private static void onContactModify(PxContactModifyCallback * @this, PxContactModifyPair *pairs, uint count)
{
for (uint i = 0; i < count; i++)
{
//BIOQUIRK: Probably the "more correct" thing to do here is to use the generated constant array type, but these types currently have long confusing names.
// A Span<PxRigidActor*> would also be nice, but isn't possible in C# today.
// Could be improved by https://github.com/MochiLibraries/Biohazrd/issues/139
PxRigidActor **actors = (PxRigidActor **)&pairs[i].actor; //BIOQUIRK: Unobvious cast.
PxShape ** shapes = (PxShape **)&pairs[i].shape; //BIOQUIRK: Unobvious cast
//Search for actors that represent vehicles and shapes that represent wheels.
for (int j = 0; j < 2; j++)
{
PxRigidActor *actor = actors[j];
if (actor->userData != null && ((ActorUserData *)(actor->userData))->vehicle != null)
{
PxVehicleWheels *vehicle = ((ActorUserData *)(actor->userData))->vehicle;
Debug.Assert(vehicle->getRigidDynamicActor() == actors[j]);
PxShape *shape = shapes[j];
if (shape->userData != null && ((ShapeUserData *)(shape->userData))->isWheel)
{
uint wheelId = ((ShapeUserData *)(shape->userData))->wheelId;
Debug.Assert(wheelId < vehicle->mWheelsSimData.getNbWheels());
//Modify wheel contacts.
PxVehicleModifyWheelContacts(*vehicle, wheelId, WHEEL_TANGENT_VELOCITY_MULTIPLIER, MAX_IMPULSE, ref pairs[i]);
}
}
}
}
}
private static void onCCDContactModify(PxCCDContactModifyCallback * @this, PxContactModifyPair *pairs, uint count)
{
for (uint i = 0; i < count; i++)
{
PxRigidActor **actors = (PxRigidActor **)&pairs[i].actor; //BIOQUIRK: Unobvious cast.
PxShape ** shapes = (PxShape **)&pairs[i].shape; //BIOQUIRK: Unobvious cast
//Search for actors that represent vehicles and shapes that represent wheels.
for (uint j = 0; j < 2; j++)
{
PxRigidActor *actor = actors[j];
if (actor->userData != null && ((ActorUserData *)(actor->userData))->vehicle != null)
{
PxVehicleWheels *vehicle = ((ActorUserData *)(actor->userData))->vehicle;
Debug.Assert(vehicle->getRigidDynamicActor() == actors[j]);
PxShape *shape = shapes[j];
if (shape->userData != null && ((ShapeUserData *)(shape->userData))->isWheel)
{
uint wheelId = ((ShapeUserData *)(shape->userData))->wheelId;
Debug.Assert(wheelId < vehicle->mWheelsSimData.getNbWheels());
//Modify wheel contacts.
PxVehicleModifyWheelContacts(*vehicle, wheelId, WHEEL_TANGENT_VELOCITY_MULTIPLIER, MAX_IMPULSE, ref pairs[i]);
}
}
}
}
}
static void createKinematics()
{
const uint NbX = NB_KINE_X;
const uint NbY = NB_KINE_Y;
PxVec3 dims = new(1.5f, 0.2f, 1.5f);
PxQuat rot = new PxQuat(PxIdentity);
const float YScale = 0.4f;
PxShape *shape = gPhysics->createShape(new PxBoxGeometry(dims), *gMaterial,
false, PxShapeFlags.eVISUALIZATION | PxShapeFlags.eSCENE_QUERY_SHAPE | PxShapeFlags.eSIMULATION_SHAPE); //BIOQUIRK: Missing default arguments
const float ScaleX = KINE_SCALE;
const float ScaleY = KINE_SCALE;
for (uint y = 0; y < NbY; y++)
{
for (uint x = 0; x < NbX; x++)
{
float xf = ((float)(x) - (float)(NbX) * 0.5f) * ScaleX;
float yf = ((float)(y) - (float)(NbY) * 0.5f) * ScaleY;
PxTransform pose = new(new PxVec3(xf, 0.2f + YScale, yf), rot);
PxRigidDynamic *body = gPhysics->createRigidDynamic(pose);
body->attachShape(ref *shape);
gScene->addActor(ref *body);
body->setRigidBodyFlag(PxRigidBodyFlags.eKINEMATIC, true);
gKinematics[y, x] = body;
}
}
}
/**
* Creates two example collections:
* - collection with actors and joints that can be instantiated multiple times in the scene
* - collection with shared objects
*/
