mirror of
https://github.com/bloeys/physx-go.git
synced 2025-12-29 07:58:20 +00:00
126 lines
3.9 KiB
Go
Executable File
126 lines
3.9 KiB
Go
Executable File
package main
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import (
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"github.com/bloeys/physx-go/pgo"
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)
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func main() {
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f := pgo.CreateFoundation()
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println("foundation:", f)
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pvdTr := pgo.DefaultPvdSocketTransportCreate("127.0.0.1", 5425, 100000)
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println("Pvd transport:", pvdTr)
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pvd := pgo.CreatePvd(f)
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println("Pvd:", pvd)
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println("connected to PVD:", pvd.Connect(pvdTr, pgo.PvdInstrumentationFlag_eALL))
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ts := pgo.NewTolerancesScale(1, 9.81)
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p := pgo.CreatePhysics(f, ts, false, pvd)
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println("Physics:", p)
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sd := pgo.NewSceneDesc(ts)
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sd.SetGravity(pgo.NewVec3(0, -9.8, 0))
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sd.SetCpuDispatcher(pgo.DefaultCpuDispatcherCreate(2, 0).ToCpuDispatcher())
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sd.SetOnContactCallback()
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s := p.CreateScene(sd)
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println("Scene:", s)
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scenePvdClient := s.GetScenePvdClient()
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println("ScenePvdClient:", scenePvdClient)
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scenePvdClient.SetScenePvdFlag(pgo.PvdSceneFlag_eTRANSMIT_CONSTRAINTS, true)
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scenePvdClient.SetScenePvdFlag(pgo.PvdSceneFlag_eTRANSMIT_CONTACTS, true)
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scenePvdClient.SetScenePvdFlag(pgo.PvdSceneFlag_eTRANSMIT_SCENEQUERIES, true)
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//Add plane
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pMat := p.CreateMaterial(0.5, 0.5, 0.6)
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groundPlane := pgo.CreatePlane(p, pgo.NewPlane(0, 1, 0, 0), pMat)
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s.AddActor(groundPlane.ToActor())
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//W0/W1 are filter groups the shape belongs to, and W2/W3 are a filter group mask
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fd := pgo.NewFilterData(1, 1, 1, 1)
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//Add box1
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v := pgo.NewVec3(0, 10, 0)
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q := pgo.NewQuat(0, 0, 1, 0)
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tr := pgo.NewTransform(v, q)
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qID := pgo.NewQuat(0, 0, 1, 0)
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shapeOffset := pgo.NewTransform(v, qID)
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box := pgo.NewBoxGeometry(0.5, 0.5, 0.5)
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dynBox := pgo.CreateDynamic(p, tr, box.ToGeometry(), pMat, 1, shapeOffset)
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ra := dynBox.ToRigidActor()
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ra.SetSimFilterData(&fd)
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s.AddActor(dynBox.ToActor())
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//Add box2
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v = pgo.NewVec3(0.5, 12, 0)
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tr2 := pgo.NewTransform(v, qID)
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dynBox2 := pgo.CreateDynamic(p, tr2, box.ToGeometry(), pMat, 1, shapeOffset)
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ra = dynBox2.ToRigidActor()
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ra.SetSimFilterData(&fd)
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s.AddActor(dynBox2.ToActor())
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//Add sphere
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v = pgo.NewVec3(0, 16, 0)
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tr3 := pgo.NewTransform(v, qID)
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dynSphere := pgo.CreateDynamic(p, tr3, pgo.NewSphereGeometry(3).ToGeometry(), pMat, 1, shapeOffset)
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ra = dynSphere.ToRigidActor()
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ra.SetSimFilterData(&fd)
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s.AddActor(dynSphere.ToActor())
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//Add capsule
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v = pgo.NewVec3(0, 20, 0)
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tr4 := pgo.NewTransform(v, qID)
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dynCapsule := pgo.CreateDynamic(p, tr4, pgo.NewCapsuleGeometry(0.25, 0.5).ToGeometry(), pMat, 1, shapeOffset)
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ra = dynCapsule.ToRigidActor()
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ra.SetSimFilterData(&fd)
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s.AddActor(dynCapsule.ToActor())
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//Add compound shape
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dynComp := p.CreateRigidDynamic(pgo.NewTransform(pgo.NewVec3(0, 35, 0), qID))
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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)
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someShape := pgo.CreateExclusiveShape(dynComp.ToRigidActor(), pgo.NewSphereGeometry(2).ToGeometry(), pMat, pgo.ShapeFlags_eSCENE_QUERY_SHAPE|pgo.ShapeFlags_eSIMULATION_SHAPE|pgo.ShapeFlags_eVISUALIZATION)
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someShape.SetLocalPose(pgo.NewTransform(pgo.NewVec3(5, 0, 0), qID))
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someShape = pgo.CreateExclusiveShape(dynComp.ToRigidActor(), pgo.NewSphereGeometry(2).ToGeometry(), pMat, pgo.ShapeFlags_eSCENE_QUERY_SHAPE|pgo.ShapeFlags_eSIMULATION_SHAPE|pgo.ShapeFlags_eVISUALIZATION)
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someShape.SetLocalPose(pgo.NewTransform(pgo.NewVec3(-5, 0, 0), qID))
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ra = dynComp.ToRigidActor()
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ra.SetSimFilterData(&fd)
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s.AddActor(dynComp.ToActor())
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//Make some changes and print info
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dynSphere.SetMass(1)
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dynCapsule.SetMass(1)
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println("Box 1 mass:", dynBox.GetMass())
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println("Box 2 mass:", dynBox2.GetMass())
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println("Sphere mass:", dynSphere.GetMass())
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println("Capsule mass:", dynCapsule.GetMass())
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println("Capsule linear damping A:", dynCapsule.GetLinearDamping())
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dynCapsule.SetLinearDamping(0.05)
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println("Capsule linear damping B:", dynCapsule.GetLinearDamping())
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//Run simulation
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s.SetScratchBuffer(4)
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for {
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s.Collide(1 / 60.0)
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s.FetchCollision(true)
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s.Advance()
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s.FetchResults(true)
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}
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p.Release()
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pvd.Release()
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pvdTr.Release()
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}
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