| 354 | } |
| 355 | |
| 356 | void Crab::createLeg(PxRigidDynamic* mainBody, PxVec3 localPos, PxReal mass, const LegParameters& params, PxReal scale, PxRigidDynamic* motor, PxVec3 motorAttachmentPos) |
| 357 | { |
| 358 | PxVec3 crabLegPos = mainBody->getGlobalPose().p + localPos; |
| 359 | |
| 360 | // params for Theo Jansen's machine |
| 361 | // check edge ascii art in Crab.h |
| 362 | static const PxReal stickExt = 0.125f * 0.5f * scale; |
| 363 | const PxReal a = params.a * scale; |
| 364 | const PxReal b = params.b * scale; |
| 365 | const PxReal c = params.c * scale; |
| 366 | const PxReal d = params.d * scale; |
| 367 | const PxReal e = params.e * scale; |
| 368 | const PxReal m = params.m * scale; |
| 369 | const PxReal n = params.n * scale; |
| 370 | |
| 371 | const PxReal density = 1.0f; |
| 372 | |
| 373 | std::vector<PxTransform> poses; |
| 374 | std::vector<const PxGeometry*> geometries; |
| 375 | |
| 376 | PxBoxGeometry boxGeomA = PxBoxGeometry(a, stickExt, stickExt); |
| 377 | PxBoxGeometry boxGeomB = PxBoxGeometry(stickExt, b, stickExt); |
| 378 | PxBoxGeometry boxGeomC = PxBoxGeometry(stickExt, c, stickExt); |
| 379 | |
| 380 | PxCapsuleGeometry capsGeomD = PxCapsuleGeometry(stickExt*2.0f, d); |
| 381 | |
| 382 | for(PxU32 leg = 0; leg < 2; leg++) |
| 383 | { |
| 384 | bool left = (leg==0); |
| 385 | #define MIRROR(X) left ? -1.0f*(X) : (X) |
| 386 | PxVec3 startPos = crabLegPos + PxVec3(MIRROR(e), 0, 0); |
| 387 | |
| 388 | // create upper triangle from boxes |
| 389 | PxRigidDynamic* upperTriangle = NULL; |
| 390 | { |
| 391 | PxTransform poseA = PxTransform(PxVec3(MIRROR(a), 0, 0)); |
| 392 | PxTransform poseB = PxTransform(PxVec3(MIRROR(0), b, 0)); |
| 393 | poses.clear(); geometries.clear(); |
| 394 | poses.push_back(poseA); poses.push_back(poseB); |
| 395 | geometries.push_back(&boxGeomA); geometries.push_back(&boxGeomB); |
| 396 | upperTriangle = mSampleSubmarine->createCompound(startPos, poses, geometries, NULL, mMaterial, density)->is<PxRigidDynamic>(); |
| 397 | if(!upperTriangle) mSampleSubmarine->fatalError("createCompound failed!"); |
| 398 | mActors.push_back(upperTriangle); |
| 399 | } |
| 400 | |
| 401 | // create lower triangle from boxes |
| 402 | PxRigidDynamic* lowerTriangle = NULL; |
| 403 | { |
| 404 | PxTransform poseA = PxTransform(PxVec3(MIRROR(a), 0, 0)); |
| 405 | //PxTransform poseD = PxTransform(PxVec3(MIRROR(0), -d, 0)); |
| 406 | PxTransform poseD = PxTransform(PxVec3(MIRROR(0), -d, 0), PxQuat(PxHalfPi, PxVec3(0,0,1))); |
| 407 | poses.clear(); geometries.clear(); |
| 408 | poses.push_back(poseA); poses.push_back(poseD); |
| 409 | //geometries.push_back(&boxGeomA); geometries.push_back(&boxGeomD); |
| 410 | geometries.push_back(&boxGeomA); geometries.push_back(&capsGeomD); |
| 411 | lowerTriangle = mSampleSubmarine->createCompound(startPos + PxVec3(0, -2.0f*c, 0), poses, geometries, NULL, mMaterial, density)->is<PxRigidDynamic>(); |
| 412 | if(!lowerTriangle) mSampleSubmarine->fatalError("createCompound failed!"); |
| 413 | mActors.push_back(lowerTriangle); |
nothing calls this directly
no test coverage detected