Method addArticulationInternal

physx/source/physx/src/NpScene.cpp:838–984

}

void NpScene::addArticulationInternal(PxArticulationBase& npa)
{

	// Add root link first
	PxU32 nbLinks = npa.getNbLinks();
	PX_ASSERT(nbLinks > 0);
	PxArticulationImpl* impl = reinterpret_cast<PxArticulationImpl*>(npa.getImpl());
	NpArticulationLink* rootLink = static_cast<NpArticulationLink*>(impl->getRoot());

#if PX_CHECKED
	checkPositionSanity(*rootLink, rootLink->getGlobalPose(), "PxScene::addArticulation or PxScene::addAggregate");
#endif
	if(rootLink->getMass()==0)
	{
		Ps::getFoundation().error(PxErrorCode::eDEBUG_WARNING, __FILE__, __LINE__, "PxScene::addArticulation(): Articulation link with zero mass added to scene; defaulting mass to 1");
		rootLink->setMass(1.0f);
	}

	PxVec3 inertia0 = rootLink->getMassSpaceInertiaTensor();		
	if(inertia0.x == 0.0f || inertia0.y == 0.0f || inertia0.z == 0.0f)
	{
		Ps::getFoundation().error(PxErrorCode::eDEBUG_WARNING, __FILE__, __LINE__, "PxScene::addArticulation(): Articulation link with zero moment of inertia added to scene; defaulting inertia to (1,1,1)");
		rootLink->setMassSpaceInertiaTensor(PxVec3(1.0f, 1.0f, 1.0f));
	}

	bool linkTriggersWakeUp = !rootLink->getScbBodyFast().checkSleepReadinessBesidesWakeCounter();
	
	addArticulationLinkBody(*rootLink);

	// Add articulation
	PxArticulationImpl* npaImpl = reinterpret_cast<PxArticulationImpl*>(npa.getImpl());
	Scb::Articulation& scbArt = npaImpl->getArticulation();
	scbArt.setArticulationType(npa.getType());
	mScene.addArticulation(scbArt);

	Sc::ArticulationCore& scArtCore = scbArt.getScArticulation();
	Sc::ArticulationSim* scArtSim = scArtCore.getSim();

	if (scArtSim)
	{
		PxU32 handle = scArtSim->findBodyIndex(*rootLink->getScbBodyFast().getScBody().getSim());
		rootLink->setLLIndex(handle);
	}
	rootLink->setInboundJointDof(0);

	addArticulationLinkConstraint(*rootLink);
	
	// Add links & joints
	PX_ALLOCA(linkStack, NpArticulationLink*, nbLinks);
	linkStack[0] = rootLink;
	PxU32 curLink = 0;
	PxU32 stackSize = 1;
	while(curLink < (nbLinks-1))
	{
		PX_ASSERT(curLink < stackSize);
		NpArticulationLink* l = linkStack[curLink];
		NpArticulationLink*const* children = l->getChildren();