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physics

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This commit is contained in:
kotofyt
2025-05-26 17:44:50 +03:00
parent 7f054e2904
commit 60fa98e240
24 changed files with 756 additions and 111 deletions
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5
.gitignore vendored
View File

@@ -3,3 +3,8 @@ build
.git
.cache
compile_commands.json
# Added by cargo
/target

6
build.c
View File

@@ -14,10 +14,13 @@ char* include_dirs[] = {
#include "tier0/__build.c"
#include "tier1/__build.c"
#include "fgui/__build.c"
#include "launcher/__build.c"
#include "rapier/__build.c"
#include "engine/__build.c"
#include "game/__build.c"
#include "launcher/__build.c"
#include "funnyassets/__build.c"
int build(struct build_data b) {
@@ -30,6 +33,7 @@ int build(struct build_data b) {
tier0_build(b);
tier1_build(b);
fgui_build(b);
rapier_build(b);
engine_build(b);
launcher_build(b);

1
engine/__build.c
View File

@@ -47,6 +47,7 @@ void engine_build(struct build_data b)
.include_dirs = include_dirs,
});
add_item(&o.files, tier1_lib);
add_item(&o.files, rapierLib);
char* libs[] = {
"c",

28
engine/brush.cpp
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@@ -1,6 +1,8 @@
#include "brush.h"
#include "physics.h"
#include "rendering.h"
#include "tier0/platform.h"
#include "tier1/utlbuffer.h"
#include "tier1/utlvector.h"
void CBrushEntity::Precache()
@@ -10,7 +12,32 @@ void CBrushEntity::Precache()
void CBrushEntity::Spawn()
{
CUtlBuffer<uint32_t> indicies(m_mesh.GetSize()*3);
for (uint32_t i = 0;i<indicies.GetSize();i++)
{
indicies[i]=i;
}
CUtlBuffer<Point<float>> triangles(m_mesh.GetSize()*3);
uint32_t i = 0;
for (auto tri: m_mesh)
{
V_memcpy(&triangles[i],tri.location,36);
i+=1;
}
V_printf("indicides %i\n",indicies.GetSize());
V_printf("vertices %i\n",triangles.GetSize());
px_collider_params params = {};
params.friction = 0;
m_collider = px_trimesh((Point<float>*)triangles.GetMemory(), triangles.GetSize(), (uint32_t(*)[3])indicies.GetMemory(), indicies.GetSize()/3 ,params);
px_matrix mat = {};
mat.m[0] = 1;
mat.m[4] = 1;
mat.m[9] = 1;
mat.m[15] = 1;
px_rigidbody_params param = {};
param.gravity_scale = 1;
m_body = px_staticbody(px, m_collider, mat);
};
void CBrushEntity::Destroy()
@@ -19,7 +46,6 @@ void CBrushEntity::Destroy()
}
void CBrushEntity::Think( float fDelta )
{
};

2
engine/console.cpp
View File

@@ -95,7 +95,7 @@ void ConVar::InstallChangeCallback( ConCommandFn )
float ConVar::GetFloat( void )
{
return m_fValue;
}
int ConVar::GetInt( void )
{

4
engine/engine.cpp
View File

@@ -7,6 +7,7 @@
#include "engine.h"
#include "baseentity.h"
#include "server.h"
#include "physics.h"
#ifdef __linux
#include "signal.h"
@@ -48,6 +49,8 @@ void IEngine_Signal(int sig)
_exit(0);
};
funnyphysics *px;
void IEngine::Init()
{
/* trap signals */
@@ -66,6 +69,7 @@ void IEngine::Init()
IFileSystem::InitFilesystem();
IVideo::Init();
px = px_init();
IServer::LoadGame("funnygame");
};

1
engine/level.cpp
View File

@@ -70,7 +70,6 @@ void ILevel::LoadLevel( const char *szLevelName )
continue;
}
pBrush->m_mesh = CUtlVector<Triangle_t>(0);
V_printf("%i\n",pBrush->m_mesh.GetSize());
for ( uint32_t j = 0; j<pEntityHeader->nTriangles; j++ )
{
Triangle_t triangle = {};

