text: //
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  // Copyright (c) 2008-2018 NVIDIA Corporation. All rights reserved.
  // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
  // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
  #include "PxMetaDataObjects.h"
  #include "PxExtensionMetaDataObjects.h"
  #include "ExtJointMetaDataExtensions.h" 
  #include "SnJointRepXSerializer.h"
  
  namespace physx { 
  
  	template<typename TJointType>
  	inline TJointType* createJoint( PxPhysics& physics, 
  									   PxRigidActor* actor0, const PxTransform& localFrame0, 
  									   PxRigidActor* actor1, const PxTransform& localFrame1 )
  	{
  		PX_UNUSED(physics);
  		PX_UNUSED(actor0);
  		PX_UNUSED(actor1);
  		PX_UNUSED(localFrame0);
  		PX_UNUSED(localFrame1);
  		return NULL;
  	}
  
  	template<>
  	inline PxD6Joint* createJoint<PxD6Joint>(PxPhysics& physics, 
  										PxRigidActor* actor0, const PxTransform& localFrame0, 
  										PxRigidActor* actor1, const PxTransform& localFrame1)
  	{
  		return PxD6JointCreate( physics, actor0, localFrame0, actor1, localFrame1 );
  	}
  
  	template<>
  	inline PxDistanceJoint*	createJoint<PxDistanceJoint>(PxPhysics& physics, 
  									 		  PxRigidActor* actor0, const PxTransform& localFrame0, 
  											  PxRigidActor* actor1, const PxTransform& localFrame1)
  	{
  		return PxDistanceJointCreate( physics, actor0, localFrame0, actor1, localFrame1 );
  	}
  
  	template<>
  	inline PxFixedJoint* createJoint<PxFixedJoint>(PxPhysics& physics, 
  										   PxRigidActor* actor0, const PxTransform& localFrame0, 
  										   PxRigidActor* actor1, const PxTransform& localFrame1)
  	{
  		return PxFixedJointCreate( physics, actor0, localFrame0, actor1, localFrame1 );
  	}
  
  	template<>
  	inline PxPrismaticJoint* createJoint<PxPrismaticJoint>(PxPhysics& physics, 
  											   PxRigidActor* actor0, const PxTransform& localFrame0, 
  											   PxRigidActor* actor1, const PxTransform& localFrame1)
  	{
  		return PxPrismaticJointCreate( physics, actor0, localFrame0, actor1, localFrame1 );
  	}
  
  	template<>
  	inline PxRevoluteJoint*	createJoint<PxRevoluteJoint>(PxPhysics& physics, 
  											  PxRigidActor* actor0, const PxTransform& localFrame0, 
  											  PxRigidActor* actor1, const PxTransform& localFrame1)
  	{
  		return PxRevoluteJointCreate( physics, actor0, localFrame0, actor1, localFrame1 );
  	}
  
  	template<>
  	inline PxSphericalJoint* createJoint<PxSphericalJoint>(PxPhysics& physics, 
  											   PxRigidActor* actor0, const PxTransform& localFrame0, 
  											   PxRigidActor* actor1, const PxTransform& localFrame1)
  	{
  		return PxSphericalJointCreate( physics, actor0, localFrame0, actor1, localFrame1 );
  	}
  	
  	template<typename TJointType>
  	PxRepXObject PxJointRepXSerializer<TJointType>::fileToObject( XmlReader& inReader, XmlMemoryAllocator& inAllocator, PxRepXInstantiationArgs& inArgs, PxCollection* inCollection )
  	{
  		PxRigidActor* actor0 = NULL;
  		PxRigidActor* actor1 = NULL;
  		PxTransform localPose0 = PxTransform(PxIdentity);
  		PxTransform localPose1 = PxTransform(PxIdentity);
  		bool ok = true;
  		if ( inReader.gotoChild( "Actors" ) )
  		{
  			ok = readReference<PxRigidActor>( inReader, *inCollection, "actor0", actor0 );
  			ok &= readReference<PxRigidActor>( inReader, *inCollection, "actor1", actor1 );
  			inReader.leaveChild();
  		}
  		TJointType* theJoint = !ok ? NULL : createJoint<TJointType>( inArgs.physics, actor0, localPose0, actor1, localPose1 );
  		
  		if ( theJoint )
          {
              PxConstraint* constraint = theJoint->getConstraint();
  			PX_ASSERT( constraint );
  			inCollection->add( *constraint ); 
  			this->fileToObjectImpl( theJoint, inReader, inAllocator, inArgs, inCollection );
          }
  		return PxCreateRepXObject(theJoint);
  	}
  
  	template<typename TJointType>
  	void PxJointRepXSerializer<TJointType>::objectToFileImpl( const TJointType* inObj, PxCollection* inCollection, XmlWriter& inWriter, MemoryBuffer& inTempBuffer, PxRepXInstantiationArgs&   ) 
  	{
  		writeAllProperties( inObj, inWriter, inTempBuffer, *inCollection );
  	}
  	
  	// explicit template instantiations
  	template struct PxJointRepXSerializer<PxFixedJoint>;
  	template struct PxJointRepXSerializer<PxDistanceJoint>;
  	template struct PxJointRepXSerializer<PxD6Joint>;
  	template struct PxJointRepXSerializer<PxPrismaticJoint>;
  	template struct PxJointRepXSerializer<PxRevoluteJoint>;
  	template struct PxJointRepXSerializer<PxSphericalJoint>;
  }
  