Start upgrading to physx 0.10.

2 files changed, 236 insertions, 311 deletions

diff --git a/build/rapier_testbed3d/Cargo.toml b/build/rapier_testbed3d/Cargo.toml
index 830ceab..f307211 100644
--- a/build/rapier_testbed3d/Cargo.toml
+++ b/build/rapier_testbed3d/Cargo.toml
@@ -28,12 +28,12 @@ rand       = "0.7"
 rand_pcg   = "0.2"
 instant    = { version = "0.1", features = [ "web-sys", "now" ]}
 bitflags   = "1"
-glam       = { version = "0.10", optional = true }
+glam       = { version = "0.11", optional = true }
 num_cpus   = { version = "1", optional = true }
 cdl3d = "0.1"
 ncollide3d = "0.26"
 nphysics3d = { version = "0.18", optional = true }
-physx      = { version = "0.8", optional = true }
+physx      = { version = "0.10", optional = true }
 physx-sys = { version = "0.4", optional = true }
 crossbeam = "0.8"
 bincode = "1"
diff --git a/src_testbed/physx_backend.rs b/src_testbed/physx_backend.rs
index acec5c9..eac7323 100644
--- a/src_testbed/physx_backend.rs
+++ b/src_testbed/physx_backend.rs
@@ -1,7 +1,14 @@
 #![allow(dead_code)]
 
-use na::{Isometry3, Matrix3, Matrix4, Point3, Rotation3, Translation3, UnitQuaternion, Vector3};
+use na::{
+    Isometry3, Matrix3, Matrix4, Point3, Quaternion, Rotation3, Translation3, Unit, UnitQuaternion,
+    Vector3,
+};
+use physx::cooking::PxCooking;
+use physx::foundation::DefaultAllocator;
 use physx::prelude::*;
+use physx::scene::FrictionType;
+use physx::triangle_mesh::TriangleMesh;
 use rapier::counters::Counters;
 use rapier::dynamics::{
     IntegrationParameters, JointParams, JointSet, RigidBodyHandle, RigidBodySet,
@@ -10,8 +17,6 @@ use rapier::geometry::{Collider, ColliderSet};
 use rapier::utils::WBasis;
 use std::collections::HashMap;
 
-const PX_PHYSICS_VERSION: u32 = physx::version(4, 1, 1);
-
 trait IntoNa {
     type Output;
     fn into_na(self) -> Self::Output;
@@ -24,37 +29,53 @@ impl IntoNa for glam::Mat4 {
     }
 }
 
+impl IntoNa for PxVec3 {
+    type Output = Vector3<f32>;
+    fn into_na(self) -> Self::Output {
+        Vector3::new(self.x(), self.y(), self.z())
+    }
+}
+
+impl IntoNa for PxQuat {
+    type Output = Quaternion<f32>;
+    fn into_na(self) -> Self::Output {
+        Quaternion::new(self.w(), self.x(), self.y(), self.z())
+    }
+}
+
+impl IntoNa for PxTransform {
+    type Output = Isometry3<f32>;
+    fn into_na(self) -> Self::Output {
+        let tra = self.translation().into_na();
+        let quat = self.rotation().into_na();
+        let unit_quat = Unit::new_unchecked(quat);
+        Isometry3::from_parts(tra.into(), unit_quat)
+    }
+}
+
 trait IntoPhysx {
     type Output;
     fn into_physx(self) -> Self::Output;
 }
 
 impl IntoPhysx for Vector3<f32> {
-    type Output = physx_sys::PxVec3;
+    type Output = PxVec3;
     fn into_physx(self) -> Self::Output {
-        physx_sys::PxVec3 {
-            x: self.x,
-            y: self.y,
-            z: self.z,
-        }
+        PxVec3::new(self.x, self.y, self.z)
     }
 }
 
 impl IntoPhysx for Point3<f32> {
-    type Output = physx_sys::PxVec3;
+    type Output = PxVec3;
     fn into_physx(self) -> Self::Output {
-        physx_sys::PxVec3 {
-            x: self.x,
-            y: self.y,
-            z: self.z,
-        }
+        PxVec3::new(self.x, self.y, self.z)
     }
 }
 
 impl IntoPhysx for Isometry3<f32> {
-    type Output = physx_sys::PxTransform;
+    type Output = PxTransform;
     fn into_physx(self) -> Self::Output {
-        physx::transform::gl_to_px_tf(self.into_glam())
+        self.into_glam().into()
     }
 }
 
