PhysX work

core/entity.jai

@@ -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
 

core/scene.jai

@@ -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}));

core/transform.jai

@@ -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;

module.jai

@@ -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 {

physics/physx.jai

@@ -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) {
+tick_physx :: (scene: *PhysX_Scene, dt: float) {
-    PhysX.PxScene_simulate(scene, 1.0/60.0, null, null, 0, true);
+    PhysX.PxScene_simulate(scene.scene, dt, null, null, 0, true);
-    PhysX.PxScene_fetchResults(scene, true, null);
+    PhysX.PxScene_fetchResults(scene.scene, true, null);
 }
 
-plane : Plane3;
+init_physx_scene :: (game_scene: *Scene) {
-
-create_physx_scene :: () -> *PhysX.PxScene {
     tolerance_scale : PhysX.PxTolerancesScale;
     tolerance_scale.length = 1;
     tolerance_scale.speed = 10;
@@ -48,13 +62,15 @@ 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_point := Vector3.{0,10.5,0};
             plane_normal := Vector3.{0,1,0};
-        plane = PhysX.PxPlane_new(*plane_point, *plane_normal);
+            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 {
@@ -72,17 +88,74 @@ create_physx_scene :: () -> *PhysX.PxScene {
             density := 1000.0;
             PhysX.PxRigidBodyExt_updateMassAndInertia(ball, density, null, true);
         }
+    }
 
-    return scene;
+    physx_scene : PhysX_Scene;
+    physx_scene.scene = scene;
+    physx_scene.actors.data.allocator = game_scene.allocator;
+    physx_scene.actors.indices.allocator = game_scene.allocator;
+
+    game_scene.physx_scene = physx_scene;
 }
-PxShapeFlags :: enum_flags u8 {
+
-    SimulationShape :: 1 << 0;
+deinit_physx_scene :: (game_scene: *Scene) {
-    SceneQueryShape :: 1 << 1;
+    PhysX.PxScene_release(game_scene.physx_scene.scene);    
-    TriggerShape :: 1 << 2;
-    Visualization :: 1 << 3;
 }
+
+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;