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More fixes

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This commit is contained in:
Wojtek Figat
2021-11-03 12:26:10 +01:00
parent f6e8596e91
commit dfb739afcf
2 changed files with 6 additions and 4 deletions
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9
Source/Engine/Physics/Joints/D6Joint.cpp
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@@ -220,12 +220,15 @@ float GetAngle(float angle, D6JointMotion motion)
void D6Joint::OnDebugDrawSelected()
{
const Vector3 source = GetPosition();
const Quaternion sourceRotation = GetOrientation();
const Quaternion xRot = Quaternion::LookRotation(Vector3::UnitX, Vector3::UnitY);
const Quaternion sourceRotation = GetOrientation() * xRot;
const Vector3 target = GetTargetPosition();
const Quaternion targetRotation = GetTargetOrientation() * xRot;
const float swingSize = 15.0f;
const float twistSize = 9.0f;
const Color swingColor = Color::Green.AlphaMultiplied(0.6f);
const Color twistColor = Color::Yellow.AlphaMultiplied(0.5f);
DebugDraw::DrawWireArrow(source, sourceRotation, swingSize / 100.0f * 0.5f, Color::Red, 0, false);
DebugDraw::DrawWireArrow(target, targetRotation, swingSize / 100.0f * 0.5f, Color::Red, 0, false);
if (_motion[(int32)D6JointAxis::SwingY] == D6JointMotion::Locked && _motion[(int32)D6JointAxis::SwingZ] == D6JointMotion::Locked)
{
// Swing is locked
@@ -455,7 +458,7 @@ PxJoint* D6Joint::CreateJoint(JointData& data)
{
const auto& value = _limitSwing;
PxJointLimitCone limit(Math::Clamp(value.YLimitAngle * DegreesToRadians, ZeroTolerance, PI - ZeroTolerance), Math::Clamp(value.ZLimitAngle * DegreesToRadians, ZeroTolerance, PI -ZeroTolerance), value.ContactDist);
PxJointLimitCone limit(Math::Clamp(value.YLimitAngle * DegreesToRadians, ZeroTolerance, PI - ZeroTolerance), Math::Clamp(value.ZLimitAngle * DegreesToRadians, ZeroTolerance, PI - ZeroTolerance), value.ContactDist);
limit.stiffness = value.Spring.Stiffness;
limit.damping = value.Spring.Damping;
limit.restitution = value.Restitution;