internal SphericalJoint(PhysXSimulator simulator, SphericalJointDescriptor descriptor)
{
Actor wrappedActorA = ((RigidBody)descriptor.RigidBodyA).WrappedActor;
if (!wrappedActorA.IsDynamic)
{
var vector4 = GMath.mul(new Vector4(descriptor.AnchorPositionALocal, 1), descriptor.RigidBodyA.Pose);
descriptor.AnchorPositionALocal = new Vector3(vector4.X, vector4.Y, vector4.Z);
wrappedActorA = null;
}
Actor wrappedActorB = ((RigidBody)descriptor.RigidBodyB).WrappedActor;
if (!wrappedActorB.IsDynamic)
{
var vector4 = GMath.mul(new Vector4(descriptor.AnchorPositionBLocal, 1), descriptor.RigidBodyB.Pose);
descriptor.AnchorPositionBLocal = new Vector3(vector4.X, vector4.Y, vector4.Z);
wrappedActorB = null;
}
var sphericalJointDescription = new SphericalJointDescription
{
Actor1 = wrappedActorA,
Actor2 = wrappedActorB,
LocalAnchor1 = descriptor.AnchorPositionALocal.ToPhysX(),
LocalAnchor2 = descriptor.AnchorPositionBLocal.ToPhysX(),
JointFlags = JointFlag.CollisionEnabled
};
_wrappedSphericalJoint = (PX.SphericalJoint)simulator._wrappedScene.CreateJoint(sphericalJointDescription);
_rigidBodyA = descriptor.RigidBodyA;
_rigidBodyB = descriptor.RigidBodyB;
_anchorPositionALocal = descriptor.AnchorPositionALocal;
_anchorPositionBLocal = descriptor.AnchorPositionBLocal;
UserData = descriptor.UserData;
}
public SimulatorConfigurator(PhysXSimulator simulator)
{
_simulator = simulator;
}
public SimulatorQueries(PhysXSimulator simulator)
{
_simulator = simulator;
}
public SimulatorConstraintsFactory(PhysXSimulator simulator)
{
_simulator = simulator;
}
public SimulatorRigidBodyFactory(PhysXSimulator simulator)
{
_simulator = simulator;
}
