Implement onTrigger callbacks

pgo/callbackExports.go

@@ -0,0 +1,26 @@
+package pgo
+
+/*
+#include "wrap.c"
+*/
+import "C"
+import "unsafe"
+
+//export goOnContactCallback
+func goOnContactCallback(p unsafe.Pointer) {
+	contactCallback(ContactPairHeader{cCPH: (*C.struct_CPxContactPairHeader)(p)})
+}
+
+//export goOnTriggerCallback
+func goOnTriggerCallback(p unsafe.Pointer, count uint32) {
+
+	// @PERF
+	triggerPairs := make([]TriggerPair, count)
+	tPairs := unsafe.Slice((*C.struct_CPxTriggerPair)(p), count)
+
+	for i := 0; i < len(triggerPairs); i++ {
+		triggerPairs[i].cTp = &tPairs[i]
+	}
+
+	triggerCallback(triggerPairs)
+}

pgo/ccallbacks.go

@@ -1,10 +1,18 @@
 package pgo
 
 /*
+#include <stdint.h> // Needed for uint32_t
+
 void goOnContactCallback_cgo(void* pairHeader)
 {
 	void goOnContactCallback(void*);
 	goOnContactCallback(pairHeader);
 }
+
+void goOnTriggerCallback_cgo(void* triggerPairs, uint32_t count)
+{
+	void goOnTriggerCallback(void*, uint32_t);
+	goOnTriggerCallback(triggerPairs, count);
+}
 */
 import "C"

pgo/goContactCallbackExport.go

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

pgo/pgo.go

@@ -13,6 +13,7 @@ package pgo
 
 //simulation event callbacks forward declarations. Actual definitions MUST be in a go different file
 void goOnContactCallback_cgo(void* pairHeader);
+void goOnTriggerCallback_cgo(void* triggerPairs, CPxU32 count);
 */
 import "C"
 import (
@@ -24,6 +25,7 @@ import (
 
 var (
 	contactCallback func(ContactPairHeader) = func(ContactPairHeader) {}
+	triggerCallback func([]TriggerPair)     = func([]TriggerPair) {}
 )
 
 type Foundation struct {
@@ -396,11 +398,18 @@ func (sd *SceneDesc) SetCpuDispatcher(cd CpuDispatcher) {
 	C.CPxSceneDesc_set_cpuDispatcher(sd.cSD, cd.cCpuDisp)
 }
 
-// SetOnContactCallback sets the GLOBAL contact callback handler. Physx-c currently only supports 1 contact callback handler.
+// SetOnContactCallback sets the GLOBAL contact callback handler. We 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)))
+	C.CPxSceneDesc_set_onContactCallback(sd.cSD, (C.CPxOnContactCallback)(unsafe.Pointer(C.goOnContactCallback_cgo)))
+}
+
+// SetOnTriggerCallback sets the GLOBAL trigger callback handler. We currently only supports 1 trugger callback handler.
+// Setting a handler overrides the previous one. Only the most recent one gets called.
+func (sd *SceneDesc) SetOnTriggerCallback(cb func([]TriggerPair)) {
+	triggerCallback = cb
+	C.CPxSceneDesc_set_onTriggerCallback(sd.cSD, (C.CPxOnTriggerCallback)(unsafe.Pointer(C.goOnTriggerCallback_cgo)))
 }
 
 func NewSceneDesc(ts TolerancesScale) SceneDesc {
@@ -510,6 +519,42 @@ func (cpp *ContactPairPoint) GetInternalFaceIndices() (float32, float32) {
 	return float32(cpp.cCpp.internalFaceIndex0), float32(cpp.cCpp.internalFaceIndex1)
 }
 
+type TriggerPair struct {
+	cTp *C.struct_CPxTriggerPair
+}
+
+func (tp *TriggerPair) TriggerShape() Shape {
+	return Shape{
+		cShape: tp.cTp.triggerShape,
+	}
+}
+
+func (tp *TriggerPair) TriggerActor() RigidActor {
+	return RigidActor{
+		cRa: tp.cTp.triggerActor,
+	}
+}
+
+func (tp *TriggerPair) OtherShape() Shape {
+	return Shape{
+		cShape: tp.cTp.otherShape,
+	}
+}
+
+func (tp *TriggerPair) OtherActor() RigidActor {
+	return RigidActor{
+		cRa: tp.cTp.otherActor,
+	}
+}
+
+func (tp *TriggerPair) Status() PairFlags {
+	return PairFlags(tp.cTp.status)
+}
+
+func (tp *TriggerPair) Flags() TriggerPairFlag {
+	return TriggerPairFlag(tp.cTp.flags)
+}
+
 type PvdSceneFlag uint32
 
 const (
@@ -555,6 +600,50 @@ type Transform struct {
 	cT C.struct_CPxTransform
 }
 
