// C++
// Função responsável por criar o joint
void HEntity::createFixedJoint(HEntity* target)
{
    physx::PxPhysics* physics = HEngine::getInstance()->getPhysicsContext()->getPhysics();
    physx::PxRigidActor* _target = target->getPhysicsBody();

    physx::PxVec3 pos_a = m_pPhysicsBody->getGlobalPose().p;
    physx::PxVec3 pos_b = _target->getGlobalPose().p;
    physx::PxVec3 offset = (pos_a - pos_b).abs() / 2;

    physx::PxFixedJoint* joint = physx::PxFixedJointCreate(*physics, m_pPhysicsBody, physx::PxTransform(-offset), _target, physx::PxTransform(offset));

    joint->setConstraintFlag(physx::PxConstraintFlag::eVISUALIZATION, true);
    joint->setConstraintFlag(physx::PxConstraintFlag::eCOLLISION_ENABLED, false);

    m_lpJoints.push_back(joint);
}

-- Lua
-- Função responsável por criar os cubos em serie
function createJointCubes()
    local parent = scene:getObjectByName("Object.2") -- Cubo já presente na cena
    local last_obj = nil;

    for i = 1, 12 do
        local obj = HGameObject:new()
        obj:setName("Object_Phy." .. i)
        obj:setMesh(HEngine.importWavefront(imports[2]))

        if last_obj == nil then
            obj:setWorldPosition(parent:getWorldPosition()+HVec3(2, 0, 0))
        else
            obj:setWorldPosition(last_obj:getWorldPosition()+HVec3(2, 0, 0))
        end

        obj:createPhysicsBody()

        if last_obj == nil then
            obj:createFixedJoint(parent)
        else
            obj:createFixedJoint(last_obj)
        end

        scene:addObject(obj)
        last_obj = obj
    end
end

// C++
// Acada frame ("Parentando")
m_FilhoWorldTransform =  m_pPai->getWorldTransform() * m_FilhoWorldTransform;
// ...
// Adicionando shape "filho" ao rigidbody "Pai"
m_pPai->getRigidBody()->attachShape(m_Filho->getShape());
// ...
// Atualizando massa e inércia
physx::PxU32 mass_count = 2; // Numero de shapes/massas
physx::PxReal* masses = new physx::PxReal[2];
masses[0] = pai_mass;
masses[1] = filho_mass;

physx::PxRigidBodyExt::setMassAndUpdateInertia(*parent->getRigidDynamic(), masses, mass_count);
delete masses;