101 lines
3.5 KiB
C++
101 lines
3.5 KiB
C++
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of NVIDIA CORPORATION nor the names of its
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// contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
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// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
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// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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// Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
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#include "ScArticulationJointSim.h"
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#include "ScArticulationJointCore.h"
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#include "ScBodySim.h"
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#include "ScScene.h"
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#include "PxsRigidBody.h"
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#include "DyArticulation.h"
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#include "ScArticulationSim.h"
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#include "PxsSimpleIslandManager.h"
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using namespace physx;
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Sc::ArticulationJointSim::ArticulationJointSim(ArticulationJointCore& joint, ActorSim& parent, ActorSim& child) :
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Interaction (parent, child, InteractionType::eARTICULATION, 0),
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mCore (joint)
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{
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registerInActors();
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BodySim& childBody = static_cast<BodySim&>(child),
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& parentBody = static_cast<BodySim&>(parent);
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parentBody.getArticulation()->addBody(childBody, &parentBody, this);
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mCore.setSim(this);
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}
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Sc::ArticulationJointSim::~ArticulationJointSim()
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{
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// articulation interactions do not make use of the dirty flags yet. If they did, a setClean(true) has to be introduced here.
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PX_ASSERT(!readInteractionFlag(InteractionFlag::eIN_DIRTY_LIST));
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PX_ASSERT(!getDirtyFlags());
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unregisterFromActors();
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BodySim& child = getChild();
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child.getArticulation()->removeBody(child);
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mCore.setSim(NULL);
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}
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Sc::BodySim& Sc::ArticulationJointSim::getParent() const
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{
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return static_cast<BodySim&>(getActorSim0());
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}
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Sc::BodySim& Sc::ArticulationJointSim::getChild() const
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{
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return static_cast<BodySim&>(getActorSim1());
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}
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bool Sc::ArticulationJointSim::onActivate_(void*)
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{
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if(!(getParent().isActive() && getChild().isActive()))
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return false;
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raiseInteractionFlag(InteractionFlag::eIS_ACTIVE);
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return true;
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}
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bool Sc::ArticulationJointSim::onDeactivate_()
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{
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clearInteractionFlag(InteractionFlag::eIS_ACTIVE);
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return true;
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}
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void Sc::ArticulationJointSim::setDirty()
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{
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Dy::ArticulationJointCore& llCore = mCore.getCore();
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ArticulationSim* sim = mCore.getArticulation()->getSim();
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sim->setDirty(true); //Don't set the articulation dirty - only the joint is dirty!
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sim->setJointDirty(llCore);
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}
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