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