+func (t *Transform) Pos() Vec3 {
+	return Vec3{cV: t.cT.p}
+}
+
+func (t *Transform) PosX() float32 {
+	return float32(t.cT.p.x)
+}
+
+func (t *Transform) PosY() float32 {
+	return float32(t.cT.p.y)
+}
+
+func (t *Transform) PosZ() float32 {
+	return float32(t.cT.p.z)
+}
+
+func (t *Transform) SetPos(v *Vec3) {
+	t.cT.p = v.cV
+}
+
+func (t *Transform) Rot() Quat {
+	return Quat{cQ: t.cT.q}
+}
+
+func (t *Transform) RotX() float32 {
+	return float32(t.cT.q.x)
+}
+
+func (t *Transform) RotY() float32 {
+	return float32(t.cT.q.y)
+}
+
+func (t *Transform) RotZ() float32 {
+	return float32(t.cT.q.z)
+}
+
+func (t *Transform) RotW() float32 {
+	return float32(t.cT.q.w)
+}
+
+func (t *Transform) SetRot(r *Quat) {
+	t.cT.q = r.cQ
+}
+
 // struct CPxTransform NewCPxTransform(struct CPxVec3*, struct CPxQuat*);
 func NewTransform(v *Vec3, q *Quat) *Transform {
 	return &Transform{

pgo/physx-c/CPxContactPairHeader.h

@@ -2,6 +2,7 @@
 #define CPxContactPairHeader_H
 
 #include "CPxShape.h"
+#include "CPxPairFlag.h"
 #include "CPxRigidActor.h"
 
 #ifdef __cplusplus
@@ -53,222 +54,6 @@ extern "C" {
 		CPxContactPairFlag_eINTERNAL_CONTACTS_ARE_FLIPPED = (1 << 5)
 	};
 