static void createCollections(ref PxCollection *sharedCollection, ref PxCollection *actorCollection, ref PxSerializationRegistry sr)
{
PxMaterial *material = gPhysics->createMaterial(0.5f, 0.5f, 0.6f);
float halfLength = 2.0f, height = 25.0f;
PxVec3 offset = new(halfLength, 0, 0);
PxRigidActor *prevActor = (PxRigidActor *)PxCreateStatic(ref *gPhysics, new PxTransform(new PxVec3(0, height, 0)), new PxSphereGeometry(halfLength), ref *material, new PxTransform(offset)); //BIOQUIRK: Base cast
PxShape *shape = gPhysics->createShape(new PxBoxGeometry(halfLength, 1.0f, 1.0f), *material,
false, PxShapeFlags.eVISUALIZATION | PxShapeFlags.eSCENE_QUERY_SHAPE | PxShapeFlags.eSIMULATION_SHAPE); //BIOQUIRK: Missing defaults
for (uint i = 1; i < 8; i++)
{
PxTransform tm = new(new PxVec3((float)(i * 2) * halfLength, height, 0));
PxRigidDynamic *dynamic = gPhysics->createRigidDynamic(tm);
dynamic->attachShape(ref *shape);
PxRigidBodyExt.updateMassAndInertia(ref *dynamic, 10.0f);
PxSphericalJointCreate(ref *gPhysics, prevActor, new PxTransform(offset), dynamic, new PxTransform(offset.operator_Minus())); //BIOQUIRK: Operator overload
prevActor = (PxRigidActor *)dynamic; //BIOQUIRK: Base cast
}
sharedCollection = PxCreateCollection(); // collection for all the shared objects
actorCollection = PxCreateCollection(); // collection for all the nonshared objects
sharedCollection->add(ref *shape);
PxSerialization.complete(ref *sharedCollection, ref sr); // chases the pointer from shape to material, and adds it
PxSerialization.createSerialObjectIds(ref *sharedCollection, 77); // arbitrary choice of base for references to shared objects
actorCollection->add(ref *prevActor);
PxSerialization.complete(ref *actorCollection, ref sr, sharedCollection, true); // chases all pointers and recursively adds actors and joints
}
static void createGroudPlane()
{
PxTransform pose = new PxTransform(new PxVec3(0.0f, 0.0f, 0.0f), new PxQuat(MathF.PI * 0.5f, new PxVec3(0.0f, 0.0f, 1.0f)));
PxRigidStatic *actor = gPhysics->createRigidStatic(pose);
PxShape * shape = PxRigidActorExt.createExclusiveShape(ref *actor, new PxPlaneGeometry(), *gMaterial,
PxShapeFlags.eVISUALIZATION | PxShapeFlags.eSCENE_QUERY_SHAPE | PxShapeFlags.eSIMULATION_SHAPE); //BIOQUIRK: Missing default
gScene->addActor(ref *actor);
}
private static PxFilterFlags *pairFound(PxSimulationFilterCallback * @this, PxFilterFlags *_retBuf, uint pairID,
uint attributes0, PxFilterData *filterData0, PxActor *a0, PxShape *s0,
uint attributes1, PxFilterData *filterData1, PxActor *a1, PxShape *s1,
PxPairFlags *pairFlags)
{
// Console.WriteLine("pairFound");
if (s0->userData != null || s1->userData != null) // See createTriggerShape() function
{
*pairFlags = PxPairFlags.eTRIGGER_DEFAULT;
if (usesCCD())
{
*pairFlags |= PxPairFlags.eDETECT_CCD_CONTACT | PxPairFlags.eNOTIFY_TOUCH_CCD;
}
}
else
{
*pairFlags = PxPairFlags.eCONTACT_DEFAULT;
}
*_retBuf = default;
return(_retBuf);
}
static void createDynamics()
{
const uint NbX = 8;
const uint NbY = 8;
PxVec3 dims = new(0.2f, 0.1f, 0.2f);
const float sphereRadius = 0.2f;
const float capsuleRadius = 0.2f;
const float halfHeight = 0.5f;
const uint NbLayers = 3;
const float YScale = 0.4f;
const float YStart = 6.0f;
PxShape * boxShape = gPhysics->createShape(new PxBoxGeometry(dims), *gMaterial,
false, PxShapeFlags.eVISUALIZATION | PxShapeFlags.eSCENE_QUERY_SHAPE | PxShapeFlags.eSIMULATION_SHAPE); //BIOQUIRK: Missing default arguments
PxShape *sphereShape = gPhysics->createShape(new PxSphereGeometry(sphereRadius), *gMaterial,
