Character controller
This commit is contained in:
@@ -6,6 +6,7 @@ PhysX_Handle :: #type, distinct u32;
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PhysX_Actor_Type :: enum {
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STATIC;
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DYNAMIC;
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CHARACTER;
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}
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PhysX_Actor :: struct {
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@@ -16,12 +17,15 @@ PhysX_Actor :: struct {
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union {
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static: *PhysX.PxRigidStatic;
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dynamic: *PhysX.PxRigidDynamic;
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controller: *PhysX.PxController;
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}
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}
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PhysX_Scene :: struct {
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scene: *PhysX.PxScene;
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actors : PArray(PhysX_Actor, PhysX_Handle);
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controller_manager: *PhysX.PxControllerManager;
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}
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init_physx :: () {
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@@ -77,7 +81,25 @@ on_physx_trigger :: (_u: *void, pair: *PhysX.PxTriggerPair, count: u32) #c_call
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}
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tick_physx :: (scene: *PhysX_Scene, dt: float) {
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// Move all character controllers first
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filter_data := PhysX.PxFilterData_new();
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filter := PhysX.PxControllerFilters_new();
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for e: engine.current_scene.entities {
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if e.flags & .PHYSICS {
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if e.physics.physx_handle != 0 {
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physx_actor := parray_get(*engine.current_scene.physx_scene.actors, e.physics.physx_handle);
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if physx_actor.type == .CHARACTER {
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movement := e.physics.velocity * dt;
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flags := PhysX.PxController_move(physx_actor.controller, *movement, 0.001, dt, *filter, null);
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}
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}
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}
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}
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// Simulate
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PhysX.PxScene_simulate(scene.scene, dt, null, null, 0, true);
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// Sync results back
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PhysX.PxScene_fetchResults(scene.scene, true, null);
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}
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@@ -120,6 +142,7 @@ init_physx_scene :: (game_scene: *Scene) {
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physx_scene.scene = scene;
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physx_scene.actors.data.allocator = game_scene.allocator;
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physx_scene.actors.indices.allocator = game_scene.allocator;
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physx_scene.controller_manager = PhysX.PxCreateControllerManager(scene, false);
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game_scene.physx_scene = physx_scene;
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}
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@@ -134,8 +157,10 @@ pre_physx_sync :: (game_scene: *Scene) {
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if it.physics.physx_handle != 0 {
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// @Incomplete: Update the transform!
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physx_actor := parray_get(*game_scene.physx_scene.actors, it.physics.physx_handle);
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if physx_actor.type == .DYNAMIC {
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PhysX.PxRigidDynamic_setLinearVelocity(physx_actor.dynamic, *it.physics.velocity, true);
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if physx_actor.type == {
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case .DYNAMIC; {
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PhysX.PxRigidDynamic_setLinearVelocity(physx_actor.dynamic, *it.physics.velocity, true);
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}
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}
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} else {
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create_physx_actor(it);
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@@ -167,194 +192,222 @@ post_physx_sync :: (game_scene: *Scene) {
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}
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create_physx_actor :: (e: *Entity) {
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actor : *PhysX.PxRigidActor;
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transform : PhysX.PxTransform;
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position := e.transform.position + e.physics.offset;
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if e.physics.type == .CHARACTER {
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material := PhysX.PxPhysics_createMaterial(physics, e.physics.static_friction, e.physics.dynamic_friction, e.physics.restitution);
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if e.physics.type == .CAPSULE {
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angle := PI * 0.5;
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half_angle := angle * 0.5;
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desc := PhysX.PxCapsuleControllerDesc_new_alloc();
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desc.height = e.physics.character.height;
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desc.radius = e.physics.character.radius;