6
engine/server.cpp
View File

@@ -2,6 +2,7 @@
#include "tier1/utlstring.h"
#include "baseentity.h"
#include "console.h"
#include "physics.h"
void *g_serverdll;
@@ -20,15 +21,16 @@ float g_fAccumulator = 0;
void IServer::Think( float fDelta )
{
g_fAccumulator += fDelta;
float fTickrate = 1.0/g_tickrate.GetInt();
float fTickrate = 1.0/g_tickrate.GetFloat();
/* tickrate */
while(g_fAccumulator>=fTickrate)
{
g_fAccumulator-=fTickrate;
for (auto &entity: g_entities)
{
entity->Think(fTickrate);
g_fAccumulator-=fTickrate;
}
px_frame(px, fTickrate);
}
for (auto &entity: g_entities)
{

23
engine/sv_light.cpp
View File

@@ -1,4 +1,7 @@
#include "baseentity.h"
#include "cglm/mat4.h"
#include "physics.h"
#include "cglm/cglm.h"
class CLight: public CBaseEntity
{
@@ -7,6 +10,9 @@ public:
virtual void Spawn( void ) override;
virtual void Destroy( void ) override;
virtual void Think( float fDelta ) override;
private:
Collider* col;
RigidBodyHandle *m_body;
};
void CLight::Precache()
@@ -16,7 +22,19 @@ void CLight::Precache()
void CLight::Spawn()
{
px_collider_params params = {};
params.friction = 0;
col = px_box(1, 1, 1, params);
px_matrix mat = {};
mat.m[0] = 1;
mat.m[4] = 1;
mat.m[9] = 1;
mat.m[15] = 1;
mat.m[3]=-10;
mat.m[11]=10;
px_rigidbody_params param = {};
param.gravity_scale = 1;
m_body=px_rigidbody(px, col, mat, param);
};
void CLight::Destroy()
@@ -25,7 +43,8 @@ void CLight::Destroy()
}
void CLight::Think( float fDelta )
{
px_vec3 pos = px_getposition(px, m_body);
V_printf("%p %f %f %f\n",col, pos.m[0], pos.m[1], pos.m[2]);
};
DECLARE_ENTITY(light, CLight)

8
engine/sv_worldspawn.cpp
View File

@@ -12,21 +12,21 @@ public:
void CWorldSpawn::Precache()
{
CBrushEntity::Precache();
}
void CWorldSpawn::Spawn()
{
CBrushEntity::Spawn();
};
void CWorldSpawn::Destroy()
{
CBrushEntity::Destroy();
}
void CWorldSpawn::Think( float fDelta )
{
CBrushEntity::Think(fDelta);
};
DECLARE_ENTITY(worldspawn, CWorldSpawn)

3
engine/vk_brush.cpp
View File

@@ -168,6 +168,7 @@ void IBrushRenderer::Frame( float fDelta )
glm_perspective(glm_rad(90),(float)g_nWindowWidth/g_nWindowHeight, 0.01, 100, g_brushProject->projection);
glm_rotate(g_brushProject->projection, glm_rad(90), (vec4){1,0,0,0});
glm_scale(g_brushProject->projection, (vec4){1,-1,1,1});
glm_rotate(g_brushProject->projection, glm_rad(-90), (vec4){0,0,1,0});
if (g_bConfigNotify)
{
meshdepth.Destroy();
@@ -199,7 +200,7 @@ void IBrushRenderer::Frame( float fDelta )
{
CTexture *texture = (CTexture*)t;
VkDescriptorImageInfo image = {};
image.imageLayout = VK_IMAGE_LAYOUT_GENERAL;
image.imageLayout = VK_IMAGE_LAYOUT_SHADER_READ_ONLY_OPTIMAL;
image.imageView = texture->image.m_imageView;
image.sampler = g_brushSampler;
textures.AppendTail(image);

3
engine/vk_videolinux.cpp
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@@ -231,6 +231,9 @@ void IVideo::Init()
/* select one in vk_gpu */
g_vkPhysicalDevice = PhysicalDevices[vulkan_gpu.GetInt()];
VkPhysicalDeviceProperties Properties = {};
vkGetPhysicalDeviceProperties(g_vkPhysicalDevice, &Properties);
V_printf("Using %s\n", Properties.deviceName);
/* queue family */
uint32_t nNumQueueFamilies = 0;

BIN
funnyassets/_rtt/maps/test_map.fmap
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Binary file not shown.