-	enum CPxPairFlags
-	{
-		/**
-		\brief Process the contacts of this collision pair in the dynamics solver.
-
-		\note Only takes effect if the colliding actors are rigid bodies.
-		*/
-		CPxPairFlags_eSOLVE_CONTACT = (1 << 0),
-
-		/**
-		\brief Call contact modification callback for this collision pair
-
-		\note Only takes effect if the colliding actors are rigid bodies.
-
-		@see PxContactModifyCallback
-		*/
-		CPxPairFlags_eMODIFY_CONTACTS = (1 << 1),
-
-		/**
-		\brief Call contact report callback or trigger callback when this collision pair starts to be in contact.
-
-		If one of the two collision objects is a trigger shape (see #PxShapeFlag::eTRIGGER_SHAPE)
-		then the trigger callback will get called as soon as the other object enters the trigger volume.
-		If none of the two collision objects is a trigger shape then the contact report callback will get
-		called when the actors of this collision pair start to be in contact.
-
-		\note Only takes effect if the colliding actors are rigid bodies.
-
-		\note Only takes effect if eDETECT_DISCRETE_CONTACT or eDETECT_CCD_CONTACT is raised
-
-		@see PxSimulationEventCallback.onContact() PxSimulationEventCallback.onTrigger()
-		*/
-		CPxPairFlags_eNOTIFY_TOUCH_FOUND = (1 << 2),
-
-		/**
-		\brief Call contact report callback while this collision pair is in contact
-
-		If none of the two collision objects is a trigger shape then the contact report callback will get
-		called while the actors of this collision pair are in contact.
-
-		\note Triggers do not support this event. Persistent trigger contacts need to be tracked separately by observing eNOTIFY_TOUCH_FOUND/eNOTIFY_TOUCH_LOST events.
-
-		\note Only takes effect if the colliding actors are rigid bodies.
-
-		\note No report will get sent if the objects in contact are sleeping.
-
-		\note Only takes effect if eDETECT_DISCRETE_CONTACT or eDETECT_CCD_CONTACT is raised
-
-		\note If this flag gets enabled while a pair is in touch already, there will be no eNOTIFY_TOUCH_PERSISTS events until the pair loses and regains touch.
-
-		@see PxSimulationEventCallback.onContact() PxSimulationEventCallback.onTrigger()
-		*/
-		CPxPairFlags_eNOTIFY_TOUCH_PERSISTS = (1 << 3),
-
-		/**
-		\brief Call contact report callback or trigger callback when this collision pair stops to be in contact
-
-		If one of the two collision objects is a trigger shape (see #PxShapeFlag::eTRIGGER_SHAPE)
-		then the trigger callback will get called as soon as the other object leaves the trigger volume.
-		If none of the two collision objects is a trigger shape then the contact report callback will get
-		called when the actors of this collision pair stop to be in contact.
-
-		\note Only takes effect if the colliding actors are rigid bodies.
-
-		\note This event will also get triggered if one of the colliding objects gets deleted.
-
-		\note Only takes effect if eDETECT_DISCRETE_CONTACT or eDETECT_CCD_CONTACT is raised
-
-		@see PxSimulationEventCallback.onContact() PxSimulationEventCallback.onTrigger()
-		*/
-		CPxPairFlags_eNOTIFY_TOUCH_LOST = (1 << 4),
-
-		/**
-		\brief Call contact report callback when this collision pair is in contact during CCD passes.
-
-		If CCD with multiple passes is enabled, then a fast moving object might bounce on and off the same
-		object multiple times. Hence, the same pair might be in contact multiple times during a simulation step.
-		This flag will make sure that all the detected collision during CCD will get reported. For performance
-		reasons, the system can not always tell whether the contact pair lost touch in one of the previous CCD
-		passes and thus can also not always tell whether the contact is new or has persisted. eNOTIFY_TOUCH_CCD
-		just reports when the two collision objects were detected as being in contact during a CCD pass.
-
-		\note Only takes effect if the colliding actors are rigid bodies.
-
-		\note Trigger shapes are not supported.
-
-		\note Only takes effect if eDETECT_CCD_CONTACT is raised
-
-		@see PxSimulationEventCallback.onContact() PxSimulationEventCallback.onTrigger()
-		*/
-		CPxPairFlags_eNOTIFY_TOUCH_CCD = (1 << 5),
-
-		/**
-		\brief Call contact report callback when the contact force between the actors of this collision pair exceeds one of the actor-defined force thresholds.
-
-		\note Only takes effect if the colliding actors are rigid bodies.
-
-		\note Only takes effect if eDETECT_DISCRETE_CONTACT or eDETECT_CCD_CONTACT is raised
-
-		@see PxSimulationEventCallback.onContact()
-		*/
-		CPxPairFlags_eNOTIFY_THRESHOLD_FORCE_FOUND = (1 << 6),
-
-		/**
-		\brief Call contact report callback when the contact force between the actors of this collision pair continues to exceed one of the actor-defined force thresholds.
-
-		\note Only takes effect if the colliding actors are rigid bodies.
-
-		\note If a pair gets re-filtered and this flag has previously been disabled, then the report will not get fired in the same frame even if the force threshold has been reached in the
-		previous one (unless #eNOTIFY_THRESHOLD_FORCE_FOUND has been set in the previous frame).
-
-		\note Only takes effect if eDETECT_DISCRETE_CONTACT or eDETECT_CCD_CONTACT is raised
-
-		@see PxSimulationEventCallback.onContact()
-		*/
-		CPxPairFlags_eNOTIFY_THRESHOLD_FORCE_PERSISTS = (1 << 7),
-
-		/**
