public PxClothParticle(PxVec3 pos_, float invWeight_) : this(physxPINVOKE.new_PxClothParticle__SWIG_1(PxVec3.getCPtr(pos_), invWeight_), true)
{
if (physxPINVOKE.SWIGPendingException.Pending)
{
throw physxPINVOKE.SWIGPendingException.Retrieve();
}
}
// Not applicable for Mochi-flavored snippets
// class MyTriggerRender : public Snippets::TriggerRender
// {
// public:
// virtual bool isTrigger(physx::PxShape* shape) const
// {
// return ::isTriggerShape(shape);
// }
// };
static void renderCallback()
{
stepPhysics(true);
#if false
{
PxVec3 camPos = sCamera.getEye();
PxVec3 camDir = sCamera.getDir();
Console.WriteLine($"camPos: ({camPos.x}, {camPos.y}, {camPos.z})");
Console.WriteLine($"camDir: ({camDir.x}, {camDir.y}, {camDir.z})");
}
#endif
SnippetRender.startRender(sCamera.getEye(), sCamera.getDir());
InitLighting();
PxScene *scene;
PxGetPhysics()->getScenes(&scene, 1);
uint nbActors = scene->getNbActors(PxActorTypeFlags.eRIGID_DYNAMIC | PxActorTypeFlags.eRIGID_STATIC);
if (nbActors != 0)
{
// (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 | PxActorTypeFlags.eRIGID_STATIC, actors, nbActors);
SnippetRender.renderActors(actors, nbActors, true, new(0.0f, 0.75f, 0.0f), &isTriggerShape);
}
}
SnippetRender.finishRender();
}
public PxBounds3(PxVec3 minimum, PxVec3 maximum) : this(physxPINVOKE.new_PxBounds3__SWIG_1(PxVec3.getCPtr(minimum), PxVec3.getCPtr(maximum)), true)
{
if (physxPINVOKE.SWIGPendingException.Pending)
{
throw physxPINVOKE.SWIGPendingException.Retrieve();
}
}
public PxVec3(PxVec3 v) : this(physxPINVOKE.new_PxVec3__SWIG_4(PxVec3.getCPtr(v)), true)
{
if (physxPINVOKE.SWIGPendingException.Pending)
{
throw physxPINVOKE.SWIGPendingException.Retrieve();
}
}
public PxClothParticleSeparationConstraint(PxVec3 p, float r) : this(physxPINVOKE.new_PxClothParticleSeparationConstraint__SWIG_1(PxVec3.getCPtr(p), r), true)
{
if (physxPINVOKE.SWIGPendingException.Pending)
{
throw physxPINVOKE.SWIGPendingException.Retrieve();
}
}
public PxPlane(PxVec3 normal, float distance) : this(physxPINVOKE.new_PxPlane__SWIG_2(PxVec3.getCPtr(normal), distance), true)
{
if (physxPINVOKE.SWIGPendingException.Pending)
{
throw physxPINVOKE.SWIGPendingException.Retrieve();
}
}
public PxPlane(PxVec3 p0, PxVec3 p1, PxVec3 p2) : this(physxPINVOKE.new_PxPlane__SWIG_4(PxVec3.getCPtr(p0), PxVec3.getCPtr(p1), PxVec3.getCPtr(p2)), true)
{
if (physxPINVOKE.SWIGPendingException.Pending)
{
throw physxPINVOKE.SWIGPendingException.Retrieve();
}
}
public PxPlane(PxVec3 point, PxVec3 normal) : this(physxPINVOKE.new_PxPlane__SWIG_3(PxVec3.getCPtr(point), PxVec3.getCPtr(normal)), true)
{
if (physxPINVOKE.SWIGPendingException.Pending)
{
throw physxPINVOKE.SWIGPendingException.Retrieve();
}
}
public PxBoxGeometry(PxVec3 halfExtents_) : this(physxPINVOKE.new_PxBoxGeometry__SWIG_2(PxVec3.getCPtr(halfExtents_)), true)
{
if (physxPINVOKE.SWIGPendingException.Pending)
{
throw physxPINVOKE.SWIGPendingException.Retrieve();
}
}
bool sweep(PxGeometry geometry, PxTransform pose, PxVec3 unitDir, PxReal distance,
PxSweepCallback hitCall, PxHitFlags hitFlags = PxHitFlags.ePOSITION | PxHitFlags.eNORMAL | PxHitFlags.eDISTANCE,
PxQueryFilterData filterData = null, PxQueryFilterCallback filterCall = null,
PxReal inflation = null)
{
return(false);
}
public PxMat33(PxVec3 col0, PxVec3 col1, PxVec3 col2) : this(physxPINVOKE.new_PxMat33__SWIG_3(PxVec3.getCPtr(col0), PxVec3.getCPtr(col1), PxVec3.getCPtr(col2)), true)
{
if (physxPINVOKE.SWIGPendingException.Pending)
{
throw physxPINVOKE.SWIGPendingException.Retrieve();
}
}
public PxTransform(PxVec3 position) : this(physxPINVOKE.new_PxTransform__SWIG_1(PxVec3.getCPtr(position)), true)
{
if (physxPINVOKE.SWIGPendingException.Pending)
{
throw physxPINVOKE.SWIGPendingException.Retrieve();
}
}
public PxTransform(PxVec3 p0, PxQuat q0) : this(physxPINVOKE.new_PxTransform__SWIG_6(PxVec3.getCPtr(p0), PxQuat.getCPtr(q0)), true)
{
if (physxPINVOKE.SWIGPendingException.Pending)
{
throw physxPINVOKE.SWIGPendingException.Retrieve();
}
}
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);
}
public PxQuat(float angleRadians, PxVec3 unitAxis) : this(physxPINVOKE.new_PxQuat__SWIG_4(angleRadians, PxVec3.getCPtr(unitAxis)), true)
{
if (physxPINVOKE.SWIGPendingException.Pending)
{
throw physxPINVOKE.SWIGPendingException.Retrieve();
}
}
//static void threadExecute(void* data)
static unsafe void threadExecute(object data)
{
//RaycastThread* raycastThread = static_cast<RaycastThread*>(data);
RaycastThread raycastThread = (RaycastThread)data;
//// Perform random raycasts against the scene until stop.
