Shapes+RigidActors+CreateExclusiveShape+add createRigid dynamic/static to physics

main.go

@@ -67,6 +67,12 @@ func main() {
 	dynCapsule := pgo.CreateDynamic(p, tr4, pgo.NewCapsuleGeometry(0.25, 0.5).ToGeometry(), pMat, 1, shapeOffset)
 	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)
+	s.AddActor(dynComp.ToActor())
+
 	dynSphere.SetMass(1)
 	dynCapsule.SetMass(1)
 	println("Box 1 mass:", dynBox.GetMass())

pgo/pgo.go

@@ -91,7 +91,7 @@ func (s *Scene) GetScenePvdClient() *PvdSceneClient {
 	}
 }
 
-func (s *Scene) AddActor(a *Actor) {
+func (s *Scene) AddActor(a Actor) {
 	C.CPxScene_addActor(s.cS, a.cA)
 }
 
@@ -126,6 +126,25 @@ 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),
+	}
+}
+
+func (p *Physics) CreateRigidStatic(tr *Transform) *RigidStatic {
+	return &RigidStatic{
+		cRs: C.CPxPhysics_createRigidStatic(p.cPhysics, &tr.cT),
+	}
+}
+
+func (p *Physics) Release() {
+	C.CPxPhysics_release(p.cPhysics)
+}
+
 func CreatePhysics(f *Foundation, ts *TolerancesScale, trackOutstandingAllocations bool, pvd *Pvd) *Physics {
 
 	p := &Physics{}
@@ -134,8 +153,14 @@ func CreatePhysics(f *Foundation, ts *TolerancesScale, trackOutstandingAllocatio
 	return p
 }
 
-func (p *Physics) Release() {
-	C.CPxPhysics_release(p.cPhysics)
+type Shape struct {
+	cShape C.struct_CPxShape
+}
+
+func CreateExclusiveShape(rigidActor RigidActor, geom *Geometry, mat *Material, shapeFlags ShapeFlags) Shape {
+	return Shape{
+		cShape: C.createExclusiveShape(rigidActor.cRa, geom.cG, mat.cM, uint32(shapeFlags)),
+	}
 }
 
 type Vec3 struct {
@@ -306,16 +331,26 @@ type Actor struct {
 	cA C.struct_CPxActor
 }
 
+type RigidActor struct {
+	cRa C.struct_CPxRigidActor
+}
+
 type RigidStatic struct {
 	cRs *C.struct_CPxRigidStatic
 }
 
-func (rs *RigidStatic) ToActor() *Actor {
-	return &Actor{
+func (rs *RigidStatic) ToActor() Actor {
+	return Actor{
 		cA: C.CPxRigidStatic_toCPxActor(rs.cRs),
 	}
 }
 
+func (rs *RigidStatic) ToRigidActor() RigidActor {
+	return RigidActor{
+		cRa: C.CPxRigidStatic_toCPxRigidActor(rs.cRs),
+	}
+}
+
 func CreatePlane(p *Physics, plane *Plane, mat *Material) *RigidStatic {
 	return &RigidStatic{
 		cRs: C.CPxCreatePlane(p.cPhysics, plane.cP, mat.cM),

pgo/physx-c/CPxPhysics.h

@@ -7,6 +7,9 @@
 #include "CPxSceneDesc.h"
 #include "CPxMaterial.h"
 #include "CPxTolerancesScale.h"
+#include "CPxRigidStatic.h"
+#include "CPxRigidDynamic.h"
+#include "CPxTransform.h"
 