false, PxShapeFlags.eVISUALIZATION | PxShapeFlags.eSCENE_QUERY_SHAPE | PxShapeFlags.eSIMULATION_SHAPE); //BIOQUIRK: Missing default arguments
PxShape *capsuleShape = gPhysics->createShape(new PxCapsuleGeometry(capsuleRadius, halfHeight), *gMaterial,
false, PxShapeFlags.eVISUALIZATION | PxShapeFlags.eSCENE_QUERY_SHAPE | PxShapeFlags.eSIMULATION_SHAPE); //BIOQUIRK: Missing default arguments
PxMat33 m;
for (uint j = 0; j < NbLayers; j++)
{
float angle = (float)j * 0.08f;
PxQuat rot = setRotY(out m, angle);
const float ScaleX = 4.0f;
const float ScaleY = 4.0f;
for (uint y = 0; y < NbY; y++)
{
for (uint x = 0; x < NbX; x++)
{
float xf = ((float)(x) - (float)(NbX) * 0.5f) * ScaleX;
float yf = ((float)(y) - (float)(NbY) * 0.5f) * ScaleY;
PxRigidDynamic *dynamic = null;
uint v = j & 3;
PxVec3 pos = new PxVec3(xf, YStart + (float)(j) * YScale, yf);
switch (v)
{
case 0:
{
PxTransform pose = new(pos, rot);
dynamic = gPhysics->createRigidDynamic(pose);
dynamic->attachShape(ref *boxShape);
break;
}
case 1:
{
PxTransform pose = new(pos, new PxQuat(PxIdentity));
dynamic = gPhysics->createRigidDynamic(pose);
dynamic->attachShape(ref *sphereShape);
break;
}
default:
{
PxTransform pose = new(pos, rot);
dynamic = gPhysics->createRigidDynamic(pose);
dynamic->attachShape(ref *capsuleShape);
break;
}
}
;
PxRigidBodyExt.updateMassAndInertia(ref *dynamic, 10f);
gScene->addActor(ref *dynamic);
}
}
}
}
public static void Main(string[] args)
{
Console.WriteLine($"PhysX native runtime build information: '{MochiPhysX.BuildInfo}'...");
//---------------------------------------------------------------------------------------------------------------------------------------
Console.WriteLine("Initializing error callback");
// Switch between these to use PhysX's default error callback or one implemented from C#
PxDefaultErrorCallback errorCallback = new();
//PxErrorCallback errorCallback = ErrorCallback.Create();
//---------------------------------------------------------------------------------------------------------------------------------------
Console.WriteLine("Initializing allocator callback");
// Switch between these to use PhysX's default allocator callback or one implemented from C#
PxDefaultAllocator allocator = new();
//PxAllocatorCallback allocator = BasicAllocator.Create();
//PxAllocatorCallback allocator = LoggingAllocator.Create();
//---------------------------------------------------------------------------------------------------------------------------------------
Console.WriteLine("Initializing foundation");
//BIOQUIRK: PhysX owns both of these references, which means both the allocator and error callback must remain pinned for the lifetime of the foundation.
// (In our case they're stack allocated and implicitly pinned.)
// This seems somewhat unobvious since C# references don't normally care. Should we emit this function differently to convey the unsafe-ness here?
PxFoundation *foundation = PxCreateFoundation(PX_PHYSICS_VERSION, ref allocator, ref errorCallback);
if (foundation == null)
{
Console.Error.WriteLine("Failed to create foundation.");
return;
}
//---------------------------------------------------------------------------------------------------------------------------------------
Console.WriteLine("Initializing Pvd...");
//BIOQUIRK: This pattern comes up a lot in PhysX. It does technically match how it is in C++ though, not sure if it's a problem.
// I experimentally enabled having C++ reference returns translate as C# reference returns, but that creates a weird situation when you need to store them.
