34 lines
No EOL
1.1 KiB
C++
34 lines
No EOL
1.1 KiB
C++
#include "motor6d.h"
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#include "objects/part/part.h"
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#include "objects/service/workspace.h"
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#include "rendering/renderer.h"
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#define PI 3.14159
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Motor6D::Motor6D(): JointInstance(&TYPE) {
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}
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Motor6D::~Motor6D() {
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}
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static CFrame XYZToZXY(glm::vec3(0, 0, 0), -glm::vec3(1, 0, 0), glm::vec3(0, 0, 1));
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void Motor6D::buildJoint() {
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std::shared_ptr<Workspace> workspace = workspaceOfPart(part0.lock());
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// Update Part1's rotation and cframe prior to creating the joint as reactphysics3d locks rotation based on how it
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// used to be rather than specifying an anchor rotation, so whatever.
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CFrame newFrame = part0.lock()->cframe * (c0 * c1.Inverse());
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part1.lock()->cframe = newFrame;
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PhysStepperJointInfo jointInfo(c0, c1, desiredAngle, maxVelocity);
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this->joint = workspace->CreateJoint(jointInfo, part0.lock(), part1.lock());
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jointWorkspace = workspace;
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}
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void Motor6D::onUpdated(std::string property) {
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if (property == "DesiredAngle") {
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joint.setTargetAngle(desiredAngle);
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} else if (property == "MaxVelocity") {
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joint.setAngularVelocity(maxVelocity);
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}
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} |