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physxCAPI/physxCDLL/main.cpp

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physx c api 封装
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#include <stdio.h>
#include"physxApi.hpp"
//void (*)(void*, physx::PxTriggerPair const*, physx::PxU32);
static void onTrigger(void* userData, physx::PxTriggerPair* pairs, physx::PxU32 count)
{
//userdataaaa* data = (userdataaaa*)userData;
//int a = data->value;
int a = 0;
}
//void (*)(void*, physx::PxContactPairHeader const*, physx::PxContactPair const*, physx::PxU32);
static void onContact(void* userData, physx::PxContactPairHeader const * pairHeader, physx::PxContactPair const* pairs, physx::PxU32 nbPairs)
{
//userdataaaa* data = (userdataaaa*)userData;
//int a = data->value;
int a = 0;
}
//onContact gOnContact;
void onConstraintBreak(void* userData, physx::PxConstraintInfo* info, physx::PxU32 flag)
{
int a = 0;
}
void onWake(void* userData, physx::PxActor** actors, physx::PxU32 count, bool isSleep)
{
int a = 0;
}
void onAdvance(void* userData, physx::PxRigidBody** ppRigid, physx::PxTransform* pTrans, unsigned int nb)
{
int a = 0;
}
//virtual PxFilterFlags pairFound(PxU64 pairID,
// PxFilterObjectAttributes attributes0, PxFilterData filterData0, const PxActor* a0, const PxShape* s0,
// PxFilterObjectAttributes attributes1, PxFilterData filterData1, const PxActor* a1, const PxShape* s1,
// PxPairFlags& pairFlags) = 0;
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physx::PxFilterFlags pairFound(physx::PxU32 pairID,
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physx::PxFilterObjectAttributes attributes0, physx::PxFilterData filterData0, const physx::PxActor* a0, const physx::PxShape* s0,
physx::PxFilterObjectAttributes attributes1, physx::PxFilterData filterData1, const physx::PxActor* a1, const physx::PxShape* s1,
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physx::PxPairFlags* pairFlags)
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{
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*pairFlags = physx::PxPairFlag::eCONTACT_DEFAULT;
*pairFlags = physx::PxPairFlag::eTRIGGER_DEFAULT;
//return physx::PxFilterFlags();
return physx::PxFilterFlag::eCALLBACK;
physx c api 封装
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}
//typedef physx::PxQueryHitType::Enum(*RaycastHitCallback)(const physx::PxRigidActor* actor, const physx::PxFilterData* filterData, const physx::PxShape* shape, physx::PxU32 hitFlags, const void* userData);
// uint32_t(*RaycastHitCallback)(const physx::PxRigidActor* actor, const physx::PxFilterData* filterData, const physx::PxShape* shape,
// uint32_t hitFlags, const void* userData);
static physx::PxQueryHitType::Enum preFilter(const physx::PxRigidActor* actor, const physx::PxFilterData* filterData, const physx::PxShape* shape,
physx::PxU32 flags, const void* userData)
{
return physx::PxQueryHitType::eBLOCK;
}
static physx::PxFilterFlags PhysxWorldFilterShader(
physx::PxU32 attributes0,
physx::PxFilterData filterData0,
physx::PxU32 attributes1,
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physx::PxFilterData filterData1, physx::PxPairFlags& pairFlags,
physx c api 封装
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void* constantBlock, physx::PxU32 constantBlockSize)
{
//var trigger0 = phys_PxFilterObjectIsTrigger(attributes0);
//var trigger1 = phys_PxFilterObjectIsTrigger(attributes1);
//var type0 = phys_PxGetFilterObjectType(attributes0);
//var type1 = phys_PxGetFilterObjectType(attributes1);
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pairFlags = physx::PxPairFlag::eSOLVE_CONTACT |
physx::PxPairFlag::eDETECT_DISCRETE_CONTACT |
physx::PxPairFlag::eNOTIFY_TOUCH_FOUND |
