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Rigiddynamic CMass+Shape local poses

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bloeys
2022-01-28 09:27:50 +04:00
parent eb4519cc53
commit 940a0b2db6
6 changed files with 39 additions and 1 deletions
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12
main.go
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@ -68,11 +68,20 @@ func main() {
s.AddActor(dynCapsule.ToActor()) s.AddActor(dynCapsule.ToActor())
//Add compound shape //Add compound shape
dynComp := p.CreateRigidDynamic(pgo.NewTransform(pgo.NewVec3(0, 35, 0), qID)) 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) 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()) s.AddActor(dynComp.ToActor())
//Make some changes and print info
dynSphere.SetMass(1) dynSphere.SetMass(1)
dynCapsule.SetMass(1) dynCapsule.SetMass(1)
println("Box 1 mass:", dynBox.GetMass()) println("Box 1 mass:", dynBox.GetMass())
@ -84,6 +93,7 @@ func main() {
dynCapsule.SetLinearDamping(0.05) dynCapsule.SetLinearDamping(0.05)
println("Capsule linear damping B:", dynCapsule.GetLinearDamping()) println("Capsule linear damping B:", dynCapsule.GetLinearDamping())
//Run simulation
s.SetScratchBuffer(4) s.SetScratchBuffer(4)
for { for {
s.Simulate(1 / 60.0) s.Simulate(1 / 60.0)

BIN
pgo/libs/libphysx-c.a
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10
pgo/pgo.go
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@ -157,6 +157,16 @@ type Shape struct {
cShape C.struct_CPxShape 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 { func CreateExclusiveShape(rigidActor RigidActor, geom *Geometry, mat *Material, shapeFlags ShapeFlags) Shape {
return Shape{ return Shape{
cShape: C.createExclusiveShape(rigidActor.cRa, geom.cG, mat.cM, uint32(shapeFlags)), cShape: C.createExclusiveShape(rigidActor.cRa, geom.cG, mat.cM, uint32(shapeFlags)),

3
pgo/physx-c/CPxRigidDynamic.h
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@ -47,6 +47,9 @@ extern "C" {
CPxAPI CSTRUCT CPxTransform CPxRigidDynamic_getGlobalPose(CSTRUCT CPxRigidDynamic* crd); CPxAPI CSTRUCT CPxTransform CPxRigidDynamic_getGlobalPose(CSTRUCT CPxRigidDynamic* crd);
CPxAPI void CPxRigidDynamic_setGlobalPose(CSTRUCT CPxRigidDynamic* crd, CSTRUCT CPxTransform* tr, bool autoAwake); 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 #ifdef __cplusplus
} }
#endif #endif

5
pgo/physx-c/CPxShape.h
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@ -1,6 +1,8 @@
#ifndef CPxShape_H #ifndef CPxShape_H
#define CPxShape_H #define CPxShape_H
#include "CPxTransform.h"
#ifdef __cplusplus #ifdef __cplusplus
extern "C" { extern "C" {
#endif #endif
@ -10,6 +12,9 @@ extern "C" {
void* obj; void* obj;
}; };
CPxAPI void CPxShape_setLocalPose(CSTRUCT CPxShape* cs, CSTRUCT CPxTransform* tr);
CPxAPI CSTRUCT CPxTransform CPxShape_getLocalPose(CSTRUCT CPxShape* cs);
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif

10
pgo/rigiddynamic.go
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@ -95,6 +95,16 @@ func (rd *RigidDynamic) SetGlobalPose(tr *Transform, autoAwake bool) {
C.CPxRigidDynamic_setGlobalPose(rd.cRd, &tr.cT, C._Bool(autoAwake)) 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 { func (rd *RigidDynamic) ToActor() Actor {
return Actor{ return Actor{
cA: C.CPxRigidDynamic_toCPxActor(rd.cRd), cA: C.CPxRigidDynamic_toCPxActor(rd.cRd),