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-rw-r--r--src_testbed/engine.rs2
-rw-r--r--src_testbed/objects/ball.rs1
-rw-r--r--src_testbed/objects/box_node.rs2
-rw-r--r--src_testbed/objects/capsule.rs1
-rw-r--r--src_testbed/objects/cone.rs1
-rw-r--r--src_testbed/objects/cylinder.rs1
-rw-r--r--src_testbed/physx_backend.rs132
7 files changed, 113 insertions, 27 deletions
diff --git a/src_testbed/engine.rs b/src_testbed/engine.rs
index 1b7ab4b..0e415ea 100644
--- a/src_testbed/engine.rs
+++ b/src_testbed/engine.rs
@@ -12,7 +12,7 @@ use crate::objects::box_node::Box as BoxNode;
use crate::objects::heightfield::HeightField;
use crate::objects::node::{GraphicsNode, Node};
use rapier::dynamics::{RigidBodyHandle, RigidBodySet};
-use rapier::geometry::{Collider, ColliderHandle, ColliderSet, Shape};
+use rapier::geometry::{ColliderHandle, ColliderSet, Shape};
//use crate::objects::capsule::Capsule;
use crate::objects::convex::Convex;
//#[cfg(feature = "dim3")]
diff --git a/src_testbed/objects/ball.rs b/src_testbed/objects/ball.rs
index 4df3820..c352b3a 100644
--- a/src_testbed/objects/ball.rs
+++ b/src_testbed/objects/ball.rs
@@ -2,7 +2,6 @@ use crate::objects::node::{self, GraphicsNode};
use kiss3d::window::Window;
use na::{Isometry3, Point3};
use rapier::geometry::{ColliderHandle, ColliderSet};
-use rapier::math::Isometry;
pub struct Ball {
color: Point3<f32>,
diff --git a/src_testbed/objects/box_node.rs b/src_testbed/objects/box_node.rs
index 4235ef1..1a72247 100644
--- a/src_testbed/objects/box_node.rs
+++ b/src_testbed/objects/box_node.rs
@@ -2,7 +2,7 @@ use crate::objects::node::{self, GraphicsNode};
use kiss3d::window;
use na::{Isometry3, Point3};
use rapier::geometry::{ColliderHandle, ColliderSet};
-use rapier::math::{Isometry, Vector};
+use rapier::math::Vector;
pub struct Box {
color: Point3<f32>,
diff --git a/src_testbed/objects/capsule.rs b/src_testbed/objects/capsule.rs
index 197d1e8..d1bfd52 100644
--- a/src_testbed/objects/capsule.rs
+++ b/src_testbed/objects/capsule.rs
@@ -2,7 +2,6 @@ use crate::objects::node::{self, GraphicsNode};
use kiss3d::window;
use na::{Isometry3, Point3};
use rapier::geometry::{self, ColliderHandle, ColliderSet};
-use rapier::math::Isometry;
pub struct Capsule {
color: Point3<f32>,
diff --git a/src_testbed/objects/cone.rs b/src_testbed/objects/cone.rs
index 89a6b47..70a74a1 100644
--- a/src_testbed/objects/cone.rs
+++ b/src_testbed/objects/cone.rs
@@ -2,7 +2,6 @@ use crate::objects::node::{self, GraphicsNode};
use kiss3d::window::Window;
use na::{Isometry3, Point3};
use rapier::geometry::{ColliderHandle, ColliderSet};
-use rapier::math::Isometry;
pub struct Cone {
color: Point3<f32>,
diff --git a/src_testbed/objects/cylinder.rs b/src_testbed/objects/cylinder.rs
index a2ed102..e18eb06 100644
--- a/src_testbed/objects/cylinder.rs
+++ b/src_testbed/objects/cylinder.rs
@@ -2,7 +2,6 @@ use crate::objects::node::{self, GraphicsNode};
use kiss3d::window::Window;
use na::{Isometry3, Point3};
use rapier::geometry::{ColliderHandle, ColliderSet};
-use rapier::math::Isometry;
pub struct Cylinder {
color: Point3<f32>,
diff --git a/src_testbed/physx_backend.rs b/src_testbed/physx_backend.rs
index 53f6fe7..3985816 100644