physx::PxPairFlag::eNOTIFY_TOUCH_LOST |
physx::PxPairFlag::eNOTIFY_CONTACT_POINTS;
physx c api 封装
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return (physx::PxFilterFlags)0x4;
//<2F><><EFBFBD><EFBFBD>killҲ<6C><D2B2><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//return PxFilterFlags.Kill;
//return PxFilterFlags.Notify;
}
int main()
{
#define PX_PHYSICS_VERSION_MAJOR 5
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#define PX_PHYSICS_VERSION_MINOR 1
#define PX_PHYSICS_VERSION_BUGFIX 3
physx c api 封装
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#define PX_PHYSICS_VERSION ((PX_PHYSICS_VERSION_MAJOR<<24) + (PX_PHYSICS_VERSION_MINOR<<16) + (PX_PHYSICS_VERSION_BUGFIX<<8) + 0)
//<2F><><EFBFBD><EFBFBD>found
physx_PxFoundation_Pod* _Foundation = (physx_PxFoundation_Pod*)physx_create_foundation();
physx_PxPvd_Pod* _Pvd = phys_PxCreatePvd(_Foundation);
physx_PxTolerancesScale_Pod tolerancesScale;
tolerancesScale.length = 1;
tolerancesScale.speed = 10;
physx_PxPhysics_Pod * _Physics = phys_PxCreatePhysics(PX_PHYSICS_VERSION, _Foundation, &tolerancesScale, true, _Pvd, nullptr);
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//physx_PxPhysics_Pod* _Physics = (physx_PxPhysics_Pod*)physx_create_physics(_Foundation);
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physx_PxDefaultCpuDispatcher_Pod * _Dispatcher = phys_PxDefaultCpuDispatcherCreate(1, nullptr, 0, 0);
physx_PxMaterial_Pod * _Material = PxPhysics_createMaterial_mut(_Physics, 0.0f, 0.0f, 0.0f);
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#define PVD_HOST "192.168.101.35"
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physx_PxPvdTransport_Pod*transport = phys_PxDefaultPvdSocketTransportCreate(PVD_HOST, 5425, 10);
bool bSuccess = PxPvd_connect_mut(_Pvd, transport,0x7);
physx_PxSceneDesc_Pod sceneDesc = PxSceneDesc_new(PxPhysics_getTolerancesScale(_Physics));
//sceneDesc.gravity = new Vector3(9.8f, 0.0f, 0.0f);
physx_PxVec3_Pod gravity;
gravity.x = 9.8f;
gravity.y = 0;
gravity.z = 0;
sceneDesc.gravity = gravity;
sceneDesc.cpuDispatcher = (physx_PxCpuDispatcher_Pod*)_Dispatcher;
//<2F><>Ҫ<EFBFBD><D2AA>ͷдһ<D0B4><D2BB>
//sceneDesc.filterShader = get_default_simulation_filter_shader();
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//<2F><>һ<EFBFBD><D2BB>ʵ<EFBFBD>ֵ<EFBFBD><D6B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>Ҫ<EFBFBD><D2AA><EFBFBD><EFBFBD>ʵ<EFBFBD><CAB5>
修改注释
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//enable_custom_filter_shader <20><>Ҫʹ<D2AA><CAB9><EFBFBD><EFBFBD><EFBFBD><EFBFBD>api c#<23>汾<EFBFBD><E6B1BE><EFBFBD>Ѿ<EFBFBD><D1BE>޸<EFBFBD><DEB8><EFBFBD>
//ֱ<><D6B1>ʹ<EFBFBD><CAB9>filterShader c apiû<69><C3BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD> c#<23><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
physx c api 封装
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sceneDesc.filterShader = PhysxWorldFilterShader;
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//
physx c api 封装
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SimuliationFilterCallBackInfo _filter_call_back;
_filter_call_back.pairFoundCallback = pairFound;
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC>Ϊnullptr _filter_call_back<63><6B><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڲ<EFBFBD><DAB2><EFBFBD>Ա<EFBFBD>Զ<EFBFBD><D4B6><EFBFBD>Ϊ nullptr <20><><EFBFBD><EFBFBD> physx <20>ᱨ<EFBFBD><E1B1A8>
_filter_call_back.statusChangeCallback = nullptr;
_filter_call_back.pairLostCallback = nullptr;
//<2F><><EFBFBD><EFBFBD> filter call back д<><D0B4>ô<EFBFBD><C3B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD>֤<EFBFBD><D6A4>һ<EFBFBD>еĹ<D0B5><C4B9><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD>ް<EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