BIN
funnyassets/maps/test_map.fmap
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Binary file not shown.

190
funnyassets/raw_maps/dust.map
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@@ -1,106 +1,102 @@
{
"classname" "worldspawn"
{
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(-3.700000 8.300000 -2.000000) (-8.000000 8.300000 -1.500000) (-3.700000 8.300000 -1.500000) (3.316675 4.985768) (3.159004 6.341744) (3.159004 4.985768) BRICK0
(-4.000000 8.000000 -2.000000) (-4.000000 6.000000 -2.000000) (-4.000000 6.000000 -1.500000) (6.956343 1.990005) (6.325656 1.990005) (6.325656 1.832333) BRICK0
(-4.000000 8.000000 -2.000000) (-4.000000 6.000000 -1.500000) (-4.000000 8.000000 -1.500000) (6.956343 1.990005) (6.325656 1.832333) (6.956343 1.832333) BRICK0
(0.000000 10.000000 -2.000000) (-0.300000 10.000000 -2.000000) (-0.300000 10.000000 -1.500000) (2.938263 6.880056) (2.843660 6.880056) (2.843660 6.722384) BRICK0
(0.000000 10.000000 -2.000000) (-0.300000 10.000000 -1.500000) (0.000000 10.000000 -1.500000) (2.938263 6.880056) (2.843660 6.722384) (2.938263 6.722384) BRICK0
(-0.300000 6.300000 -2.000000) (-3.700000 6.300000 -2.000000) (-3.700000 6.300000 -1.500000) (7.494336 3.093707) (7.494337 4.165875) (7.336665 4.165875) BRICK0
(-0.300000 6.300000 -2.000000) (-3.700000 6.300000 -1.500000) (-0.300000 6.300000 -1.500000) (7.494336 3.093707) (7.336665 4.165875) (7.336665 3.093707) BRICK0
(0.000000 6.000000 -2.000000) (0.000000 10.000000 -2.000000) (0.000000 10.000000 -1.500000) (6.167666 5.902491) (6.167666 7.163865) (6.009995 7.163865) BRICK0
(0.000000 6.000000 -2.000000) (0.000000 10.000000 -1.500000) (0.000000 6.000000 -1.500000) (6.167666 5.902491) (6.009995 7.163865) (6.009995 5.902491) BRICK0
(-4.000000 6.000000 -2.000000) (0.000000 6.000000 -2.000000) (0.000000 6.000000 -1.500000) (4.525971 5.997094) (4.525971 7.258468) (4.368299 7.258468) BRICK0
(-4.000000 6.000000 -2.000000) (0.000000 6.000000 -1.500000) (-4.000000 6.000000 -1.500000) (4.525971 5.997094) (4.368299 7.258468) (4.368299 5.997094) BRICK0
(-3.700000 6.300000 -2.000000) (-3.700000 8.300000 -2.000000) (-3.700000 8.300000 -1.500000) (3.854987 6.533178) (3.854987 7.163865) (3.697315 7.163865) BRICK0
(-3.700000 6.300000 -2.000000) (-3.700000 8.300000 -1.500000) (-3.700000 6.300000 -1.500000) (3.854987 6.533178) (3.697315 7.163865) (3.697315 6.533178) BRICK0
(-8.000000 8.000000 -2.000000) (-4.000000 8.000000 -2.000000) (-4.000000 8.000000 -1.500000) (6.483328 0.190320) (6.483328 1.451694) (6.325656 1.451694) BRICK0
(-8.000000 8.000000 -2.000000) (-4.000000 8.000000 -1.500000) (-8.000000 8.000000 -1.500000) (6.483328 0.190320) (6.325656 1.451694) (6.325656 0.190320) BRICK0
(-0.300000 10.000000 -2.000000) (-0.300000 8.300000 -2.000000) (-0.300000 8.300000 -1.500000) (3.854987 4.985767) (3.854987 5.521851) (3.697315 5.521851) BRICK0
