Function createArticulationLink

physx/source/physx/src/NpFactory.cpp:184–216

	}

	NpArticulationLink* createArticulationLink(PxArticulationBase&root, NpArticulationLink* parent, const PxTransform& pose)
	{
		PX_CHECK_AND_RETURN_NULL(pose.isValid(),"Supplied PxArticulation pose is not valid. Articulation link creation method returns NULL.");
		PX_CHECK_AND_RETURN_NULL((!parent || (&parent->getRoot() == &root)), "specified parent link is not part of the destination articulation. Articulation link creation method returns NULL.");
	
		NpArticulationLink* npArticulationLink = NpFactory::getInstance().createNpArticulationLink(root, parent, pose);
		if (!npArticulationLink)
		{
			Ps::getFoundation().error(PxErrorCode::eINTERNAL_ERROR, __FILE__, __LINE__, 
				"Articulation link initialization failed: returned NULL.");
			return NULL;
		}

		if (parent)
		{
			PxTransform parentPose = parent->getCMassLocalPose().transformInv(pose);
			PxTransform childPose = PxTransform(PxIdentity);
						
			PxArticulationJointBase* npArticulationJoint = root.createArticulationJoint(*parent, parentPose, *npArticulationLink, childPose);
			if (!npArticulationJoint)
			{
				PX_DELETE(npArticulationLink);
	
				Ps::getFoundation().error(PxErrorCode::eINTERNAL_ERROR, __FILE__, __LINE__, 
				"Articulation link initialization failed due to joint creation failure: returned NULL.");
				return NULL;
			}

			npArticulationLink->setInboundJoint(*npArticulationJoint);
		}

		return npArticulationLink;
	}

	// pointers to functions above, initialized during subsystem registration
	static PxArticulationBase* (*sCreateArticulationFn)() = 0;