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#ifndef CHARACTERJOINT_H
#define CHARACTERJOINT_H
#include "Runtime/BaseClasses/GameObject.h"
#include "Runtime/Math/Vector3.h"
#include "Runtime/Math/Quaternion.h"
#include "JointDescriptions.h"
#include "Joint.h"
class Rigidbody;
class NxJointDesc;
class NxRevoluteJoint;
namespace Unity
{
class CharacterJoint : public Joint
{
public:
REGISTER_DERIVED_CLASS (CharacterJoint, Joint)
DECLARE_OBJECT_SERIALIZE (CharacterJoint)
CharacterJoint (MemLabelId label, ObjectCreationMode mode);
JointDrive GetRotationDrive ();
void SetRotationDrive (const JointDrive& drive);
void SetTargetRotation (const Quaternionf& rot);
Quaternionf GetTargetRotation ();
void SetTargetAngularVelocity (const Vector3f& angular);
Vector3f GetTargetAngularVelocity ();
virtual void ApplySetupAxesToDesc (int option);
virtual void SetSwingAxis (const Vector3f& axis);
Vector3f GetSwingAxis () { return m_SwingAxis; }
void SetLowTwistLimit (const SoftJointLimit& limit);
SoftJointLimit GetLowTwistLimit () { return m_LowTwistLimit; }
void SetHighTwistLimit (const SoftJointLimit& limit);
SoftJointLimit GetHighTwistLimit () { return m_HighTwistLimit; }
void SetSwing1Limit (const SoftJointLimit& limit);
SoftJointLimit GetSwing1Limit () { return m_Swing1Limit; }
void SetSwing2Limit (const SoftJointLimit& limit);
SoftJointLimit GetSwing2Limit () { return m_Swing2Limit; }
virtual void Reset();
void UpdateTargetRotation ();
virtual void CheckConsistency ();
////// THIS IS NOT GOOD!!!!!!!!!!!
void CalculateGlobalHingeSpace (Vector3f& globalAnchor, Vector3f& globalAxis, Vector3f& globalNormal) const;
private:
virtual void Create ();
void SetupDriveType ();
bool m_UseTargetRotation;
Quaternionf m_TargetRotation;
Vector3f m_TargetAngularVelocity;
mutable Quaternionf m_ConfigurationSpace;
////// THIS IS NOT GOOD!!!!!!!!!!!
Vector3f m_SwingAxis;
JointDrive m_RotationDrive;
SoftJointLimit m_LowTwistLimit;
SoftJointLimit m_HighTwistLimit;
SoftJointLimit m_Swing1Limit;
SoftJointLimit m_Swing2Limit;
};
}
#endif
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