(-0.300000 10.000000 -2.000000) (-0.300000 8.300000 -1.500000) (-0.300000 10.000000 -1.500000) (3.854987 4.985767) (3.697315 5.521851) (3.697315 4.985767) BRICK0
(-4.000000 8.000000 -1.500000) (-3.700000 8.300000 -1.500000) (-8.000000 8.300000 -1.500000) (4.998827 4.355081) (4.904248 4.449684) (4.904248 3.093707) BRICK0
(-4.000000 8.000000 -1.500000) (-8.000000 8.300000 -1.500000) (-8.000000 8.000000 -1.500000) (4.998827 4.355081) (4.904248 3.093707) (4.998827 3.093707) BRICK0
(-4.000000 6.000000 -1.500000) (-3.700000 6.300000 -1.500000) (-3.700000 8.300000 -1.500000) (5.629354 4.355081) (5.534775 4.449684) (4.904248 4.449684) BRICK0
(-4.000000 6.000000 -1.500000) (-3.700000 8.300000 -1.500000) (-4.000000 8.000000 -1.500000) (5.629354 4.355081) (4.904248 4.449684) (4.998827 4.355081) BRICK0
(0.000000 6.000000 -1.500000) (-0.300000 6.300000 -1.500000) (-3.700000 6.300000 -1.500000) (5.629354 5.616455) (5.534775 5.521852) (5.534775 4.449684) BRICK0
(0.000000 6.000000 -1.500000) (-3.700000 6.300000 -1.500000) (-4.000000 6.000000 -1.500000) (5.629354 5.616455) (5.534775 4.449684) (5.629354 4.355081) BRICK0
(-0.300000 8.300000 -1.500000) (-0.300000 6.300000 -1.500000) (0.000000 6.000000 -1.500000) (4.904248 5.521852) (5.534775 5.521852) (5.629354 5.616455) BRICK0
(0.000000 6.000000 -1.500000) (0.000000 10.000000 -1.500000) (-0.300000 10.000000 -1.500000) (5.629354 5.616455) (4.368299 5.616455) (4.368299 5.521852) BRICK0
(-0.300000 8.300000 -1.500000) (0.000000 6.000000 -1.500000) (-0.300000 10.000000 -1.500000) (4.904248 5.521852) (5.629354 5.616455) (4.368299 5.521852) BRICK0
(-10.000000 -5.999999 -2.000000) (-10.000001 -9.999999 -2.000000) (-10.000001 -9.999999 -4.000000) (6.483328 1.451694) (6.483328 0.190320) (7.114015 0.190320) BRICK0
(-10.000000 -5.999999 -2.000000) (-10.000001 -9.999999 -4.000000) (-10.000000 -5.999999 -4.000000) (6.483328 1.451694) (7.114015 0.190320) (7.114015 1.451694) BRICK0
(-14.000000 -1.999999 -2.000000) (-16.000000 -1.999999 -2.000000) (-16.000000 -2.299999 -2.000000) (0.820848 2.713067) (0.190320 2.713067) (0.190320 2.618464) BRICK0
(-14.000000 -1.999999 -2.000000) (-16.000000 -2.299999 -2.000000) (-14.000000 -2.299999 -2.000000) (0.820848 2.713067) (0.190320 2.618464) (0.820848 2.618464) BRICK0
(-8.000000 -1.999999 -4.000000) (-8.000000 2.000001 -4.000000) (-12.000000 2.000001 -2.000000) (2.726604 2.713067) (2.726604 3.974441) (1.451375 3.974441) BRICK0
(-8.000000 -1.999999 -4.000000) (-12.000000 2.000001 -2.000000) (-12.000000 -1.999999 -2.000000) (2.726604 2.713067) (1.451375 3.974441) (1.451375 2.713067) BRICK0
(-8.000000 -1.999999 -4.000000) (-12.000000 -1.999999 -2.000000) (-8.000000 -1.999999 -2.000000) (6.798353 5.902491) (6.167666 7.163865) (6.167666 5.902491) BRICK0
