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PhysX work

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This commit is contained in:
Daniel Bross
2025-07-11 01:39:46 +02:00
parent 7e354b0417
commit 5f61c04912
5 changed files with 129 additions and 41 deletions
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5
core/entity.jai
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@@ -81,8 +81,9 @@ Entity :: struct {
// Physics
body : Physics_Body;
collider : Collider;
physx_static: *PhysX.PxRigidStatic;
physx_dynamic: *PhysX.PxRigidDynamic;
physx_handle: PhysX_Handle;
velocity: Vector3;
// End physics

6
core/scene.jai
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@@ -22,7 +22,7 @@ Scene :: struct {
mode: Engine_Mode;
physx_scene: *PhysX.PxScene;
physx_scene: PhysX_Scene;
using custom_fields: _Custom_Scene_Fields;
}
@@ -144,7 +144,7 @@ unload_scene :: (scene: *Scene) {
destroy_entity(e);
}
PhysX.PxScene_release(scene.physx_scene);
deinit_physx_scene(scene);
free(scene.name);
fini(*scene.pool);
@@ -195,7 +195,7 @@ create_scene :: (name: string = "", max_entities: s64 = 256) -> *Scene {
array_reserve(*scene.entities, max_entities);
scene.physx_scene = create_physx_scene();
init_physx_scene(scene);
scene.directional_light.color_and_intensity = .{1,1,1,2};
scene.directional_light.direction = to_v4(normalize(Vector3.{0.4, -0.7, 0.4}));

10
core/transform.jai
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@@ -170,6 +170,16 @@ set_scale :: (transform: *Transform, scale: float, calculate_matrix: bool = true
if calculate_matrix update_matrix(transform);
}
set_position_rotation :: (transform: *Transform, position: Vector3, rotation: Quaternion, calculate_matrix: bool = true) {
transform.position = position;
transform.orientation = rotation;
if calculate_matrix update_matrix(transform);
}
set_position_rotation :: (e: *Entity, position: Vector3, rotation: Quaternion, calculate_matrix: bool = true) {
set_position_rotation(*e.transform, position, rotation, calculate_matrix);
}
set_position_rotation_scale :: (transform: *Transform, position: Vector3, rotation: Quaternion, scale: Vector3, calculate_matrix: bool = true) {
transform.position = position;
transform.orientation = rotation;

6
module.jai
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@@ -159,7 +159,11 @@ coven_run :: (game_update_proc: (float), game_editor_update_proc: (float), game_
update_animators(clamped_dt);
update_mesh_colliders(engine.current_scene);
update_physics(engine.current_scene, clamped_dt);
tick_physx(engine.current_scene.physx_scene, clamped_dt);
pre_physx_sync(engine.current_scene);
tick_physx(*engine.current_scene.physx_scene, clamped_dt);
post_physx_sync(engine.current_scene);
game_update_post_physics_proc(clamped_dt);
}
} else {