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desc.stepOffset = 0.2;
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desc.slopeLimit = cos(PI * 0.25);
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desc.contactOffset = 0.1;
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desc.material = material;
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desc.position = .{};
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desc.density = 10.0;
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desc.userData = null;
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sin_half := sin(half_angle);
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cos_half := cos(half_angle);
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scene := engine.current_scene.physx_scene;
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controller := PhysX.PxControllerManager_createController(scene.controller_manager, desc);
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PhysX.PxCapsuleControllerDesc_delete(desc);
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rotation := Quaternion.{0, 0, sin(-PI * 0.25), cos(-PI * 0.25)};
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transform = PhysX.PxTransform_new(*position, *rotation);
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physics_actor : PhysX_Actor;
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physics_actor.type = .CHARACTER;
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physics_actor.sync_rotation_from_physx = false;//e.physics.type != .CAPSULE; // @Incomplete
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physics_actor.controller = controller;
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e.physics.physx_handle = parray_add(*e.scene.physx_scene.actors, physics_actor);
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e.physics.enabled = true;
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} else {
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transform = PhysX.PxTransform_new(*position, *e.transform.orientation);
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}
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actor : *PhysX.PxRigidActor;
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transform : PhysX.PxTransform;
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position := e.transform.position + e.physics.offset;
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if e.physics.dynamic {
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dynamic := PhysX.PxPhysics_createRigidDynamic(physics, *transform);
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actor = dynamic;
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if e.physics.type == .CAPSULE {
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angle := PI * 0.5;
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half_angle := angle * 0.5;
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if e.physics.lock & .ANGULAR_X {
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PhysX.PxRigidDynamic_setRigidDynamicLockFlag(dynamic, xx PhysX.PxRigidDynamicLockFlags.LockAngularX, true);
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}
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if e.physics.lock & .ANGULAR_Y {
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PhysX.PxRigidDynamic_setRigidDynamicLockFlag(dynamic, xx PhysX.PxRigidDynamicLockFlags.LockAngularY, true);
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sin_half := sin(half_angle);
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cos_half := cos(half_angle);
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rotation := Quaternion.{0, 0, sin(-PI * 0.25), cos(-PI * 0.25)};
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transform = PhysX.PxTransform_new(*position, *rotation);
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} else {
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transform = PhysX.PxTransform_new(*position, *e.transform.orientation);
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}
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if e.physics.lock & .ANGULAR_Z {
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PhysX.PxRigidDynamic_setRigidDynamicLockFlag(dynamic, xx PhysX.PxRigidDynamicLockFlags.LockAngularZ, true);
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if e.physics.dynamic {
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dynamic := PhysX.PxPhysics_createRigidDynamic(physics, *transform);
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actor = dynamic;
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if e.physics.lock & .ANGULAR_X {
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PhysX.PxRigidDynamic_setRigidDynamicLockFlag(dynamic, xx PhysX.PxRigidDynamicLockFlags.LockAngularX, true);
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}
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if e.physics.lock & .ANGULAR_Y {
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PhysX.PxRigidDynamic_setRigidDynamicLockFlag(dynamic, xx PhysX.PxRigidDynamicLockFlags.LockAngularY, true);
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}
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if e.physics.lock & .ANGULAR_Z {
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PhysX.PxRigidDynamic_setRigidDynamicLockFlag(dynamic, xx PhysX.PxRigidDynamicLockFlags.LockAngularZ, true);
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}
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} else {
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actor = PhysX.PxPhysics_createRigidStatic(physics, *transform);
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}
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} else {
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actor = PhysX.PxPhysics_createRigidStatic(physics, *transform);
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}
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material := PhysX.PxPhysics_createMaterial(physics, e.physics.static_friction, e.physics.dynamic_friction, e.physics.restitution);
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geo : *PhysX.PxGeometry;
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actor.userData = e;
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material := PhysX.PxPhysics_createMaterial(physics, e.physics.static_friction, e.physics.dynamic_friction, e.physics.restitution);
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geo : *PhysX.PxGeometry;
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if e.physics.type == {
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case .SPHERE; {
