text: /*
   * Copyright (c) Contributors to the Open 3D Engine Project.
   * For complete copyright and license terms please see the LICENSE at the root of this distribution.
   *
   * SPDX-License-Identifier: Apache-2.0 OR MIT
   *
   */
  #include <Source/FixedJointComponent.h>
  #include <PhysX/MathConversion.h>
  #include <PhysX/PhysXLocks.h>
  #include <AzCore/Component/TransformBus.h>
  #include <AzFramework/Physics/SimulatedBodies/RigidBody.h>
  #include <AzFramework/Physics/RigidBodyBus.h>
  #include <PhysX/Joint/Configuration/PhysXJointConfiguration.h>
  #include <AzFramework/Physics/PhysicsScene.h>
  #include <AzCore/Interface/Interface.h>
  
  #include <PxPhysicsAPI.h>
  
  namespace PhysX
  {
      void FixedJointComponent::Reflect(AZ::ReflectContext* context)
      {
          AZ::SerializeContext* serializeContext = azrtti_cast<AZ::SerializeContext*>(context);
          if (serializeContext)
          {
              serializeContext->Class<FixedJointComponent, JointComponent>()
                  ->Version(2)
                  ;
          }
      }
  
      FixedJointComponent::FixedJointComponent(
          const JointComponentConfiguration& configuration, 
          const JointGenericProperties& genericProperties)
          : JointComponent(configuration, genericProperties)
      {
      }
  
      FixedJointComponent::FixedJointComponent(
          const JointComponentConfiguration& configuration, 
          const JointGenericProperties& genericProperties,
          const JointLimitProperties& limitProperties)
          : JointComponent(configuration, genericProperties, limitProperties)
      {
      }
  
      void FixedJointComponent::InitNativeJoint()
      {
          if (m_jointHandle != AzPhysics::InvalidJointHandle)
          {
              return;
          }
  
          JointComponent::LeadFollowerInfo leadFollowerInfo;
          ObtainLeadFollowerInfo(leadFollowerInfo);
          if (leadFollowerInfo.m_followerActor == nullptr ||
              leadFollowerInfo.m_followerBody == nullptr)
          {
              return;
          }
  
          // if there is no lead body, this will be a constraint of the follower's global position, so use invalid body handle.
          AzPhysics::SimulatedBodyHandle parentHandle = AzPhysics::InvalidSimulatedBodyHandle;
          if (leadFollowerInfo.m_leadBody != nullptr)
          {
              parentHandle = leadFollowerInfo.m_leadBody->m_bodyHandle;
          }
          else
          {
              AZ_TracePrintf("PhysX",
                  "Entity [%s] Fixed Joint component missing lead entity. This joint will be a global constraint on the follower's global position.",
                  GetEntity()->GetName().c_str());
          }
  
          FixedJointConfiguration configuration;
          configuration.m_parentLocalPosition = leadFollowerInfo.m_leadLocal.GetTranslation();
          configuration.m_parentLocalRotation = leadFollowerInfo.m_leadLocal.GetRotation();
          configuration.m_childLocalPosition = leadFollowerInfo.m_followerLocal.GetTranslation();
          configuration.m_childLocalRotation = leadFollowerInfo.m_followerLocal.GetRotation();
  
          configuration.m_genericProperties = m_genericProperties;
  
          if (auto* sceneInterface = AZ::Interface<AzPhysics::SceneInterface>::Get())
          {
              m_jointHandle = sceneInterface->AddJoint(
                  leadFollowerInfo.m_followerBody->m_sceneOwner,
                  &configuration,  
                  parentHandle, 
                  leadFollowerInfo.m_followerBody->m_bodyHandle);
              m_jointSceneOwner = leadFollowerInfo.m_followerBody->m_sceneOwner;
          }
      }
  } // namespace PhysX
  