Method addArticulation

deps/physx/physx/source/physx/src/NpAggregate.cpp:242–288

}

bool NpAggregate::addArticulation(PxArticulationBase& art)
{
	NP_WRITE_CHECK(getOwnerScene());
	PX_SIMD_GUARD;

	if((mNbActors+art.getNbLinks()) > mAggregate.getMaxActorCount())
	{
		Ps::getFoundation().error(PxErrorCode::eDEBUG_WARNING, __FILE__, __LINE__, "PxAggregate: can't add articulation links, max number of actors reached");
		return false;
	}

	if(art.getAggregate())
	{
		Ps::getFoundation().error(PxErrorCode::eDEBUG_WARNING, __FILE__, __LINE__, "PxAggregate: can't add articulation to aggregate, articulation already belongs to an aggregate");
		return false;
	}

	if(art.getScene())
	{
		Ps::getFoundation().error(PxErrorCode::eDEBUG_WARNING, __FILE__, __LINE__, "PxAggregate: can't add articulation to aggregate, articulation already belongs to a scene");
		return false;
	}

	PxArticulationImpl* impl = reinterpret_cast<PxArticulationImpl*>(art.getImpl());
	impl->setAggregate(this);
	NpArticulationLink* const* links = impl->getLinks();
	for(PxU32 i=0; i < impl->getNbLinks(); i++)
	{
		NpArticulationLink& l = *links[i];

		setAggregate(this, l);

		mActors[mNbActors++] = &l;

		mAggregate.addActor(l.getScbActorFast());
	}

	// PT: when an object is added to a aggregate at runtime, i.e. when the aggregate has already been added to the scene,
	// we need to immediately add the newcomer to the scene as well.
	NpScene* s = getAPIScene();
	if(s)
	{
		s->addArticulationInternal(art);
	}

	return true;
}

bool NpAggregate::removeArticulationAndReinsert(PxArticulationBase& art, bool reinsert)
{