// VehicleWheelQueryResults() is omitted since they represent default behavior in C#.
// ~VehicleWheelQueryResults() is omitted since it doesn't actually do anything.
//Allocate wheel results for up to maxNumVehicles with up to maxNumWheelsPerVehicle.
public static VehicleWheelQueryResults *allocate <TAllocator>(uint maxNumVehicles, uint maxNumWheelsPerVehicle, ref TAllocator allocator)
where TAllocator : unmanaged, IPxAllocatorCallback
{
uint byteSize = (uint)(sizeof(VehicleWheelQueryResults) + sizeof(PxVehicleWheelQueryResult) * maxNumVehicles + sizeof(PxWheelQueryResult) * maxNumWheelsPerVehicle * maxNumVehicles);
byte *buffer = (byte *)Unsafe.As <TAllocator, PxAllocatorCallback>(ref allocator).allocate(byteSize, null, null, 0); //BIOQUIRK: Awkward generic cast
VehicleWheelQueryResults *vwqr = (VehicleWheelQueryResults *)(buffer);
buffer += sizeof(VehicleWheelQueryResults);
vwqr->mVehicleWheelQueryResults = (PxVehicleWheelQueryResult *)(buffer);
buffer += sizeof(PxVehicleWheelQueryResult) * maxNumVehicles;
for (uint i = 0; i < maxNumVehicles; i++)
{
PxWheelQueryResult *result = (PxWheelQueryResult *)buffer;
*result = new PxWheelQueryResult();
vwqr->mVehicleWheelQueryResults[i].wheelQueryResults = result;
vwqr->mVehicleWheelQueryResults[i].nbWheelQueryResults = maxNumWheelsPerVehicle;
buffer += sizeof(PxWheelQueryResult) * maxNumWheelsPerVehicle;
}
return(vwqr);
}
public static void stepPhysics()
{
const float timestep = 1.0f / 60.0f;
//Cycle through the driving modes to demonstrate how to accelerate/reverse/brake/turn etc.
incrementDrivingMode(timestep);
//Raycasts.
PxVehicleNoDrive **vehicles = stackalloc PxVehicleNoDrive *[1] {
gVehicleNoDrive
};
PxBatchQueryResult <PxRaycastHit> *raycastResults = gVehicleSceneQueryData->getRaycastQueryResultBuffer(0);
uint raycastResultsSize = gVehicleSceneQueryData->getQueryResultBufferSize();
PxVehicleSuspensionRaycasts(gBatchQuery, 1, vehicles, raycastResultsSize, raycastResults);
//Vehicle update.
PxVec3 grav = gScene->getGravity();
PxWheelQueryResult * wheelQueryResults = stackalloc PxWheelQueryResult[PX_MAX_NB_WHEELS];
PxVehicleWheelQueryResult *vehicleQueryResults = stackalloc PxVehicleWheelQueryResult[1]
{
new() { wheelQueryResults = wheelQueryResults, nbWheelQueryResults = gVehicleNoDrive->mWheelsSimData.getNbWheels() }
};
PxVehicleUpdates(timestep, grav, *gFrictionPairs, 1, vehicles, vehicleQueryResults);
//Scene update.
gScene->simulate(timestep);
gScene->fetchResults(true);
}