PxPvd *pvd = PxCreatePvd(ref *foundation);
PxPvdTransport *transport;
byte[] host = Encoding.ASCII.GetBytes("127.0.0.1");
fixed(byte *hostP = host)
{
transport = PxDefaultPvdSocketTransportCreate(hostP, 5425, 10);
}
Console.WriteLine("Connecting to Pvd...");
pvd->connect(ref *transport, PxPvdInstrumentationFlags.eALL);
//---------------------------------------------------------------------------------------------------------------------------------------
Console.WriteLine("Initializing physics");
PxPhysics *physics = PxCreatePhysics(PX_PHYSICS_VERSION, ref *foundation, new PxTolerancesScale(), trackOutstandingAllocations: true, pvd);
if (physics == null)
{
Console.Error.WriteLine("Failed to create physics.");
return;
}
//---------------------------------------------------------------------------------------------------------------------------------------
Console.WriteLine("Creating dispatcher");
PxDefaultCpuDispatcher *dispatcher = PxDefaultCpuDispatcherCreate(2, null);
//---------------------------------------------------------------------------------------------------------------------------------------
Console.WriteLine("Creating scene");
PxSceneDesc sceneDescription = new(*physics->getTolerancesScale());
sceneDescription.gravity = new PxVec3()
{
x = 0f, y = -9.81f, z = 0f
};
sceneDescription.cpuDispatcher = (PxCpuDispatcher *)dispatcher;
sceneDescription.filterShader = PxDefaultSimulationFilterShader;
PxScene *scene = physics->createScene(sceneDescription);
//---------------------------------------------------------------------------------------------------------------------------------------
Console.WriteLine("Configuring scene Pvd client");
PxPvdSceneClient *pvdClient = scene->getScenePvdClient();
if (pvdClient != null)
{
pvdClient->setScenePvdFlag(PxPvdSceneFlags.eTRANSMIT_CONSTRAINTS, true);
pvdClient->setScenePvdFlag(PxPvdSceneFlags.eTRANSMIT_CONTACTS, true);
pvdClient->setScenePvdFlag(PxPvdSceneFlags.eTRANSMIT_SCENEQUERIES, true);
}
//---------------------------------------------------------------------------------------------------------------------------------------
Console.WriteLine("Creating a basic material");
PxMaterial *material = physics->createMaterial(0.5f, 0.5f, 0.6f);
//---------------------------------------------------------------------------------------------------------------------------------------
Console.WriteLine("Adding a ground plane");
PxPlane planeDescription = new PxPlane()
{
n = new PxVec3()
{
x = 0f,
y = 1f,
z = 0f
},
d = 0f
};
PxRigidStatic *groundPlane = PxCreatePlane(ref *physics, planeDescription, ref *material);
scene->addActor(ref *groundPlane, null);
//---------------------------------------------------------------------------------------------------------------------------------------
Console.WriteLine("Adding stacks");
{
const float halfExtent = 2f;
PxBoxGeometry stackBoxGeometry = new PxBoxGeometry(halfExtent, halfExtent, halfExtent);
PxShapeFlags shapeFlags = PxShapeFlags.eVISUALIZATION | PxShapeFlags.eSCENE_QUERY_SHAPE | PxShapeFlags.eSIMULATION_SHAPE;
//BIOQUIRK: shapeFlags should be able to be defaulted now but it isn't.
PxShape *shape = physics->createShape(stackBoxGeometry, *material, isExclusive: false, shapeFlags);
float stackZ = 10f;
for (int stackNum = 0; stackNum < 5; stackNum++)
{
const int size = 10;
PxVec3 transformPosition = new PxVec3()
{
x = 0f,
y = 0f,
z = stackZ -= 10f
};
PxTransform transform = new(transformPosition);
for (int i = 0; i < size; i++)
{
for (int j = 0; j < size - i; j++)
{
PxVec3 position = new PxVec3()
{
x = ((float)(j * 2) - (float)(size - i)) * halfExtent,
y = ((float)(i * 2 + 1)) * halfExtent,
z = 0f
};
PxTransform localTransform = new(position);
PxTransform bodyTransform = transform.transform(localTransform);
PxRigidDynamic *body = physics->createRigidDynamic(bodyTransform);
body->attachShape(ref *shape);
PxRigidBodyExt.updateMassAndInertia(ref *body, 10f);
scene->addActor(ref *body);
}
}
}
shape->release();
}
//---------------------------------------------------------------------------------------------------------------------------------------
Console.WriteLine("Throwing a ball at the stacks");
{
PxVec3 position = new PxVec3()
{
x = 0f,
y = 40f,
z = 100f,
};
PxTransform transform = new(position);
PxSphereGeometry geometry = new(10f);
PxVec3 velocity = new PxVec3()
{
x = 0f,
y = -50f,
z = -100f
};
PxTransform identity = new(default(PxIDENTITY)); //BIOQUIRK: This could be a special generated property instead. Also missing default.
