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]);
}
}
}
}
}
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]);
}
}
}
}
}
/**
* 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
}
// Not applicable for Mochi-flavored snippet
//static void idleCallback()
//{
// glutPostRedisplay();
//}
static void renderCallback()
{
stepPhysics(true);
SnippetRender.startRender(sCamera.getEye(), sCamera.getDir());
PxScene *scene;
PxGetPhysics()->getScenes(&scene, 1);
uint nbActors = scene->getNbActors(PxActorTypeFlags.eRIGID_DYNAMIC);
if (nbActors != 0)
{
Vector3 dynColor = new(1.0f, 0f, 1f);
Vector3 kinematicColor = new(0f, 1f, 0f);
// (Allocating on the heap here is not a good idea performance-wise, we only do it this way to keep close to the original snippet.)
fixed(PxRigidActor **actors = new PxRigidActor *[nbActors])
{
scene->getActors(PxActorTypeFlags.eRIGID_DYNAMIC, actors, nbActors);
for (uint i = 0; i < nbActors; ++i)
{
PxRigidActor * actor = actors[i];
PxRigidDynamic *dyn; // = actor->is<PxRigidDynamic>(); //BIOQUIRK: No support for is<T>
dyn = actor->getConcreteType() == (ushort)PxConcreteType.eRIGID_DYNAMIC ? static_cast <PxRigidDynamic>(actor) : null;
if ((dyn->getRigidBodyFlags() & PxRigidBodyFlags.eKINEMATIC) != 0)
{
SnippetRender.renderActors(&actor, 1, true, kinematicColor);
}
else
{
SnippetRender.renderActors(&actor, 1, true, dynColor);
}
}
}
}
SnippetRender.finishRender();
}
/**
* Deserialize shared data and use resulting collection to deserialize and instance actor collections
*/
public static void deserializeObjects(ref PxInputData sharedData, ref PxInputData actorData)
{
PxSerializationRegistry *sr = PxSerialization.createSerializationRegistry(ref *gPhysics);
PxCollection *sharedCollection = null;
{
if (gUseBinarySerialization)
{
void *alignedBlock = createAlignedBlock(sharedData.getLength());
sharedData.read(alignedBlock, sharedData.getLength());
sharedCollection = PxSerialization.createCollectionFromBinary(alignedBlock, ref *sr);
}
else
{
sharedCollection = PxSerialization.createCollectionFromXml(ref sharedData, ref *gCooking, ref *sr);
}
}
// Deserialize collection and instantiate objects twice, each time with a different transform
PxTransform *transforms = stackalloc PxTransform[2] {
new PxTransform(new PxVec3(-5.0f, 0.0f, 0.0f)), new PxTransform(new PxVec3(5.0f, 0.0f, 0.0f))
};
for (uint i = 0; i < 2; i++)
{
PxCollection *collection = null;
// If the PxInputData actorData would refer to a file, it would be better to avoid reading from it twice.
// This could be achieved by reading the file once to memory, and then working with copies.
// This is particulary practical when using binary serialization, where the data can be directly
// converted to physics objects.
actorData.seek(0);
if (gUseBinarySerialization)
{
void *alignedBlock = createAlignedBlock(actorData.getLength());
actorData.read(alignedBlock, actorData.getLength());
collection = PxSerialization.createCollectionFromBinary(alignedBlock, ref *sr, sharedCollection);
}
else
{
collection = PxSerialization.createCollectionFromXml(ref actorData, ref *gCooking, ref *sr, sharedCollection);
}
for (uint o = 0; o < collection->getNbObjects(); o++)
{
//BIOQUIRK: is<T> is not translated https://github.com/MochiLibraries/Mochi.PhysX/issues/11
//PxRigidActor* rigidActor = collection->getObject(o).is<PxRigidActor>();
PxRigidActor *rigidActor = null;
{
PxBase *obj = collection->getObject(o);
//BIOQUIRK: Because PxRigidActor is not concrete, this ends up going down the isKindOf path, which is not publicly accessible.
// This is special-cased for this snippet, ideally we should just expose is<T> in a more C#-friendly way.
if ((PxConcreteType)obj->getConcreteType() is PxConcreteType.eRIGID_STATIC or PxConcreteType.eARTICULATION_LINK or PxConcreteType.eRIGID_DYNAMIC)
{
rigidActor = (PxRigidActor *)obj;
}
}
if (rigidActor != null)
{
PxTransform globalPose = rigidActor->getGlobalPose();
globalPose = globalPose.transform(transforms[i]);
rigidActor->setGlobalPose(globalPose);
}
}
gScene->addCollection(*collection);
collection->release();
}
sharedCollection->release();
PxMaterial *material;
gPhysics->getMaterials(&material, 1);
PxRigidStatic *groundPlane = PxCreatePlane(ref *gPhysics, new PxPlane(0, 1, 0, 0), ref *material);
gScene->addActor(ref *groundPlane);
sr->release();
}