(-14.000000 -1.999999 -2.000000) (-14.000000 2.000001 -2.000000) (-16.000000 2.000001 -2.000000) (0.820848 2.713067) (0.820848 3.974441) (0.190320 3.974441) BRICK0
(-14.000000 -1.999999 -2.000000) (-16.000000 2.000001 -2.000000) (-16.000000 -1.999999 -2.000000) (0.820848 2.713067) (0.190320 3.974441) (0.190320 2.713067) BRICK0
(-14.000000 -2.299999 -2.000000) (-16.000000 -2.299999 -2.000000) (-16.000000 -5.699999 -2.000000) (0.820848 2.618464) (0.190320 2.618464) (0.190320 1.546297) BRICK0
(-14.000000 -2.299999 -2.000000) (-16.000000 -5.699999 -2.000000) (-14.000000 -5.699999 -2.000000) (0.820848 2.618464) (0.190320 1.546297) (0.820848 1.546297) BRICK0
(-4.000000 -2.000000 -4.000000) (-4.000000 2.000000 -4.000000) (-8.000000 2.000001 -4.000000) (3.987659 2.713067) (3.987659 3.974441) (2.726604 3.974441) BRICK0
(-4.000000 -2.000000 -4.000000) (-8.000000 2.000001 -4.000000) (-8.000000 -1.999999 -4.000000) (3.987659 2.713067) (2.726604 3.974441) (2.726604 2.713067) BRICK0
(-12.000000 -2.299999 -2.000000) (-12.000000 -5.699999 -2.000000) (-10.300000 -5.699999 -2.000000) (1.451375 2.618464) (1.451375 1.546297) (1.987324 1.546297) BRICK0
(-12.000000 -2.299999 -2.000000) (-10.300000 -5.699999 -2.000000) (-10.300000 -2.299999 -2.000000) (1.451375 2.618464) (1.987324 1.546297) (1.987324 2.618464) BRICK0
(-8.000000 -6.000000 -4.000000) (-10.000000 -5.999999 -4.000000) (-10.000001 -9.999999 -4.000000) (2.726604 1.451694) (2.096077 1.451694) (2.096077 0.190320) BRICK0
(-8.000000 -6.000000 -4.000000) (-10.000001 -9.999999 -4.000000) (-8.000001 -9.999999 -4.000000) (2.726604 1.451694) (2.096077 0.190320) (2.726604 0.190320) BRICK0
(-4.000000 -6.000000 -4.000000) (-8.000000 -6.000000 -4.000000) (-8.000001 -9.999999 -4.000000) (3.987659 1.451694) (2.726604 1.451694) (2.726604 0.190320) BRICK0
(-4.000000 -6.000000 -4.000000) (-8.000001 -9.999999 -4.000000) (-4.000000 -10.000000 -4.000000) (3.987659 1.451694) (2.726604 0.190320) (3.987659 0.190320) BRICK0
(-8.000000 -6.000000 -4.000000) (-8.000000 -6.000000 -2.000000) (-10.000000 -5.999999 -2.000000) (6.325656 2.620692) (6.325656 1.990005) (6.956343 1.990005) BRICK0
(-8.000000 -6.000000 -4.000000) (-10.000000 -5.999999 -2.000000) (-10.000000 -5.999999 -4.000000) (6.325656 2.620692) (6.956343 1.990005) (6.956343 2.620692) BRICK0
(-8.000000 -1.999999 -4.000000) (-8.000000 -1.999999 -2.000000) (-8.000000 -6.000000 -2.000000) (5.156658 7.258468) (4.525971 7.258468) (4.525971 5.997094) BRICK0
(-8.000000 -1.999999 -4.000000) (-8.000000 -6.000000 -2.000000) (-8.000000 -6.000000 -4.000000) (5.156658 7.258468) (4.525971 5.997094) (5.156658 5.997094) BRICK0
(-4.000000 -2.000000 -4.000000) (-8.000000 -1.999999 -4.000000) (-8.000000 -6.000000 -4.000000) (3.987659 2.713067) (2.726604 2.713067) (2.726604 1.451694) BRICK0
