Implementing the rigiddynamic api

pgo/forcemode.go

@@ -0,0 +1,10 @@
+package pgo
+
+type ForceMode uint32
+
+const (
+	ForceMode_eFORCE           ForceMode = iota //!< parameter has unit of mass * distance/ time^2, i.e. a force
+	ForceMode_eIMPULSE                          //!< parameter has unit of mass * distance /time
+	ForceMode_eVELOCITY_CHANGE                  //!< parameter has unit of distance / time, i.e. the effect is mass independent: a velocity change.
+	ForceMode_eACCELERATION                     //!< parameter has unit of distance/ time^2, i.e. an acceleration. It gets treated just like a force except the mass is not divided out before integration.
+)

pgo/pgo.go

@@ -140,6 +140,18 @@ type Vec3 struct {
 	cV C.struct_CPxVec3
 }
 
+func (v *Vec3) X() float32 {
+	return float32(v.cV.x)
+}
+
+func (v *Vec3) Y() float32 {
+	return float32(v.cV.y)
+}
+
+func (v *Vec3) Z() float32 {
+	return float32(v.cV.z)
+}
+
 func NewVec3(x, y, z float32) *Vec3 {
 	return &Vec3{
 		cV: C.NewCPxVec3(C.float(x), C.float(y), C.float(z)),
@@ -307,19 +319,3 @@ func CreatePlane(p *Physics, plane *Plane, mat *Material) *RigidStatic {
 		cRs: C.CPxCreatePlane(p.cPhysics, plane.cP, mat.cM),
 	}
 }
-
-type RigidDynamic struct {
-	cRd *C.struct_CPxRigidDynamic
-}
-
-func (rs *RigidDynamic) ToActor() *Actor {
-	return &Actor{
-		cA: C.CPxRigidDynamic_toCPxActor(rs.cRd),
-	}
-}
-
-func CreateDynamic(p *Physics, t *Transform, g *Geometry, m *Material, density float32, shapeOffset *Transform) *RigidDynamic {
-	return &RigidDynamic{
-		cRd: C.CPxCreateDynamic(p.cPhysics, &t.cT, g.cG, m.cM, C.float(density), &shapeOffset.cT),
-	}
-}

pgo/physx-c/CPxForceMode.h

@@ -0,0 +1,20 @@
+#ifndef CPxForceMode_H
+#define CPxForceMode_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+	enum CPxForceMode
+	{
+		eFORCE,				//!< parameter has unit of mass * distance/ time^2, i.e. a force
+		eIMPULSE,			//!< parameter has unit of mass * distance /time
+		eVELOCITY_CHANGE,	//!< parameter has unit of distance / time, i.e. the effect is mass independent: a velocity change.
+		eACCELERATION		//!< parameter has unit of distance/ time^2, i.e. an acceleration. It gets treated just like a force except the mass is not divided out before integration.
+	};
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // !CPxForceMode_H

pgo/physx-c/CPxQuat.h

@@ -11,6 +11,7 @@ extern "C" {
 	};
 
 	CPxAPI CPxInline CSTRUCT CPxQuat NewCPxQuat(float angleRads, float x, float y, float z);
+	CPxAPI CPxInline CSTRUCT CPxQuat NewCPxQuatXYZW(float x, float y, float z, float w);
 
