Full onContact data+inlining

go.mod

@@ -1,3 +1,5 @@
 module github.com/bloeys/physx-go
 
 go 1.17
+
+require github.com/bloeys/gglm v0.3.1 // indirect

go.sum

@@ -0,0 +1,2 @@
+github.com/bloeys/gglm v0.3.1 h1:Sy9upW7SBsBfDXrSmEhid3aQ+7J7itej+upwcxOnPMQ=
+github.com/bloeys/gglm v0.3.1/go.mod h1:qwJQ0WzV191wAMwlGicbfbChbKoSedMk7gFFX6GnyOk=

main.go

@@ -1,13 +1,22 @@
 package main
 
 import (
-	"bufio"
-	"fmt"
-	"os"
-
 	"github.com/bloeys/physx-go/pgo"
 )
 
+func contactHandler(cph pgo.ContactPairHeader) {
+
+	pairs := cph.GetPairs()
+	for i := 0; i < len(pairs); i++ {
+
+		points := pairs[i].GetContactPoints()
+		for j := 0; j < pairs[i].GetContactPointCount(); j++ {
+			pos := points[j].GetPos()
+			println("Contact at pos:", pos.String())
+		}
+	}
+}
+
 func main() {
 	f := pgo.CreateFoundation()
 	println("foundation:", f)
@@ -26,7 +35,7 @@ func main() {
 	sd := pgo.NewSceneDesc(ts)
 	sd.SetGravity(pgo.NewVec3(0, -9.8, 0))
 	sd.SetCpuDispatcher(pgo.DefaultCpuDispatcherCreate(2, 0).ToCpuDispatcher())
-	sd.SetOnContactCallback()
+	sd.SetOnContactCallback(contactHandler)
 
 	s := p.CreateScene(sd)
 	println("Scene:", s)
@@ -115,17 +124,16 @@ func main() {
 	println("Capsule linear damping B:", dynCapsule.GetLinearDamping())
 
 	//Run simulation
-	r := bufio.NewReader(os.Stdin)
+	// r := bufio.NewReader(os.Stdin)
 	s.SetScratchBuffer(4)
 	for {
-		s.Collide(1 / 60.0)
+		s.Collide(1 / 50.0)
 		s.FetchCollision(true)
 		s.Advance()
 		s.FetchResults(true)
 
-		rHit, _ := s.Raycast(pgo.NewVec3(0, 0, 0), pgo.NewVec3(0, 1, 0), 9)
-		fmt.Printf("\nRaycast hit: %v\n", rHit)
-
+		s.Raycast(pgo.NewVec3(0, 0, 0), pgo.NewVec3(0, 1, 0), 9)
+		// fmt.Printf("\nRaycast hit: %v\n", rHit)
 		// println("Press enter...")
 		// r.ReadBytes('\n')
 	}

pgo/contactPairFlag.go

@@ -0,0 +1,47 @@
+package pgo
+
+type ContactPairFlag uint16
+
+const (
+
+	/**
+	\brief The shape with index 0 has been removed from the actor/scene.
+	*/
+	ContactPairFlag_eREMOVED_SHAPE_0 ContactPairFlag = (1 << 0)
+
+	/**
+	\brief The shape with index 1 has been removed from the actor/scene.
+	*/
+	ContactPairFlag_eREMOVED_SHAPE_1 ContactPairFlag = (1 << 1)
+
+	/**
+	\brief First actor pair contact.
+
+	The provided shape pair marks the first contact between the two actors, no other shape pair has been touching prior to the current simulation frame.
+
+	\note: This info is only available if #PxPairFlag::eNOTIFY_TOUCH_FOUND has been declared for the pair.
+	*/
+	ContactPairFlag_eACTOR_PAIR_HAS_FIRST_TOUCH ContactPairFlag = (1 << 2)
+
+	/**
+	\brief All contact between the actor pair was lost.
+
+	All contact between the two actors has been lost, no shape pairs remain touching after the current simulation frame.
+	*/
+	ContactPairFlag_eACTOR_PAIR_LOST_TOUCH ContactPairFlag = (1 << 3)
+
+	/**
+	\brief Internal flag, used by #PxContactPair.extractContacts()
+
+	The applied contact impulses are provided for every contact point.
+	This is the case if #PxPairFlag::eSOLVE_CONTACT has been set for the pair.
+	*/
+	ContactPairFlag_eINTERNAL_HAS_IMPULSES ContactPairFlag = (1 << 4)
+
+	/**
+	\brief Internal flag, used by #PxContactPair.extractContacts()
+
+	The provided contact point information is flipped with regards to the shapes of the contact pair. This mainly concerns the order of the internal triangle indices.
+	*/
+	ContactPairFlag_eINTERNAL_CONTACTS_ARE_FLIPPED ContactPairFlag = (1 << 5)
+)

