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Support split sim

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This commit is contained in:
bloeys
2022-02-14 00:13:24 +04:00
parent 940a0b2db6
commit 832f16f3fe
4 changed files with 22 additions and 6 deletions
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8
main.go
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@ -38,7 +38,7 @@ func main() {
groundPlane := pgo.CreatePlane(p, pgo.NewPlane(0, 1, 0, 0), pMat)
s.AddActor(groundPlane.ToActor())
//Add dynamic box
//Add box1
v := pgo.NewVec3(0, 10, 0)
q := pgo.NewQuat(0, 0, 1, 0)
tr := pgo.NewTransform(v, q)
@ -50,6 +50,7 @@ func main() {
dynBox := pgo.CreateDynamic(p, tr, box.ToGeometry(), pMat, 1, shapeOffset)
s.AddActor(dynBox.ToActor())
//Add box2
v = pgo.NewVec3(0.5, 12, 0)
tr2 := pgo.NewTransform(v, qID)
dynBox2 := pgo.CreateDynamic(p, tr2, box.ToGeometry(), pMat, 1, shapeOffset)
@ -68,7 +69,6 @@ func main() {
s.AddActor(dynCapsule.ToActor())
//Add compound shape
dynComp := p.CreateRigidDynamic(pgo.NewTransform(pgo.NewVec3(0, 35, 0), qID))
pgo.CreateExclusiveShape(dynComp.ToRigidActor(), pgo.NewBoxGeometry(10, 0.1, 0.1).ToGeometry(), pMat, pgo.ShapeFlags_eSCENE_QUERY_SHAPE|pgo.ShapeFlags_eSIMULATION_SHAPE|pgo.ShapeFlags_eVISUALIZATION)
@ -96,7 +96,9 @@ func main() {
//Run simulation
s.SetScratchBuffer(4)
for {
s.Simulate(1 / 60.0)
s.Collide(1 / 60.0)
s.FetchCollision(true)
s.Advance()
s.FetchResults(true)
}

BIN
pgo/libs/libphysx-c.a
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17
pgo/pgo.go
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@ -99,6 +99,20 @@ func (s *Scene) Simulate(elapsedTime float32) {
C.CPxScene_simulate(s.cS, C.float(elapsedTime))
}
// void CPxScene_advance(CSTRUCT CPxScene*);
func (s *Scene) Collide(elapsedTime float32) {
C.CPxScene_collide(s.cS, C.float(elapsedTime))
}
func (s *Scene) FetchCollision(block bool) bool {
return bool(C.CPxScene_fetchCollision(s.cS, C._Bool(block)))
}
func (s *Scene) Advance() {
C.CPxScene_advance(s.cS)
}
func (s *Scene) FetchResults(block bool) (bool, uint32) {
var errState uint32
@ -126,9 +140,6 @@ func (p *Physics) CreateMaterial(staticFriction, dynamicFriction, restitution fl
}
}
// CPxAPI CSTRUCT CPxRigidDynamic* CPxPhysics_createRigidDynamic(CSTRUCT CPxPhysics* cp, CSTRUCT CPxTransform* ctr);
// CPxAPI CSTRUCT CPxRigidStatic* CPxPhysics_createRigidStatic(CSTRUCT CPxPhysics* cp, CSTRUCT CPxTransform* ctr);
func (p *Physics) CreateRigidDynamic(tr *Transform) *RigidDynamic {
return &RigidDynamic{
cRd: C.CPxPhysics_createRigidDynamic(p.cPhysics, &tr.cT),

3
pgo/physx-c/CPxScene.h
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@ -18,6 +18,9 @@ extern "C" {
CPxAPI CSTRUCT CPxPvdSceneClient* CPxScene_getScenePvdClient(CSTRUCT CPxScene*);
CPxAPI void CPxScene_addActor(CSTRUCT CPxScene*, CSTRUCT CPxActor actor);
CPxAPI void CPxScene_simulate(CSTRUCT CPxScene*, CPxReal elapsedTime);
CPxAPI void CPxScene_collide(CSTRUCT CPxScene*, CPxReal elapsedTime);
CPxAPI bool CPxScene_fetchCollision(CSTRUCT CPxScene*, bool block);
CPxAPI void CPxScene_advance(CSTRUCT CPxScene*);
CPxAPI bool CPxScene_fetchResults(CSTRUCT CPxScene*, bool block, CPxU32* errorState);
/// <summary>