//for(;;)
for (;;)
{
//// Wait here for the sync to be set then reset the sync
//// to ensure that we only perform raycast work after the
//// sync has been set again.
//SnippetUtils::syncWait(raycastThread->mWorkReadySyncHandle);
//SnippetUtils::syncReset(raycastThread->mWorkReadySyncHandle);
raycastThread.mWorkReadySyncHandle.WaitOne();
raycastThread.mWorkReadySyncHandle.Reset();
//// If the thread has been signaled to quit then exit this function.
//if (SnippetUtils::threadQuitIsSignalled(raycastThread->mThreadHandle))
// break;
if (raycastThread.quit)
{
break;
}
//// Perform a fixed number of random raycasts against the scene
//// and share the work between multiple threads.
//while (SnippetUtils::atomicDecrement(&gRaysAvailable) >= 0)
while (Interlocked.Decrement(ref gRaysAvailable) >= 0)
{
//PxVec3 dir = randVec3();
PxVec3 dir = randVec3();
//PxRaycastBuffer buf;
//gScene->raycast(PxVec3(0.0f), dir.getNormalized(), 1000.0f, buf, PxHitFlag::eDEFAULT);
PxRaycastBufferPtr buf = PxRaycastBufferPtr.New();
gScene.raycast(new PxVec3(0.0f), dir.getNormalized(), 1000f, buf, PxHitFlags.eDEFAULT);
if (render_)
{
var rayNor = dir.getNormalized() * 1000;
DebugRenderer.Current.AddLine(new Vector3(0), new Vector3(rayNor.x, rayNor.y, rayNor.z), 0xff00ffff);
}
buf.Free();
//// If this is the last raycast then signal this to the main thread.
//if (SnippetUtils::atomicIncrement(&gRaysCompleted) == gRayCount)
if (Interlocked.Increment(ref gRaysCompleted) == gRayCount)
{
// SnippetUtils::syncSet(gWorkDoneSyncHandle);
gWorkDoneSyncHandle.Set();
}
}
}
//// Quit the current thread.
//SnippetUtils::threadQuit(raycastThread->mThreadHandle);
}
public virtual void addForce(PxVec3 force, PxForceMode.Enum mode, bool autowake)
{
physxPINVOKE.PxRigidBody_addForce__SWIG_0(swigCPtr, PxVec3.getCPtr(force), (int)mode, autowake);
if (physxPINVOKE.SWIGPendingException.Pending)
{
throw physxPINVOKE.SWIGPendingException.Retrieve();
}
}
public virtual void sweep(PxGeometry geometry, PxTransform pose, PxVec3 unitDir, float distance, SWIGTYPE_p_uint16_t maxTouchHits, SWIGTYPE_p_physx__PxFlagsT_physx__PxHitFlag__Enum_uint16_t_t hitFlags, PxQueryFilterData filterData, SWIGTYPE_p_void userData, PxQueryCache cache, float inflation)
{
physxPINVOKE.PxBatchQuery_sweep__SWIG_0(swigCPtr, PxGeometry.getCPtr(geometry), PxTransform.getCPtr(pose), PxVec3.getCPtr(unitDir), distance, SWIGTYPE_p_uint16_t.getCPtr(maxTouchHits), SWIGTYPE_p_physx__PxFlagsT_physx__PxHitFlag__Enum_uint16_t_t.getCPtr(hitFlags), PxQueryFilterData.getCPtr(filterData), SWIGTYPE_p_void.getCPtr(userData), PxQueryCache.getCPtr(cache), inflation);
if (physxPINVOKE.SWIGPendingException.Pending)
{
throw physxPINVOKE.SWIGPendingException.Retrieve();
}
}
public virtual void raycast(PxVec3 origin, PxVec3 unitDir)
{
physxPINVOKE.PxBatchQuery_raycast__SWIG_6(swigCPtr, PxVec3.getCPtr(origin), PxVec3.getCPtr(unitDir));
if (physxPINVOKE.SWIGPendingException.Pending)
{
throw physxPINVOKE.SWIGPendingException.Retrieve();
}
}
public virtual void sweep(PxGeometry geometry, PxTransform pose, PxVec3 unitDir, float distance)
{