pgo/contactPairHeaderFlag.go

@@ -0,0 +1,8 @@
+package pgo
+
+type ContactPairHeaderFlag uint16
+
+const (
+	ContactPairHeaderFlag_eREMOVED_ACTOR_0 ContactPairHeaderFlag = (1 << 0) //!< The actor with index 0 has been removed from the scene.
+	ContactPairHeaderFlag_eREMOVED_ACTOR_1 ContactPairHeaderFlag = (1 << 1) //!< The actor with index 1 has been removed from the scene.
+)

pgo/goContactCallbackExport.go

@@ -0,0 +1,12 @@
+package pgo
+
+/*
+#include "wrap.c"
+*/
+import "C"
+import "unsafe"
+
+//export goOnContactCallback
+func goOnContactCallback(p unsafe.Pointer) {
+	contactCallback(ContactPairHeader{cCPH: (*C.struct_CPxContactPairHeader)(p)})
+}

pgo/hitFlag.go

@@ -0,0 +1,24 @@
+package pgo
+
+type HitFlag uint16
+
+const (
+	HitFlag_ePOSITION                  HitFlag = (1 << 0) //!< "position" member of #PxQueryHit is valid
+	HitFlag_eNORMAL                    HitFlag = (1 << 1) //!< "normal" member of #PxQueryHit is valid
+	HitFlag_eUV                        HitFlag = (1 << 3) //!< "u" and "v" barycentric coordinates of #PxQueryHit are valid. Not applicable to sweep queries.
+	HitFlag_eASSUME_NO_INITIAL_OVERLAP HitFlag = (1 << 4) //!< Performance hint flag for sweeps when it is known upfront there's no initial overlap.
+	//!< NOTE: using this flag may cause undefined results if shapes are initially overlapping.
+	HitFlag_eMESH_MULTIPLE HitFlag = (1 << 5) //!< Report all hits for meshes rather than just the first. Not applicable to sweep queries.
+	HitFlag_eMESH_ANY      HitFlag = (1 << 6) //!< Report any first hit for meshes. If neither eMESH_MULTIPLE nor eMESH_ANY is specified,
+	//!< a single closest hit will be reported for meshes.
+	HitFlag_eMESH_BOTH_SIDES HitFlag = (1 << 7) //!< Report hits with back faces of mesh triangles. Also report hits for raycast
+	//!< originating on mesh surface and facing away from the surface normal. Not applicable to sweep queries.
+	//!< Please refer to the user guide for heightfield-specific differences.
+	HitFlag_ePRECISE_SWEEP HitFlag = (1 << 8) //!< Use more accurate but slower narrow phase sweep tests.
+	//!< May provide better compatibility with PhysX 3.2 sweep behavior.
+	HitFlag_eMTD        HitFlag = (1 << 9)  //!< Report the minimum translation depth, normal and contact point.
+	HitFlag_eFACE_INDEX HitFlag = (1 << 10) //!< "face index" member of #PxQueryHit is valid
+	HitFlag_eDEFAULT    HitFlag = HitFlag_ePOSITION | HitFlag_eNORMAL | HitFlag_eFACE_INDEX
+	/** \brief Only this subset of flags can be modified by pre-filter. Other modifications will be discarded. */
+	HitFlag_eMODIFIABLE_FLAGS HitFlag = HitFlag_eMESH_MULTIPLE | HitFlag_eMESH_BOTH_SIDES | HitFlag_eASSUME_NO_INITIAL_OVERLAP | HitFlag_ePRECISE_SWEEP
+)

pgo/pgo.go

@@ -11,15 +11,14 @@ package pgo
 void goOnContactCallback_cgo(void* pairHeader);
 */
 import "C"
-import "unsafe"
+import (
+	"unsafe"
 
-type PvdInstrumentationFlag uint32
+	"github.com/bloeys/gglm/gglm"
+)
 