 #ifdef __cplusplus
 extern "C" {
@@ -19,6 +22,9 @@ extern "C" {
 	CPxAPI CSTRUCT CPxPhysics* CPxCreatePhysics(CSTRUCT CPxFoundation* cfoundation, CSTRUCT CPxTolerancesScale cscale, bool trackOutstandingAllocations, CSTRUCT CPxPvd* cpvd);
 	CPxAPI CSTRUCT CPxScene* CPxPhysics_createScene(CSTRUCT CPxPhysics*, CSTRUCT CPxSceneDesc*);
 	CPxAPI CSTRUCT CPxMaterial* CPxPhysics_createMaterial(CSTRUCT CPxPhysics*, CPxReal staticFriction, CPxReal dynamicFriction, CPxReal restitution);
+	CPxAPI CSTRUCT CPxRigidDynamic* CPxPhysics_createRigidDynamic(CSTRUCT CPxPhysics* cp, CSTRUCT CPxTransform* ctr);
+	CPxAPI CSTRUCT CPxRigidStatic* CPxPhysics_createRigidStatic(CSTRUCT CPxPhysics* cp, CSTRUCT CPxTransform* ctr);
+
 	CPxAPI void CPxPhysics_release(CSTRUCT CPxPhysics*);
 
 #ifdef __cplusplus

pgo/physx-c/CPxRigidActor.h

@@ -0,0 +1,17 @@
+#ifndef CPxRigidActor_H
+#define CPxRigidActor_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+	struct CPxRigidActor
+	{
+		void* obj;
+	};
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // !CPxRigidActor_H

pgo/physx-c/CPxRigidActorExt.h

@@ -0,0 +1,20 @@
+#ifndef CPxRigidActorExt_H
+#define CPxRigidActorExt_H
+
+#include "CPxRigidActor.h"
+#include "CPxShape.h"
+#include "CPxGeometry.h"
+#include "CPxMaterial.h"
+#include "CPxShapeFlags.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+	CPxAPI CSTRUCT CPxShape createExclusiveShape(CSTRUCT CPxRigidActor actor, CSTRUCT CPxGeometry geometry, CSTRUCT CPxMaterial* material, CENUM CPxShapeFlags shapeFlags);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // !CPxRigidActorExt_H

pgo/physx-c/CPxRigidDynamic.h

@@ -2,6 +2,7 @@
 #define CPxRigidDynamic_H
 
 #include "CPxActor.h"
+#include "CPxRigidActor.h"
 #include "CPxVec3.h"
 #include "CPxTransform.h"
 #include "CPxForceMode.h"
@@ -18,6 +19,8 @@ extern "C" {
 	};
 
 	CPxAPI CSTRUCT CPxActor CPxRigidDynamic_toCPxActor(CSTRUCT CPxRigidDynamic*);
+	CPxAPI CSTRUCT CPxRigidActor CPxRigidDynamic_toCPxRigidActor(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);
 

pgo/physx-c/CPxRigidStatic.h

@@ -1,10 +1,8 @@
 #ifndef CPxRigidStatic_H
 #define CPxRigidStatic_H
 
-#include "CPxPhysics.h"
-#include "CPxPlane.h"
-#include "CPxMaterial.h"
 #include "CPxActor.h"
+#include "CPxRigidActor.h"
 
 #ifdef __cplusplus
 extern "C" {
@@ -15,8 +13,8 @@ extern "C" {
 		void* obj;
 	};
 
-	CPxAPI CSTRUCT CPxRigidStatic* CPxCreatePlane(CSTRUCT CPxPhysics* sdk, CSTRUCT CPxPlane* plane, CSTRUCT CPxMaterial* material);
 	CPxAPI CSTRUCT CPxActor CPxRigidStatic_toCPxActor(CSTRUCT CPxRigidStatic*);
+	CPxAPI CSTRUCT CPxRigidActor CPxRigidStatic_toCPxRigidActor(CSTRUCT CPxRigidStatic*);
 