 #ifdef __cplusplus
 }

pgo/physx-c/CPxRigidBodyFlag.h

@@ -0,0 +1,136 @@
+#ifndef CPxRigidBodyFlag_H
+#define CPxRigidBodyFlag_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+	enum CPxRigidBodyFlag
+	{
+		/**
+		\brief Enables kinematic mode for the actor.
+
+		Kinematic actors are special dynamic actors that are not
+		influenced by forces (such as gravity), and have no momentum. They are considered to have infinite
+		mass and can be moved around the world using the setKinematicTarget() method. They will push
+		regular dynamic actors out of the way. Kinematics will not collide with static or other kinematic objects.
+
+		Kinematic actors are great for moving platforms or characters, where direct motion control is desired.
+
+		You can not connect Reduced joints to kinematic actors. Lagrange joints work ok if the platform
+		is moving with a relatively low, uniform velocity.
+
+		<b>Sleeping:</b>
+		\li Setting this flag on a dynamic actor will put the actor to sleep and set the velocities to 0.
+		\li If this flag gets cleared, the current sleep state of the actor will be kept.
+
+		\note kinematic actors are incompatible with CCD so raising this flag will automatically clear eENABLE_CCD
+
+		@see PxRigidDynamic.setKinematicTarget()
+		*/
+		CPxRigidBodyFlag_eKINEMATIC = (1 << 0),		//!< Enable kinematic mode for the body.
+
+		/**
+		\brief Use the kinematic target transform for scene queries.
+
+		If this flag is raised, then scene queries will treat the kinematic target transform as the current pose
+		of the body (instead of using the actual pose). Without this flag, the kinematic target will only take
+		effect with respect to scene queries after a simulation step.
+
+		@see PxRigidDynamic.setKinematicTarget()
+		*/
+		CPxRigidBodyFlag_eUSE_KINEMATIC_TARGET_FOR_SCENE_QUERIES = (1 << 1),
+
+		/**
+		\brief Enables swept integration for the actor.
+
+		If this flag is raised and CCD is enabled on the scene, then this body will be simulated by the CCD system to ensure that collisions are not missed due to
+		high-speed motion. Note individual shape pairs still need to enable PxPairFlag::eDETECT_CCD_CONTACT in the collision filtering to enable the CCD to respond to
+		individual interactions.
+
+		\note kinematic actors are incompatible with CCD so this flag will be cleared automatically when raised on a kinematic actor
+
+		*/
+		CPxRigidBodyFlag_eENABLE_CCD = (1 << 2),		//!< Enable CCD for the body.
+
+		/**
+		\brief Enabled CCD in swept integration for the actor.
+
+		If this flag is raised and CCD is enabled, CCD interactions will simulate friction. By default, friction is disabled in CCD interactions because
+		CCD friction has been observed to introduce some simulation artifacts. CCD friction was enabled in previous versions of the SDK. Raising this flag will result in behavior
+		that is a closer match for previous versions of the SDK.
+
+		\note This flag requires PxRigidBodyFlag::eENABLE_CCD to be raised to have any effect.
+		*/
+		CPxRigidBodyFlag_eENABLE_CCD_FRICTION = (1 << 3),
+
+		/**
+		\brief Register a rigid body for reporting pose changes by the simulation at an early stage.
+
+		Sometimes it might be advantageous to get access to the new pose of a rigid body as early as possible and
+		not wait until the call to fetchResults() returns. Setting this flag will schedule the rigid body to get reported
+		in #PxSimulationEventCallback::onAdvance(). Please refer to the documentation of that callback to understand
+		the behavior and limitations of this functionality.
+
+		@see PxSimulationEventCallback::onAdvance()
+		*/
+		CPxRigidBodyFlag_eENABLE_POSE_INTEGRATION_PREVIEW = (1 << 4),
+
+		/**
+		\brief Register a rigid body to dynamicly adjust contact offset based on velocity. This can be used to achieve a CCD effect.
+		*/
+		CPxRigidBodyFlag_eENABLE_SPECULATIVE_CCD = (1 << 5),
+
+		/**
+		\brief Permit CCD to limit maxContactImpulse. This is useful for use-cases like a destruction system but can cause visual artefacts so is not enabled by default.
+		*/
+		CPxRigidBodyFlag_eENABLE_CCD_MAX_CONTACT_IMPULSE = (1 << 6),
+
+		/**
+		\brief Carries over forces/accelerations between frames, rather than clearning them
+		*/
+		CPxRigidBodyFlag_eRETAIN_ACCELERATIONS = (1 << 7),
+
+		/**
+		\brief Forces kinematic-kinematic pairs notifications for this actor.
+
+		This flag overrides the global scene-level PxPairFilteringMode setting for kinematic actors.
+		This is equivalent to having PxPairFilteringMode::eKEEP for pairs involving this actor.
+
+		A particular use case is when you have a large amount of kinematic actors, but you are only
+		interested in interactions between a few of them. In this case it is best to use set
+		PxSceneDesc.kineKineFilteringMode = PxPairFilteringMode::eKILL, and then raise the
+		eFORCE_KINE_KINE_NOTIFICATIONS flag on the small set of kinematic actors that need
+		notifications.
+
+		\note This has no effect if PxRigidBodyFlag::eKINEMATIC is not set.
+
+		\warning Changing this flag at runtime will not have an effect until you remove and re-add the actor to the scene.
+
+		@see PxPairFilteringMode PxSceneDesc.kineKineFilteringMode
+		*/
+		CPxRigidBodyFlag_eFORCE_KINE_KINE_NOTIFICATIONS = (1 << 8),
+
+		/**
+		\brief Forces static-kinematic pairs notifications for this actor.
+
+		Similar to eFORCE_KINE_KINE_NOTIFICATIONS, but for static-kinematic interactions.
+
+		\note This has no effect if PxRigidBodyFlag::eKINEMATIC is not set.
+
+		\warning Changing this flag at runtime will not have an effect until you remove and re-add the actor to the scene.
+
+		@see PxPairFilteringMode PxSceneDesc.staticKineFilteringMode
+		*/
+		CPxRigidBodyFlag_eFORCE_STATIC_KINE_NOTIFICATIONS = (1 << 9),
+
+		/**
+		\brief Reserved for internal usage
+		*/
+		CPxRigidBodyFlag_eRESERVED = (1 << 15)
+	};
+
+#ifdef __cplusplus
+}
+#endif
+#endif // !CPxRigidBodyFlag_H