-const (
-	PvdInstrumentationFlag_eDEBUG   PvdInstrumentationFlag = 1 << 0
-	PvdInstrumentationFlag_ePROFILE PvdInstrumentationFlag = 1 << 1
-	PvdInstrumentationFlag_eMEMORY  PvdInstrumentationFlag = 1 << 2
-	PvdInstrumentationFlag_eALL     PvdInstrumentationFlag = (PvdInstrumentationFlag_eDEBUG | PvdInstrumentationFlag_ePROFILE | PvdInstrumentationFlag_eMEMORY)
+var (
+	contactCallback func(ContactPairHeader) = func(ContactPairHeader) {}
 )
 
 type Foundation struct {
@@ -79,10 +78,12 @@ type TolerancesScale struct {
 }
 
 func NewTolerancesScale(length, speed float32) *TolerancesScale {
-
-	ts := &TolerancesScale{}
-	ts.cTolScale = C.NewCPxTolerancesScale(C.float(length), C.float(speed))
-	return ts
+	return &TolerancesScale{
+		cTolScale: C.struct_CPxTolerancesScale{
+			length: C.float(length),
+			speed:  C.float(speed),
+		},
+	}
 }
 
 type Scene struct {
@@ -126,11 +127,13 @@ func (s *Scene) SetScratchBuffer(multiplesOf16k uint32) {
 	C.CPxScene_setScratchBuffer(s.cS, C.uint(multiplesOf16k))
 }
 
-//bool CPxScene_raycast(CSTRUCT CPxScene* cs, CPxVec3* origin, CPxVec3* unitDir, CPxReal distance, CPxRaycastBuffer* hit)
+//TODO: Implement
 func (s *Scene) Raycast(origin, unitDir *Vec3, distance float32) (bool, RaycastBuffer) {
 
 	rb := RaycastBuffer{}
 	ret := C.CPxScene_raycast(s.cS, &origin.cV, &unitDir.cV, C.float(distance), &rb.cRb)
+	// x := unsafe.Slice(rb.cRb.touches, rb.cRb.nbTouches)
+
 	return bool(ret), rb
 }
 
@@ -253,7 +256,11 @@ func (v *Vec3) Z() float32 {
 
 func NewVec3(x, y, z float32) *Vec3 {
 	return &Vec3{
-		cV: C.NewCPxVec3(C.float(x), C.float(y), C.float(z)),
+		cV: C.struct_CPxVec3{
+			x: C.float(x),
+			y: C.float(y),
+			z: C.float(z),
+		},
 	}
 }
 
@@ -287,23 +294,10 @@ func (sd *SceneDesc) SetCpuDispatcher(cd *CpuDispatcher) {
 	C.CPxSceneDesc_set_cpuDispatcher(sd.cSD, cd.cCpuDisp)
 }
 
-//export goOnContactCallback
-func goOnContactCallback(p unsafe.Pointer) {
-
-	cph := (*C.struct_CPxContactPairHeader)(p)
-	pairs := cph.pairs
-
-	if pairs.events == uint32(PairFlags_eNOTIFY_TOUCH_FOUND) {
-		println("touch")
-	} else if pairs.events == uint32(PairFlags_eNOTIFY_TOUCH_PERSISTS) {
-		println("persist")
-	} else if pairs.events == uint32(PairFlags_eNOTIFY_TOUCH_LOST) {
-		println("leave")
-	}
-}
-
-func (sd *SceneDesc) SetOnContactCallback() {
-
+//SetOnContactCallback sets the GLOBAL contact callback handler. Physx-c currently only supports 1 contact callback handler.
+//Setting a contact callback handler overrides the previous one. Only the most recent one gets called.
+func (sd *SceneDesc) SetOnContactCallback(cb func(ContactPairHeader)) {
+	contactCallback = cb
 	C.CPxSceneDesc_set_onContactCallback(sd.cSD, (C.CPxonContactCallback)(unsafe.Pointer(C.goOnContactCallback_cgo)))
 }
 