--- a/src_testbed/physx_backend.rs
+++ b/src_testbed/physx_backend.rs
@@ -4,13 +4,19 @@ use na::{
Isometry3, Matrix3, Matrix4, Point3, Quaternion, Rotation3, Translation3, Unit, UnitQuaternion,
Vector3,
};
-use physx::cooking::PxCooking;
+use physx::cooking::{
+ ConvexMeshCookingResult, PxConvexMeshDesc, PxCooking, PxCookingParams, PxHeightFieldDesc,
+ PxTriangleMeshDesc, TriangleMeshCookingResult,
+};
use physx::foundation::DefaultAllocator;
use physx::prelude::*;
use physx::scene::FrictionType;
use physx::traits::Class;
use physx::triangle_mesh::TriangleMesh;
-use physx_sys::{PxActor, PxRigidActor};
+use physx_sys::{
+ PxBitAndByte, PxConvexFlags, PxConvexMeshGeometryFlags, PxHeightFieldSample,
+ PxMeshGeometryFlags, PxMeshScale_new, PxRigidActor,
+};
use rapier::counters::Counters;
use rapier::dynamics::{
IntegrationParameters, JointParams, JointSet, RigidBodyHandle, RigidBodySet,
@@ -167,6 +173,10 @@ impl PhysxWorld {
let mut scene: Owner<PxScene> = physics.create(scene_desc).unwrap();
let mut rapier2dynamic = HashMap::new();
let mut rapier2static = HashMap::new();
+ let cooking_params =
+ PxCookingParams::new(&*physics).expect("Failed to init PhysX cooking.");
+ let mut cooking = PxCooking::new(physics.foundation_mut(), &cooking_params)
+ .expect("Failed to init PhysX cooking");
/*
*
@@ -174,9 +184,6 @@ impl PhysxWorld {
*
*/
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();
@@ -199,7 +206,7 @@ impl PhysxWorld {
*/
for (_, collider) in colliders.iter() {
if let Some((mut px_shape, px_material, collider_pos)) =
- physx_collider_from_rapier_collider(&mut *physics, &collider)
+ physx_collider_from_rapier_collider(&mut *physics, &mut cooking, &collider)
{
let parent_body = &bodies[collider.parent()];
@@ -454,7 +461,7 @@ impl PhysxWorld {
fn physx_collider_from_rapier_collider(
physics: &mut PxPhysicsFoundation,
- // cooking: &PxCooking,
+ cooking: &PxCooking,
collider: &Collider,
) -> Option<(Owner<PxShape>, Owner<PxMaterial>, Isometry3<f32>)> {
let mut local_pose = *collider.position_wrt_parent();
@@ -498,26 +505,109 @@ fn physx_collider_from_rapier_collider(
* rot.unwrap_or(UnitQuaternion::identity());
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()
+ } else if let Some(heightfield) = shape.as_heightfield() {
+ let heights = heightfield.heights();
+ let scale = heightfield.scale();
+ local_pose = local_pose * Translation3::new(-scale.x / 2.0, 0.0, -scale.z / 2.0);
+ const Y_FACTOR: f32 = 1_000f32;
+ let mut heightfield_desc;
+ unsafe {
+ let samples: Vec<_> = heights
.iter()
- .map(|pt| pt.into_physx())
- .collect(),
- indices: trimesh.flat_indices().to_vec(),
- mesh_scale: Vector3::repeat(1.0).into_glam(),
+ .map(|h| PxHeightFieldSample {
+ height: (*h * Y_FACTOR) as i16,
+ materialIndex0: PxBitAndByte { mData: 0 },
+ materialIndex1: PxBitAndByte { mData: 0 },
+ })
+ .collect();
+ heightfield_desc = physx_sys::PxHeightFieldDesc_new();
+ heightfield_desc.nbRows = heights.nrows() as u32;
+ heightfield_desc.nbColumns = heights.ncols() as u32;
+ heightfield_desc.samples.stride = std::mem::size_of::<PxHeightFieldSample>() as u32;
+ heightfield_desc.samples.data = samples.as_ptr() as *const std::ffi::c_void;
+ }
+
