84 lines
3.4 KiB
C++
84 lines
3.4 KiB
C++
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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) 2008-2025 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 "ScArticulationMimicJointSim.h"
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#include "ScArticulationMimicJointCore.h"
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#include "PxArticulationReducedCoordinate.h"
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#include "ScArticulationSim.h"
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#include "PxArticulationReducedCoordinate.h"
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#include "DyArticulationMimicJointCore.h"
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namespace physx
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{
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Sc::ArticulationMimicJointSim::ArticulationMimicJointSim(ArticulationMimicJointCore& mimicJointCore, Scene& scene) :
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mScene(scene), mCore(mimicJointCore),
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mLLIndex(0xffffffff)
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{
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mimicJointCore.setSim(this);
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mLLMimicJoint.axisA = mimicJointCore.mAxisA;
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mLLMimicJoint.axisB = mimicJointCore.mAxisB;
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mLLMimicJoint.gearRatio = mimicJointCore.mGearRatio;
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mLLMimicJoint.offset = mimicJointCore.mOffset;
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mLLMimicJoint.naturalFrequency = mimicJointCore.mNaturalFrequency;
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mLLMimicJoint.dampingRatio = mimicJointCore.mDampingRatio;
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}
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Sc::ArticulationMimicJointSim::~ArticulationMimicJointSim()
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{
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mCore.setSim(NULL);
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}
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void Sc::ArticulationMimicJointSim::setGearRatio(const PxReal gearRatio)
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{
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mLLMimicJoint.gearRatio = gearRatio;
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mArticulationSim->setArticulationDirty(Dy::ArticulationDirtyFlag::eDIRTY_MIMIC_JOINT);
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}
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void Sc::ArticulationMimicJointSim::setOffset(const PxReal offset)
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{
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mLLMimicJoint.offset = offset;
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mArticulationSim->setArticulationDirty(Dy::ArticulationDirtyFlag::eDIRTY_MIMIC_JOINT);
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}
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void Sc::ArticulationMimicJointSim::setNaturalFrequency(const PxReal naturalFrequency)
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{
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mLLMimicJoint.naturalFrequency = naturalFrequency;
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mArticulationSim->setArticulationDirty(Dy::ArticulationDirtyFlag::eDIRTY_MIMIC_JOINT);
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}
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void Sc::ArticulationMimicJointSim::setDampingRatio(const PxReal dampingRatio)
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{
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mLLMimicJoint.dampingRatio = dampingRatio;
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mArticulationSim->setArticulationDirty(Dy::ArticulationDirtyFlag::eDIRTY_MIMIC_JOINT);
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}
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}
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