pgo/physx-c/CPxRigidDynamic.h

@@ -2,6 +2,11 @@
 #define CPxRigidDynamic_H
 
 #include "CPxActor.h"
+#include "CPxVec3.h"
+#include "CPxTransform.h"
+#include "CPxForceMode.h"
+#include "CPxRigidBodyFlag.h"
+#include "CPxRigidDynamicLockFlag.h"
 
 #ifdef __cplusplus
 extern "C" {
@@ -13,6 +18,24 @@ 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 CSTRUCT CPxVec3 CPxRigidDynamic_getLinearVelocity(CSTRUCT CPxRigidDynamic* crd);
+
+	CPxAPI void CPxRigidDynamic_setMass(CSTRUCT CPxRigidDynamic* crd, CPxReal mass);
+	CPxAPI CPxReal CPxRigidDynamic_getMass(CSTRUCT CPxRigidDynamic* crd);
+
+	CPxAPI void CPxRigidDynamic_setRigidBodyFlag(CSTRUCT CPxRigidDynamic* crd, CENUM CPxRigidBodyFlag flag, bool value);
+	CPxAPI void CPxRigidDynamic_setRigidBodyFlags(CSTRUCT CPxRigidDynamic* crd, CENUM CPxRigidBodyFlag flags);
+	CPxAPI CENUM CPxRigidBodyFlag CPxRigidDynamic_getRigidBodyFlags(CSTRUCT CPxRigidDynamic* crd);
+
+	CPxAPI void CPxRigidDynamic_setRigidDynamicLockFlag(CSTRUCT CPxRigidDynamic* crd, CENUM CPxRigidDynamicLockFlag flag, bool value);
+	CPxAPI void CPxRigidDynamic_setRigidDynamicLockFlags(CSTRUCT CPxRigidDynamic* crd, CENUM CPxRigidDynamicLockFlag flags);
+	CPxAPI CENUM CPxRigidDynamicLockFlag CPxRigidDynamic_getRigidDynamicLockFlags(CSTRUCT CPxRigidDynamic* crd);
+
+	CPxAPI void CPxRigidDynamic_putToSleep(CSTRUCT CPxRigidDynamic* crd);
+	CPxAPI CSTRUCT CPxTransform CPxRigidDynamic_getGlobalPose(CSTRUCT CPxRigidDynamic* crd);
+	CPxAPI void CPxRigidDynamic_setGlobalPose(CSTRUCT CPxRigidDynamic* crd, CSTRUCT CPxTransform* tr, bool autoAwake);
 