143
physics/physx.jai
View File

@@ -1,3 +1,19 @@
PHYSX_TEST :: false;
PHYSX_DEFAULT_SHAPE_FLAGS :: cast(u8)(PhysX.PxShapeFlags.Visualization | PhysX.PxShapeFlags.SceneQueryShape | PhysX.PxShapeFlags.SimulationShape);
PhysX_Handle :: #type, distinct u32;
PhysX_Actor :: struct {
union {
static: *PhysX.PxRigidStatic;
dynamic: *PhysX.PxRigidDynamic;
}
}
PhysX_Scene :: struct {
scene: *PhysX.PxScene;
actors : PArray(PhysX_Actor, PhysX_Handle);
}
init_physx :: () {
default_allocator = PhysX.get_default_allocator();
default_error_callback = PhysX.get_default_error_callback();
@@ -21,14 +37,12 @@ init_physx :: () {
material = PhysX.PxPhysics_createMaterial(physics, 0.5, 0.5, 0.6);
}
tick_physx :: (scene: *PhysX.PxScene, dt: float) {
PhysX.PxScene_simulate(scene, 1.0/60.0, null, null, 0, true);
PhysX.PxScene_fetchResults(scene, true, null);
tick_physx :: (scene: *PhysX_Scene, dt: float) {
PhysX.PxScene_simulate(scene.scene, dt, null, null, 0, true);
PhysX.PxScene_fetchResults(scene.scene, true, null);
}
plane : Plane3;
create_physx_scene :: () -> *PhysX.PxScene {
init_physx_scene :: (game_scene: *Scene) {
tolerance_scale : PhysX.PxTolerancesScale;
tolerance_scale.length = 1;
tolerance_scale.speed = 10;
@@ -48,41 +62,100 @@ create_physx_scene :: () -> *PhysX.PxScene {
PhysX.PxPvdSceneClient_setScenePvdFlag(pvd_client, xx PhysX.PxPvdSceneFlag.TRANSMIT_CONTACTS, true);
PhysX.PxPvdSceneClient_setScenePvdFlag(pvd_client, xx PhysX.PxPvdSceneFlag.TRANSMIT_SCENEQUERIES, true);
}
{
plane_point := Vector3.{0,0,0};
plane_normal := Vector3.{0,1,0};
plane = PhysX.PxPlane_new(*plane_point, *plane_normal);
ground_plane := PhysX.PxCreatePlane(physics, *plane, material);
PhysX.PxScene_addActor(scene, ground_plane, null);
{
plane_point := Vector3.{0,10.5,0};
plane_normal := Vector3.{0,1,0};
plane := PhysX.PxPlane_new(*plane_point, *plane_normal);
ground_plane := PhysX.PxCreatePlane(physics, *plane, material);
PhysX.PxScene_addActor(scene, ground_plane, null);
}
#if PHYSX_TEST {
stack_z := 0.0;
for i: 0..4 {
stack_pos := Vector3.{0,10,stack_z};
stack_z -= 10.0;
create_stack(scene, PhysX.PxTransform_new(*stack_pos), 10, 2.0);
}
{
pos := Vector3.{0,20,100};
geo := PhysX.PxSphereGeometry_new(5);
vel := Vector3.{0,-25,-100};
ball := create_dynamic(scene, PhysX.PxTransform_new(*pos), *geo, vel);
density := 1000.0;
PhysX.PxRigidBodyExt_updateMassAndInertia(ball, density, null, true);
}
}
stack_z := 0.0;
for i: 0..4 {
stack_pos := Vector3.{0,10,stack_z};
stack_z -= 10.0;
create_stack(scene, PhysX.PxTransform_new(*stack_pos), 10, 2.0);
}
physx_scene : PhysX_Scene;
physx_scene.scene = scene;
physx_scene.actors.data.allocator = game_scene.allocator;
physx_scene.actors.indices.allocator = game_scene.allocator;
{
pos := Vector3.{0,20,100};
geo := PhysX.PxSphereGeometry_new(5);
vel := Vector3.{0,-25,-100};
ball := create_dynamic(scene, PhysX.PxTransform_new(*pos), *geo, vel);
density := 1000.0;
PhysX.PxRigidBodyExt_updateMassAndInertia(ball, density, null, true);
}
return scene;
game_scene.physx_scene = physx_scene;
}
PxShapeFlags :: enum_flags u8 {
SimulationShape :: 1 << 0;
SceneQueryShape :: 1 << 1;
TriggerShape :: 1 << 2;
Visualization :: 1 << 3;
deinit_physx_scene :: (game_scene: *Scene) {
PhysX.PxScene_release(game_scene.physx_scene.scene);
}
pre_physx_sync :: (game_scene: *Scene) {
for game_scene.entities {
if it.physx_handle != 0 {
// @Incomplete: Update the transform!
physx_actor := parray_get(*game_scene.physx_scene.actors, it.physx_handle);
PhysX.PxRigidDynamic_setLinearVelocity(physx_actor.dynamic, *it.velocity, true);
}
}
}
post_physx_sync :: (game_scene: *Scene) {
for game_scene.entities {
if it.physx_handle != 0 {
physx_actor := parray_get(*game_scene.physx_scene.actors, it.physx_handle);
vel := PhysX.PxRigidDynamic_getLinearVelocity(physx_actor.dynamic);
transform := PhysX.PxRigidActor_getGlobalPose(physx_actor.dynamic);
it.velocity = vel;
set_position_rotation(it, transform.p, transform.q);
}
}
}
add_physx_capsule :: (entity: *Entity, half_height: float, radius: float) -> PhysX_Handle {
geo := PhysX.PxCapsuleGeometry_new(radius, half_height);
transform := PhysX.PxTransform_new(*entity.transform.position);
actor := PhysX.PxPhysics_createRigidDynamic(physics, *transform);
PhysX.PxRigidDynamic_setRigidDynamicLockFlag(actor, xx PhysX.PxRigidDynamicLockFlags.LockAngularX, true);
PhysX.PxRigidDynamic_setRigidDynamicLockFlag(actor, xx PhysX.PxRigidDynamicLockFlags.LockAngularY, true);
PhysX.PxRigidDynamic_setRigidDynamicLockFlag(actor, xx PhysX.PxRigidDynamicLockFlags.LockAngularZ, true);
material := PhysX.PxPhysics_createMaterial(physics, 0.5, 0.5, 0.0);
PhysX.PxMaterial_setRestitutionCombineMode(material,1); // Turn off restitution no matter the other material
shape := PhysX.PxPhysics_createShape(physics, *geo, material, false, PHYSX_DEFAULT_SHAPE_FLAGS);
PhysX.PxRigidActor_attachShape(actor, shape);
PhysX.PxRigidBodyExt_updateMassAndInertia(actor, 10, null, false);
PhysX.PxScene_addActor(entity.scene.physx_scene.scene, actor, null);
PhysX.PxShape_release(shape);
// @Incomplete
//PhysX.PxMaterial_release(material);
physics_actor : PhysX_Actor;
physics_actor.dynamic = actor;
entity.physx_handle = parray_add(*entity.scene.physx_scene.actors, physics_actor);
return entity.physx_handle;
}
create_stack :: (scene: *PhysX.PxScene, t: PhysX.PxTransform, size: u32, half_extent: float) {
shape := PhysX.PxPhysics_createShape(physics, PhysX.PxBoxGeometry_new(half_extent, half_extent, half_extent), material, false, xx (PhysX.PxShapeFlags.Visualization | PhysX.PxShapeFlags.SceneQueryShape | PhysX.PxShapeFlags.SimulationShape));
shape := PhysX.PxPhysics_createShape(physics, PhysX.PxBoxGeometry_new(half_extent, half_extent, half_extent), material, false, PHYSX_DEFAULT_SHAPE_FLAGS);
for i: 0..size-1 {
for j: 0..size-i-1 {
pos := Vector3.{cast(float)(j*2) - cast(float)(size-i), cast(float)(i*2+1), 0} * half_extent;