@@ -92,14 +113,23 @@ impl IntoGlam for Isometry3<f32> {
 }
 
 thread_local! {
-pub static FOUNDATION: std::cell::RefCell<Foundation> = std::cell::RefCell::new(Foundation::new(PX_PHYSICS_VERSION));
+pub static FOUNDATION: std::cell::RefCell<PxPhysicsFoundation> = std::cell::RefCell::new(PhysicsFoundation::default());
 }
 
 pub struct PhysxWorld {
-    physics: Physics,
-    cooking: Cooking,
-    scene: Scene,
-    rapier2physx: HashMap<RigidBodyHandle, BodyHandle>,
+    // physics: Physics,
+    // cooking: Cooking,
+    materials: Vec<Owner<PxMaterial>>,
+    shapes: Vec<Owner<PxShape>>,
+    scene: Option<Owner<PxScene>>,
+}
+
+impl Drop for PhysxWorld {
+    fn drop(&mut self) {
+        let scene = self.scene.take();
+        // FIXME: we get a segfault if we don't forget the scene.
+        std::mem::forget(scene);
+    }
 }
 
 impl PhysxWorld {
@@ -112,123 +142,72 @@ impl PhysxWorld {
         use_two_friction_directions: bool,
         num_threads: usize,
     ) -> Self {
-        let mut rapier2physx = HashMap::new();
-        let mut physics = FOUNDATION.with(|f| {
-            PhysicsBuilder::default()
-                .load_extensions(false)
-                .build(&mut *f.borrow_mut())
-        });
-        let mut cooking = FOUNDATION.with(|f| unsafe {
-            let sc = physx_sys::PxTolerancesScale_new();
-            let params = physx_sys::PxCookingParams_new(&sc);
-            Cooking::new(PX_PHYSICS_VERSION, &mut *f.borrow_mut(), params)
-        });
-
-        let scene_desc = MySceneBuilder::default()
-            .set_gravity(gravity.into_glam())
-            .set_simulation_threading(SimulationThreadType::Dedicated(num_threads as u32))
-            // .set_broad_phase_type(BroadPhaseType::SweepAndPrune)
-            // .set_solver_type(physx_sys::PxSolverType::eTGS)
-            .build_desc(&mut physics);
-
-        let raw_scene =
-            unsafe { physx_sys::PxPhysics_createScene_mut(physics.get_raw_mut(), &scene_desc) };
-
-        // FIXME: we do this because we are also using two
-        // friction directions. We should add to rapier the option to use
-        // one friction direction too, and perhaps an equivalent of physX
-        // ePATCH friction type.
-        if use_two_friction_directions {
-            unsafe {
-                physx_sys::PxScene_setFrictionType_mut(
-                    raw_scene,
-                    physx_sys::PxFrictionType::eTWO_DIRECTIONAL,
-                );
-            }
-        }
+        FOUNDATION.with(|physics| {
+            let mut physics = physics.borrow_mut();
+            let mut shapes = Vec::new();
+            let mut materials = Vec::new();
 
-        let mut scene = Scene::new(raw_scene);
+            let friction_type = if use_two_friction_directions {
+                FrictionType::TwoDirectional
+            } else {
+                FrictionType::Patch
+            };
 
-        for (rapier_handle, rb) in bodies.iter() {
-            use physx::rigid_dynamic::RigidDynamic;
-            use physx::rigid_static::RigidStatic;
-            use physx::transform;
+            let scene_desc = SceneDescriptor {
+                gravity: gravity.into_physx(),
+                thread_count: num_threads as u32,
+                broad_phase_type: BroadPhaseType::AutomaticBoxPruning,
+                solver_type: SolverType::PGS,
+                friction_type,
+                ..SceneDescriptor::new(())
+            };
 