 #ifdef __cplusplus
 }

pgo/physx-c/CPxRigidDynamicLockFlag.h

@@ -0,0 +1,22 @@
+#ifndef CPxRigidDynamicLockFlag_H
+#define CPxRigidDynamicLockFlag_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+	enum CPxRigidDynamicLockFlag
+	{
+		CPxRigidDynamicLockFlag_eLOCK_LINEAR_X = (1 << 0),
+		CPxRigidDynamicLockFlag_eLOCK_LINEAR_Y = (1 << 1),
+		CPxRigidDynamicLockFlag_eLOCK_LINEAR_Z = (1 << 2),
+		CPxRigidDynamicLockFlag_eLOCK_ANGULAR_X = (1 << 3),
+		CPxRigidDynamicLockFlag_eLOCK_ANGULAR_Y = (1 << 4),
+		CPxRigidDynamicLockFlag_eLOCK_ANGULAR_Z = (1 << 5)
+	};
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // !CPxRigidDynamicLockFlag_H

pgo/physx-c/CPxTransform.h

@@ -15,7 +15,6 @@ extern "C" {
 	};
 
 	CPxAPI CPxInline CSTRUCT CPxTransform NewCPxTransform(CSTRUCT CPxVec3*, CSTRUCT CPxQuat*);
-
 #ifdef __cplusplus
 }
 #endif

