From 940a0b2db601cf981f39be1f2f49ae7395f81264 Mon Sep 17 00:00:00 2001
From: bloeys <bloeys@outlook.com>
Date: Fri, 28 Jan 2022 09:27:50 +0400
Subject: [PATCH] Rigiddynamic CMass+Shape local poses

---
 main.go                       |  12 +++++++++++-
 pgo/libs/libphysx-c.a         | Bin 19664 -> 20704 bytes
 pgo/pgo.go                    |  10 ++++++++++
 pgo/physx-c/CPxRigidDynamic.h |   3 +++
 pgo/physx-c/CPxShape.h        |   5 +++++
 pgo/rigiddynamic.go           |  10 ++++++++++
 6 files changed, 39 insertions(+), 1 deletion(-)

diff --git a/main.go b/main.go
index 11218d7..f9aa2ad 100755
--- a/main.go
+++ b/main.go
@@ -68,11 +68,20 @@ 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.NewSphereGeometry(2).ToGeometry(), pMat, pgo.ShapeFlags_eSCENE_QUERY_SHAPE|pgo.ShapeFlags_eSIMULATION_SHAPE|pgo.ShapeFlags_eVISUALIZATION)
+
 	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)
+
+	someShape := pgo.CreateExclusiveShape(dynComp.ToRigidActor(), pgo.NewSphereGeometry(2).ToGeometry(), pMat, pgo.ShapeFlags_eSCENE_QUERY_SHAPE|pgo.ShapeFlags_eSIMULATION_SHAPE|pgo.ShapeFlags_eVISUALIZATION)
+	someShape.SetLocalPose(pgo.NewTransform(pgo.NewVec3(5, 0, 0), qID))
+
+	someShape = pgo.CreateExclusiveShape(dynComp.ToRigidActor(), pgo.NewSphereGeometry(2).ToGeometry(), pMat, pgo.ShapeFlags_eSCENE_QUERY_SHAPE|pgo.ShapeFlags_eSIMULATION_SHAPE|pgo.ShapeFlags_eVISUALIZATION)
+	someShape.SetLocalPose(pgo.NewTransform(pgo.NewVec3(-5, 0, 0), qID))
+
 	s.AddActor(dynComp.ToActor())
 
+	//Make some changes and print info
 	dynSphere.SetMass(1)
 	dynCapsule.SetMass(1)
 	println("Box 1 mass:", dynBox.GetMass())
@@ -84,6 +93,7 @@ func main() {
 	dynCapsule.SetLinearDamping(0.05)
 	println("Capsule linear damping B:", dynCapsule.GetLinearDamping())
 
+	//Run simulation
 	s.SetScratchBuffer(4)
 	for {
 		s.Simulate(1 / 60.0)
diff --git a/pgo/libs/libphysx-c.a b/pgo/libs/libphysx-c.a
index 2c6768c8c3f98636c6a1b9315c6de28611249b9a..8e6f615940bb2b8c8aebf9f61808962e06f6d4ee 100755
GIT binary patch
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diff --git a/pgo/pgo.go b/pgo/pgo.go
index 3577240..578a7e4 100755
--- a/pgo/pgo.go
+++ b/pgo/pgo.go
@@ -157,6 +157,16 @@ type Shape struct {
 	cShape C.struct_CPxShape
 }
 
+func (s *Shape) GetLocalPose() *Transform {
+	return &Transform{
+		cT: C.CPxShape_getLocalPose(&s.cShape),
+	}
+}
+
+func (s *Shape) SetLocalPose(tr *Transform) {
+	C.CPxShape_setLocalPose(&s.cShape, &tr.cT)
+}
+
 func CreateExclusiveShape(rigidActor RigidActor, geom *Geometry, mat *Material, shapeFlags ShapeFlags) Shape {
 	return Shape{
 		cShape: C.createExclusiveShape(rigidActor.cRa, geom.cG, mat.cM, uint32(shapeFlags)),
diff --git a/pgo/physx-c/CPxRigidDynamic.h b/pgo/physx-c/CPxRigidDynamic.h
index d822680..23b8013 100755
--- a/pgo/physx-c/CPxRigidDynamic.h
+++ b/pgo/physx-c/CPxRigidDynamic.h
@@ -47,6 +47,9 @@ extern "C" {
 	CPxAPI CSTRUCT CPxTransform CPxRigidDynamic_getGlobalPose(CSTRUCT CPxRigidDynamic* crd);
 	CPxAPI void CPxRigidDynamic_setGlobalPose(CSTRUCT CPxRigidDynamic* crd, CSTRUCT CPxTransform* tr, bool autoAwake);
 
+	CPxAPI CSTRUCT CPxTransform CPxRigidDynamic_getCMassLocalPose(CSTRUCT CPxRigidDynamic* crd);
+	CPxAPI void CPxRigidDynamic_setCMassLocalPose(CSTRUCT CPxRigidDynamic* crd, CSTRUCT CPxTransform* tr);
+
 #ifdef __cplusplus
 }
 #endif
diff --git a/pgo/physx-c/CPxShape.h b/pgo/physx-c/CPxShape.h
index e91d05a..9b0992e 100755
--- a/pgo/physx-c/CPxShape.h
+++ b/pgo/physx-c/CPxShape.h
@@ -1,6 +1,8 @@
 #ifndef CPxShape_H
 #define CPxShape_H
 
+#include "CPxTransform.h"
+
 #ifdef __cplusplus
 extern "C" {
 #endif
@@ -10,6 +12,9 @@ extern "C" {
 		void* obj;
 	};
 
+	CPxAPI void CPxShape_setLocalPose(CSTRUCT CPxShape* cs, CSTRUCT CPxTransform* tr);
+	CPxAPI CSTRUCT CPxTransform CPxShape_getLocalPose(CSTRUCT CPxShape* cs);
+
 #ifdef __cplusplus
 }
 #endif
diff --git a/pgo/rigiddynamic.go b/pgo/rigiddynamic.go
index b7b8e14..755d066 100755
--- a/pgo/rigiddynamic.go
+++ b/pgo/rigiddynamic.go
@@ -95,6 +95,16 @@ func (rd *RigidDynamic) SetGlobalPose(tr *Transform, autoAwake bool) {
 	C.CPxRigidDynamic_setGlobalPose(rd.cRd, &tr.cT, C._Bool(autoAwake))
 }
 
+func (rd *RigidDynamic) GetCMassLocalPose() *Transform {
+	return &Transform{
+		cT: C.CPxRigidDynamic_getCMassLocalPose(rd.cRd),
+	}
+}
+
+func (rd *RigidDynamic) SetCMassLocalPose(tr *Transform) {
+	C.CPxRigidDynamic_setCMassLocalPose(rd.cRd, &tr.cT)
+}
+
 func (rd *RigidDynamic) ToActor() Actor {
 	return Actor{
 		cA: C.CPxRigidDynamic_toCPxActor(rd.cRd),