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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 d5a21cb3ee
7 changed files with 169 additions and 570 deletions
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181
physics/physx.jai
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@@ -1,3 +1,28 @@
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_Type :: enum {
STATIC;
DYNAMIC;
}
PhysX_Actor :: struct {
type : PhysX_Actor_Type;
sync_rotation_from_physx: bool = true;
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();
@@ -14,21 +39,19 @@ init_physx :: () {
tolerance_scale : PhysX.PxTolerancesScale;
tolerance_scale.length = 1;
tolerance_scale.speed = 981;
tolerance_scale.speed = 10;
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);
material = PhysX.PxPhysics_createMaterial(physics, 0.0, 0.0, 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 +71,113 @@ 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);
}
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);
if physx_actor.type == .DYNAMIC {
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);
if physx_actor.type == .DYNAMIC {
vel := PhysX.PxRigidDynamic_getLinearVelocity(physx_actor.dynamic);
it.velocity = vel;
transform := PhysX.PxRigidActor_getGlobalPose(physx_actor.dynamic);
if physx_actor.sync_rotation_from_physx {
set_position_rotation(it, transform.p, transform.q);
} else {
set_position(it, transform.p);
}
}
}
}
}
add_physx_capsule :: (entity: *Entity, half_height: float, radius: float) -> PhysX_Handle {
geo := PhysX.PxCapsuleGeometry_new(radius, half_height-radius);
angle := PI * 0.5;
half_angle := angle * 0.5;
sin_half := sin(half_angle);
cos_half := cos(half_angle);
rotation := Quaternion.{0, 0, sin(-PI * 0.25), cos(-PI * 0.25)};
transform := PhysX.PxTransform_new(*entity.transform.position, *rotation);
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, 0.0, 0.0, 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, 0.1, 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.type = .DYNAMIC;
physics_actor.sync_rotation_from_physx = false;
physics_actor.dynamic = actor;
entity.physx_handle = parray_add(*entity.scene.physx_scene.actors, physics_actor);
return entity.physx_handle;
}
add_physx_box :: (entity: *Entity, half_extent: Vector3) -> PhysX_Handle {
shape := PhysX.PxPhysics_createShape(physics, PhysX.PxBoxGeometry_new(half_extent), material, false, PHYSX_DEFAULT_SHAPE_FLAGS);
t := PhysX.PxTransform_new(*entity.transform.position);
body := PhysX.PxPhysics_createRigidStatic(physics, *t);
PhysX.PxRigidActor_attachShape(body, shape);
PhysX.PxScene_addActor(entity.scene.physx_scene.scene, body, null);
PhysX.PxShape_release(shape);
physics_actor : PhysX_Actor;
physics_actor.type = .STATIC;
physics_actor.static = body;
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;
@@ -97,6 +192,16 @@ create_stack :: (scene: *PhysX.PxScene, t: PhysX.PxTransform, size: u32, half_ex
//shape->release();
}
Hit :: struct {
}
physx_raycast :: (origin: Vector3, direction: Vector3, max_distance: float = 1000.0) -> bool, Hit {
hit : PhysX.PxRaycastHit;
filter_data := PhysX.PxQueryFilterData_new();
has_hit := PhysX.PxSceneQueryExt_raycastSingle(engine.current_scene.physx_scene.scene, *origin, *direction, max_distance, 0, *hit, *filter_data, null, null);
return has_hit, .{};
}
create_dynamic :: (scene: *PhysX.PxScene, t: PhysX.PxTransform, geometry: *PhysX.PxGeometry, velocity: Vector3 = .{}) -> *PhysX.PxRigidDynamic {
p := Vector3.{0,0,0};