-		\brief Call contact report callback when the contact force between the actors of this collision pair falls below one of the actor-defined force thresholds (includes the case where this collision pair stops being in contact).
-
-		\note Only takes effect if the colliding actors are rigid bodies.
-
-		\note If a pair gets re-filtered and this flag has previously been disabled, then the report will not get fired in the same frame even if the force threshold has been reached in the
-		previous one (unless #eNOTIFY_THRESHOLD_FORCE_FOUND or #eNOTIFY_THRESHOLD_FORCE_PERSISTS has been set in the previous frame).
-
-		\note Only takes effect if eDETECT_DISCRETE_CONTACT or eDETECT_CCD_CONTACT is raised
-
-		@see PxSimulationEventCallback.onContact()
-		*/
-		CPxPairFlags_eNOTIFY_THRESHOLD_FORCE_LOST = (1 << 8),
-
-		/**
-		\brief Provide contact points in contact reports for this collision pair.
-
-		\note Only takes effect if the colliding actors are rigid bodies and if used in combination with the flags eNOTIFY_TOUCH_... or eNOTIFY_THRESHOLD_FORCE_...
-
-		\note Only takes effect if eDETECT_DISCRETE_CONTACT or eDETECT_CCD_CONTACT is raised
-
-		@see PxSimulationEventCallback.onContact() PxContactPair PxContactPair.extractContacts()
-		*/
-		CPxPairFlags_eNOTIFY_CONTACT_POINTS = (1 << 9),
-
-		/**
-		\brief This flag is used to indicate whether this pair generates discrete collision detection contacts.
-
-		\note Contacts are only responded to if eSOLVE_CONTACT is enabled.
-		*/
-		CPxPairFlags_eDETECT_DISCRETE_CONTACT = (1 << 10),
-
-		/**
-		\brief This flag is used to indicate whether this pair generates CCD contacts.
-
-		\note The contacts will only be responded to if eSOLVE_CONTACT is enabled on this pair.
-		\note The scene must have PxSceneFlag::eENABLE_CCD enabled to use this feature.
-		\note Non-static bodies of the pair should have PxRigidBodyFlag::eENABLE_CCD specified for this feature to work correctly.
-		\note This flag is not supported with trigger shapes. However, CCD trigger events can be emulated using non-trigger shapes
-		and requesting eNOTIFY_TOUCH_FOUND and eNOTIFY_TOUCH_LOST and not raising eSOLVE_CONTACT on the pair.
-
-		@see PxRigidBodyFlag::eENABLE_CCD
-		@see PxSceneFlag::eENABLE_CCD
-		*/
-		CPxPairFlags_eDETECT_CCD_CONTACT = (1 << 11),
-
-		/**
-		\brief Provide pre solver velocities in contact reports for this collision pair.
-
-		If the collision pair has contact reports enabled, the velocities of the rigid bodies before contacts have been solved
-		will be provided in the contact report callback unless the pair lost touch in which case no data will be provided.
-
-		\note Usually it is not necessary to request these velocities as they will be available by querying the velocity from the provided
-		PxRigidActor object directly. However, it might be the case that the velocity of a rigid body gets set while the simulation is running
-		in which case the PxRigidActor would return this new velocity in the contact report callback and not the velocity the simulation used.
-
-		@see PxSimulationEventCallback.onContact(), PxContactPairVelocity, PxContactPairHeader.extraDataStream
-		*/
-		CPxPairFlags_ePRE_SOLVER_VELOCITY = (1 << 12),
-
-		/**
-		\brief Provide post solver velocities in contact reports for this collision pair.
-
-		If the collision pair has contact reports enabled, the velocities of the rigid bodies after contacts have been solved
-		will be provided in the contact report callback unless the pair lost touch in which case no data will be provided.
-
-		@see PxSimulationEventCallback.onContact(), PxContactPairVelocity, PxContactPairHeader.extraDataStream
-		*/
-		CPxPairFlags_ePOST_SOLVER_VELOCITY = (1 << 13),
-
-		/**
-		\brief Provide rigid body poses in contact reports for this collision pair.
-
-		If the collision pair has contact reports enabled, the rigid body poses at the contact event will be provided
-		in the contact report callback unless the pair lost touch in which case no data will be provided.
-
-		\note Usually it is not necessary to request these poses as they will be available by querying the pose from the provided
-		PxRigidActor object directly. However, it might be the case that the pose of a rigid body gets set while the simulation is running
-		in which case the PxRigidActor would return this new pose in the contact report callback and not the pose the simulation used.
-		Another use case is related to CCD with multiple passes enabled, A fast moving object might bounce on and off the same
-		object multiple times. This flag can be used to request the rigid body poses at the time of impact for each such collision event.
-
-		@see PxSimulationEventCallback.onContact(), PxContactPairPose, PxContactPairHeader.extraDataStream
-		*/
-		CPxPairFlags_eCONTACT_EVENT_POSE = (1 << 14),
-
-		CPxPairFlags_eNEXT_FREE = (1 << 15),        //!< For internal use only.
-
-	/**
-	\brief Provided default flag to do simple contact processing for this collision pair.
-	*/
-	CPxPairFlags_eCONTACT_DEFAULT = CPxPairFlags_eSOLVE_CONTACT | CPxPairFlags_eDETECT_DISCRETE_CONTACT,
-
-	/**
-	\brief Provided default flag to get commonly used trigger behavior for this collision pair.
-	*/
-	CPxPairFlags_eTRIGGER_DEFAULT = CPxPairFlags_eNOTIFY_TOUCH_FOUND | CPxPairFlags_eNOTIFY_TOUCH_LOST | CPxPairFlags_eDETECT_DISCRETE_CONTACT
-	};
-
 	struct CPxContactPairPoint
 	{
 		/**
@@ -314,7 +99,7 @@ extern "C" {
 		CPxU8 patchCount;
 		CPxU16 contactStreamSize;
 