@@ -313,6 +307,107 @@ func NewSceneDesc(ts *TolerancesScale) *SceneDesc {
 	}
 }
 
+type ContactPairHeader struct {
+	cCPH *C.struct_CPxContactPairHeader
+}
+
+func (cph *ContactPairHeader) GetRigidActors() [2]RigidActor {
+	return [2]RigidActor{
+		{
+			cRa: cph.cCPH.actors[0],
+		},
+		{
+			cRa: cph.cCPH.actors[1],
+		},
+	}
+}
+
+func (cph *ContactPairHeader) GetFlags() ContactPairHeaderFlag {
+	return ContactPairHeaderFlag(cph.cCPH.flags)
+}
+
+func (cph *ContactPairHeader) GetnbPairs() int {
+	return int(cph.cCPH.nbPairs)
+}
+
+func (cph *ContactPairHeader) GetPairs() []ContactPair {
+
+	contactPairs := make([]ContactPair, cph.cCPH.nbPairs)
+	cPairs := unsafe.Slice(cph.cCPH.pairs, cph.cCPH.nbPairs)
+	for i := 0; i < len(contactPairs); i++ {
+		contactPairs[i].cCp = &cPairs[i]
+	}
+
+	return contactPairs
+}
+
+type ContactPair struct {
+	cCp *C.struct_CPxContactPair
+}
+
+func (cp *ContactPair) GetFlags() ContactPairFlag {
+	return ContactPairFlag(cp.cCp.flags)
+}
+
+func (cp *ContactPair) GetEvents() PairFlags {
+	return PairFlags(cp.cCp.events)
+}
+
+func (cp *ContactPair) GetPatchCount() int {
+	return int(cp.cCp.patchCount)
+}
+
+func (cp *ContactPair) GetContactPointCount() int {
+	return int(cp.cCp.contactCount)
+}
+
+func (cp *ContactPair) GetContactPoints() []ContactPairPoint {
+
+	ccps := make([]ContactPairPoint, cp.cCp.contactCount)
+	extractedPoints := unsafe.Slice(cp.cCp.extractedContactPoints, cp.cCp.contactCount)
+	for i := 0; i < len(extractedPoints); i++ {
+		ccps[i].cCpp = &extractedPoints[i]
+	}
+
+	return ccps
+}
+
+type ContactPairPoint struct {
+	cCpp *C.struct_CPxContactPairPoint
+}
+
+func (cpp *ContactPairPoint) GetPos() gglm.Vec3 {
+	return gglm.Vec3{Data: [3]float32{
+		float32(cpp.cCpp.position.x),
+		float32(cpp.cCpp.position.y),
+		float32(cpp.cCpp.position.z),
+	}}
+}
+
+func (cpp *ContactPairPoint) GetImpulse() gglm.Vec3 {
+	return gglm.Vec3{Data: [3]float32{
+		float32(cpp.cCpp.impulse.x),
+		float32(cpp.cCpp.impulse.y),
+		float32(cpp.cCpp.impulse.z),
+	}}
+}
+
+func (cpp *ContactPairPoint) GetNormal() gglm.Vec3 {
+	return gglm.Vec3{Data: [3]float32{
+		float32(cpp.cCpp.normal.x),
+		float32(cpp.cCpp.normal.y),
+		float32(cpp.cCpp.normal.z),
+	}}
+}
+
+func (cpp *ContactPairPoint) GetSeparation() float32 {
+	return float32(cpp.cCpp.separation)
+}
+
+func (cpp *ContactPairPoint) GetInternalFaceIndices() (float32, float32) {
+	return float32(cpp.cCpp.internalFaceIndex0), float32(cpp.cCpp.internalFaceIndex1)
+}
+
 type PvdSceneFlag uint32
 
 const (
@@ -383,7 +478,9 @@ func (sg *SphereGeometry) ToGeometry() *Geometry {
 // struct CPxSphereGeometry NewCPxSphereGeometry(CPxReal radius);
 func NewSphereGeometry(radius float32) *SphereGeometry {
 	return &SphereGeometry{
-		cSg: C.NewCPxSphereGeometry(C.float(radius)),
+		cSg: C.struct_CPxSphereGeometry{
+			radius: C.float(radius),
+		},
 	}
 }
 
@@ -399,7 +496,11 @@ func (bg *BoxGeometry) ToGeometry() *Geometry {
 
 func NewBoxGeometry(hx, hy, hz float32) *BoxGeometry {
 	return &BoxGeometry{
-		cBg: C.NewCPxBoxGeometry(C.float(hx), C.float(hy), C.float(hz)),
+		cBg: C.struct_CPxBoxGeometry{
+			hx: C.float(hx),
+			hy: C.float(hy),
+			hz: C.float(hz),
+		},
 	}
 }
 
@@ -415,7 +516,10 @@ func (bg *CapsuleGeometry) ToGeometry() *Geometry {
 
 func NewCapsuleGeometry(radius, halfHeight float32) *CapsuleGeometry {
 	return &CapsuleGeometry{
-		cCg: C.NewCPxCapsuleGeometry(C.float(radius), C.float(halfHeight)),
+		cCg: C.struct_CPxCapsuleGeometry{
+			radius:     C.float(radius),
+			halfHeight: C.float(halfHeight),
+		},
 	}
 }
 

pgo/physx-c/CPxBoxGeometry.h

@@ -10,7 +10,15 @@ extern "C" {
 		float hx, hy, hz;
 	};
 