sceneDesc.filterCallback = (physx_PxSimulationFilterCallback_Pod*)create_simulation_filter_callbacks(&_filter_call_back);
//sceneDesc.filterCallback = nullptr;
SimulationEventCallbackInfo _event_call_back;
//<2F><>Ҫ<EFBFBD><D2AA>ͷ<EFBFBD><CDB7>ϸдһ<D0B4><D2BB>
_event_call_back.collisionCallback = onContact;
_event_call_back.collisionUserData = nullptr;
sceneDesc.simulationEventCallback = (physx_PxSimulationEventCallback_Pod*)create_simulation_event_callbacks(&_event_call_back);
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
physx_PxScene_Pod *px_scene_ = PxPhysics_createScene_mut(_Physics, &sceneDesc);
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
physx_PxVec3_Pod startPosition ;
startPosition.x = 10;
startPosition.y = 0;
startPosition.z = 1;
physx_PxQuat_Pod startOrientation ;
startOrientation.x = 0;
startOrientation.y = 0;
startOrientation.z = 0;
startOrientation.w = 1;
physx_PxSphereGeometry_Pod sphere = PxSphereGeometry_new(2.0f);
physx_PxGeometry_Pod* geometry = (physx_PxGeometry_Pod*)&sphere;
PxScene_lockWrite_mut(px_scene_ ,nullptr ,0 );
physx_PxRigidActor_Pod* rigActor = nullptr;
physx_PxTransform_Pod identity = PxTransform_new_2(100);
physx_PxTransform_Pod pxTran ;
pxTran.p = startPosition;
pxTran.q = startOrientation;
rigActor = (physx_PxRigidActor_Pod*)phys_PxCreateDynamic(
_Physics, &pxTran, geometry,
_Material, 10.0f, &identity);
PxActor_setActorFlag_mut((physx_PxActor_Pod*)rigActor,2, true);
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>͹<EFBFBD><CDB9><EFBFBD>
PxRigidBodyExt_updateMassAndInertia_1((physx_PxRigidBody_Pod*)rigActor, 1.0f, nullptr, false);
PxRigidBody_setRigidBodyFlag_mut((physx_PxRigidBody_Pod*)rigActor, 4, true);
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//PxShape* shape;
//rigActor->GetShapes(&shape, 1, 0);
//fixed(byte * bytePointer = Encoding.UTF8.GetBytes("niubi"))
//{
// shape->SetNameMut(bytePointer);
//}
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>
physx_PxVec3_Pod velocity ;
velocity.x = 1.0f;
velocity.y = 0.0f;
velocity.z = 0.0f;
PxRigidDynamic_setLinearVelocity_mut((physx_PxRigidDynamic_Pod*)rigActor, &velocity, true);
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD> <20><><EFBFBD>ٶ<EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ0 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
PxRigidBody_setLinearDamping_mut((physx_PxRigidBody_Pod*)rigActor, 0);
PxRigidBody_setAngularDamping_mut((physx_PxRigidBody_Pod*)rigActor, 0);
PxScene_addActor_mut(px_scene_,(physx_PxActor_Pod*)rigActor,nullptr);
//px_scene_->AddActorMut((PxActor*)rigActor, null);
PxScene_unlockWrite_mut(px_scene_);
PxScene_lockWrite_mut(px_scene_, nullptr, 0);
//<2F><><EFBFBD><EFBFBD><EFBFBD>ڶ<EFBFBD><DAB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
physx_PxVec3_Pod startPosition2 ;
startPosition2.x = 24;
startPosition2.y = 0;
startPosition2.z = 0;
physx_PxQuat_Pod startOrientation2 ;
startOrientation2.x = 0;
startOrientation2.y = 0;
startOrientation2.z = 0;
startOrientation2.w = 1;
physx_PxSphereGeometry_Pod sphere2 = PxSphereGeometry_new(1.0f);
physx_PxGeometry_Pod* geometry2 = (physx_PxGeometry_Pod*)&sphere2;
替换physx版本为5.1.3 增加新的api
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//PxScene_lockWrite_mut(px_scene_, nullptr, 0);
physx c api 封装
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physx_PxRigidActor_Pod* rigActor2 = nullptr;
physx_PxTransform_Pod identity2 = PxTransform_new_2(100);
physx_PxTransform_Pod pxTran2 ;
pxTran2.p = startPosition2;
pxTran2.q = startOrientation2;
//PxShapeFlags shapeFlags = PxShapeFlag::eVISUALIZATION | PxShapeFlag::eSCENE_QUERY_SHAPE | PxShapeFlag::eSIMULATION_SHAPE
