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Capsule geometry

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This commit is contained in:
bloeys
2022-01-28 02:01:08 +04:00
parent 0997e2ef30
commit 2648e5743e
6 changed files with 56 additions and 6 deletions
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17
main.go
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@ -13,7 +13,7 @@ func main() {
pvd := pgo.CreatePvd(f) pvd := pgo.CreatePvd(f)
println("Pvd:", pvd) println("Pvd:", pvd)
println("connect:", pvd.Connect(pvdTr, pgo.PvdInstrumentationFlag_eALL)) println("connected to PVD:", pvd.Connect(pvdTr, pgo.PvdInstrumentationFlag_eALL))
ts := pgo.NewTolerancesScale(1, 9.81) ts := pgo.NewTolerancesScale(1, 9.81)
p := pgo.CreatePhysics(f, ts, false, pvd) p := pgo.CreatePhysics(f, ts, false, pvd)
@ -55,10 +55,21 @@ func main() {
dynBox2 := pgo.CreateDynamic(p, tr2, box.ToGeometry(), pMat, 10, shapeOffset) dynBox2 := pgo.CreateDynamic(p, tr2, box.ToGeometry(), pMat, 10, shapeOffset)
s.AddActor(dynBox2.ToActor()) s.AddActor(dynBox2.ToActor())
//Add sphere
v = pgo.NewVec3(0, 16, 0)
tr3 := pgo.NewTransform(v, qID)
dynSphere := pgo.CreateDynamic(p, tr3, pgo.NewSphereGeometry(3).ToGeometry(), pMat, 10, shapeOffset)
s.AddActor(dynSphere.ToActor())
//Add capsule
v = pgo.NewVec3(0, 20, 0)
tr4 := pgo.NewTransform(v, qID)
dynCapsule := pgo.CreateDynamic(p, tr4, pgo.NewCapsuleGeometry(0.25, 0.5).ToGeometry(), pMat, 10, shapeOffset)
s.AddActor(dynCapsule.ToActor())
for { for {
s.Simulate(1 / 60.0) s.Simulate(1 / 60.0)
a, b := s.FetchResults(true) s.FetchResults(true)
println("a:", a, "; b:", b)
} }
p.Release() p.Release()

BIN
pgo/libs/libphysx-c.a
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16
pgo/pgo.go
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@ -272,6 +272,22 @@ func NewBoxGeometry(hx, hy, hz float32) *BoxGeometry {
} }
} }
type CapsuleGeometry struct {
cCg C.struct_CPxCapsuleGeometry
}
func (bg *CapsuleGeometry) ToGeometry() *Geometry {
return &Geometry{
cG: C.CPxCapsuleGeometry_toCPxGeometry(&bg.cCg),
}
}
func NewCapsuleGeometry(radius, halfHeight float32) *CapsuleGeometry {
return &CapsuleGeometry{
cCg: C.NewCPxCapsuleGeometry(C.float(radius), C.float(halfHeight)),
}
}
type Actor struct { type Actor struct {
cA C.struct_CPxActor cA C.struct_CPxActor
} }

19
pgo/physx-c/CPxCapsuleGeometry.h Executable file
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@ -0,0 +1,19 @@
#ifndef CPxCapsuleGeometry_H
#define CPxCapsuleGeometry_H
#ifdef __cplusplus
extern "C" {
#endif
struct CPxCapsuleGeometry
{
CPxReal radius, halfHeight;
};
CPxAPI CPxInline CSTRUCT CPxCapsuleGeometry NewCPxCapsuleGeometry(CPxReal radius, CPxReal halfHeight);
#ifdef __cplusplus
}
#endif
#endif // !CPxCapsuleGeometry_H

7
pgo/physx-c/CPxGeometry.h
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@ -3,6 +3,7 @@
#include "CPxBoxGeometry.h" #include "CPxBoxGeometry.h"
#include "CPxSphereGeometry.h" #include "CPxSphereGeometry.h"
#include "CPxCapsuleGeometry.h"
#ifdef __cplusplus #ifdef __cplusplus
extern "C" { extern "C" {
@ -27,12 +28,14 @@ extern "C" {
CENUM CPxGeometryType type; CENUM CPxGeometryType type;
}; };
CPxAPI CPxInline CSTRUCT CPxSphereGeometry CPxGeometry_toCPxSphere(CSTRUCT CPxGeometry); CPxAPI CPxInline CSTRUCT CPxSphereGeometry CPxGeometry_toCPxSphereGeometry(CSTRUCT CPxGeometry);
CPxAPI CPxInline CSTRUCT CPxGeometry CPxSphereGeometry_toCPxGeometry(CSTRUCT CPxSphereGeometry*); CPxAPI CPxInline CSTRUCT CPxGeometry CPxSphereGeometry_toCPxGeometry(CSTRUCT CPxSphereGeometry*);
CPxAPI CPxInline CSTRUCT CPxBoxGeometry CPxGeometry_toCPxBox(CSTRUCT CPxGeometry); CPxAPI CPxInline CSTRUCT CPxBoxGeometry CPxGeometry_toCPxBoxGeometry(CSTRUCT CPxGeometry);
CPxAPI CPxInline CSTRUCT CPxGeometry CPxBoxGeometry_toCPxGeometry(CSTRUCT CPxBoxGeometry*); CPxAPI CPxInline CSTRUCT CPxGeometry CPxBoxGeometry_toCPxGeometry(CSTRUCT CPxBoxGeometry*);
CPxAPI CPxInline CSTRUCT CPxCapsuleGeometry CPxGeometry_toCPxCapsuleGeometry(CSTRUCT CPxGeometry);
CPxAPI CPxInline CSTRUCT CPxGeometry CPxCapsuleGeometry_toCPxGeometry(CSTRUCT CPxCapsuleGeometry*);
#ifdef __cplusplus #ifdef __cplusplus
} }

1
pgo/wrap.c
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@ -26,3 +26,4 @@
#include <CPxGeometry.h> #include <CPxGeometry.h>
#include <CPxBoxGeometry.h> #include <CPxBoxGeometry.h>
#include <CPxSphereGeometry.h> #include <CPxSphereGeometry.h>
#include <CPxCapsuleGeometry.h>