From 5b80c4efbf93ad1294c9d3d390d8c8f090681b0e Mon Sep 17 00:00:00 2001
From: Crozet Sébastien <developer@crozet.re>
Date: Wed, 10 Feb 2021 11:56:51 +0100
Subject: Start experimenting with a generic joint implementation for joint
 drives.

---
 src_testbed/physx_backend.rs | 5 +++++
 1 file changed, 5 insertions(+)

(limited to 'src_testbed/physx_backend.rs')

diff --git a/src_testbed/physx_backend.rs b/src_testbed/physx_backend.rs
index 319736c..011a450 100644
--- a/src_testbed/physx_backend.rs
+++ b/src_testbed/physx_backend.rs
@@ -421,6 +421,11 @@ impl PhysxWorld {
                             &frame2 as *const _,
                         );
                     }
+                    JointParams::GenericJoint(_) => {
+                        eprintln!(
+                            "Joint type currently unsupported by the nphysics backend: GenericJoint."
+                        )
+                    }
                 }
             }
         }
-- 
cgit 


From e9f17f32e8dda4b97d2eb7b2118b7373d0c554d0 Mon Sep 17 00:00:00 2001
From: Crozet Sébastien <developer@crozet.re>
Date: Fri, 19 Feb 2021 15:21:25 +0100
Subject: Complete the implementation of non-simd joint motor for the revolute
 joint.

---
 src_testbed/physx_backend.rs | 27 ++++++++++++++++++++-------
 1 file changed, 20 insertions(+), 7 deletions(-)

(limited to 'src_testbed/physx_backend.rs')

diff --git a/src_testbed/physx_backend.rs b/src_testbed/physx_backend.rs
index 011a450..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) => {
@@ -420,12 +434,11 @@ impl PhysxWorld {
                             actor2,
                             &frame2 as *const _,
                         );
-                    }
-                    JointParams::GenericJoint(_) => {
-                        eprintln!(
-                            "Joint type currently unsupported by the nphysics backend: GenericJoint."
-                        )
-                    }
+                    } // JointParams::GenericJoint(_) => {
+                      //     eprintln!(
+                      //         "Joint type currently unsupported by the PhysX backend: GenericJoint."
+                      //     )
+                      // }
                 }
             }
         }
-- 
cgit