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geo = PhysX.PxSphereGeometry_new(e.physics.sphere.radius);
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}
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case .BOX; {
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geo = PhysX.PxBoxGeometry_new(e.physics.box.half_extent*e.transform.scale);
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}
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case .CAPSULE; {
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geo = PhysX.PxCapsuleGeometry_new(e.physics.capsule.radius, e.physics.capsule.half_height-e.physics.capsule.radius);
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}
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case .CONVEX_MESH; {
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if e.flags & .RENDERABLE {
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points : [..] Vector3;
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points.allocator = temp;
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indices : [..] u32;
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indices.allocator = temp;
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actor.userData = e;
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model := get_model_by_handle(e.renderable.model);
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if e.physics.type == {
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case .SPHERE; {
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geo = PhysX.PxSphereGeometry_new(e.physics.sphere.radius);
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}
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case .BOX; {
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geo = PhysX.PxBoxGeometry_new(e.physics.box.half_extent*e.transform.scale);
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}
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case .CAPSULE; {
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geo = PhysX.PxCapsuleGeometry_new(e.physics.capsule.radius, e.physics.capsule.half_height-e.physics.capsule.radius);
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}
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case .CONVEX_MESH; {
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if e.flags & .RENDERABLE {
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points : [..] Vector3;
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points.allocator = temp;
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indices : [..] u32;
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indices.allocator = temp;
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for node, node_index: model.nodes {
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render_data := e.renderable.nodes[node_index];
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model := get_model_by_handle(e.renderable.model);
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success, inv_matrix := inverse(e.transform.model_matrix);
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// We need to undo the local to world part of every world matrix
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matrix := inv_matrix * render_data.transform.world_matrix;
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for node, node_index: model.nodes {
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render_data := e.renderable.nodes[node_index];
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if node.meshes.count > 0 {
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for m, mi: node.meshes {
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index_start : u32 = xx indices.count;
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mesh := parray_get(*engine.renderer.meshes, m);
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for v: mesh.positions {
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array_add(*points, v);//transform_position(v, matrix));
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}
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success, inv_matrix := inverse(e.transform.model_matrix);
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// We need to undo the local to world part of every world matrix
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matrix := inv_matrix * render_data.transform.world_matrix;
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for i: mesh.indices {
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array_add(*indices, index_start + i);
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if node.meshes.count > 0 {
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for m, mi: node.meshes {
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index_start : u32 = xx indices.count;
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mesh := parray_get(*engine.renderer.meshes, m);
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for v: mesh.positions {
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array_add(*points, v);//transform_position(v, matrix));
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}
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for i: mesh.indices {
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array_add(*indices, index_start + i);
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}
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}
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}
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}
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}
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mesh_desc := PhysX.PxConvexMeshDesc_new();
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mesh_desc.points.count = xx points.count;
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mesh_desc.points.stride = size_of(Vector3);
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mesh_desc.points.data = points.data;
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mesh_desc := PhysX.PxConvexMeshDesc_new();
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mesh_desc.points.count = xx points.count;
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mesh_desc.points.stride = size_of(Vector3);
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mesh_desc.points.data = points.data;
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mesh_desc.polygons.count = cast(u32)(indices.count / 3);
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mesh_desc.polygons.stride = 3 * size_of(u32);
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mesh_desc.polygons.data = indices.data;
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mesh_desc.polygons.count = cast(u32)(indices.count / 3);
