Method addArticulation

deps/physx/physx/source/physx/src/NpScene.cpp:805–833

///////////////////////////////////////////////////////////////////////////////

void NpScene::addArticulation(PxArticulationBase& articulation)
{
	PX_PROFILE_ZONE("API.addArticulation", getContextId());
	NP_WRITE_CHECK(this);

	PX_CHECK_AND_RETURN(articulation.getNbLinks()>0, "PxScene::addArticulation: empty articulations may not be added to simulation.");
	PX_SIMD_GUARD;

	if (this->getFlags() & PxSceneFlag::eENABLE_GPU_DYNAMICS && articulation.getConcreteType() != PxConcreteType::eARTICULATION_REDUCED_COORDINATE)
	{
		Ps::getFoundation().error(PxErrorCode::eINVALID_OPERATION, __FILE__, __LINE__, "PxScene::addArticulation(): Only Reduced coordinate articulations are currently supported when PxSceneFlag::eENABLE_GPU_DYNAMICS is set!");
		return;
	}

	if (getSimulationStage() != Sc::SimulationStage::eCOMPLETE && articulation.getConcreteType() == PxConcreteType::eARTICULATION_REDUCED_COORDINATE)
	{
		Ps::getFoundation().error(PxErrorCode::eINVALID_OPERATION, __FILE__, __LINE__, "PxScene::addArticulation(): this call is not allowed while the simulation is running. Call will be ignored!");
		return;
	}

	PxArticulationImpl& npa = *reinterpret_cast<PxArticulationImpl*>(articulation.getImpl());

	Scb::Articulation& art = npa.getScbArticulation();
	const Scb::ControlState::Enum cs = art.getControlState();
	if ((cs == Scb::ControlState::eNOT_IN_SCENE) || ((cs == Scb::ControlState::eREMOVE_PENDING) && (art.getScbScene()->getPxScene() == this)))
		addArticulationInternal(articulation);
	else
		Ps::getFoundation().error(PxErrorCode::eINVALID_OPERATION, __FILE__, __LINE__, "PxScene::addArticulation(): Articulation already assigned to a scene. Call will be ignored!");
}

static void checkArticulationLink(NpScene* scene, NpArticulationLink* link)
{