diff options
Diffstat (limited to 'PhysX_3.4/Source/PhysXExtensions/src/ExtPrismaticJoint.cpp')
| -rw-r--r-- | PhysX_3.4/Source/PhysXExtensions/src/ExtPrismaticJoint.cpp | 13 |
1 files changed, 7 insertions, 6 deletions
diff --git a/PhysX_3.4/Source/PhysXExtensions/src/ExtPrismaticJoint.cpp b/PhysX_3.4/Source/PhysXExtensions/src/ExtPrismaticJoint.cpp index 882803dd..7ce3f789 100644 --- a/PhysX_3.4/Source/PhysXExtensions/src/ExtPrismaticJoint.cpp +++ b/PhysX_3.4/Source/PhysXExtensions/src/ExtPrismaticJoint.cpp @@ -123,20 +123,21 @@ void PrismaticJointVisualize(PxConstraintVisualizer& viz, const void* constantBlock, const PxTransform& body0Transform, const PxTransform& body1Transform, - PxU32 /*flags*/) + PxU32 flags) { const PrismaticJointData& data = *reinterpret_cast<const PrismaticJointData*>(constantBlock); const PxTransform& t0 = body0Transform * data.c2b[0]; const PxTransform& t1 = body1Transform * data.c2b[1]; - viz.visualizeJointFrames(t0, t1); + if(flags & PxConstraintVisualizationFlag::eLOCAL_FRAMES) + viz.visualizeJointFrames(t0, t1); - PxVec3 axis = t0.rotate(PxVec3(1.f,0,0)); - PxReal ordinate = axis.dot(t0.transformInv(t1.p)-t0.p); - - if(data.jointFlags & PxPrismaticJointFlag::eLIMIT_ENABLED) + if((flags & PxConstraintVisualizationFlag::eLIMITS) && (data.jointFlags & PxPrismaticJointFlag::eLIMIT_ENABLED)) { + const PxVec3 bOriginInA = t0.transformInv(t1.p); + const PxReal ordinate = bOriginInA.x; + viz.visualizeLinearLimit(t0, t1, data.limit.lower, ordinate < data.limit.lower + data.limit.contactDistance); viz.visualizeLinearLimit(t0, t1, data.limit.upper, ordinate > data.limit.upper - data.limit.contactDistance); } |