-	CPxAPI CPxInline CSTRUCT CPxBoxGeometry NewCPxBoxGeometry(float hx, float hy, float hz);
+	CPxAPI CPxInline CSTRUCT CPxBoxGeometry NewCPxBoxGeometry(float hx, float hy, float hz)
+	{
+		CSTRUCT CPxBoxGeometry cbg;
+		cbg.hx = hx;
+		cbg.hy = hy;
+		cbg.hz = hz;
+
+		return cbg;
+	}
 
 #ifdef __cplusplus
 }

pgo/physx-c/CPxCapsuleGeometry.h

@@ -10,7 +10,13 @@ extern "C" {
 		CPxReal radius, halfHeight;
 	};
 
-	CPxAPI CPxInline CSTRUCT CPxCapsuleGeometry NewCPxCapsuleGeometry(CPxReal radius, CPxReal halfHeight);
+	CPxAPI CPxInline CSTRUCT CPxCapsuleGeometry NewCPxCapsuleGeometry(CPxReal radius, CPxReal halfHeight)
+	{
+		CSTRUCT CPxCapsuleGeometry c;
+		c.radius = radius;
+		c.halfHeight = halfHeight;
+		return c;
+	}
 
 #ifdef __cplusplus
 }

pgo/physx-c/CPxContactPairHeader.h

@@ -269,34 +269,55 @@ extern "C" {
 	CPxPairFlags_eTRIGGER_DEFAULT = CPxPairFlags_eNOTIFY_TOUCH_FOUND | CPxPairFlags_eNOTIFY_TOUCH_LOST | CPxPairFlags_eDETECT_DISCRETE_CONTACT
 	};
 
-	//TODO: uintxx_t not available again
+	struct CPxContactPairPoint
+	{
+		/**
+		\brief The position of the contact point between the shapes, in world space.
+		*/
+		CSTRUCT CPxVec3	position;
+
+		/**
+		\brief The separation of the shapes at the contact point.  A negative separation denotes a penetration.
+		*/
+		CPxReal	separation;
+
+		/**
+		\brief The normal of the contacting surfaces at the contact point. The normal direction points from the second shape to the first shape.
+		*/
+		CSTRUCT CPxVec3	normal;
+
+		/**
+		\brief The surface index of shape 0 at the contact point.  This is used to identify the surface material.
+		*/
+		CPxU32   internalFaceIndex0;
+
+		/**
+		\brief The impulse applied at the contact point, in world space. Divide by the simulation time step to get a force value.
+		*/
+		CSTRUCT CPxVec3	impulse;
+
+		/**
+		\brief The surface index of shape 1 at the contact point.  This is used to identify the surface material.
+		*/
+		CPxU32   internalFaceIndex1;
+	};
+
 	struct CPxContactPair
 	{
 		CSTRUCT CPxShape shapes[2];
 
-		char* contactPatches;
-		//const PxU8* contactPatches;
-
-		char* contactPoints;
-		//const PxU8* contactPoints;
-
+		CPxU8* contactPatches;
+		CPxU8* contactPoints;
 		CPxReal* contactImpulses;
+		CPxU32 requiredBufferSize;
+		CPxU8 contactCount;
+		CPxU8 patchCount;
+		CPxU16 contactStreamSize;
 
-		unsigned int requiredBufferSize;
-		//CPxU32 requiredBufferSize;
-
-		char contactCount;
-		//PxU8 contactCount;
-
-		char patchCount;
-		//PxU8 patchCount;
-
-		short contactStreamSize;
-		//PxU16 contactStreamSize;
-
-		CENUM CPxContactPairFlag flags;
 		CENUM CPxPairFlags events;
+		CENUM CPxContactPairFlag flags;
 
+		CSTRUCT	CPxContactPairPoint* extractedContactPoints;
 	};
 
 	enum CPxContactPairHeaderFlag
@@ -309,17 +330,13 @@ extern "C" {
 	{
 		CSTRUCT CPxRigidActor actors[2];
 
-		char* extraDataStream;
-		short extraDataStreamSize;
-		/*CPxU8* extraDataStream;
-		CPxU16 extraDataStreamSize;*/
+		CPxU8* extraDataStream;
+		CPxU16 extraDataStreamSize;
 
 		CENUM CPxContactPairHeaderFlag	flags;
 
 		CSTRUCT CPxContactPair* pairs;
-
-		unsigned int nbPairs;
-		//CPxU32 nbPairs;
+		CPxU32 nbPairs;
 	};
 
