(D6MotionMode mode)
{
NxD6JointDesc descr; NxD6Joint *joint = static_cast<NxD6Joint*>(getJoint());if (!joint)return;joint->saveToDesc(descr);
descr.twistMotion = (NxD6JointMotion)mode;
joint->loadFromDesc(descr);
}
void pJointD6::setSwing1MotionMode(D6MotionMode mode)
{
NxD6JointDesc descr; NxD6Joint *joint = static_cast<NxD6Joint*>(getJoint());if (!joint)return;joint->saveToDesc(descr);
descr.swing1Motion = (NxD6JointMotion)mode;
joint->loadFromDesc(descr);
}
void pJointD6::setSwing2MotionMode(D6MotionMode mode)
{
NxD6JointDesc descr; NxD6Joint *joint = static_cast<NxD6Joint*>(getJoint());if (!joint)return;joint->saveToDesc(descr);
descr.swing2Motion = (NxD6JointMotion)mode;
joint->loadFromDesc(descr);
}
void pJointD6::setXMotionMode(D6MotionMode mode)
{
NxD6JointDesc descr; NxD6Joint *joint = static_cast<NxD6Joint*>(getJoint());if (!joint)return;joint->saveToDesc(descr);
descr.xMotion = (NxD6JointMotion)mode;
joint->loadFromDesc(descr);
}
void pJointD6::setYMotionMode(D6MotionMode mode)
{
NxD6JointDesc descr; NxD6Joint *joint = static_cast<NxD6Joint*>(getJoint());if (!joint)return;joint->saveToDesc(descr);
descr.yMotion = (NxD6JointMotion)mode;
joint->loadFromDesc(descr);
}
void pJointD6::setZMotionMode(D6MotionMode mode)
{
NxD6JointDesc descr; NxD6Joint *joint = static_cast<NxD6Joint*>(getJoint());if (!joint)return;joint->saveToDesc(descr);
descr.zMotion = (NxD6JointMotion)mode;
joint->loadFromDesc(descr);
}
D6MotionMode pJointD6::getTwist()
{
NxD6JointDesc descr; NxD6Joint *joint = static_cast<NxD6Joint*>(getJoint());
if (!joint)return D6MM_Locked;
joint->saveToDesc(descr);
return (D6MotionMode)descr.twistMotion;
}
D6MotionMode pJointD6::getSwing1()
{
NxD6JointDesc descr; NxD6Joint *joint = static_cast<NxD6Joint*>(getJoint());
if (!joint)return D6MM_Locked;
joint->saveToDesc(descr);
return (D6MotionMode)descr.swing1Motion;
}
D6MotionMode pJointD6::getSwing2()
{
NxD6JointDesc descr; NxD6Joint *joint = static_cast<NxD6Joint*>(getJoint());
if (!joint)return D6MM_Locked;
joint->saveToDesc(descr);
return (D6MotionMode)descr.swing2Motion;
}
D6MotionMode pJointD6::getXMotion()
{
NxD6JointDesc descr; NxD6Joint *joint = static_cast<NxD6Joint*>(getJoint());
if (!joint)return D6MM_Locked;
joint->saveToDesc(descr);
return (D6MotionMode)descr.xMotion;
}
D6MotionMode pJointD6::getYMotion()
{
NxD6JointDesc descr; NxD6Joint *joint = static_cast<NxD6Joint*>(getJoint());
if (!joint)return D6MM_Locked;
joint->saveToDesc(descr);
return (D6MotionMode)descr.yMotion;
}
D6MotionMode pJointD6::getZMotion()
{
NxD6JointDesc descr; NxD6Joint *joint = static_cast<NxD6Joint*>(getJoint());
if (!joint)return D6MM_Locked;
joint->saveToDesc(descr);
return (D6MotionMode)descr.zMotion;
}
void pJointD6::setGlobalAnchor(VxVector anchor)
{
NxD6JointDesc descr; NxD6Joint *joint = static_cast<NxD6Joint*>(getJoint()); if (!joint)return ; joint->saveToDesc(descr);
joint->setGlobalAnchor(pMath::getFrom(anchor));
}
void pJointD6::setGlobalAxis(VxVector axis)
{
NxD6JointDesc descr; NxD6Joint *joint = static_cast<NxD6Joint*>(getJoint()); if (!joint)return ; joint->saveToDesc(descr);
joint->setGlobalAxis(pMath::getFrom(axis));
//joint->setGlobalA(pMath::getFrom(anchor));
}
void pJointD6::setRatio(float ratio)
{
NxD6JointDesc descr; NxD6Joint *joint = static_cast<NxD6Joint*>(getJoint()); if (!joint)return ; joint->saveToDesc(descr);
if (ratio!=0.0f)
{
descr.jointFlags|=NX_D6JOINT_GEAR_ENABLED;
descr.gearRatio = ratio;
}else
{
descr.jointFlags&=~NX_D6JOINT_GEAR_ENABLED;
}
joint->loadFromDesc(descr);
}
void pJointD6::enableCollision( bool value )
{
NxD6JointDesc descr; NxD6Joint *joint = static_cast<NxD6Joint*>(getJoint()); if (!joint)return ; joint->saveToDesc(descr);
if (value)
{
descr.jointFlags|=NX_JF_COLLISION_ENABLED;
}else
{
descr.jointFlags&=~NX_JF_COLLISION_ENABLED;
}
joint->loadFromDesc(descr);
}
void pJointD6::setProjectionMode(ProjectionMode mode)
{
NxD6JointDesc descr; NxD6Joint *joint = static_cast<NxD6Joint*>(getJoint()); if (!joint)return ; joint->saveToDesc(descr);
descr.projectionMode = (NxJointProjectionMode)mode;
joint->loadFromDesc(descr);
}
void pJointD6::setProjectionDistance(float distance)
{
NxD6JointDesc descr; NxD6Joint *joint = static_cast<NxD6Joint*>(getJoint()); if (!joint)return ; joint->saveToDesc(descr);
descr.projectionDistance= distance;
joint->loadFromDesc(descr);
}
void pJointD6::setProjectionAngle(float angle)
{
NxD6JointDesc descr; NxD6Joint *joint = static_cast<NxD6Joint*>(getJoint()); if (!joint)return ; joint->saveToDesc(descr);
descr.projectionAngle= angle;
joint->loadFromDesc(descr);
}
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