pgo/rigidbodyflags.go

@@ -0,0 +1,127 @@
+package pgo
+
+type RigidbodyFlags uint32
+
+const (
+	/**
+	\brief Enables kinematic mode for the actor.
+
+	Kinematic actors are special dynamic actors that are not
+	influenced by forces (such as gravity), and have no momentum. They are considered to have infinite
+	mass and can be moved around the world using the setKinematicTarget() method. They will push
+	regular dynamic actors out of the way. Kinematics will not collide with static or other kinematic objects.
+
+	Kinematic actors are great for moving platforms or characters, where direct motion control is desired.
+
+	You can not connect Reduced joints to kinematic actors. Lagrange joints work ok if the platform
+	is moving with a relatively low, uniform velocity.
+
+	<b>Sleeping:</b>
+	\li Setting this flag on a dynamic actor will put the actor to sleep and set the velocities to 0.
+	\li If this flag gets cleared, the current sleep state of the actor will be kept.
+
+	\note kinematic actors are incompatible with CCD so raising this flag will automatically clear eENABLE_CCD
+
+	@see PxRigidDynamic.setKinematicTarget()
+	*/
+	RigidbodyFlags_eKINEMATIC RigidbodyFlags = (1 << 0) //!< Enable kinematic mode for the body.
+
+	/**
+	\brief Use the kinematic target transform for scene queries.
+
+	If this flag is raised, then scene queries will treat the kinematic target transform as the current pose
+	of the body (instead of using the actual pose). Without this flag, the kinematic target will only take
+	effect with respect to scene queries after a simulation step.
+
+	@see PxRigidDynamic.setKinematicTarget()
+	*/
+	RigidbodyFlags_eUSE_KINEMATIC_TARGET_FOR_SCENE_QUERIES RigidbodyFlags = (1 << 1)
+
+	/**
+	\brief Enables swept integration for the actor.
+
+	If this flag is raised and CCD is enabled on the scene, then this body will be simulated by the CCD system to ensure that collisions are not missed due to
+	high-speed motion. Note individual shape pairs still need to enable PxPairFlag::eDETECT_CCD_CONTACT in the collision filtering to enable the CCD to respond to
+	individual interactions.
+
+	\note kinematic actors are incompatible with CCD so this flag will be cleared automatically when raised on a kinematic actor
+
+	*/
+	RigidbodyFlags_eENABLE_CCD RigidbodyFlags = (1 << 2) //!< Enable CCD for the body.
+
+	/**
+	\brief Enabled CCD in swept integration for the actor.
+
+	If this flag is raised and CCD is enabled, CCD interactions will simulate friction. By default, friction is disabled in CCD interactions because
+	CCD friction has been observed to introduce some simulation artifacts. CCD friction was enabled in previous versions of the SDK. Raising this flag will result in behavior
+	that is a closer match for previous versions of the SDK.
+
+	\note This flag requires PxRigidBodyFlag::eENABLE_CCD to be raised to have any effect.
+	*/
+	RigidbodyFlags_eENABLE_CCD_FRICTION RigidbodyFlags = (1 << 3)
+
+	/**
+	\brief Register a rigid body for reporting pose changes by the simulation at an early stage.
+
+	Sometimes it might be advantageous to get access to the new pose of a rigid body as early as possible and
+	not wait until the call to fetchResults() returns. Setting this flag will schedule the rigid body to get reported
+	in #PxSimulationEventCallback::onAdvance(). Please refer to the documentation of that callback to understand
+	the behavior and limitations of this functionality.
+
+	@see PxSimulationEventCallback::onAdvance()
+	*/
+	RigidbodyFlags_eENABLE_POSE_INTEGRATION_PREVIEW RigidbodyFlags = (1 << 4)
+
+	/**
+	\brief Register a rigid body to dynamicly adjust contact offset based on velocity. This can be used to achieve a CCD effect.
+	*/
+	RigidbodyFlags_eENABLE_SPECULATIVE_CCD RigidbodyFlags = (1 << 5)
+
+	/**
+	\brief Permit CCD to limit maxContactImpulse. This is useful for use-cases like a destruction system but can cause visual artefacts so is not enabled by default.
+	*/
+	RigidbodyFlags_eENABLE_CCD_MAX_CONTACT_IMPULSE RigidbodyFlags = (1 << 6)
+
+	/**
+	\brief Carries over forces/accelerations between frames, rather than clearning them
+	*/
+	RigidbodyFlags_eRETAIN_ACCELERATIONS RigidbodyFlags = (1 << 7)
+
+	/**
+	\brief Forces kinematic-kinematic pairs notifications for this actor.
+
+	This flag overrides the global scene-level PxPairFilteringMode setting for kinematic actors.
+	This is equivalent to having PxPairFilteringMode::eKEEP for pairs involving this actor.
+
+	A particular use case is when you have a large amount of kinematic actors, but you are only
+	interested in interactions between a few of them. In this case it is best to use set
+	PxSceneDesc.kineKineFilteringMode = PxPairFilteringMode::eKILL, and then raise the
+	eFORCE_KINE_KINE_NOTIFICATIONS flag on the small set of kinematic actors that need
+	notifications.
+
+	\note This has no effect if PxRigidBodyFlag::eKINEMATIC is not set.
+
+	\warning Changing this flag at runtime will not have an effect until you remove and re-add the actor to the scene.
+
+	@see PxPairFilteringMode PxSceneDesc.kineKineFilteringMode
+	*/
+	RigidbodyFlags_eFORCE_KINE_KINE_NOTIFICATIONS RigidbodyFlags = (1 << 8)
+
+	/**
+	\brief Forces static-kinematic pairs notifications for this actor.
+
+	Similar to eFORCE_KINE_KINE_NOTIFICATIONS, but for static-kinematic interactions.
+
+	\note This has no effect if PxRigidBodyFlag::eKINEMATIC is not set.
+
+	\warning Changing this flag at runtime will not have an effect until you remove and re-add the actor to the scene.
+
+	@see PxPairFilteringMode PxSceneDesc.staticKineFilteringMode
+	*/
+	RigidbodyFlags_eFORCE_STATIC_KINE_NOTIFICATIONS RigidbodyFlags = (1 << 9)
+
+	/**
+	\brief Reserved for internal usage
+	*/
+	RigidbodyFlags_eRESERVED RigidbodyFlags = (1 << 15)
+)