-		CENUM CPxPairFlags events;
+		CENUM CPxPairFlag events;
 		CENUM CPxContactPairFlag flags;
 
 		CSTRUCT	CPxContactPairPoint* extractedContactPoints;
@@ -343,4 +128,4 @@ extern "C" {
 }
 #endif
 
-#endif // !1
+#endif

pgo/physx-c/CPxPairFlag.h

@@ -0,0 +1,228 @@
+#ifndef CPxPairFlag_H
+#define CPxPairFlag_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+	enum CPxPairFlag
+	{
+		/**
+		\brief Process the contacts of this collision pair in the dynamics solver.
+
+		\note Only takes effect if the colliding actors are rigid bodies.
+		*/
+		CPxPairFlags_eSOLVE_CONTACT = (1 << 0),
+
+		/**
+		\brief Call contact modification callback for this collision pair
+
+		\note Only takes effect if the colliding actors are rigid bodies.
+
+		@see PxContactModifyCallback
+		*/
+		CPxPairFlags_eMODIFY_CONTACTS = (1 << 1),
+
+		/**
+		\brief Call contact report callback or trigger callback when this collision pair starts to be in contact.
+
+		If one of the two collision objects is a trigger shape (see #PxShapeFlag::eTRIGGER_SHAPE)
+		then the trigger callback will get called as soon as the other object enters the trigger volume.
+		If none of the two collision objects is a trigger shape then the contact report callback will get
+		called when the actors of this collision pair start to be in contact.
+
+		\note Only takes effect if the colliding actors are rigid bodies.
+
+		\note Only takes effect if eDETECT_DISCRETE_CONTACT or eDETECT_CCD_CONTACT is raised
+
+		@see PxSimulationEventCallback.onContact() PxSimulationEventCallback.onTrigger()
+		*/
+		CPxPairFlags_eNOTIFY_TOUCH_FOUND = (1 << 2),
+
+		/**
+		\brief Call contact report callback while this collision pair is in contact
+
+		If none of the two collision objects is a trigger shape then the contact report callback will get
+		called while the actors of this collision pair are in contact.
+
+		\note Triggers do not support this event. Persistent trigger contacts need to be tracked separately by observing eNOTIFY_TOUCH_FOUND/eNOTIFY_TOUCH_LOST events.
+
+		\note Only takes effect if the colliding actors are rigid bodies.
+
+		\note No report will get sent if the objects in contact are sleeping.
+
+		\note Only takes effect if eDETECT_DISCRETE_CONTACT or eDETECT_CCD_CONTACT is raised
+
+		\note If this flag gets enabled while a pair is in touch already, there will be no eNOTIFY_TOUCH_PERSISTS events until the pair loses and regains touch.
+
+		@see PxSimulationEventCallback.onContact() PxSimulationEventCallback.onTrigger()
+		*/
+		CPxPairFlags_eNOTIFY_TOUCH_PERSISTS = (1 << 3),
+
+		/**
+		\brief Call contact report callback or trigger callback when this collision pair stops to be in contact
+
+		If one of the two collision objects is a trigger shape (see #PxShapeFlag::eTRIGGER_SHAPE)
+		then the trigger callback will get called as soon as the other object leaves the trigger volume.
+		If none of the two collision objects is a trigger shape then the contact report callback will get
+		called when the actors of this collision pair stop to be in contact.
+
+		\note Only takes effect if the colliding actors are rigid bodies.
+
+		\note This event will also get triggered if one of the colliding objects gets deleted.
+
+		\note Only takes effect if eDETECT_DISCRETE_CONTACT or eDETECT_CCD_CONTACT is raised
+
+		@see PxSimulationEventCallback.onContact() PxSimulationEventCallback.onTrigger()
+		*/
+		CPxPairFlags_eNOTIFY_TOUCH_LOST = (1 << 4),
+
+		/**
+		\brief Call contact report callback when this collision pair is in contact during CCD passes.
+
+		If CCD with multiple passes is enabled, then a fast moving object might bounce on and off the same
+		object multiple times. Hence, the same pair might be in contact multiple times during a simulation step.
+		This flag will make sure that all the detected collision during CCD will get reported. For performance
+		reasons, the system can not always tell whether the contact pair lost touch in one of the previous CCD
+		passes and thus can also not always tell whether the contact is new or has persisted. eNOTIFY_TOUCH_CCD
+		just reports when the two collision objects were detected as being in contact during a CCD pass.
+
+		\note Only takes effect if the colliding actors are rigid bodies.
+
+		\note Trigger shapes are not supported.
+
+		\note Only takes effect if eDETECT_CCD_CONTACT is raised
+
+		@see PxSimulationEventCallback.onContact() PxSimulationEventCallback.onTrigger()
+		*/
+		CPxPairFlags_eNOTIFY_TOUCH_CCD = (1 << 5),
+
+		/**
+		\brief Call contact report callback when the contact force between the actors of this collision pair exceeds one of the actor-defined force thresholds.
+
+		\note Only takes effect if the colliding actors are rigid bodies.
+
+		\note Only takes effect if eDETECT_DISCRETE_CONTACT or eDETECT_CCD_CONTACT is raised
+
+		@see PxSimulationEventCallback.onContact()
+		*/
+		CPxPairFlags_eNOTIFY_THRESHOLD_FORCE_FOUND = (1 << 6),
+
+		/**
+		\brief Call contact report callback when the contact force between the actors of this collision pair continues to exceed one of the actor-defined force thresholds.
+
+		\note Only takes effect if the colliding actors are rigid bodies.
+
+		\note If a pair gets re-filtered and this flag has previously been disabled, then the report will not get fired in the same frame even if the force threshold has been reached in the
+		previous one (unless #eNOTIFY_THRESHOLD_FORCE_FOUND has been set in the previous frame).
+
+		\note Only takes effect if eDETECT_DISCRETE_CONTACT or eDETECT_CCD_CONTACT is raised