-            let pos = transform::gl_to_px_tf(rb.position().to_homogeneous().into_glam());
-            if rb.is_dynamic() {
-                let actor = unsafe {
-                    physx_sys::PxPhysics_createRigidDynamic_mut(physics.get_raw_mut(), &pos)
-                };
+            let mut scene: Owner<PxScene> = physics.create(scene_desc).unwrap();
+            let mut rapier2dynamic = HashMap::new();
+            let mut rapier2static = HashMap::new();
 
-                unsafe {
-                    physx_sys::PxRigidDynamic_setSolverIterationCounts_mut(
-                        actor,
+            for (rapier_handle, rb) in bodies.iter() {
+                use physx::rigid_dynamic::RigidDynamic;
+                use physx::rigid_static::RigidStatic;
+
+                let pos = rb.position().into_physx();
+                if rb.is_dynamic() {
+                    let mut actor = physics.create_dynamic(&pos, rapier_handle).unwrap();
+                    actor.set_solver_iteration_counts(
                         integration_parameters.max_position_iterations as u32,
                         integration_parameters.max_velocity_iterations as u32,
                     );
-                }
 
-                let physx_handle = scene.add_dynamic(RigidDynamic::new(actor));
-                rapier2physx.insert(rapier_handle, physx_handle);
-            } else {
-                let actor = unsafe {
-                    physx_sys::PxPhysics_createRigidStatic_mut(physics.get_raw_mut(), &pos)
-                };
-
-                let physx_handle = scene.add_actor(RigidStatic::new(actor));
-                rapier2physx.insert(rapier_handle, physx_handle);
+                    rapier2dynamic.insert(rapier_handle, actor);
+                } else {
+                    let actor = physics.create_static(pos, ()).unwrap();
+                    rapier2static.insert(rapier_handle, actor);
+                }
             }
-        }
 
-        for (_, collider) in colliders.iter() {
-            if let Some((px_collider, collider_pos)) =
-                physx_collider_from_rapier_collider(&collider)
-            {
-                let material = physics.create_material(
-                    collider.friction,
-                    collider.friction,
-                    collider.restitution,
-                );
-                let geometry = cooking.make_geometry(px_collider);
-                let flags = if collider.is_sensor() {
-                    physx_sys::PxShapeFlags {
-                        mBits: physx_sys::PxShapeFlag::eTRIGGER_SHAPE as u8,
-                    }
-                } else {
-                    physx_sys::PxShapeFlags {
-                        mBits: physx_sys::PxShapeFlag::eSIMULATION_SHAPE as u8, // | physx_sys::PxShapeFlag::eSCENE_QUERY_SHAPE as u8,
-                    }
-                };
+            for (_, collider) in colliders.iter() {
+                if let Some((mut px_shape, px_material, collider_pos)) =
+                    physx_collider_from_rapier_collider(&mut *physics, &collider)
+                {
+                    let parent_body = &bodies[collider.parent()];
 
-                let handle = rapier2physx[&collider.parent()];
-                let parent_body = &bodies[collider.parent()];
-                let parent = if !parent_body.is_dynamic() {
-                    scene.get_static_mut(handle).unwrap().as_ptr_mut().ptr
-                        as *mut physx_sys::PxRigidActor
-                } else {
-                    scene.get_dynamic_mut(handle).unwrap().as_ptr_mut().ptr
-                        as *mut physx_sys::PxRigidActor
-                };
+                    if !parent_body.is_dynamic() {
+                        let actor = rapier2static.get_mut(&collider.parent()).unwrap();
+                        actor.attach_shape(&mut px_shape);
+                    } else {
+                        let actor = rapier2dynamic.get_mut(&collider.parent()).unwrap();
+                        actor.attach_shape(&mut px_shape);
+                    }
+                    // physx_sys::PxShape_setLocalPose_mut(shape, &pose);
 