 #ifdef __cplusplus
 }

pgo/physx-c/CPxShape.h

@@ -0,0 +1,17 @@
+#ifndef CPxShape_H
+#define CPxShape_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+	struct CPxShape
+	{
+		void* obj;
+	};
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // !CPxShape_H

pgo/physx-c/CPxShapeFlags.h

@@ -0,0 +1,63 @@
+#ifndef CPxShapeFlags_H
+#define CPxShapeFlags_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+	enum CPxShapeFlags
+	{
+		/**
+		\brief The shape will partake in collision in the physical simulation.
+
+		\note It is illegal to raise the eSIMULATION_SHAPE and eTRIGGER_SHAPE flags.
+		In the event that one of these flags is already raised the sdk will reject any
+		attempt to raise the other.  To raise the eSIMULATION_SHAPE first ensure that
+		eTRIGGER_SHAPE is already lowered.
+
+		\note This flag has no effect if simulation is disabled for the corresponding actor (see #PxActorFlag::eDISABLE_SIMULATION).
+
+		@see PxSimulationEventCallback.onContact() PxScene.setSimulationEventCallback() PxShape.setFlag(), PxShape.setFlags()
+		*/
+		CPxShapeFlags_eSIMULATION_SHAPE = (1 << 0),
+
+		/**
+		\brief The shape will partake in scene queries (ray casts, overlap tests, sweeps, ...).
+		*/
+		CPxShapeFlags_eSCENE_QUERY_SHAPE = (1 << 1),
+
+		/**
+		\brief The shape is a trigger which can send reports whenever other shapes enter/leave its volume.
+
+		\note Triangle meshes and heightfields can not be triggers. Shape creation will fail in these cases.
+
+		\note Shapes marked as triggers do not collide with other objects. If an object should act both
+		as a trigger shape and a collision shape then create a rigid body with two shapes, one being a
+		trigger shape and the other a collision shape. 	It is illegal to raise the eTRIGGER_SHAPE and
+		eSIMULATION_SHAPE flags on a single PxShape instance.  In the event that one of these flags is already
+		raised the sdk will reject any attempt to raise the other.  To raise the eTRIGGER_SHAPE flag first
+		ensure that eSIMULATION_SHAPE flag is already lowered.
+
+		\note Trigger shapes will no longer send notification events for interactions with other trigger shapes.
+
+		\note Shapes marked as triggers are allowed to participate in scene queries, provided the eSCENE_QUERY_SHAPE flag is set.
+
+		\note This flag has no effect if simulation is disabled for the corresponding actor (see #PxActorFlag::eDISABLE_SIMULATION).
+
+		@see PxSimulationEventCallback.onTrigger() PxScene.setSimulationEventCallback() PxShape.setFlag(), PxShape.setFlags()
+		*/
+		CPxShapeFlags_eTRIGGER_SHAPE = (1 << 2),
+
+		/**
+		\brief Enable debug renderer for this shape
+
+		@see PxScene.getRenderBuffer() PxRenderBuffer PxVisualizationParameter
+		*/
+		CPxShapeFlags_eVISUALIZATION = (1 << 3)
+	};
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // !CPxShapeFlags_H

pgo/physx-c/CPxSimpleFactory.h

@@ -0,0 +1,19 @@
+#ifndef CPxSimpleFactory_H
+#define CPxSimpleFactory_H
+
+#include "CPxPlane.h"
+#include "CPxPhysics.h"
+#include "CPxMaterial.h"
+#include "CPxRigidStatic.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+	CPxAPI CSTRUCT CPxRigidStatic* CPxCreatePlane(CSTRUCT CPxPhysics* sdk, CSTRUCT CPxPlane* plane, CSTRUCT CPxMaterial* material);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // !CPxSimpleFactory_H

pgo/rigiddynamic.go

@@ -95,12 +95,18 @@ func (rd *RigidDynamic) SetGlobalPose(tr *Transform, autoAwake bool) {
 	C.CPxRigidDynamic_setGlobalPose(rd.cRd, &tr.cT, C._Bool(autoAwake))
 }
 