physxPINVOKE.PxBatchQuery_sweep__SWIG_6(swigCPtr, PxGeometry.getCPtr(geometry), PxTransform.getCPtr(pose), PxVec3.getCPtr(unitDir), distance);
if (physxPINVOKE.SWIGPendingException.Pending)
{
throw physxPINVOKE.SWIGPendingException.Retrieve();
}
}
public virtual void sweep(PxGeometry geometry, PxTransform pose, PxVec3 unitDir, float distance, SWIGTYPE_p_uint16_t maxTouchHits, SWIGTYPE_p_physx__PxFlagsT_physx__PxHitFlag__Enum_uint16_t_t hitFlags)
{
physxPINVOKE.PxBatchQuery_sweep__SWIG_4(swigCPtr, PxGeometry.getCPtr(geometry), PxTransform.getCPtr(pose), PxVec3.getCPtr(unitDir), distance, SWIGTYPE_p_uint16_t.getCPtr(maxTouchHits), SWIGTYPE_p_physx__PxFlagsT_physx__PxHitFlag__Enum_uint16_t_t.getCPtr(hitFlags));
if (physxPINVOKE.SWIGPendingException.Pending)
{
throw physxPINVOKE.SWIGPendingException.Retrieve();
}
}
public virtual void getForce(PxVec3 linear, PxVec3 angular)
{
physxPINVOKE.PxConstraint_getForce(swigCPtr, PxVec3.getCPtr(linear), PxVec3.getCPtr(angular));
if (physxPINVOKE.SWIGPendingException.Pending)
{
throw physxPINVOKE.SWIGPendingException.Retrieve();
}
}
public void include(PxVec3 v)
{
physxPINVOKE.PxBounds3_include__SWIG_0(swigCPtr, PxVec3.getCPtr(v));
if (physxPINVOKE.SWIGPendingException.Pending)
{
throw physxPINVOKE.SWIGPendingException.Retrieve();
}
}
public virtual void setLinearVelocity(PxVec3 linVel, bool autowake)
{
physxPINVOKE.PxRigidBody_setLinearVelocity__SWIG_0(swigCPtr, PxVec3.getCPtr(linVel), autowake);
if (physxPINVOKE.SWIGPendingException.Pending)
{
throw physxPINVOKE.SWIGPendingException.Retrieve();
}
}
public virtual void setAngularVelocity(PxVec3 angVel)
{
physxPINVOKE.PxRigidBody_setAngularVelocity__SWIG_1(swigCPtr, PxVec3.getCPtr(angVel));
if (physxPINVOKE.SWIGPendingException.Pending)
{
throw physxPINVOKE.SWIGPendingException.Retrieve();
}
}
public virtual void onOriginShift(PxVec3 shift)
{
physxPINVOKE.PxConstraintConnector_onOriginShift(swigCPtr, PxVec3.getCPtr(shift));
if (physxPINVOKE.SWIGPendingException.Pending)
{
throw physxPINVOKE.SWIGPendingException.Retrieve();
}
}
public virtual void setMassSpaceInertiaTensor(PxVec3 m)
{
physxPINVOKE.PxRigidBody_setMassSpaceInertiaTensor(swigCPtr, PxVec3.getCPtr(m));
if (physxPINVOKE.SWIGPendingException.Pending)
{
throw physxPINVOKE.SWIGPendingException.Retrieve();
}
}
public virtual void addTorque(PxVec3 torque)
{
physxPINVOKE.PxRigidBody_addTorque__SWIG_2(swigCPtr, PxVec3.getCPtr(torque));
if (physxPINVOKE.SWIGPendingException.Pending)
{
throw physxPINVOKE.SWIGPendingException.Retrieve();
}
}
public virtual void visualizeLine(PxVec3 p0, PxVec3 p1, SWIGTYPE_p_uint32_t color)
{
physxPINVOKE.PxConstraintVisualizer_visualizeLine(swigCPtr, PxVec3.getCPtr(p0), PxVec3.getCPtr(p1), SWIGTYPE_p_uint32_t.getCPtr(color));
if (physxPINVOKE.SWIGPendingException.Pending)
{
throw physxPINVOKE.SWIGPendingException.Retrieve();
}
}
public virtual void addTorque(PxVec3 torque, PxForceMode.Enum mode)
{
physxPINVOKE.PxRigidBody_addTorque__SWIG_1(swigCPtr, PxVec3.getCPtr(torque), (int)mode);
if (physxPINVOKE.SWIGPendingException.Pending)
{
throw physxPINVOKE.SWIGPendingException.Retrieve();
}
}