-                unsafe {
-                    let shape = physx_sys::PxPhysics_createShape_mut(
-                        physics.get_raw_mut(),
-                        geometry.as_raw(),
-                        material,
-                        true,
-                        flags.into(),
-                    );
-                    let pose = collider_pos.into_physx();
-                    physx_sys::PxShape_setLocalPose_mut(shape, &pose);
-                    physx_sys::PxRigidActor_attachShape_mut(parent, shape);
-                };
+                    shapes.push(px_shape);
+                    materials.push(px_material);
+                }
             }
-        }
 
-        // Update mass properties.
-        for (rapier_handle, physx_handle) in rapier2physx.iter() {
-            let rb = &bodies[*rapier_handle];
-            if let Some(rp) = scene.get_dynamic_mut(*physx_handle) {
+            // Update mass properties.
+            for (rapier_handle, actor) in rapier2dynamic.iter_mut() {
+                let rb = &bodies[*rapier_handle];
                 let densities: Vec<_> = rb
                     .colliders()
                     .iter()
@@ -237,7 +216,7 @@ impl PhysxWorld {
 
                 unsafe {
                     physx_sys::PxRigidBodyExt_updateMassAndInertia_mut(
-                        rp.as_ptr_mut().ptr as *mut physx_sys::PxRigidBody,
+                        std::mem::transmute(actor.as_mut()),
                         densities.as_ptr(),
                         densities.len() as u32,
                         std::ptr::null(),
@@ -245,20 +224,30 @@ impl PhysxWorld {
                     );
                 }
             }
-        }
 
-        let mut res = Self {
-            physics,
-            cooking,
-            scene,
-            rapier2physx,
-        };
+            /*
+               res.setup_joints(joints);
+               res
+            */
+
+            for (_, actor) in rapier2static {
+                scene.add_static_actor(actor);
+            }
+
+            for (_, actor) in rapier2dynamic {
+                scene.add_dynamic_actor(actor);
+            }
 
-        res.setup_joints(joints);
-        res
+            Self {
+                scene: Some(scene),
+                shapes,
+                materials,
+            }
+        })
     }
 
     fn setup_joints(&mut self, joints: &JointSet) {
+        /*
         unsafe {
             for joint in joints.iter() {
                 let actor1 = self.rapier2physx[&joint.1.body1];
@@ -392,46 +381,73 @@ impl PhysxWorld {
                 }
             }
         }
+         */
     }
 
     pub fn step(&mut self, counters: &mut Counters, params: &IntegrationParameters) {
+        let mut scratch = unsafe { ScratchBuffer::new(4) };
+
         counters.step_started();
-        self.scene.step(params.dt(), true);
+        self.scene
+            .as_mut()
+            .unwrap()
+            .step(
+                params.dt(),
+                None::<&mut physx_sys::PxBaseTask>,
+                Some(&mut scratch),
+                true,
+            )
+            .expect("error occurred during PhysX simulation");
         counters.step_completed();
     }
 
-    pub fn sync(&self, bodies: &mut RigidBodySet, colliders: &mut ColliderSet) {
-        for (rapier_handle, physx_handle) in self.rapier2physx.iter() {
-            let rb = bodies.get_mut(*rapier_handle).unwrap();
-            let ra = self.scene.get_rigid_actor(*physx_handle).unwrap();
-            let pos = ra.get_global_pose().into_na();
-            let iso = na::convert_unchecked(pos);
-            rb.set_position(iso, false);
-
-            if rb.is_kinematic() {}
+    pub fn sync(&mut self, bodies: &mut RigidBodySet, colliders: &mut ColliderSet) {
+        for actor in self.scene.as_mut().unwrap().get_dynamic_actors() {
+            let handle = actor.get_user_data();
+            let pos = actor.get_global_pose().into_na();
+            let rb = &mut bodies[*handle];
+            rb.set_position(pos, false);
 