 #ifdef __cplusplus

pgo/physx-c/CPxDefaultSimulationFilterShader.h

@@ -1,20 +0,0 @@
-#ifndef CPxDefaultSimulationFilterShader_H
-#define CPxDefaultSimulationFilterShader_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-	struct CPxDefaultSimulationFilterShader
-	{
-		void* obj;
-	};
-
-	//CPxAPI CSTRUCT CPxDefaultSimulationFilterShader* NewCPxDefaultSimulationFilterShader();
-	//CPxAPI void FreeCPxDefaultSimulationFilterShader(CSTRUCT CPxDefaultSimulationFilterShader*);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif // !CPxDefaultSimulationFilterShader_H

pgo/physx-c/CPxFilterData.h

@@ -1,22 +1,18 @@
 #ifndef CPxFilterData_H
 #define CPxFilterData_H
 
+#include <stdint.h>
+
 #ifdef __cplusplus
 extern "C" {
 #endif
 
 	struct CPxFilterData
 	{
-		unsigned int word0;
-		unsigned int word1;
-		unsigned int word2;
-		unsigned int word3;
-
-		//TODO: For some reason only this file breaks with CPxU32 (uint32_t). Why?
-		/*CPxU32 word0;
+		CPxU32 word0;
 		CPxU32 word1;
 		CPxU32 word2;
-		CPxU32 word3;*/
+		CPxU32 word3;
 	};
 
 #ifdef __cplusplus

pgo/physx-c/CPxGeometry.h

@@ -28,14 +28,55 @@ extern "C" {
 		CENUM CPxGeometryType type;
 	};
 
-	CPxAPI CPxInline CSTRUCT CPxSphereGeometry CPxGeometry_toCPxSphereGeometry(CSTRUCT CPxGeometry);
-	CPxAPI CPxInline CSTRUCT CPxGeometry CPxSphereGeometry_toCPxGeometry(CSTRUCT CPxSphereGeometry*);
+	//
+	// CPxSphereGeometry
+	//
+	CPxAPI CPxInline CSTRUCT CPxSphereGeometry CPxGeometry_toCPxSphereGeometry(CSTRUCT CPxGeometry cg)
+	{
+		return *(CSTRUCT CPxSphereGeometry*)(cg.obj);
+		//return *static_cast<CSTRUCT CPxSphereGeometry*>(cg.obj);
+	}
 
-	CPxAPI CPxInline CSTRUCT CPxBoxGeometry CPxGeometry_toCPxBoxGeometry(CSTRUCT CPxGeometry);
-	CPxAPI CPxInline CSTRUCT CPxGeometry CPxBoxGeometry_toCPxGeometry(CSTRUCT CPxBoxGeometry*);
+	CPxAPI CPxInline CSTRUCT CPxGeometry CPxSphereGeometry_toCPxGeometry(CSTRUCT CPxSphereGeometry* csg)
+	{
+		CSTRUCT CPxGeometry g;
+		g.obj = csg;
+		g.type = CPxGeometryType_eSPHERE;
+		return g;
+	}
 
-	CPxAPI CPxInline CSTRUCT CPxCapsuleGeometry CPxGeometry_toCPxCapsuleGeometry(CSTRUCT CPxGeometry);
-	CPxAPI CPxInline CSTRUCT CPxGeometry CPxCapsuleGeometry_toCPxGeometry(CSTRUCT CPxCapsuleGeometry*);
+	//
+	// CPxBoxGeometry
+	//
+	CPxAPI CPxInline CSTRUCT CPxBoxGeometry CPxGeometry_toCPxBoxGeometry(CSTRUCT CPxGeometry cg)
+	{
+		return *(CSTRUCT CPxBoxGeometry*)(cg.obj);
+		//return *static_cast<CSTRUCT CPxBoxGeometry*>(cg.obj);
+	}
+
+	CPxAPI CPxInline CSTRUCT CPxGeometry CPxBoxGeometry_toCPxGeometry(CSTRUCT CPxBoxGeometry* cbg)
+	{
+		CSTRUCT CPxGeometry g;
+		g.obj = cbg;
+		g.type = CPxGeometryType_eBOX;
+		return g;
+	}
+
+	//
+	// CPxCapsuleGeometry
+	//
+	CPxAPI CPxInline CSTRUCT CPxCapsuleGeometry CPxGeometry_toCPxCapsuleGeometry(CSTRUCT CPxGeometry cg)
+	{
+		return *(CSTRUCT CPxCapsuleGeometry*)(cg.obj);
+	}
+
+	CPxAPI CPxInline CSTRUCT CPxGeometry CPxCapsuleGeometry_toCPxGeometry(CSTRUCT CPxCapsuleGeometry* ccg)
+	{
+		CSTRUCT CPxGeometry g;
+		g.obj = ccg;
+		g.type = CPxGeometryType_eCAPSULE;
+		return g;
+	}
 
