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#ifndef JOINT_H
#define JOINT_H
#include "Runtime/BaseClasses/GameObject.h"
#include "Runtime/Math/Vector3.h"
#include "RigidBody.h"
#include "JointDescriptions.h"
class Rigidbody;
class NxJointDesc;
class NxJoint;
namespace Unity
{
class Joint : public Component
{
public:
REGISTER_DERIVED_ABSTRACT_CLASS (Joint, Component)
Joint (MemLabelId label, ObjectCreationMode mode);
// virtual ~Joint (); declared-by-macro
Vector3f GetAxis () const { return m_Axis; }
virtual void SetAxis (const Vector3f& axis);
Vector3f GetAnchor () const { return m_Anchor; }
virtual void SetAnchor (const Vector3f& axis);
Vector3f GetConnectedAnchor () const { return m_ConnectedAnchor; }
virtual void SetConnectedAnchor (const Vector3f& axis);
bool GetAutoConfigureConnectedAnchor () const { return m_AutoConfigureConnectedAnchor; }
virtual void SetAutoConfigureConnectedAnchor (bool anchor);
void SetBreakForce (float force);
float GetBreakForce () const;
void SetBreakTorque (float torque);
float GetBreakTorque () const;
void SetConnectedBody (PPtr<Rigidbody> body);
PPtr<Rigidbody> GetConnectedBody () const { return m_ConnectedBody; }
virtual void CalculateGlobalHingeSpace (Vector3f& globalAnchor, Vector3f& globalAxis, Vector3f& globalNormal) const;
Vector3f CalculateGlobalConnectedAnchor (bool autoConfigureConnectedFrame);
virtual void AwakeFromLoad (AwakeFromLoadMode awakeMode);
virtual void Deactivate (DeactivateOperation operation);
virtual void Reset ();
virtual void CheckConsistency();
void NullJoint () { m_Joint = NULL; }
protected:
/// SUB CLASSES OVERRIDE THIS
virtual void Create () = 0;
virtual void ApplySetupAxesToDesc (int option) = 0;
template<class TransferFunction>
void JointTransferPre (TransferFunction& transfer)
{
Super::Transfer (transfer);
TRANSFER_SIMPLE (m_ConnectedBody);
TRANSFER_SIMPLE (m_Anchor);
TRANSFER_SIMPLE (m_Axis);
TRANSFER_SIMPLE (m_AutoConfigureConnectedAnchor);
transfer.Align();
TRANSFER_SIMPLE (m_ConnectedAnchor);
}
template<class TransferFunction>
void JointTransferPreNoAxis (TransferFunction& transfer)
{
Super::Transfer (transfer);
TRANSFER_SIMPLE (m_ConnectedBody);
TRANSFER_SIMPLE (m_Anchor);
TRANSFER_SIMPLE (m_AutoConfigureConnectedAnchor);
transfer.Align();
TRANSFER_SIMPLE (m_ConnectedAnchor);
}
template<class TransferFunction>
void JointTransferPost (TransferFunction& transfer)
{
TRANSFER (m_BreakForce);
TRANSFER (m_BreakTorque);
}
void FinalizeCreateImpl (NxJointDesc& desc, bool swapActors = false);
NxJoint* m_Joint;
bool m_AutoConfigureConnectedAnchor;
Vector3f m_Anchor;
Vector3f m_ConnectedAnchor;
Vector3f m_Axis;
enum { kChangeAxis = 1 << 0, kChangeAnchor = 1 << 1 };
void SetupAxes (NxJointDesc& desc, int options = kChangeAnchor|kChangeAxis);
private:
void Cleanup ();
bool m_DidSetupAxes;
float m_BreakForce;///< Maximum force the joint can withstand before breaking. Infinity means unbreakable. range { 0.001, infinity }
float m_BreakTorque; ///< Maximum torque the joint can withstand before breaking. Infinity means unbreakable. range { 0.001, infinity }
protected:
PPtr<Rigidbody> m_ConnectedBody;
friend class ::Rigidbody;
};
/// We need to to know the type of the desc so unfortunately this function must be inside the subclasses.
/// For reuse of code we do it with macros
#define IMPLEMENT_AXIS_ANCHOR(klass,nxdesc)\
void klass::ApplySetupAxesToDesc (int option)\
{\
if (IsActive () && m_Joint)\
{\
nxdesc desc;\
AssertIf (m_Joint->getState () == NX_JS_BROKEN);\
GET_JOINT()->saveToDesc (desc);\
SetupAxes (desc, option);\
GET_JOINT()->loadFromDesc (desc);\
AssertIf (m_Joint->getState () == NX_JS_BROKEN);\
}\
}\
#define FINALIZE_CREATE(desc, type)\
FinalizeCreateImpl (desc);\
if (GET_JOINT ())\
GET_JOINT ()->loadFromDesc (desc);\
else\
m_Joint = GetDynamicsScene ().createJoint (desc);\
AssertIf (m_Joint && m_Joint->getState () == NX_JS_BROKEN);\
Assert (!GetGameObject().IsDestroying ());
}
#endif
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