diff options
Diffstat (limited to 'src_testbed')
| -rw-r--r-- | src_testbed/nphysics_backend.rs | 6 | ||||
| -rw-r--r-- | src_testbed/physx_backend.rs | 22 |
2 files changed, 25 insertions, 3 deletions
diff --git a/src_testbed/nphysics_backend.rs b/src_testbed/nphysics_backend.rs index 8b88e28..698e255 100644 --- a/src_testbed/nphysics_backend.rs +++ b/src_testbed/nphysics_backend.rs @@ -121,7 +121,11 @@ impl NPhysicsWorld { } nphysics_joints.insert(c); - } + } // JointParams::GenericJoint(_) => { + // eprintln!( + // "Joint type currently unsupported by the nphysics backend: GenericJoint." + // ) + // } } } diff --git a/src_testbed/physx_backend.rs b/src_testbed/physx_backend.rs index 319736c..f2a4f8a 100644 --- a/src_testbed/physx_backend.rs +++ b/src_testbed/physx_backend.rs @@ -344,13 +344,27 @@ impl PhysxWorld { .into_physx() .into(); - physx_sys::phys_PxRevoluteJointCreate( + let revolute_joint = physx_sys::phys_PxRevoluteJointCreate( physics.as_mut_ptr(), actor1, &frame1 as *const _, actor2, &frame2 as *const _, ); + + physx_sys::PxRevoluteJoint_setDriveVelocity_mut( + revolute_joint, + params.motor_target_vel, + true, + ); + + if params.motor_damping != 0.0 { + physx_sys::PxRevoluteJoint_setRevoluteJointFlag_mut( + revolute_joint, + physx_sys::PxRevoluteJointFlag::eDRIVE_ENABLED, + true, + ); + } } JointParams::PrismaticJoint(params) => { @@ -420,7 +434,11 @@ impl PhysxWorld { actor2, &frame2 as *const _, ); - } + } // JointParams::GenericJoint(_) => { + // eprintln!( + // "Joint type currently unsupported by the PhysX backend: GenericJoint." + // ) + // } } } } |