Method addArticulationInternal

deps/physx/physx/source/physx/src/NpScene.cpp:856–1009

}

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());

	checkArticulationLink(this, rootLink);

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

	// Add articulation
	PxArticulationImpl* npaImpl = npa.getImpl();
	Scb::Articulation& scbArt = npaImpl->getScbArticulation();
	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();

		for(PxU32 i=0; i < l->getNbChildren(); i++)
		{
			NpArticulationLink* child = children[i];

			checkArticulationLink(this, child);

			linkTriggersWakeUp = linkTriggersWakeUp || (!child->getScbBodyFast().checkSleepReadinessBesidesWakeCounter());

			addArticulationLink(*child);  // Adds joint too
			
			//child->setInboundJointDof(scArtSim->getDof(cHandle));

			linkStack[stackSize] = child;
			stackSize++;
		}