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mesh_desc.polygons.stride = 3 * size_of(u32);
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mesh_desc.polygons.data = indices.data;
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if !PhysX.PxValidateConvexMesh(*cooking_params, *mesh_desc) {
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assert(false);
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if !PhysX.PxValidateConvexMesh(*cooking_params, *mesh_desc) {
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assert(false);
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}
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stream : PhysX.PxOutputStream;
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callback := PhysX.PxGetStandaloneInsertionCallback();
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//read_buffer : PhysX.PxDefaultMemoryInputData_new(;
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cond : s32;
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mesh := PhysX.PxCreateConvexMesh(*cooking_params, *mesh_desc, callback, null);
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scale := PhysX.PxMeshScale_new(*e.transform.scale);
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geo = PhysX.PxConvexMeshGeometry_new(mesh, *scale, 0);
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}
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stream : PhysX.PxOutputStream;
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callback := PhysX.PxGetStandaloneInsertionCallback();
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//read_buffer : PhysX.PxDefaultMemoryInputData_new(;
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cond : s32;
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mesh := PhysX.PxCreateConvexMesh(*cooking_params, *mesh_desc, callback, null);
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scale := PhysX.PxMeshScale_new(*e.transform.scale);
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geo = PhysX.PxConvexMeshGeometry_new(mesh, *scale, 0);
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}
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}
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case .TRIANGLE_MESH; {
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if e.flags & .RENDERABLE {
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points : [..] Vector3;
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points.allocator = temp;
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indices : [..] u32;
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indices.allocator = temp;
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case .TRIANGLE_MESH; {
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if e.flags & .RENDERABLE {
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points : [..] Vector3;
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points.allocator = temp;
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indices : [..] u32;
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indices.allocator = temp;
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model := get_model_by_handle(e.renderable.model);
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model := get_model_by_handle(e.renderable.model);
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for node, node_index: model.nodes {
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render_data := e.renderable.nodes[node_index];
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for node, node_index: model.nodes {
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render_data := e.renderable.nodes[node_index];
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success, inv_matrix := inverse(e.transform.model_matrix);
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// We need to undo the local to world part of every world matrix
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matrix := inv_matrix * render_data.transform.world_matrix;
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success, inv_matrix := inverse(e.transform.model_matrix);
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// We need to undo the local to world part of every world matrix
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matrix := inv_matrix * render_data.transform.world_matrix;
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if node.meshes.count > 0 {
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print("NUM MESHES %\n", node.meshes.count);
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for m, mi: node.meshes {
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index_start : u32 = xx indices.count;
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mesh := parray_get(*engine.renderer.meshes, m);
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for v: mesh.positions {
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array_add(*points, v);//transform_position(v, matrix));
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}
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if node.meshes.count > 0 {
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print("NUM MESHES %\n", node.meshes.count);
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for m, mi: node.meshes {
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index_start : u32 = xx indices.count;
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mesh := parray_get(*engine.renderer.meshes, m);
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for v: mesh.positions {
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array_add(*points, v);//transform_position(v, matrix));
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}
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for i: mesh.indices {
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array_add(*indices, index_start + i);
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for i: mesh.indices {
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array_add(*indices, index_start + i);
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}
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}
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}
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}
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mesh_desc : PhysX.PxTriangleMeshDesc;
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mesh_desc.points.count = xx points.count;
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mesh_desc.points.stride = size_of(Vector3);
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mesh_desc.points.data = points.data;