 #ifdef __cplusplus
 }

pgo/physx-c/CPxPlane.h

@@ -5,7 +5,7 @@
 extern "C" {
 #endif
 
-	//TODO: Maybe convert this into a value type like CPxSphereGeometry?
+	//NOTE: Maybe convert this into a value type like CPxSphereGeometry?
 	struct CPxPlane
 	{
 		void* obj;

pgo/physx-c/CPxQuat.h

@@ -10,8 +10,17 @@ extern "C" {
 		float x, y, z, w;
 	};
 
-	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);
+	CPxAPI CSTRUCT CPxQuat NewCPxQuat(float angleRads, float x, float y, float z);
+	CPxAPI CPxInline CSTRUCT CPxQuat NewCPxQuatXYZW(float x, float y, float z, float w)
+	{
+		CSTRUCT CPxQuat q;
+		q.x = x;
+		q.y = y;
+		q.z = z;
+		q.w = w;
+		return q;
+	}
+
 
 #ifdef __cplusplus
 }

pgo/physx-c/CPxScene.h

@@ -11,11 +11,33 @@
 extern "C" {
 #endif
 
+	enum CPxHitFlag
+	{
+		CPxHitFlag_ePOSITION = (1 << 0),	//!< "position" member of #PxQueryHit is valid
+		CPxHitFlag_eNORMAL = (1 << 1),	//!< "normal" member of #PxQueryHit is valid
+		CPxHitFlag_eUV = (1 << 3),	//!< "u" and "v" barycentric coordinates of #PxQueryHit are valid. Not applicable to sweep queries.
+		CPxHitFlag_eASSUME_NO_INITIAL_OVERLAP = (1 << 4),	//!< Performance hint flag for sweeps when it is known upfront there's no initial overlap.
+		//!< NOTE: using this flag may cause undefined results if shapes are initially overlapping.
+		CPxHitFlag_eMESH_MULTIPLE = (1 << 5),	//!< Report all hits for meshes rather than just the first. Not applicable to sweep queries.
+		CPxHitFlag_eMESH_ANY = (1 << 6),	//!< Report any first hit for meshes. If neither eMESH_MULTIPLE nor eMESH_ANY is specified,
+		//!< a single closest hit will be reported for meshes.
+		CPxHitFlag_eMESH_BOTH_SIDES = (1 << 7),	//!< Report hits with back faces of mesh triangles. Also report hits for raycast
+		//!< originating on mesh surface and facing away from the surface normal. Not applicable to sweep queries.
+		//!< Please refer to the user guide for heightfield-specific differences.
+		CPxHitFlag_ePRECISE_SWEEP = (1 << 8),	//!< Use more accurate but slower narrow phase sweep tests.
+		//!< May provide better compatibility with PhysX 3.2 sweep behavior.
+		CPxHitFlag_eMTD = (1 << 9),	//!< Report the minimum translation depth, normal and contact point.
+		CPxHitFlag_eFACE_INDEX = (1 << 10),	//!< "face index" member of #PxQueryHit is valid
+		CPxHitFlag_eDEFAULT = CPxHitFlag_ePOSITION | CPxHitFlag_eNORMAL | CPxHitFlag_eFACE_INDEX,
+		/** \brief Only this subset of flags can be modified by pre-filter. Other modifications will be discarded. */
+		CPxHitFlag_eMODIFIABLE_FLAGS = CPxHitFlag_eMESH_MULTIPLE | CPxHitFlag_eMESH_BOTH_SIDES | CPxHitFlag_eASSUME_NO_INITIAL_OVERLAP | CPxHitFlag_ePRECISE_SWEEP
+	};
+
 	struct CPxRaycastHit
 	{
-		//CPxHitFlags			flags;		//!< Hit flags specifying which members contain valid values.
-		struct CPxVec3				position;	//!< World-space hit position (flag: #PxHitFlag::ePOSITION)
-		struct CPxVec3				normal;		//!< World-space hit normal (flag: #PxHitFlag::eNORMAL)
+		CENUM CPxHitFlag flags;			//!< Hit flags specifying which members contain valid values.
+		CSTRUCT CPxVec3	position;	//!< World-space hit position (flag: #PxHitFlag::ePOSITION)
+		CSTRUCT CPxVec3	normal;		//!< World-space hit normal (flag: #PxHitFlag::eNORMAL)
 