PxRigidDynamic *dynamic = PxCreateDynamic(ref *physics, transform, geometry, ref *material, 10f, identity);
dynamic->setAngularDamping(0.5f);
dynamic->setLinearVelocity(velocity);
scene->addActor(ref *dynamic);
}
//---------------------------------------------------------------------------------------------------------------------------------------
const int noInputFrameCount = 100;
Console.WriteLine($"Simulating the world{(Console.IsInputRedirected ? $" for {noInputFrameCount} frames." : "... (Press escape to stop.)")}");
Stopwatch sw = new Stopwatch();
int frameNum = 0;
const uint scratchMemoryBlockSize = 16 * 1024;
const uint scratchMemoryBlockCount = 4;
uint scratchMemorySize = scratchMemoryBlockSize * scratchMemoryBlockCount;
void * scratchMemory = allocator.allocate(scratchMemorySize, null, null, 0);
while (true)
{
double msSinceLastTick = sw.Elapsed.TotalMilliseconds;
string consoleTitle = $"Simulating frame {frameNum} -- {msSinceLastTick:0.00} ms -- {1.0 / (msSinceLastTick / 1000.0):00.0} FPS";
if (BasicAllocator.AllocationCount > 0) // This is only applicable when a allocator implemented in C# is in use, assume 0 allocations implies the PhysX one is being used
{
consoleTitle += $" -- {BasicAllocator.AllocationCount} allocations";
BasicAllocator.AllocationCount = 0;
}
Console.Title = consoleTitle;
frameNum++;
sw.Restart();
scene->simulate(1f / 60f, scratchMemBlock: scratchMemory, scratchMemBlockSize: scratchMemorySize);
uint errors;
scene->fetchResults(true, &errors);
if (errors != 0)
{
Console.WriteLine($"fetchResults error: {errors}");
}
if (Console.IsInputRedirected)
{
if (frameNum > noInputFrameCount)
{
break;
}
}
else if (Console.KeyAvailable && Console.ReadKey(true).Key == ConsoleKey.Escape)
{
break;
}
}
//---------------------------------------------------------------------------------------------------------------------------------------
Console.WriteLine("Shutting down");
allocator.deallocate(scratchMemory);
physics->release();
foundation->release();
}
static void createLongChain()
{
const float scale = 0.25f;
const float radius = 0.5f * scale;
const float halfHeight = 1.0f * scale;
const uint nbCapsules = 40;
const float capsuleMass = 1.0f;
PxVec3 initPos = new(0.0f, 24.0f, 0.0f);
PxVec3 pos = initPos;
PxShape *capsuleShape = gPhysics->createShape(new PxCapsuleGeometry(radius, halfHeight), *gMaterial,
false, PxShapeFlags.eVISUALIZATION | PxShapeFlags.eSCENE_QUERY_SHAPE | PxShapeFlags.eSIMULATION_SHAPE); //BIOQUIRK: Missing defaults
PxArticulationLink *firstLink = null;
PxArticulationLink *parent = null;
const bool overlappingLinks = true; // Change this for another kind of rope
gArticulation->setSolverIterationCounts(16);
// Create rope
for (uint i = 0; i < nbCapsules; i++)
{
PxArticulationLink *link = gArticulation->createLink(parent, new PxTransform(pos));
if (firstLink == null)
{
firstLink = link;
}
link->attachShape(ref *capsuleShape);
PxRigidBodyExt.setMassAndUpdateInertia(ref *link, capsuleMass);
link->setLinearDamping(0.1f);
link->setAngularDamping(0.1f);
link->setMaxAngularVelocity(30f);
link->setMaxLinearVelocity(100f);
PxArticulationJointBase *joint = link->getInboundJoint();
if (joint != null) // Will be null for root link
{
#if USE_REDUCED_COORDINATE_ARTICULATION
PxArticulationJointReducedCoordinate *rcJoint = static_cast <PxArticulationJointReducedCoordinate>(joint);
rcJoint->setJointType(PxArticulationJointType.eSPHERICAL);
