From 082215d4ac14673b448efbd3bd0986152fecceac Mon Sep 17 00:00:00 2001
From: bloeys <bloeys@outlook.com>
Date: Fri, 28 Jan 2022 07:00:46 +0400
Subject: [PATCH] More rigiddynamic stuff

---
 main.go                       |   5 ++++-
 pgo/libs/libphysx-c.a         | Bin 16898 -> 18346 bytes
 pgo/physx-c/CPxRigidDynamic.h |   7 +++++++
 pgo/rigiddynamic.go           |  22 ++++++++++++++++++++++
 4 files changed, 33 insertions(+), 1 deletion(-)

diff --git a/main.go b/main.go
index 3f0602f..665d0b6 100755
--- a/main.go
+++ b/main.go
@@ -74,8 +74,11 @@ func main() {
 	println("Sphere mass:", dynSphere.GetMass())
 	println("Capsule mass:", dynCapsule.GetMass())
 
-	s.SetScratchBuffer(4)
+	println("Capsule linear damping A:", dynCapsule.GetLinearDamping())
+	dynCapsule.SetLinearDamping(0.05)
+	println("Capsule linear damping B:", dynCapsule.GetLinearDamping())
 
+	s.SetScratchBuffer(4)
 	for {
 		s.Simulate(1 / 60.0)
 		s.FetchResults(true)
diff --git a/pgo/libs/libphysx-c.a b/pgo/libs/libphysx-c.a
index 1e57d353102b9869f569ae0a60072742788a487f..885b9f8aa494bec706302b2fe372fb3e4ead8fcc 100755
GIT binary patch
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diff --git a/pgo/physx-c/CPxRigidDynamic.h b/pgo/physx-c/CPxRigidDynamic.h
index a031c4e..16ff161 100755
--- a/pgo/physx-c/CPxRigidDynamic.h
+++ b/pgo/physx-c/CPxRigidDynamic.h
@@ -20,7 +20,14 @@ extern "C" {
 	CPxAPI CSTRUCT CPxActor CPxRigidDynamic_toCPxActor(CSTRUCT CPxRigidDynamic*);
 	CPxAPI void CPxRigidDynamic_addForce(CSTRUCT CPxRigidDynamic* crd, CSTRUCT CPxVec3* force, CENUM CPxForceMode fmode, bool autoAwake);
 	CPxAPI void CPxRigidDynamic_addTorque(CSTRUCT CPxRigidDynamic* crd, CSTRUCT CPxVec3* torque, CENUM CPxForceMode fmode, bool autoAwake);
+
+	CPxAPI void CPxRigidDynamic_setLinearDamping(CSTRUCT CPxRigidDynamic* crd, CPxReal damping);
+	CPxAPI void CPxRigidDynamic_setAngularDamping(CSTRUCT CPxRigidDynamic* crd, CPxReal damping);
+	CPxAPI CPxReal CPxRigidDynamic_getLinearDamping(CSTRUCT CPxRigidDynamic* crd);
+	CPxAPI CPxReal CPxRigidDynamic_getAngularDamping(CSTRUCT CPxRigidDynamic* crd);
+	
 	CPxAPI CSTRUCT CPxVec3 CPxRigidDynamic_getLinearVelocity(CSTRUCT CPxRigidDynamic* crd);
+	CPxAPI CSTRUCT CPxVec3 CPxRigidDynamic_getAngularVelocity(CSTRUCT CPxRigidDynamic* crd);
 
 	CPxAPI void CPxRigidDynamic_setMass(CSTRUCT CPxRigidDynamic* crd, CPxReal mass);
 	CPxAPI CPxReal CPxRigidDynamic_getMass(CSTRUCT CPxRigidDynamic* crd);
diff --git a/pgo/rigiddynamic.go b/pgo/rigiddynamic.go
index 53012f8..67400f7 100755
--- a/pgo/rigiddynamic.go
+++ b/pgo/rigiddynamic.go
@@ -21,12 +21,34 @@ func (rd *RigidDynamic) AddTorque(torque *Vec3, fmode ForceMode, autoAwake bool)
 	C.CPxRigidDynamic_addTorque(rd.cRd, &torque.cV, uint32(fmode), C._Bool(autoAwake))
 }
 
+func (rd *RigidDynamic) SetLinearDamping(damping float32) {
+	C.CPxRigidDynamic_setLinearDamping(rd.cRd, C.float(damping))
+}
+
+func (rd *RigidDynamic) SetAngularDamping(damping float32) {
+	C.CPxRigidDynamic_setAngularDamping(rd.cRd, C.float(damping))
+}
+
+func (rd *RigidDynamic) GetLinearDamping() float32 {
+	return float32(C.CPxRigidDynamic_getLinearDamping(rd.cRd))
+}
+
+func (rd *RigidDynamic) GetAngularDamping() float32 {
+	return float32(C.CPxRigidDynamic_getAngularDamping(rd.cRd))
+}
+
 func (rd *RigidDynamic) GetLinearVelocity() Vec3 {
 	return Vec3{
 		cV: C.CPxRigidDynamic_getLinearVelocity(rd.cRd),
 	}
 }
 
+func (rd *RigidDynamic) GetAngularVelocity() Vec3 {
+	return Vec3{
+		cV: C.CPxRigidDynamic_getAngularVelocity(rd.cRd),
+	}
+}
+
 func (rd *RigidDynamic) SetMass(mass float32) {
 	C.CPxRigidDynamic_setMass(rd.cRd, C.float(mass))
 }