             for coll_handle in rb.colliders() {
                 let collider = &mut colliders[*coll_handle];
-                collider.set_position_debug(iso * collider.position_wrt_parent());
+                collider.set_position_debug(pos * collider.position_wrt_parent());
             }
         }
     }
 }
 
 fn physx_collider_from_rapier_collider(
+    physics: &mut PxPhysicsFoundation,
+    // cooking: &PxCooking,
     collider: &Collider,
-) -> Option<(ColliderDesc, Isometry3<f32>)> {
+) -> Option<(Owner<PxShape>, Owner<PxMaterial>, Isometry3<f32>)> {
     let mut local_pose = *collider.position_wrt_parent();
     let shape = collider.shape();
+    let shape_flags = if collider.is_sensor() {
+        ShapeFlag::TriggerShape.into()
+    } else {
+        ShapeFlag::SimulationShape.into()
+    };
+    let mut material = physics
+        .create_material(
+            collider.friction,
+            collider.friction,
+            collider.restitution,
+            (),
+        )
+        .unwrap();
+    let materials = &mut [material.as_mut()][..];
 
-    let desc = if let Some(cuboid) = shape.as_cuboid() {
-        ColliderDesc::Box(
+    let shape = if let Some(cuboid) = shape.as_cuboid() {
+        let geometry = PxBoxGeometry::new(
             cuboid.half_extents.x,
             cuboid.half_extents.y,
             cuboid.half_extents.z,
-        )
+        );
+        physics.create_shape(&geometry, materials, true, shape_flags, ())
     } else if let Some(ball) = shape.as_ball() {
-        ColliderDesc::Sphere(ball.radius)
+        let geometry = PxSphereGeometry::new(ball.radius);
+        physics.create_shape(&geometry, materials, true, shape_flags, ())
     } else if let Some(capsule) = shape.as_capsule() {
         let center = capsule.center();
         let mut dir = capsule.segment.b - capsule.segment.a;
@@ -442,8 +458,11 @@ fn physx_collider_from_rapier_collider(
 
         let rot = UnitQuaternion::rotation_between(&Vector3::x(), &dir);
         local_pose *= Translation3::from(center.coords) * rot.unwrap_or(UnitQuaternion::identity());
-        ColliderDesc::Capsule(capsule.radius, capsule.height())
+        let geometry = PxCapsuleGeometry::new(capsule.radius, capsule.half_height());
+        physics.create_shape(&geometry, materials, true, shape_flags, ())
     } else if let Some(trimesh) = shape.as_trimesh() {
+        return None;
+        /*
         ColliderDesc::TriMesh {
             vertices: trimesh
                 .vertices()
@@ -452,176 +471,82 @@ fn physx_collider_from_rapier_collider(
                 .collect(),
             indices: trimesh.flat_indices().to_vec(),
             mesh_scale: Vector3::repeat(1.0).into_glam(),
+        };
+        let desc = cooking.create_triangle_mesh(physics, desc);
+        if let TriangleMeshCookingResult::Success(trimesh) = desc {
+            Some(trimesh)
+        } else {
+            eprintln!("PhysX triangle mesh construction failed.");
+            return None;
         }
+         */
     } else {
         eprintln!("Creating a shape unknown to the PhysX backend.");
         return None;
     };
 
-    Some((desc, local_pose))
-}
-
-/*
- *
- * XXX: All the remaining code is a duplicate from physx-rs to allow more customizations.
- *
- */
-use physx::scene::SimulationThreadType;
-
-pub struct MySceneBuilder {
-    gravity: glam::Vec3,
-    simulation_filter_shader: Option<physx_sys::SimulationFilterShader>,
-    simulation_threading: Option<SimulationThreadType>,
-    broad_phase_type: BroadPhaseType,
-    use_controller_manager: bool,
-    controller_manager_locking: bool,
-    call_default_filter_shader_first: bool,
-    use_ccd: bool,
-    enable_ccd_resweep: bool,
-    solver_type: u32,
+    shape.map(|s| (s, material, local_pose))
 }
 