rcJoint->setMotion(PxArticulationAxis.eSWING2, PxArticulationMotions.eFREE);
rcJoint->setMotion(PxArticulationAxis.eSWING1, PxArticulationMotions.eFREE);
rcJoint->setMotion(PxArticulationAxis.eTWIST, PxArticulationMotions.eFREE);
rcJoint->setFrictionCoefficient(1f);
rcJoint->setMaxJointVelocity(1000000f);
#endif
if (overlappingLinks)
{
joint->setParentPose(new PxTransform(new PxVec3(halfHeight, 0.0f, 0.0f)));
joint->setChildPose(new PxTransform(new PxVec3(-halfHeight, 0.0f, 0.0f)));
}
else
{
joint->setParentPose(new PxTransform(new PxVec3(radius + halfHeight, 0.0f, 0.0f)));
joint->setChildPose(new PxTransform(new PxVec3(-radius - halfHeight, 0.0f, 0.0f)));
}
}
if (overlappingLinks)
{
pos.x += (radius + halfHeight * 2.0f);
}
else
{
pos.x += (radius + halfHeight) * 2.0f;
}
parent = link;
}
//Attach large & heavy box at the end of the rope
{
const float boxMass = 50.0f;
const float boxSize = 1.0f;
PxShape * boxShape = gPhysics->createShape(new PxBoxGeometry(boxSize, boxSize, boxSize), *gMaterial,
false, PxShapeFlags.eVISUALIZATION | PxShapeFlags.eSCENE_QUERY_SHAPE | PxShapeFlags.eSIMULATION_SHAPE); //BIOQUIRK: Missing defaults
pos.x -= (radius + halfHeight) * 2.0f;
pos.x += (radius + halfHeight) + boxSize;
PxArticulationLink *link = gArticulation->createLink(parent, new PxTransform(pos));
link->setLinearDamping(0.1f);
link->setAngularDamping(0.1f);
link->setMaxAngularVelocity(30f);
link->setMaxLinearVelocity(100f);
link->attachShape(ref *boxShape);
PxRigidBodyExt.setMassAndUpdateInertia(ref *link, boxMass);
PxArticulationJointBase *joint = link->getInboundJoint();
#if USE_REDUCED_COORDINATE_ARTICULATION
PxArticulationJointReducedCoordinate *rcJoint = static_cast <PxArticulationJointReducedCoordinate>(joint);
rcJoint->setJointType(PxArticulationJointType.eSPHERICAL);
rcJoint->setMotion(PxArticulationAxis.eSWING2, PxArticulationMotions.eFREE);
rcJoint->setMotion(PxArticulationAxis.eSWING1, PxArticulationMotions.eFREE);
rcJoint->setMotion(PxArticulationAxis.eTWIST, PxArticulationMotions.eFREE);
rcJoint->setFrictionCoefficient(1f);
rcJoint->setMaxJointVelocity(1000000f);
#endif
if (joint != null) // Will be null for root link
{
joint->setParentPose(new PxTransform(new PxVec3(radius + halfHeight, 0.0f, 0.0f)));
joint->setChildPose(new PxTransform(new PxVec3(-boxSize, 0.0f, 0.0f)));
}
}
gScene->addArticulation(ref *gArticulation);
#if USE_REDUCED_COORDINATE_ARTICULATION
gArticulation->setArticulationFlags(PxArticulationFlags.eFIX_BASE);
#else
// Attach articulation to static world
{
PxShape *anchorShape = gPhysics->createShape(new PxSphereGeometry(0.05f), *gMaterial,
false, PxShapeFlags.eVISUALIZATION | PxShapeFlags.eSCENE_QUERY_SHAPE | PxShapeFlags.eSIMULATION_SHAPE); //BIOQUIRK: Missing defaults
PxRigidStatic *anchor = PxCreateStatic(ref *gPhysics, new PxTransform(initPos), ref *anchorShape);
gScene->addActor(ref *anchor);
PxSphericalJoint *j = PxSphericalJointCreate(ref *gPhysics, anchor, new PxTransform(new PxVec3(0.0f)), firstLink, new PxTransform(new PxVec3(0.0f)));
}
#endif
// Create obstacle
{
PxShape *boxShape = gPhysics->createShape(new PxBoxGeometry(1.0f, 0.1f, 2.0f), *gMaterial,
false, PxShapeFlags.eVISUALIZATION | PxShapeFlags.eSCENE_QUERY_SHAPE | PxShapeFlags.eSIMULATION_SHAPE); //BIOQUIRK: Missing defaults
PxRigidStatic *obstacle = PxCreateStatic(ref *gPhysics, new PxTransform(initPos.operator_Plus(new PxVec3(10.0f, -3.0f, 0.0f))), ref *boxShape); //BIOQUIRK: Overloaded operator
gScene->addActor(ref *obstacle);
}
}