Function checkArticulationLink

deps/physx/physx/source/physx/src/NpScene.cpp:835–854

}

static void checkArticulationLink(NpScene* scene, NpArticulationLink* link)
{
#if PX_CHECKED
	scene->checkPositionSanity(*link, link->getGlobalPose(), "PxScene::addArticulation or PxScene::addAggregate");
#else
	PX_UNUSED(scene);
#endif
	if(link->getMass()==0.0f)
	{
		Ps::getFoundation().error(PxErrorCode::eDEBUG_WARNING, __FILE__, __LINE__, "PxScene::addArticulation(): Articulation link with zero mass added to scene; defaulting mass to 1");
		link->setMass(1.0f);
	}

	const PxVec3 inertia0 = link->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)");
		link->setMassSpaceInertiaTensor(PxVec3(1.0f, 1.0f, 1.0f));
	}
}

void NpScene::addArticulationInternal(PxArticulationBase& npa)
{