Cramming PhysX in there

More PhysX work

More PhysX work

modules/PhysX/physx/physx-sys/examples/ball.rs

@@ -0,0 +1,110 @@
+use physx_sys::*;
+use std::ptr::null_mut;
+
+fn main() {
+    #[allow(unsafe_code)]
+    // SAFETY: It works...but is it safe? :D
+    unsafe {
+        let foundation = physx_create_foundation();
+        let physics = physx_create_physics(foundation);
+
+        let mut scene_desc = PxSceneDesc_new(PxPhysics_getTolerancesScale(physics));
+        scene_desc.gravity = PxVec3 {
+            x: 0.0,
+            y: -9.81,
+            z: 0.0,
+        };
+
+        let dispatcher = phys_PxDefaultCpuDispatcherCreate(
+            1,
+            null_mut(),
+            PxDefaultCpuDispatcherWaitForWorkMode::WaitForWork,
+            0,
+        );
+        scene_desc.cpuDispatcher = dispatcher.cast();
+        scene_desc.filterShader = get_default_simulation_filter_shader();
+
+        let scene = PxPhysics_createScene_mut(physics, &scene_desc);
+
+        let material = PxPhysics_createMaterial_mut(physics, 0.5, 0.5, 0.6);
+        let ground_plane =
+            phys_PxCreatePlane(physics, &PxPlane_new_1(0.0, 1.0, 0.0, 0.0), material);
+        PxScene_addActor_mut(scene, ground_plane.cast(), null_mut());
+
+        let sphere_geo = PxSphereGeometry_new(10.0);
+        let sphere = phys_PxCreateDynamic(
+            physics,
+            &PxTransform_new_1(&PxVec3 {
+                x: 0.0,
+                y: 40.0,
+                z: 100.0,
+            }),
+            (&sphere_geo as *const PxSphereGeometry).cast(),
+            material,
+            10.0,
+            &PxTransform_new_2(PxIDENTITY::PxIdentity),
+        );
+        PxRigidBody_setAngularDamping_mut(sphere.cast(), 0.5);
+        PxScene_addActor_mut(scene, sphere.cast(), null_mut());
+
+        let filter_data = PxQueryFilterData_new();
+        let mut raycast_hits = Vec::new();
+
+        let heights_over_time = (0..100)
+            .map(|_| {
+                PxScene_simulate_mut(scene, 0.1, null_mut(), null_mut(), 0, true);
+                let mut error: u32 = 0;
+                PxScene_fetchResults_mut(scene, true, &mut error);
+                assert!(error == 0, "fetchResults has failed");
+
+                let mut hit = std::mem::MaybeUninit::uninit();
+
+                if physx_sys::PxSceneQueryExt_raycastSingle(
+                    scene,
+                    &PxVec3 {
+                        x: 0.0,
+                        y: 100.0,
+                        z: 100.0,
+                    }, // origin
+                    &PxVec3 {
+                        x: 0.0,
+                        y: -1.0,
+                        z: 0.0,
+                    }, // dir
+                    1000.0, // max distance
+                    PxHitFlags::Default,
+                    hit.as_mut_ptr(),
+                    &filter_data,
+                    null_mut(),
+                    null_mut(),
+                ) {
+                    let hit = hit.assume_init();
+                    raycast_hits.push(hit);
+                }
+
+                let pose = PxRigidActor_getGlobalPose(sphere.cast());
+                (pose.p.y) as i32 - 10
+            })
+            .collect::<Vec<_>>();
+        let max_h = 18;
+        (0..max_h)
+            .map(|h| {
+                let h = max_h - 1 - h;
+                heights_over_time
+                    .iter()
+                    .enumerate()
+                    .map(|(_t, p)| if h == *p { 'o' } else { ' ' })
+                    .collect::<String>()
+            })
+            .for_each(|line| {
+                println!("{line}");
+            });
+        PxScene_release_mut(scene);
+        PxDefaultCpuDispatcher_release_mut(dispatcher);
+        PxPhysics_release_mut(physics);
+
+        for hit in raycast_hits {
+            eprintln!("Raycast hit object {:.02}m away", hit.distance);
+        }
+    }
+}