-impl Default for MySceneBuilder {
-    fn default() -> Self {
-        Self {
-            gravity: glam::Vec3::new(0.0, -9.80665, 0.0), // standard gravity value
-            call_default_filter_shader_first: true,
-            simulation_filter_shader: None,
-            simulation_threading: None,
-            broad_phase_type: BroadPhaseType::SweepAndPrune,
-            use_controller_manager: false,
-            controller_manager_locking: false,
-            use_ccd: false,
-            enable_ccd_resweep: false,
-            solver_type: physx_sys::PxSolverType::ePGS,
-        }
-    }
-}
-
-impl MySceneBuilder {
-    /// Set the gravity for the scene.
-    ///
-    /// Default: [0.0, -9.80665, 0.0] (standard gravity)
-    pub fn set_gravity(&mut self, gravity: glam::Vec3) -> &mut Self {
-        self.gravity = gravity;
-        self
-    }
-
-    /// Set a callback to be invoked on various simulation events. Note:
-    /// Currently only handles collision events
-    ///
-    /// Default: not set
-    pub fn set_simulation_filter_shader(
+type PxPhysicsFoundation = PhysicsFoundation<DefaultAllocator, PxShape>;
+type PxMaterial = physx::material::PxMaterial<()>;
+type PxShape = physx::shape::PxShape<(), PxMaterial>;
+type PxArticulationLink = physx::articulation_link::PxArticulationLink<(), PxShape>;
+type PxRigidStatic = physx::rigid_static::PxRigidStatic<(), PxShape>;
+type PxRigidDynamic = physx::rigid_dynamic::PxRigidDynamic<RigidBodyHandle, PxShape>;
+type PxArticulation = physx::articulation::PxArticulation<(), PxArticulationLink>;
+type PxArticulationReducedCoordinate =
+    physx::articulation_reduced_coordinate::PxArticulationReducedCoordinate<(), PxArticulationLink>;
+type PxScene = physx::scene::PxScene<
+    (),
+    PxArticulationLink,
+    PxRigidStatic,
+    PxRigidDynamic,
+    PxArticulation,
+    PxArticulationReducedCoordinate,
+    OnCollision,
+    OnTrigger,
+    OnConstraintBreak,
+    OnWakeSleep,
+    OnAdvance,
+>;
+
+/// Next up, the simulation event callbacks need to be defined, and possibly an
+/// allocator callback as well.
+struct OnCollision;
+impl CollisionCallback for OnCollision {
+    fn on_collision(
         &mut self,
-        simulation_filter_shader: physx_sys::SimulationFilterShader,
-    ) -> &mut Self {
-        self.simulation_filter_shader = Some(simulation_filter_shader);
-        self
-    }
-
-    /// Enable the controller manager on the scene.
-    ///
-    /// Default: false, false
-    pub fn use_controller_manager(
-        &mut self,
-        use_controller_manager: bool,
-        locking_enabled: bool,
-    ) -> &mut Self {
-        self.use_controller_manager = use_controller_manager;
-        self.controller_manager_locking = locking_enabled;
-        self
-    }
-
-    pub fn set_solver_type(&mut self, solver_type: u32) -> &mut Self {
-        self.solver_type = solver_type;
-        self
-    }
-
-    /// Sets whether the filter should begin by calling the default filter shader
-    /// PxDefaultSimulationFilterShader that emulates the PhysX 2.8 rules.
-    ///
-    /// Default: true
-    pub fn set_call_default_filter_shader_first(
-        &mut self,
-        call_default_filter_shader_first: bool,
-    ) -> &mut Self {
-        self.call_default_filter_shader_first = call_default_filter_shader_first;
-        self
+        _header: &physx_sys::PxContactPairHeader,
+        _pairs: &[physx_sys::PxContactPair],
+    ) {
     }
+}
+struct OnTrigger;
+impl TriggerCallback for OnTrigger {
+    fn on_trigger(&mut self, _pairs: &[physx_sys::PxTriggerPair]) {}
+}
 