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ĭ<EFBFBD><C4AC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
rigActor2 = (physx_PxRigidActor_Pod*)phys_PxCreateDynamic(
_Physics, &pxTran2, geometry2,
_Material, 10.0f, &identity2);
PxActor_setActorFlag_mut((physx_PxActor_Pod*)rigActor2, 2, true);
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>͹<EFBFBD><CDB9><EFBFBD>
PxRigidBodyExt_updateMassAndInertia_1((physx_PxRigidBody_Pod*)rigActor2, 3.0f, nullptr, false);
PxRigidBody_setRigidBodyFlag_mut((physx_PxRigidBody_Pod*)rigActor2, 4, true);
physx_PxShape_Pod* shape2;
//rigActor2->GetShapes(&shape2, 1, 0);
PxRigidActor_getShapes((physx_PxRigidActor_Pod*)rigActor2, &shape2,1,0);
physx_PxFilterData_Pod filterData2 = PxFilterData_new_1();;
filterData2.word0 = 5;
filterData2.word1 = 0;
filterData2.word2 = 0;
filterData2.word3 = 0;
//shape2->SetSimulationFilterDataMut(&filterData2);
PxShape_setSimulationFilterData_mut(shape2, &filterData2);
替换physx版本为5.1.3 增加新的api
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PxShape_setFlag_mut(shape2, physx::PxShapeFlag::Enum::eSIMULATION_SHAPE,false);
PxShape_setFlag_mut(shape2, physx::PxShapeFlag::Enum::eTRIGGER_SHAPE, true);
PxShape_setFlag_mut(shape2, physx::PxShapeFlag::Enum::eSCENE_QUERY_SHAPE, true);
PxShape_setFlag_mut(shape2, physx::PxShapeFlag::Enum::eVISUALIZATION, true);
physx c api 封装
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//shape2->SetFlagMut(physx::PxShapeFlag.SimulationShape, false); //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͬʱ<CDAC><CAB1><EFBFBD><EFBFBD>
//shape2->SetFlagMut(PxShapeFlag.TriggerShape, true);
//shape2->SetFlagMut(PxShapeFlag.SceneQueryShape, true);
//shape2->SetFlagMut(PxShapeFlag.Visualization, true);
physx_PxVec3_Pod velocity2 ;
velocity2.x = -1.0f;
velocity2.y = 0.0f;
velocity2.z = 0.0f;
PxRigidDynamic_setLinearVelocity_mut((physx_PxRigidDynamic_Pod*)rigActor2, &velocity2, true);
PxRigidBody_setLinearDamping_mut((physx_PxRigidBody_Pod*)rigActor2, 0);
PxRigidBody_setAngularDamping_mut((physx_PxRigidBody_Pod*)rigActor2, 0);
//px_scene_->AddActorMut((PxActor*)rigActor2, null);
PxScene_addActor_mut(px_scene_, (physx_PxActor_Pod*)rigActor2, nullptr);
PxRigidDynamic_setContactReportThreshold_mut((physx_PxRigidDynamic_Pod*)rigActor2, 0.1f);
PxScene_unlockWrite_mut(px_scene_);
physx_PxRaycastHit_Pod rayHit;
//rayHit.actor = nullptr;
//rayHit.shape = nullptr;
//rayHit.u = 0;
//rayHit.v = 0;
//rayHit.flags = 0x10;
physx_PxQueryFilterData_Pod filterData = PxQueryFilterData_new();
//filterData.data.word0 = 5;
//filterData.data.word1 = 0;
//filterData.data.word2 = 0;
//filterData.data.word3 = 0;
//<2F><><EFBFBD><EFBFBD>ͬʱ<CDAC><CAB1><EFBFBD><EFBFBD> ePREFILTER <20><> eDYNAMIC
filterData.flags = (1 << 2) | (1<<1); //ePREFILTER | eDYNAMIC = (1<<2),
physx_PxVec3_Pod normalizedDir ;
normalizedDir.x = 1.0f;
normalizedDir.y = 0.0f;
normalizedDir.z = 0.0f;
physx_PxVec3_Pod tmpNormalizedDir = PxVec3_getNormalized(&normalizedDir);
//normalizedDir.GetNormalized();
startPosition.x = 20.0f;
//startPosition.z = 0;
physx_PxQueryFilterCallback_Pod* fliterCallBack =
(physx_PxQueryFilterCallback_Pod*)create_pre_and_post_raycast_filter_callback_func(preFilter,nullptr,nullptr);
////<2F><><EFBFBD><EFBFBD>ԭ<EFBFBD><D4AD>ͼ<EFBFBD>Ʋ<EFBFBD>Ϊ
bool hasBlock = PxSceneQueryExt_raycastSingle(px_scene_, &startPosition, &tmpNormalizedDir, 30, 0x20, &rayHit, &filterData, fliterCallBack, nullptr);
while (true)
{
unsigned int error = 0;
//px_scene_->SimulateMut(0.05f, null, null, 0, true);
PxScene_simulate_mut(px_scene_, 0.05f, nullptr,nullptr, 0,true);
PxScene_fetchResults_mut(px_scene_, true, &error);
}
return 0;
}
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