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Cramming PhysX in there

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More PhysX work

More PhysX work
This commit is contained in:
Daniel Bross
2025-07-06 23:58:40 +02:00
parent c3a1686325
commit 84350b85ab
3257 changed files with 587241 additions and 66 deletions
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120
physics/physx.jai Normal file
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init_physx :: () {
default_allocator = PhysX.get_default_allocator();
default_error_callback = PhysX.get_default_error_callback();
foundation := PhysX.PxCreateFoundation(PhysX.PX_PHYSICS_VERSION, *default_allocator, *default_error_callback);
if foundation == null {
log_error("Could not initialize PhysX\n");
return;
}
pvd := PhysX.PxCreatePvd(foundation);
transport := PhysX.PxDefaultPvdSocketTransportCreate("127.0.0.1", 5425, 10);
PhysX.PxPvd_connect(pvd, transport, cast(u8)PhysX.PxPvdInstrumentationFlags.ALL);
tolerance_scale : PhysX.PxTolerancesScale;
tolerance_scale.length = 100;
tolerance_scale.speed = 981;
physics = PhysX.PxCreatePhysics(PhysX.PX_PHYSICS_VERSION, foundation, *tolerance_scale, true, pvd, null);
dispatcher = PhysX.PxDefaultCpuDispatcherCreate(2);
material = PhysX.PxPhysics_createMaterial(physics, 0.5, 0.5, 0.6);
}
tick_physx :: (scene: *PhysX.PxScene, dt: float) {
PhysX.PxScene_simulate(scene, dt, null, null, 0, false);
PhysX.PxScene_fetchResults(scene, true, null);
}
create_physx_scene :: () -> *PhysX.PxScene {
tolerance_scale : PhysX.PxTolerancesScale;
tolerance_scale.length = 100;
tolerance_scale.speed = 981;
scene_desc := PhysX.PxSceneDesc_new(*tolerance_scale);
scene_desc.gravity.y = -9.81;
scene_desc.cpuDispatcher = xx dispatcher;
PhysX.set_default_filter_shader(*scene_desc);
scene := PhysX.PxPhysics_createScene(physics, *scene_desc);
// @Incomplete: If debug
pvd_client := PhysX.PxScene_getScenePvdClient(scene);
if pvd_client {
PhysX.PxPvdSceneClient_setScenePvdFlag(pvd_client, xx PhysX.PxPvdSceneFlag.TRANSMIT_CONSTRAINTS, true);
PhysX.PxPvdSceneClient_setScenePvdFlag(pvd_client, xx PhysX.PxPvdSceneFlag.TRANSMIT_CONTACTS, true);
PhysX.PxPvdSceneClient_setScenePvdFlag(pvd_client, xx PhysX.PxPvdSceneFlag.TRANSMIT_SCENEQUERIES, true);
//PhysX.PxScene_setVisualizationParameter(scene, 0, 1.0);
//PhysX.PxScene_setVisualizationParameter(scene, 1, 2.0);
}
{
plane := PhysX.PxPlane_new(0.0,-1.0,0.0,50.0);
ground_plane := PhysX.PxCreatePlane(physics, *plane, material);
PhysX.PxScene_addActor(scene, ground_plane, null);
}
{
plane := PhysX.PxPlane_new(0.0,-1.0,0.0,50.0);
ground_plane := PhysX.PxCreatePlane(physics, *plane, material);
PhysX.PxScene_addActor(scene, ground_plane, null);
}
{
plane := PhysX.PxPlane_new(0.0,-1.0,0.0,50.0);
ground_plane := PhysX.PxCreatePlane(physics, *plane, material);
PhysX.PxScene_addActor(scene, ground_plane, null);
}
{
plane := PhysX.PxPlane_new(0.0,-1.0,0.0,50.0);
ground_plane := PhysX.PxCreatePlane(physics, *plane, material);
PhysX.PxScene_addActor(scene, ground_plane, null);
}
stack_z := 10.0;
for i: 0..4 {
stack_pos := Vector3.{0,100,stack_z};
stack_z -= 10.0;
create_stack(scene, PhysX.PxTransform_new(*stack_pos), 10, 2.0);
}
return scene;
}
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, 0);
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;
local_tm := PhysX.PxTransform_new(*pos);
body := PhysX.PxPhysics_createRigidDynamic(physics, *PhysX.PxTransform_transform(*t, *local_tm));
PhysX.PxRigidActor_attachShape(body, shape);
PhysX.PxRigidBodyExt_updateMassAndInertia(body, 10., null, false);
PhysX.PxScene_addActor(scene, body, null);
}
}
//shape->release();
}
create_dynamic :: (scene: *PhysX.PxScene, t: PhysX.PxTransform, geometry: PhysX.PxGeometry, velocity: Vector3 = .{}) -> *PhysX.PxRigidDynamic {
p := Vector3.{0,0,0};
dynamic := PhysX.PxCreateDynamic(physics, *t, *geometry, material, 10.0, *PhysX.PxTransform_new(cast(s32)PhysX.PxIDENTITY.PxIdentity));
PhysX.PxRigidBody_setAngularDamping(dynamic, 0.5);
PhysX.PxRigidDynamic_setLinearVelocity(dynamic, *velocity, true);
PhysX.PxScene_addActor(scene, dynamic, null);
return dynamic;
}
PhysX :: #import "PhysX";
#scope_file
physics : *PhysX.PxPhysics;
material : *PhysX.PxMaterial;
default_allocator : PhysX.PxAllocatorCallback;
default_error_callback : PhysX.PxErrorCallback;
default_filter_shader : PhysX.SimulationFilterShader;
dispatcher : *PhysX.PxDefaultCpuDispatcher;