pgo/rigiddynamic.go

@@ -0,0 +1,72 @@
+package pgo
+
+/*
+#cgo CFLAGS: -I physx-c
+#cgo LDFLAGS: -L ./libs -l physx-c
+
+#include <wrap.c>
+#include <stdlib.h> //Needed for C.free
+*/
+import "C"
+
+type RigidDynamic struct {
+	cRd *C.struct_CPxRigidDynamic
+}
+
+func (rd *RigidDynamic) AddForce(force *Vec3, fmode ForceMode, autoAwake bool) {
+	C.CPxRigidDynamic_addForce(rd.cRd, &force.cV, uint32(fmode), C._Bool(autoAwake))
+}
+
+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) GetLinearVelocity() Vec3 {
+	return Vec3{
+		cV: C.CPxRigidDynamic_getLinearVelocity(rd.cRd),
+	}
+}
+
+func (rd *RigidDynamic) SetMass(mass float32) {
+	C.CPxRigidDynamic_setMass(rd.cRd, C.float(mass))
+}
+
+func (rd *RigidDynamic) GetMass() float32 {
+	return float32(C.CPxRigidDynamic_getMass(rd.cRd))
+}
+
+func (rd *RigidDynamic) SetRigidBodyFlag(flag RigidbodyFlags, value bool) {
+	C.CPxRigidDynamic_setRigidBodyFlag(rd.cRd, uint32(flag), C._Bool(value))
+}
+
+func (rd *RigidDynamic) SetRigidBodyFlags(flags RigidbodyFlags) {
+	C.CPxRigidDynamic_setRigidBodyFlags(rd.cRd, uint32(flags))
+}
+
+func (rd *RigidDynamic) GetRigidBodyFlags() RigidbodyFlags {
+	return RigidbodyFlags(C.CPxRigidDynamic_getRigidBodyFlags(rd.cRd))
+}
+
+func (rd *RigidDynamic) SetRigidDynamicLockFlag(flag RigidDynamicLockFlags, value bool) {
+	C.CPxRigidDynamic_setRigidDynamicLockFlag(rd.cRd, uint32(flag), C._Bool(value))
+}
+
+func (rd *RigidDynamic) SetRigidDynamicLockFlags(flags RigidDynamicLockFlags) {
+	C.CPxRigidDynamic_setRigidDynamicLockFlags(rd.cRd, uint32(flags))
+}
+
+func (rd *RigidDynamic) GetRigidDynamicLockFlags() RigidDynamicLockFlags {
+	return RigidDynamicLockFlags(C.CPxRigidDynamic_getRigidDynamicLockFlags(rd.cRd))
+}
+
+func (rd *RigidDynamic) ToActor() *Actor {
+	return &Actor{
+		cA: C.CPxRigidDynamic_toCPxActor(rd.cRd),
+	}
+}
+
+func CreateDynamic(p *Physics, t *Transform, g *Geometry, m *Material, density float32, shapeOffset *Transform) *RigidDynamic {
+	return &RigidDynamic{
+		cRd: C.CPxCreateDynamic(p.cPhysics, &t.cT, g.cG, m.cM, C.float(density), &shapeOffset.cT),
+	}
+}

pgo/rigiddynamiclockflags.go

@@ -0,0 +1,12 @@
+package pgo
+
+type RigidDynamicLockFlags uint32
+
+const (
+	RigidDynamicLockFlags_eLOCK_LINEAR_X  RigidDynamicLockFlags = (1 << 0)
+	RigidDynamicLockFlags_eLOCK_LINEAR_Y  RigidDynamicLockFlags = (1 << 1)
+	RigidDynamicLockFlags_eLOCK_LINEAR_Z  RigidDynamicLockFlags = (1 << 2)
+	RigidDynamicLockFlags_eLOCK_ANGULAR_X RigidDynamicLockFlags = (1 << 3)
+	RigidDynamicLockFlags_eLOCK_ANGULAR_Y RigidDynamicLockFlags = (1 << 4)
+	RigidDynamicLockFlags_eLOCK_ANGULAR_Z RigidDynamicLockFlags = (1 << 5)
+)

pgo/wrap.c

@@ -1,6 +1,7 @@
 #include <stdint.h>
 #include <stdbool.h>
 #define CPxAPI
+#define CPxInternalAPI
 #define CPxInline
 #define CSTRUCT struct
 #define CENUM enum