+
+		@see PxSimulationEventCallback.onContact()
+		*/
+		CPxPairFlags_eNOTIFY_THRESHOLD_FORCE_PERSISTS = (1 << 7),
+
+		/**
+		\brief Call contact report callback when the contact force between the actors of this collision pair falls below one of the actor-defined force thresholds (includes the case where this collision pair stops being in contact).
+
+		\note Only takes effect if the colliding actors are rigid bodies.
+
+		\note If a pair gets re-filtered and this flag has previously been disabled, then the report will not get fired in the same frame even if the force threshold has been reached in the
+		previous one (unless #eNOTIFY_THRESHOLD_FORCE_FOUND or #eNOTIFY_THRESHOLD_FORCE_PERSISTS has been set in the previous frame).
+
+		\note Only takes effect if eDETECT_DISCRETE_CONTACT or eDETECT_CCD_CONTACT is raised
+
+		@see PxSimulationEventCallback.onContact()
+		*/
+		CPxPairFlags_eNOTIFY_THRESHOLD_FORCE_LOST = (1 << 8),
+
+		/**
+		\brief Provide contact points in contact reports for this collision pair.
+
+		\note Only takes effect if the colliding actors are rigid bodies and if used in combination with the flags eNOTIFY_TOUCH_... or eNOTIFY_THRESHOLD_FORCE_...
+
+		\note Only takes effect if eDETECT_DISCRETE_CONTACT or eDETECT_CCD_CONTACT is raised
+
+		@see PxSimulationEventCallback.onContact() PxContactPair PxContactPair.extractContacts()
+		*/
+		CPxPairFlags_eNOTIFY_CONTACT_POINTS = (1 << 9),
+
+		/**
+		\brief This flag is used to indicate whether this pair generates discrete collision detection contacts.
+
+		\note Contacts are only responded to if eSOLVE_CONTACT is enabled.
+		*/
+		CPxPairFlags_eDETECT_DISCRETE_CONTACT = (1 << 10),
+
+		/**
+		\brief This flag is used to indicate whether this pair generates CCD contacts.
+
+		\note The contacts will only be responded to if eSOLVE_CONTACT is enabled on this pair.
+		\note The scene must have PxSceneFlag::eENABLE_CCD enabled to use this feature.
+		\note Non-static bodies of the pair should have PxRigidBodyFlag::eENABLE_CCD specified for this feature to work correctly.
+		\note This flag is not supported with trigger shapes. However, CCD trigger events can be emulated using non-trigger shapes
+		and requesting eNOTIFY_TOUCH_FOUND and eNOTIFY_TOUCH_LOST and not raising eSOLVE_CONTACT on the pair.
+
+		@see PxRigidBodyFlag::eENABLE_CCD
+		@see PxSceneFlag::eENABLE_CCD
+		*/
+		CPxPairFlags_eDETECT_CCD_CONTACT = (1 << 11),
+
+		/**
+		\brief Provide pre solver velocities in contact reports for this collision pair.
+
+		If the collision pair has contact reports enabled, the velocities of the rigid bodies before contacts have been solved
+		will be provided in the contact report callback unless the pair lost touch in which case no data will be provided.
+
+		\note Usually it is not necessary to request these velocities as they will be available by querying the velocity from the provided
+		PxRigidActor object directly. However, it might be the case that the velocity of a rigid body gets set while the simulation is running
+		in which case the PxRigidActor would return this new velocity in the contact report callback and not the velocity the simulation used.
+
+		@see PxSimulationEventCallback.onContact(), PxContactPairVelocity, PxContactPairHeader.extraDataStream
+		*/
+		CPxPairFlags_ePRE_SOLVER_VELOCITY = (1 << 12),
+
+		/**
+		\brief Provide post solver velocities in contact reports for this collision pair.
+
+		If the collision pair has contact reports enabled, the velocities of the rigid bodies after contacts have been solved
+		will be provided in the contact report callback unless the pair lost touch in which case no data will be provided.
+
+		@see PxSimulationEventCallback.onContact(), PxContactPairVelocity, PxContactPairHeader.extraDataStream
+		*/
+		CPxPairFlags_ePOST_SOLVER_VELOCITY = (1 << 13),
+
+		/**
+		\brief Provide rigid body poses in contact reports for this collision pair.
+
+		If the collision pair has contact reports enabled, the rigid body poses at the contact event will be provided
+		in the contact report callback unless the pair lost touch in which case no data will be provided.
+
+		\note Usually it is not necessary to request these poses as they will be available by querying the pose from the provided
+		PxRigidActor object directly. However, it might be the case that the pose of a rigid body gets set while the simulation is running
+		in which case the PxRigidActor would return this new pose in the contact report callback and not the pose the simulation used.
+		Another use case is related to CCD with multiple passes enabled, A fast moving object might bounce on and off the same
+		object multiple times. This flag can be used to request the rigid body poses at the time of impact for each such collision event.
+
+		@see PxSimulationEventCallback.onContact(), PxContactPairPose, PxContactPairHeader.extraDataStream
+		*/
+		CPxPairFlags_eCONTACT_EVENT_POSE = (1 << 14),
+
+		CPxPairFlags_eNEXT_FREE = (1 << 15),        //!< For internal use only.
+
+		/**
+		\brief Provided default flag to do simple contact processing for this collision pair.
+		*/
+		CPxPairFlags_eCONTACT_DEFAULT = CPxPairFlags_eSOLVE_CONTACT | CPxPairFlags_eDETECT_DISCRETE_CONTACT,
+
+		/**
+		\brief Provided default flag to get commonly used trigger behavior for this collision pair.
+		*/
+		CPxPairFlags_eTRIGGER_DEFAULT = CPxPairFlags_eNOTIFY_TOUCH_FOUND | CPxPairFlags_eNOTIFY_TOUCH_LOST | CPxPairFlags_eDETECT_DISCRETE_CONTACT
+	};
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif

pgo/physx-c/CPxRigidActor.h

@@ -4,8 +4,7 @@
 #include "CPxFilterData.h"
 
 #ifdef __cplusplus
-extern "C"
-{
+extern "C" {
 #endif
 
 	struct CPxRigidActor

pgo/physx-c/CPxRigidDynamic.h

@@ -30,7 +30,17 @@ extern "C" {
 	CPxAPI CPxReal CPxRigidDynamic_getAngularDamping(CSTRUCT CPxRigidDynamic crd);
 
 	CPxAPI CSTRUCT CPxVec3 CPxRigidDynamic_getLinearVelocity(CSTRUCT CPxRigidDynamic crd);
+	CPxAPI void CPxRigidDynamic_setLinearVelocity(CSTRUCT CPxRigidDynamic crd, CSTRUCT CPxVec3* velocity, bool autoAwake);
+
+	CPxAPI CPxReal CPxRigidDynamic_getMaxLinearVelocity(CSTRUCT CPxRigidDynamic crd);
+	CPxAPI void CPxRigidDynamic_setMaxLinearVelocity(CSTRUCT CPxRigidDynamic crd, CPxReal maxLinearVelocity);
+
+
 	CPxAPI CSTRUCT CPxVec3 CPxRigidDynamic_getAngularVelocity(CSTRUCT CPxRigidDynamic crd);
+	CPxAPI void CPxRigidDynamic_setAngularVelocity(CSTRUCT CPxRigidDynamic crd, CSTRUCT CPxVec3* velocity, bool autoAwake);
+
+	CPxAPI CPxReal CPxRigidDynamic_getMaxAngularVelocity(CSTRUCT CPxRigidDynamic crd);
+	CPxAPI void CPxRigidDynamic_setMaxAngularVelocity(CSTRUCT CPxRigidDynamic crd, CPxReal maxAngularVelocity);
 
 	CPxAPI void CPxRigidDynamic_setMass(CSTRUCT CPxRigidDynamic crd, CPxReal mass);
 	CPxAPI CPxReal CPxRigidDynamic_getMass(CSTRUCT CPxRigidDynamic crd);

pgo/physx-c/CPxSceneDesc.h

@@ -13,7 +13,8 @@ extern "C" {
 		void* obj;
 	};
 
-	typedef void (*CPxonContactCallback)(void* pairHeader);
+	typedef void (*CPxOnContactCallback)(void* pairHeader);
+	typedef void (*CPxOnTriggerCallback)(void* triggerPairs, CPxU32 count);
 
 	/// <summary>
 	/// Creates a SceneDesc with a custom filterShader that uses word0/word1 as groups shapes can belong to, word2 as a mask on word0, and word3 as a mask on word1.
@@ -25,12 +26,20 @@ extern "C" {
 	CPxAPI void CPxSceneDesc_set_cpuDispatcher(CSTRUCT CPxSceneDesc, CSTRUCT CPxCpuDispatcher);
 
 
-	//CPxSceneDesc_set_onContactCallback sets the contact callback handler of the given scene descriptor.
+	// CPxSceneDesc_set_onContactCallback sets the on-contact callback handler of the given scene descriptor.
 	// The callback is sent an object of type 'CPxContactPairHeader*'. This object is only valid for the duration of the callback handler.
 	// Therefore, the callback handler MUST copy data it wishes to keep for longer than the lifetime of the callback handler, as the memory it was handed might be reused/freed.
 	//
 	// NOTE: This function assumes you are using the default physx-c callback handler. Do NOT use this function if you set 'sceneDesc->simulationEventCallback' with your own custom implementation.
-	CPxAPI void CPxSceneDesc_set_onContactCallback(CSTRUCT CPxSceneDesc, CPxonContactCallback cb);
+	CPxAPI void CPxSceneDesc_set_onContactCallback(CSTRUCT CPxSceneDesc, CPxOnContactCallback cb);
+
+	// CPxSceneDesc_set_onTriggerCallback sets the on-trigger callback handler of the given scene descriptor.
+	// The callback is sent an object of type 'CPxTriggerPairHeader*'. This object is only valid for the duration of the callback handler.
+	// Therefore, the callback handler MUST copy data it wishes to keep for longer than the lifetime of the callback handler, as the memory it was handed might be reused/freed.
+	//
+	// NOTE: This function assumes you are using the default physx-c callback handler. Do NOT use this function if you set 'sceneDesc->simulationEventCallback' with your own custom implementation.
+	CPxAPI void CPxSceneDesc_set_onTriggerCallback(CSTRUCT CPxSceneDesc csd, CPxOnTriggerCallback cb);
+
 	CPxAPI void FreeCPxSceneDesc(CSTRUCT CPxSceneDesc);
 
 #ifdef __cplusplus

pgo/physx-c/CPxTriggerPair.h

@@ -0,0 +1,27 @@
+#ifndef CPxTriggerPair_H
+#define CPxTriggerPair_H
+
+#include "CPxShape.h"
+#include "CPxPairFlag.h"
+#include "CPxRigidActor.h"
+#include "CPxTriggerPairFlag.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+	struct CPxTriggerPair
+	{
+		CSTRUCT CPxShape triggerShape;			//!< The shape that has been marked as a trigger.
+		CSTRUCT CPxRigidActor triggerActor;		//!< The actor to which triggerShape is attached
+		CSTRUCT CPxShape otherShape;			//!< The shape causing the trigger event. \deprecated (see #PxSimulationEventCallback::onTrigger()) If collision between trigger shapes is enabled, then this member might point to a trigger shape as well.
+		CSTRUCT CPxRigidActor otherActor;		//!< The actor to which otherShape is attached
+		CENUM CPxPairFlag status;				//!< Type of trigger event (eNOTIFY_TOUCH_FOUND or eNOTIFY_TOUCH_LOST). eNOTIFY_TOUCH_PERSISTS events are not supported.
+		CENUM CPxTriggerPairFlag flags;			//!< Additional information on the pair (see #PxTriggerPairFlag)
+	};
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif

pgo/physx-c/CPxTriggerPairFlag.h

@@ -0,0 +1,20 @@
+#ifndef CPxTriggerPairFlag_H
+#define CPxTriggerPairFlag_H
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+	enum CPxTriggerPairFlag
+	{
+		eREMOVED_SHAPE_TRIGGER = (1 << 0), //!< The trigger shape has been removed from the actor/scene.
+		eREMOVED_SHAPE_OTHER = (1 << 1),   //!< The shape causing the trigger event has been removed from the actor/scene.
+		eNEXT_FREE = (1 << 2)			   //!< For internal use only.
+	};
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif

pgo/rigiddynamic.go

@@ -29,14 +29,14 @@ func (rd *RigidDynamic) SetLinearDamping(damping float32) {
 	C.CPxRigidDynamic_setLinearDamping(rd.cRd, C.float(damping))
 }
 
-func (rd *RigidDynamic) SetAngularDamping(damping float32) {
-	C.CPxRigidDynamic_setAngularDamping(rd.cRd, C.float(damping))
-}
-
 func (rd *RigidDynamic) GetLinearDamping() float32 {
 	return float32(C.CPxRigidDynamic_getLinearDamping(rd.cRd))
 }
 
+func (rd *RigidDynamic) SetAngularDamping(damping float32) {
+	C.CPxRigidDynamic_setAngularDamping(rd.cRd, C.float(damping))
+}
+
 func (rd *RigidDynamic) GetAngularDamping() float32 {
 	return float32(C.CPxRigidDynamic_getAngularDamping(rd.cRd))
 }
@@ -47,12 +47,36 @@ func (rd *RigidDynamic) GetLinearVelocity() Vec3 {
 	}
 }
 
+func (rd *RigidDynamic) SetLinearVelocity(vel *Vec3, autoWake bool) {
+	C.CPxRigidDynamic_setLinearVelocity(rd.cRd, &vel.cV, C._Bool(autoWake))
+}
+
 func (rd *RigidDynamic) GetAngularVelocity() Vec3 {
 	return Vec3{
 		cV: C.CPxRigidDynamic_getAngularVelocity(rd.cRd),
 	}
 }
 
+func (rd *RigidDynamic) SetAngularVelocity(vel *Vec3, autoWake bool) {
+	C.CPxRigidDynamic_setAngularVelocity(rd.cRd, &vel.cV, C._Bool(autoWake))
+}
+
+func (rd *RigidDynamic) GetMaxLinearVelocity() float32 {
+	return float32(C.CPxRigidDynamic_getMaxLinearVelocity(rd.cRd))
+}
+
+func (rd *RigidDynamic) SetMaxLinearVelocity(vel float32) {
+	C.CPxRigidDynamic_setMaxLinearVelocity(rd.cRd, C.float(vel))
+}
+
+func (rd *RigidDynamic) GetMaxAngularVelocity() float32 {
+	return float32(C.CPxRigidDynamic_getMaxAngularVelocity(rd.cRd))
+}
+
+func (rd *RigidDynamic) SetMaxAngularVelocity(vel float32) {
+	C.CPxRigidDynamic_setMaxAngularVelocity(rd.cRd, C.float(vel))
+}
+
 func (rd *RigidDynamic) SetMass(mass float32) {
 	C.CPxRigidDynamic_setMass(rd.cRd, C.float(mass))
 }
@@ -122,6 +146,13 @@ func (rd *RigidDynamic) ToRigidActor() RigidActor {
 }
 
 func CreateDynamic(p Physics, t *Transform, g Geometry, m Material, density float32, shapeOffset *Transform) RigidDynamic {
+
+	if shapeOffset == nil {
+		return RigidDynamic{
+			cRd: C.CPxCreateDynamic(p.cPhysics, &t.cT, g.cG, m.cM, C.float(density), nil),
+		}
+	}
+
 	return RigidDynamic{
 		cRd: C.CPxCreateDynamic(p.cPhysics, &t.cT, g.cG, m.cM, C.float(density), &shapeOffset.cT),
 	}

pgo/triggerPairFlag.go

@@ -0,0 +1,9 @@
+package pgo
+
+type TriggerPairFlag uint32
+
+const (
+	TriggerPairFlag_eREMOVED_SHAPE_TRIGGER TriggerPairFlag = (1 << 0) //!< The trigger shape has been removed from the actor/scene.
+	TriggerPairFlag_eREMOVED_SHAPE_OTHER   TriggerPairFlag = (1 << 1) //!< The shape causing the trigger event has been removed from the actor/scene.
+	TriggerPairFlag_eNEXT_FREE             TriggerPairFlag = (1 << 2) //!< For internal use only.
+)

pgo/wrap.c

@@ -39,4 +39,5 @@
 
 #include <CPxSimpleFactory.h>
 
+#include <CPxTriggerPair.h>
 #include <CPxContactPairHeader.h>