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mesh_desc.triangles.count = cast(u32)(indices.count / 3);
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mesh_desc.triangles.stride = 3 * size_of(u32);
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mesh_desc.triangles.data = indices.data;
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//if !PhysX.PxValidateTriangleMesh(*cooking_params, *mesh_desc) {
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// assert(false);
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//}
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callback := PhysX.PxGetStandaloneInsertionCallback();
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mesh := PhysX.PxCreateTriangleMesh(*cooking_params, *mesh_desc, callback, null);
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scale := PhysX.PxMeshScale_new(*e.transform.scale);
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geo = PhysX.PxTriangleMeshGeometry_new(mesh, *scale, 0);
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}
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}
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mesh_desc : PhysX.PxTriangleMeshDesc;
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mesh_desc.points.count = xx points.count;
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mesh_desc.points.stride = size_of(Vector3);
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mesh_desc.points.data = points.data;
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mesh_desc.triangles.count = cast(u32)(indices.count / 3);
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mesh_desc.triangles.stride = 3 * size_of(u32);
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mesh_desc.triangles.data = indices.data;
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//if !PhysX.PxValidateTriangleMesh(*cooking_params, *mesh_desc) {
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// assert(false);
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//}
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callback := PhysX.PxGetStandaloneInsertionCallback();
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mesh := PhysX.PxCreateTriangleMesh(*cooking_params, *mesh_desc, callback, null);
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scale := PhysX.PxMeshScale_new(*e.transform.scale);
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geo = PhysX.PxTriangleMeshGeometry_new(mesh, *scale, 0);
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}
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shape := PhysX.PxPhysics_createShape(physics, geo, material, false, ifx e.physics.trigger then PHYSX_DEFAULT_TRIGGER_SHAPE_FLAGS else PHYSX_DEFAULT_SIMULATION_SHAPE_FLAGS);
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// Setup layers
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filter_data := PhysX.PxFilterData_new();
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filter_data.word0 = 1;
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filter_data.word1 = 1;
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filter_data.word2 = 1;
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filter_data.word3 = 1;
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//PhysX.PxShape_setSimulationFilterData(shape, *filter_data);
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//PhysX.PxShape_setQueryFilterData(shape, *filter_data);
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PhysX.PxRigidActor_attachShape(actor, shape);
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if e.physics.dynamic {
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PhysX.PxRigidBodyExt_updateMassAndInertia(cast(*PhysX.PxRigidBody)actor, 1000.0, null, false);
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}
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PhysX.PxScene_addActor(e.scene.physx_scene.scene, actor, null);
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PhysX.PxShape_release(shape);
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PhysX.PxBase_release(material);
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physics_actor : PhysX_Actor;
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physics_actor.type = ifx e.physics.dynamic then .DYNAMIC else .STATIC;
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physics_actor.sync_rotation_from_physx = e.physics.type != .CAPSULE; // @Incomplete
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if physics_actor.type == .DYNAMIC {
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physics_actor.dynamic = xx actor;
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} else {
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physics_actor.static = xx actor;
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}
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e.physics.physx_handle = parray_add(*e.scene.physx_scene.actors, physics_actor);
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e.physics.enabled = true;
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}
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}
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|
||||
shape := PhysX.PxPhysics_createShape(physics, geo, material, false, ifx e.physics.trigger then PHYSX_DEFAULT_TRIGGER_SHAPE_FLAGS else PHYSX_DEFAULT_SIMULATION_SHAPE_FLAGS);
|
||||
|
||||
// Setup layers
|
||||
filter_data := PhysX.PxFilterData_new();
|
||||
filter_data.word0 = 1;
|
||||
filter_data.word1 = 1;
|
||||
filter_data.word2 = 1;
|
||||
filter_data.word3 = 1;
|
||||
|
||||
//PhysX.PxShape_setSimulationFilterData(shape, *filter_data);
|
||||
//PhysX.PxShape_setQueryFilterData(shape, *filter_data);
|
||||
|
||||
PhysX.PxRigidActor_attachShape(actor, shape);
|
||||
|
||||
if e.physics.dynamic {
|
||||
PhysX.PxRigidBodyExt_updateMassAndInertia(cast(*PhysX.PxRigidBody)actor, 1000.0, null, false);
|
||||
}
|
||||
|
||||
PhysX.PxScene_addActor(e.scene.physx_scene.scene, actor, null);
|
||||
|
||||
PhysX.PxShape_release(shape);
|
||||
PhysX.PxBase_release(material);
|
||||
|
||||
physics_actor : PhysX_Actor;
|
||||
physics_actor.type = ifx e.physics.dynamic then .DYNAMIC else .STATIC;
|
||||
physics_actor.sync_rotation_from_physx = e.physics.type != .CAPSULE; // @Incomplete
|
||||
|
||||
if physics_actor.type == .DYNAMIC {
|
||||
physics_actor.dynamic = xx actor;
|
||||
} else {
|
||||
physics_actor.static = xx actor;
|
||||
}
|
||||
|
||||
e.physics.physx_handle = parray_add(*e.scene.physx_scene.actors, physics_actor);
|
||||
e.physics.enabled = true;
|
||||
}
|
||||
|
||||
Hit :: struct {
|
||||
|
||||
Reference in New Issue
Block a user