+ let heightfield_desc = PxHeightFieldDesc {
+ obj: heightfield_desc,
};
- let desc = cooking.create_triangle_mesh(physics, desc);
- if let TriangleMeshCookingResult::Success(trimesh) = desc {
- Some(trimesh)
+ let heightfield = cooking.create_height_field(physics, &heightfield_desc);
+
+ if let Some(mut heightfield) = heightfield {
+ let flags = PxMeshGeometryFlags {
+ mBits: physx_sys::PxMeshGeometryFlag::eDOUBLE_SIDED as u8,
+ };
+ let geometry = PxHeightFieldGeometry::new(
+ &mut *heightfield,
+ flags,
+ scale.y / Y_FACTOR,
+ scale.x / (heights.nrows() as f32 - 1.0),
+ scale.z / (heights.ncols() as f32 - 1.0),
+ );
+ physics.create_shape(&geometry, materials, true, shape_flags, ())
+ } else {
+ eprintln!("PhysX heightfield construction failed.");
+ return None;
+ }
+ } else if let Some(convex) = shape
+ .as_convex_polyhedron()
+ .or(shape.as_round_convex_polyhedron().map(|c| &c.base_shape))
+ {
+ let vertices = convex.points();
+ let mut convex_desc;
+ unsafe {
+ convex_desc = physx_sys::PxConvexMeshDesc_new();
+ convex_desc.points.count = vertices.len() as u32;
+ convex_desc.points.stride = (3 * std::mem::size_of::<f32>()) as u32;
+ convex_desc.points.data = vertices.as_ptr() as *const std::ffi::c_void;
+ convex_desc.flags = PxConvexFlags {
+ mBits: physx_sys::PxConvexFlag::eCOMPUTE_CONVEX as u16,
+ };
+ }
+
+ let convex_desc = PxConvexMeshDesc { obj: convex_desc };
+ let convex = cooking.create_convex_mesh(physics, &convex_desc);
+
+ if let ConvexMeshCookingResult::Success(mut convex) = convex {
+ let flags = PxConvexMeshGeometryFlags { mBits: 0 };
+ let scaling = unsafe { PxMeshScale_new() };
+ let geometry = PxConvexMeshGeometry::new(&mut convex, &scaling, flags);
+ physics.create_shape(&geometry, materials, true, shape_flags, ())
+ } else {
+ eprintln!("PhysX convex mesh construction failed.");
+ return None;
+ }
+ } else if let Some(trimesh) = shape.as_trimesh() {
+ let vertices = trimesh.vertices();
+ let indices = trimesh.flat_indices();
+
+ let mut mesh_desc;
+ unsafe {
+ mesh_desc = physx_sys::PxTriangleMeshDesc_new();
+
+ mesh_desc.points.count = trimesh.vertices().len() as u32;
+ mesh_desc.points.stride = (3 * std::mem::size_of::<f32>()) as u32;
+ mesh_desc.points.data = vertices.as_ptr() as *const std::ffi::c_void;
+
+ mesh_desc.triangles.count = (indices.len() as u32) / 3;
+ mesh_desc.triangles.stride = (3 * std::mem::size_of::<u32>()) as u32;
+ mesh_desc.triangles.data = indices.as_ptr() as *const std::ffi::c_void;
+ }
+
+ let mesh_desc = PxTriangleMeshDesc { obj: mesh_desc };
+ let trimesh = cooking.create_triangle_mesh(physics, &mesh_desc);
+
+ if let TriangleMeshCookingResult::Success(mut trimesh) = trimesh {
+ let flags = PxMeshGeometryFlags {
+ mBits: physx_sys::PxMeshGeometryFlag::eDOUBLE_SIDED as u8,
+ };
+
+ let scaling = unsafe { PxMeshScale_new() };
+ let geometry = PxTriangleMeshGeometry::new(&mut trimesh, &scaling, flags);
+ physics.create_shape(&geometry, materials, true, shape_flags, ())
} else {
eprintln!("PhysX triangle mesh construction failed.");
return None;
}
- */
} else {
eprintln!("Creating a shape unknown to the PhysX backend.");
return None;
generated by cgit (git 2.34.1) at 2026-01-16 13:03:28 +0000