-func (rd *RigidDynamic) ToActor() *Actor {
-	return &Actor{
+func (rd *RigidDynamic) ToActor() Actor {
+	return Actor{
 		cA: C.CPxRigidDynamic_toCPxActor(rd.cRd),
 	}
 }
 
+func (rd *RigidDynamic) ToRigidActor() RigidActor {
+	return RigidActor{
+		cRa: C.CPxRigidDynamic_toCPxRigidActor(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/shaperflags.go

@@ -0,0 +1,53 @@
+package pgo
+
+type ShapeFlags uint32
+
+const (
+	/**
+	\brief The shape will partake in collision in the physical simulation.
+
+	\note It is illegal to raise the eSIMULATION_SHAPE and eTRIGGER_SHAPE flags.
+	In the event that one of these flags is already raised the sdk will reject any
+	attempt to raise the other.  To raise the eSIMULATION_SHAPE first ensure that
+	eTRIGGER_SHAPE is already lowered.
+
+	\note This flag has no effect if simulation is disabled for the corresponding actor (see #PxActorFlag::eDISABLE_SIMULATION).
+
+	@see PxSimulationEventCallback.onContact() PxScene.setSimulationEventCallback() PxShape.setFlag(), PxShape.setFlags()
+	*/
+	ShapeFlags_eSIMULATION_SHAPE ShapeFlags = (1 << 0)
+
+	/**
+	\brief The shape will partake in scene queries (ray casts, overlap tests, sweeps, ...).
+	*/
+	ShapeFlags_eSCENE_QUERY_SHAPE ShapeFlags = (1 << 1)
+
+	/**
+	\brief The shape is a trigger which can send reports whenever other shapes enter/leave its volume.
+
+	\note Triangle meshes and heightfields can not be triggers. Shape creation will fail in these cases.
+
+	\note Shapes marked as triggers do not collide with other objects. If an object should act both
+	as a trigger shape and a collision shape then create a rigid body with two shapes, one being a
+	trigger shape and the other a collision shape. 	It is illegal to raise the eTRIGGER_SHAPE and
+	eSIMULATION_SHAPE flags on a single PxShape instance.  In the event that one of these flags is already
+	raised the sdk will reject any attempt to raise the other.  To raise the eTRIGGER_SHAPE flag first
+	ensure that eSIMULATION_SHAPE flag is already lowered.
+
+	\note Trigger shapes will no longer send notification events for interactions with other trigger shapes.
+
+	\note Shapes marked as triggers are allowed to participate in scene queries, provided the eSCENE_QUERY_SHAPE flag is set.
+
+	\note This flag has no effect if simulation is disabled for the corresponding actor (see #PxActorFlag::eDISABLE_SIMULATION).
+
+	@see PxSimulationEventCallback.onTrigger() PxScene.setSimulationEventCallback() PxShape.setFlag(), PxShape.setFlags()
+	*/
+	ShapeFlags_eTRIGGER_SHAPE ShapeFlags = (1 << 2)
+
+	/**
+	\brief Enable debug renderer for this shape
+
+	@see PxScene.getRenderBuffer() PxRenderBuffer PxVisualizationParameter
+	*/
+	ShapeFlags_eVISUALIZATION ShapeFlags = (1 << 3)
+)

pgo/wrap.c

@@ -19,12 +19,19 @@
 #include <CPxTolerancesScale.h>
 #include <CPxPlane.h>
 #include <CPxActor.h>
+
 #include <CPxRigidStatic.h>
 #include <CPxRigidDynamic.h>
+#include <CPxRigidActorExt.h>
+#include <CPxShapeFlags.h>
+
 #include <CPxTransform.h>
 #include <CPxPvdSceneClient.h>
 #include <CExtSimpleFactory.h>
+
 #include <CPxGeometry.h>
 #include <CPxBoxGeometry.h>
 #include <CPxSphereGeometry.h>
 #include <CPxCapsuleGeometry.h>
+
+#include <CPxSimpleFactory.h>