-    /// Set the number of threads to use for simulation
-    ///
-    /// Default: not set
-    pub fn set_simulation_threading(
+struct OnConstraintBreak;
+impl ConstraintBreakCallback for OnConstraintBreak {
+    fn on_constraint_break(&mut self, _constraints: &[physx_sys::PxConstraintInfo]) {}
+}
+struct OnWakeSleep;
+impl WakeSleepCallback<PxArticulationLink, PxRigidStatic, PxRigidDynamic> for OnWakeSleep {
+    fn on_wake_sleep(
         &mut self,
-        simulation_threading: SimulationThreadType,
-    ) -> &mut Self {
-        self.simulation_threading = Some(simulation_threading);
-        self
-    }
-
-    /// Set collision detection type
-    ///
-    /// Default: Sweep and prune
-    pub fn set_broad_phase_type(&mut self, broad_phase_type: BroadPhaseType) -> &mut Self {
-        self.broad_phase_type = broad_phase_type;
-        self
-    }
-
-    /// Set if CCD (continuous collision detection) should be available for use in the scene.
-    /// Doesn't automatically enable it for all rigid bodies, they still need to be flagged.
-    ///
-    /// If you don't set enable_ccd_resweep to true, eDISABLE_CCD_RESWEEP is set, which improves performance
-    /// at the cost of accuracy right after bounces.
-    ///
-    /// Default: false, false
-    pub fn set_use_ccd(&mut self, use_ccd: bool, enable_ccd_resweep: bool) -> &mut Self {
-        self.use_ccd = use_ccd;
-        self.enable_ccd_resweep = enable_ccd_resweep;
-        self
+        _actors: &[&physx::actor::ActorMap<PxArticulationLink, PxRigidStatic, PxRigidDynamic>],
+        _is_waking: bool,
+    ) {
     }
+}
 
-    pub(super) fn build_desc(&self, physics: &mut Physics) -> physx_sys::PxSceneDesc {
-        unsafe {
-            let tolerances = physics.get_tolerances_scale();
-            let mut scene_desc = physx_sys::PxSceneDesc_new(tolerances);
-
-            let dispatcher = match self.simulation_threading.as_ref().expect("foo") {
-                SimulationThreadType::Default => {
-                    physx_sys::phys_PxDefaultCpuDispatcherCreate(1, std::ptr::null_mut()) as *mut _
-                }
-                SimulationThreadType::Dedicated(count) => {
-                    physx_sys::phys_PxDefaultCpuDispatcherCreate(*count, std::ptr::null_mut())
-                        as *mut _
-                }
-                SimulationThreadType::Shared(dispatcher) => *dispatcher as *mut _,
-            };
-
-            scene_desc.cpuDispatcher = dispatcher;
-            scene_desc.gravity = physx::transform::gl_to_px_v3(self.gravity);
-            if self.use_ccd {
-                scene_desc.flags.mBits |= physx_sys::PxSceneFlag::eENABLE_CCD;
-                if !self.enable_ccd_resweep {
-                    scene_desc.flags.mBits |= physx_sys::PxSceneFlag::eDISABLE_CCD_RESWEEP;
-                }
-            }
-            if let Some(filter_shader) = self.simulation_filter_shader {
-                physx_sys::enable_custom_filter_shader(
-                    &mut scene_desc as *mut physx_sys::PxSceneDesc,
-                    filter_shader,
-                    if self.call_default_filter_shader_first {
-                        1
-                    } else {
-                        0
-                    },
-                );
-            } else {
-                scene_desc.filterShader = physx_sys::get_default_simulation_filter_shader();
-            }
-
-            scene_desc.broadPhaseType = self.broad_phase_type.into();
-            scene_desc.solverType = self.solver_type;
-            scene_desc
-        }
+struct OnAdvance;
+impl AdvanceCallback<PxArticulationLink, PxRigidDynamic> for OnAdvance {
+    fn on_advance(
+        &self,
+        _actors: &[&physx::rigid_body::RigidBodyMap<PxArticulationLink, PxRigidDynamic>],
+        _transforms: &[PxTransform],
+    ) {
     }
 }