| 275 | } |
| 276 | |
| 277 | void* D6Joint::prepareData() |
| 278 | { |
| 279 | D6JointData& d = data(); |
| 280 | |
| 281 | if(mRecomputeMotion) |
| 282 | { |
| 283 | mRecomputeMotion = false; |
| 284 | |
| 285 | d.driving = 0; |
| 286 | d.limited = 0; |
| 287 | d.locked = 0; |
| 288 | |
| 289 | for(PxU32 i=0;i<PxD6Axis::eCOUNT;i++) |
| 290 | { |
| 291 | if(d.motion[i] == PxD6Motion::eLIMITED) |
| 292 | d.limited |= 1<<i; |
| 293 | else if(d.motion[i] == PxD6Motion::eLOCKED) |
| 294 | d.locked |= 1<<i; |
| 295 | } |
| 296 | |
| 297 | // a linear direction isn't driven if it's locked |
| 298 | if(active(PxD6Drive::eX) && d.motion[PxD6Axis::eX]!=PxD6Motion::eLOCKED) d.driving |= 1<< PxD6Drive::eX; |
| 299 | if(active(PxD6Drive::eY) && d.motion[PxD6Axis::eY]!=PxD6Motion::eLOCKED) d.driving |= 1<< PxD6Drive::eY; |
| 300 | if(active(PxD6Drive::eZ) && d.motion[PxD6Axis::eZ]!=PxD6Motion::eLOCKED) d.driving |= 1<< PxD6Drive::eZ; |
| 301 | |
| 302 | // SLERP drive requires all angular dofs unlocked, and inhibits swing/twist |
| 303 | |
| 304 | const bool swing1Locked = d.motion[PxD6Axis::eSWING1] == PxD6Motion::eLOCKED; |
| 305 | const bool swing2Locked = d.motion[PxD6Axis::eSWING2] == PxD6Motion::eLOCKED; |
| 306 | const bool twistLocked = d.motion[PxD6Axis::eTWIST] == PxD6Motion::eLOCKED; |
| 307 | |
| 308 | if(active(PxD6Drive::eSLERP) && !swing1Locked && !swing2Locked && !twistLocked) |
| 309 | d.driving |= 1<<PxD6Drive::eSLERP; |
| 310 | else |
| 311 | { |
| 312 | if(active(PxD6Drive::eTWIST) && !twistLocked) |
| 313 | d.driving |= 1<<PxD6Drive::eTWIST; |
| 314 | if(active(PxD6Drive::eSWING) && (!swing1Locked || !swing2Locked)) |
| 315 | d.driving |= 1<< PxD6Drive::eSWING; |
| 316 | } |
| 317 | } |
| 318 | |
| 319 | this->D6JointT::prepareData(); |
| 320 | |
| 321 | return mData; |
| 322 | } |
| 323 | |
| 324 | bool D6Joint::attach(PxPhysics &physics, PxRigidActor* actor0, PxRigidActor* actor1) |
| 325 | { |