111 lines
3.6 KiB
Rust
111 lines
3.6 KiB
Rust
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);
|
|
}
|
|
}
|
|
}
|