(-4.000000 -2.000000 -4.000000) (-8.000000 -6.000000 -4.000000) (-4.000000 -6.000000 -4.000000) (3.987659 2.713067) (2.726604 1.451694) (3.987659 1.451694) BRICK0
(-10.300000 -2.299999 -2.000000) (-10.300000 -5.699999 -2.000000) (-8.300000 -5.699999 -2.000000) (1.987324 2.618464) (1.987324 1.546297) (2.617851 1.546297) BRICK0
(-10.300000 -2.299999 -2.000000) (-8.300000 -5.699999 -2.000000) (-8.300000 -2.299999 -2.000000) (1.987324 2.618464) (2.617851 1.546297) (2.617851 2.618464) BRICK0
(-10.300000 -5.699999 -2.000000) (-12.000000 -5.699999 -2.000000) (-12.000001 -9.999999 -2.000000) (1.987324 1.546297) (1.451375 1.546297) (1.451375 0.190320) BRICK0
(-10.300000 -5.699999 -2.000000) (-12.000001 -9.999999 -2.000000) (-10.300001 -9.999999 -2.000000) (1.987324 1.546297) (1.451375 0.190320) (1.987324 0.190320) BRICK0
(-8.000000 2.000001 -4.000000) (-4.000000 2.000000 -4.000000) (-4.000000 4.000000 -4.000000) (2.726604 3.974441) (3.987659 3.974441) (3.987659 4.605128) BRICK0
(-8.000000 2.000001 -4.000000) (-4.000000 4.000000 -4.000000) (-8.000000 4.000000 -4.000000) (2.726604 3.974441) (3.987659 4.605128) (2.726604 4.605128) BRICK0
(-8.000000 2.000001 -4.000000) (-8.000000 4.000000 -4.000000) (-8.000000 4.000000 -2.000000) (1.451694 6.562484) (0.821007 6.562484) (0.821007 5.931798) BRICK0
(-8.000000 2.000001 -4.000000) (-8.000000 4.000000 -2.000000) (-8.000000 2.000001 -2.000000) (1.451694 6.562484) (0.821007 5.931798) (1.451694 5.931798) BRICK0
(-8.000000 4.000000 -4.000000) (-4.000000 4.000000 -4.000000) (-4.000000 4.000000 -2.000000) (7.809680 5.902491) (7.809680 7.163865) (7.178993 7.163865) BRICK0
(-8.000000 4.000000 -4.000000) (-4.000000 4.000000 -2.000000) (-8.000000 4.000000 -2.000000) (7.809680 5.902491) (7.178993 7.163865) (7.178992 5.902491) BRICK0
(-8.000000 2.000001 -4.000000) (-8.000000 2.000001 -2.000000) (-12.000000 2.000001 -2.000000) (5.945016 2.713067) (5.314330 2.713067) (5.314329 1.451694) BRICK0
(-12.000000 -5.699999 -2.000000) (-14.000000 -5.699999 -2.000000) (-14.000001 -9.999999 -2.000000) (1.451375 1.546297) (0.820848 1.546297) (0.820848 0.190320) BRICK0
(-12.000000 -5.699999 -2.000000) (-14.000001 -9.999999 -2.000000) (-12.000001 -9.999999 -2.000000) (1.451375 1.546297) (0.820848 0.190320) (1.451375 0.190320) BRICK0
(-12.000000 -2.299999 -2.000000) (-14.000000 -2.299999 -2.000000) (-14.000000 -5.699999 -2.000000) (1.451375 2.618464) (0.820848 2.618464) (0.820848 1.546297) BRICK0
(-12.000000 -2.299999 -2.000000) (-14.000000 -5.699999 -2.000000) (-12.000000 -5.699999 -2.000000) (1.451375 2.618464) (0.820848 1.546297) (1.451375 1.546297) BRICK0
(-12.000000 -1.999999 -2.000000) (-12.000000 2.000001 -2.000000) (-14.000000 2.000001 -2.000000) (1.451375 2.713067) (1.451375 3.974441) (0.820848 3.974441) BRICK0
