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#include "StdAfx.h"#include "NxaD6JointDescription.h"#include "NxaJointLimitSoftDescription.h"#include "NxaJointLimitSoftPairDescription.h"#include "NxaJointDriveDescription.h"#include "NxaJoint.h"#include "NxScene.h"#include "Nxap.h"#include "NxD6JointDesc.h"NxD6JointDesc NxaD6JointDescription::ConvertToNative(){	NxD6JointDesc d6Desc;	//JointDescription Stuff	d6Desc.actor[0] = Actor[0]->nxActor;	d6Desc.actor[1] = Actor[1]->nxActor;	d6Desc.localAnchor[0] = NxaMath::Vector3XNAToPhysX(LocalAnchor[0]);	d6Desc.localAnchor[1] = NxaMath::Vector3XNAToPhysX(LocalAnchor[1]);	d6Desc.localAxis[0] = NxaMath::Vector3XNAToPhysX(LocalAxis[0]);	d6Desc.localAxis[1] = NxaMath::Vector3XNAToPhysX(LocalAxis[1]);	d6Desc.localNormal[0] = NxaMath::Vector3XNAToPhysX(LocalNormal[0]);	d6Desc.localNormal[1] = NxaMath::Vector3XNAToPhysX(LocalNormal[1]);	d6Desc.maxForce = MaxForce;	d6Desc.maxTorque = MaxTorque;	d6Desc.jointFlags = (NxU32)JointFlags;	// D6JointDesc Stuff	d6Desc.xMotion = (NxD6JointMotion)XMotion;	d6Desc.yMotion = (NxD6JointMotion)YMotion;	d6Desc.zMotion = (NxD6JointMotion)ZMotion;	d6Desc.swing1Motion= (NxD6JointMotion)Swing1Motion;	d6Desc.swing2Motion = (NxD6JointMotion)Swing2Motion;	d6Desc.twistMotion = (NxD6JointMotion)TwistMotion;	d6Desc.linearLimit = LinearLimit.ConvertToNative();	d6Desc.swing1Limit = Swing1Limit.ConvertToNative();	d6Desc.swing2Limit = Swing2Limit.ConvertToNative();	d6Desc.twistLimit = TwistLimit.ConvertToNative();	d6Desc.xDrive = XDrive.ConvertToNative();	d6Desc.yDrive = YDrive.ConvertToNative();	d6Desc.zDrive = ZDrive.ConvertToNative();	d6Desc.swingDrive = SwingDrive.ConvertToNative();	d6Desc.twistDrive = TwistDrive.ConvertToNative();	d6Desc.slerpDrive = SlerpDrive.ConvertToNative();	d6Desc.drivePosition = NxaMath::Vector3XNAToPhysX(DrivePosition);	d6Desc.driveOrientation = NxaMath::QuaternionXNAToPhysX(DriveOrientation);	d6Desc.driveLinearVelocity = NxaMath::Vector3XNAToPhysX(DriveLinearVelocity);	d6Desc.driveAngularVelocity = NxaMath::Vector3XNAToPhysX(DriveAngularVelocity);	d6Desc.projectionMode = (NxJointProjectionMode)ProjectionMode;	d6Desc.projectionDistance = ProjectionDistance;	d6Desc.projectionAngle = ProjectionAngle;		d6Desc.gearRatio = GearRatio;	d6Desc.flags = (NxU32)Flags;	Console::WriteLine("Now it's at " + IntPtr(&d6Desc).ToString());	Console::WriteLine("Ratio: " + d6Desc.gearRatio);	Console::WriteLine("PDist: " + d6Desc.projectionDistance);	return d6Desc;}NxaJoint^ NxaD6JointDescription::CreateJoint(NxScene* scenePtr){	NxD6JointDesc d6Desc = ConvertToNative();	Console::WriteLine("Now it's at " + IntPtr(&d6Desc).ToString());	Console::WriteLine("Ratio: " + d6Desc.gearRatio);	Console::WriteLine("PDist: " + d6Desc.projectionDistance);	NxJoint* jointPtr = scenePtr->createJoint(d6Desc);	return NxaJoint::CreateFromPointer(jointPtr);}