 		/**
 		\brief	Distance to hit.
@@ -24,14 +46,14 @@ extern "C" {
 		CPxF32 distance;
 		CPxReal u, v;
 		CPxU32	faceIndex;
-		struct CPxShape shape;
-		struct CPxRigidActor actor;
+		CSTRUCT CPxShape shape;
+		CSTRUCT CPxRigidActor actor;
 	};
 
 	struct CPxRaycastBuffer
 	{
-		struct CPxRaycastHit block;
-		struct CPxRaycastHit* touches;
+		CSTRUCT CPxRaycastHit block;
+		CSTRUCT CPxRaycastHit* touches;
 		CPxU32 nbTouches;
 		bool hasBlock;
 	};
@@ -58,7 +80,7 @@ extern "C" {
 	/// If multiples passed are zero then any existing buffers are cleared
 	/// </summary>
 	/// <returns></returns>
-	CPxAPI void CPxScene_setScratchBuffer(CSTRUCT CPxScene*, uint32_t multiplesOf16k);
+	CPxAPI void CPxScene_setScratchBuffer(CSTRUCT CPxScene*, CPxU32 multiplesOf16k);
 
 	CPxAPI void CPxScene_release(CSTRUCT CPxScene*);
 

pgo/physx-c/CPxSphereGeometry.h

@@ -10,7 +10,12 @@ extern "C" {
 		CPxReal radius;
 	};
 
-	CPxAPI CPxInline CSTRUCT CPxSphereGeometry NewCPxSphereGeometry(CPxReal radius);
+	CPxAPI CPxInline CSTRUCT CPxSphereGeometry NewCPxSphereGeometry(CPxReal radius)
+	{
+		CSTRUCT CPxSphereGeometry c;
+		c.radius = radius;
+		return c;
+	}
 
 #ifdef __cplusplus
 }

pgo/physx-c/CPxTransform.h

@@ -14,7 +14,14 @@ extern "C" {
 		CSTRUCT CPxQuat q;
 	};
 
-	CPxAPI CPxInline CSTRUCT CPxTransform NewCPxTransform(CSTRUCT CPxVec3*, CSTRUCT CPxQuat*);
+	CPxAPI CPxInline CSTRUCT CPxTransform NewCPxTransform(CSTRUCT CPxVec3* v, CSTRUCT CPxQuat* q)
+	{
+		CSTRUCT CPxTransform t;
+		t.p = *v;
+		t.q = *q;
+
+		return t;
+	}
 #ifdef __cplusplus
 }
 #endif

pgo/physx-c/CPxVec3.h

@@ -9,7 +9,15 @@ extern "C" {
 		float x, y, z;
 	};
 
-	CPxAPI CPxInline CSTRUCT CPxVec3 NewCPxVec3(float x, float y, float z);
+	CPxAPI CPxInline CSTRUCT CPxVec3 NewCPxVec3(float x, float y, float z)
+	{
+		CSTRUCT CPxVec3 v;
+		v.x = x;
+		v.y = y;
+		v.z = z;
+
+		return v;
+	}
 
 #ifdef __cplusplus
 }

pgo/pvdInstrumentationFlag.go

@@ -0,0 +1,10 @@
+package pgo
+
+type PvdInstrumentationFlag uint32
+
+const (
+	PvdInstrumentationFlag_eDEBUG   PvdInstrumentationFlag = 1 << 0
+	PvdInstrumentationFlag_ePROFILE PvdInstrumentationFlag = 1 << 1
+	PvdInstrumentationFlag_eMEMORY  PvdInstrumentationFlag = 1 << 2
+	PvdInstrumentationFlag_eALL     PvdInstrumentationFlag = (PvdInstrumentationFlag_eDEBUG | PvdInstrumentationFlag_ePROFILE | PvdInstrumentationFlag_eMEMORY)
+)

pgo/wrap.c

@@ -2,12 +2,14 @@
 #include <stdbool.h>
 #define CPxAPI
 #define CPxInternalAPI
-#define CPxInline
+#define CPxInline inline
 #define CSTRUCT struct
 #define CENUM enum
 #define CPxU32 uint32_t
 #define CPxReal float
 #define CPxF32 float
+#define CPxU8 uint8_t
+#define CPxU16 uint16_t
 
 #include <CPxFoundation.h>
 #include <CPxPvd.h>