122 lines
4.5 KiB
Plaintext
122 lines
4.5 KiB
Plaintext
init_physx :: () {
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default_allocator = PhysX.get_default_allocator();
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default_error_callback = PhysX.get_default_error_callback();
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foundation := PhysX.PxCreateFoundation(PhysX.PX_PHYSICS_VERSION, *default_allocator, *default_error_callback);
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if foundation == null {
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log_error("Could not initialize PhysX\n");
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return;
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}
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pvd := PhysX.PxCreatePvd(foundation);
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transport := PhysX.PxDefaultPvdSocketTransportCreate("127.0.0.1", 5425, 10);
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PhysX.PxPvd_connect(pvd, transport, cast(u8)PhysX.PxPvdInstrumentationFlags.ALL);
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tolerance_scale : PhysX.PxTolerancesScale;
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tolerance_scale.length = 1;
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tolerance_scale.speed = 981;
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physics = PhysX.PxCreatePhysics(PhysX.PX_PHYSICS_VERSION, foundation, *tolerance_scale, true, pvd, null);
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dispatcher = PhysX.PxDefaultCpuDispatcherCreate(2);
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material = PhysX.PxPhysics_createMaterial(physics, 0.5, 0.5, 0.6);
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}
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tick_physx :: (scene: *PhysX.PxScene, dt: float) {
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PhysX.PxScene_simulate(scene, 1.0/60.0, null, null, 0, true);
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PhysX.PxScene_fetchResults(scene, true, null);
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}
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plane : Plane3;
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create_physx_scene :: () -> *PhysX.PxScene {
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tolerance_scale : PhysX.PxTolerancesScale;
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tolerance_scale.length = 1;
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tolerance_scale.speed = 10;
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scene_desc := PhysX.PxSceneDesc_new(*tolerance_scale);
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scene_desc.gravity.y = -9.81;
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scene_desc.cpuDispatcher = xx dispatcher;
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PhysX.set_default_filter_shader(*scene_desc);
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scene := PhysX.PxPhysics_createScene(physics, *scene_desc);
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// @Incomplete: If debug
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pvd_client := PhysX.PxScene_getScenePvdClient(scene);
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if pvd_client {
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PhysX.PxPvdSceneClient_setScenePvdFlag(pvd_client, xx PhysX.PxPvdSceneFlag.TRANSMIT_CONSTRAINTS, true);
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PhysX.PxPvdSceneClient_setScenePvdFlag(pvd_client, xx PhysX.PxPvdSceneFlag.TRANSMIT_CONTACTS, true);
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PhysX.PxPvdSceneClient_setScenePvdFlag(pvd_client, xx PhysX.PxPvdSceneFlag.TRANSMIT_SCENEQUERIES, true);
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}
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{
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plane_point := Vector3.{0,0,0};
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plane_normal := Vector3.{0,1,0};
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plane = PhysX.PxPlane_new(*plane_point, *plane_normal);
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ground_plane := PhysX.PxCreatePlane(physics, *plane, material);
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PhysX.PxScene_addActor(scene, ground_plane, null);
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}
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stack_z := 0.0;
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for i: 0..4 {
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stack_pos := Vector3.{0,10,stack_z};
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stack_z -= 10.0;
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create_stack(scene, PhysX.PxTransform_new(*stack_pos), 10, 2.0);
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}
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{
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pos := Vector3.{0,20,100};
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geo := PhysX.PxSphereGeometry_new(5);
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vel := Vector3.{0,-25,-100};
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ball := create_dynamic(scene, PhysX.PxTransform_new(*pos), *geo, vel);
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density := 1000.0;
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PhysX.PxRigidBodyExt_updateMassAndInertia(ball, density, null, true);
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}
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return scene;
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}
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PxShapeFlags :: enum_flags u8 {
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SimulationShape :: 1 << 0;
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SceneQueryShape :: 1 << 1;
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TriggerShape :: 1 << 2;
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Visualization :: 1 << 3;
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}
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create_stack :: (scene: *PhysX.PxScene, t: PhysX.PxTransform, size: u32, half_extent: float) {
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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));
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for i: 0..size-1 {
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for j: 0..size-i-1 {
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pos := Vector3.{cast(float)(j*2) - cast(float)(size-i), cast(float)(i*2+1), 0} * half_extent;
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local_tm := PhysX.PxTransform_new(*pos);
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body := PhysX.PxPhysics_createRigidDynamic(physics, *PhysX.PxTransform_transform(*t, *local_tm));
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PhysX.PxRigidActor_attachShape(body, shape);
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PhysX.PxRigidBodyExt_updateMassAndInertia(body, 10., null, false);
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PhysX.PxScene_addActor(scene, body, null);
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}
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}
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//shape->release();
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}
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create_dynamic :: (scene: *PhysX.PxScene, t: PhysX.PxTransform, geometry: *PhysX.PxGeometry, velocity: Vector3 = .{}) -> *PhysX.PxRigidDynamic {
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p := Vector3.{0,0,0};
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transform := PhysX.PxTransform_new(cast(s32)PhysX.PxIDENTITY.PxIdentity);
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dynamic := PhysX.PxCreateDynamic(physics, *t, geometry, material, 10.0, *transform);
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PhysX.PxRigidBody_setAngularDamping(dynamic, 0.5);
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PhysX.PxRigidDynamic_setLinearVelocity(dynamic, *velocity, true);
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PhysX.PxScene_addActor(scene, dynamic, null);
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return dynamic;
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}
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PhysX :: #import "PhysX";
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#scope_file
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physics : *PhysX.PxPhysics;
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material : *PhysX.PxMaterial;
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default_allocator : PhysX.PxAllocatorCallback;
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default_error_callback : PhysX.PxErrorCallback;
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default_filter_shader : PhysX.SimulationFilterShader;
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dispatcher : *PhysX.PxDefaultCpuDispatcher;
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