(-12.000000 -1.999999 -2.000000) (-14.000000 2.000001 -2.000000) (-14.000000 -1.999999 -2.000000) (1.451375 2.713067) (0.820848 3.974441) (0.820848 2.713067) BRICK0
(-12.000000 -1.999999 -2.000000) (-14.000000 -1.999999 -2.000000) (-14.000000 -2.299999 -2.000000) (1.451375 2.713067) (0.820848 2.713067) (0.820848 2.618464) BRICK0
(-12.000000 -1.999999 -2.000000) (-14.000000 -2.299999 -2.000000) (-12.000000 -2.299999 -2.000000) (1.451375 2.713067) (0.820848 2.618464) (1.451375 2.618464) BRICK0
(-8.000000 2.000001 -2.000000) (-8.000000 4.000000 -2.000000) (-8.000000 4.000000 1.000000) (1.451694 5.931798) (0.821007 5.931798) (0.821007 4.985767) BRICK0
(-8.000000 2.000001 -2.000000) (-8.000000 4.000000 1.000000) (-8.000000 2.000001 1.000000) (1.451694 5.931798) (0.821007 4.985767) (1.451694 4.985767) BRICK0
(-14.000000 2.000001 -2.000000) (-12.000000 2.000001 -2.000000) (-12.000000 2.000001 1.000000) (5.314329 0.821007) (5.314329 1.451694) (4.368299 1.451694) BRICK0
(-14.000000 2.000001 -2.000000) (-12.000000 2.000001 1.000000) (-14.000000 2.000001 1.000000) (5.314329 0.821007) (4.368299 1.451694) (4.368299 0.821007) BRICK0
(-12.000000 2.000001 -2.000000) (-8.000000 2.000001 -2.000000) (-8.000000 2.000001 1.000000) (5.314329 1.451694) (5.314330 2.713067) (4.368299 2.713067) BRICK0
(-12.000000 2.000001 -2.000000) (-8.000000 2.000001 1.000000) (-12.000000 2.000001 1.000000) (5.314329 1.451694) (4.368299 2.713067) (4.368299 1.451694) BRICK0
(-16.000000 -2.299999 -2.000000) (-16.000000 -1.999999 -2.000000) (-16.000000 -1.999999 1.000000) (6.956025 4.165875) (6.956025 4.260478) (6.009995 4.260478) BRICK0
(-16.000000 -2.299999 -2.000000) (-16.000000 -1.999999 1.000000) (-16.000000 -2.299999 1.000000) (6.956025 4.165875) (6.009995 4.260478) (6.009995 4.165875) BRICK0
(-16.000000 -1.999999 -2.000000) (-16.000000 2.000001 -2.000000) (-16.000000 2.000001 1.000000) (6.956025 4.260478) (6.956025 5.521852) (6.009995 5.521852) BRICK0
(-16.000000 -1.999999 -2.000000) (-16.000000 2.000001 1.000000) (-16.000000 -1.999999 1.000000) (6.956025 4.260478) (6.009995 5.521852) (6.009995 4.260478) BRICK0
(-16.000000 2.000001 -2.000000) (-14.000000 2.000001 -2.000000) (-14.000000 2.000001 1.000000) (5.314329 0.190320) (5.314329 0.821007) (4.368299 0.821007) BRICK0
(-16.000000 2.000001 -2.000000) (-14.000000 2.000001 1.000000) (-16.000000 2.000001 1.000000) (5.314329 0.190320) (4.368299 0.821007) (4.368299 0.190320) BRICK0
(-14.000001 -9.999999 -2.000000) (-14.000000 -5.699999 -2.000000) (-14.000000 -5.699999 1.000000) (2.778364 4.985768) (2.778364 6.341744) (1.832334 6.341744) BRICK0
(-14.000001 -9.999999 -2.000000) (-14.000000 -5.699999 1.000000) (-14.000001 -9.999999 1.000000) (2.778364 4.985768) (1.832334 6.341744) (1.832334 4.985768) BRICK0
(-16.000000 -5.699999 -2.000000) (-16.000000 -2.299999 -2.000000) (-16.000000 -2.299999 1.000000) (6.956025 3.093707) (6.956025 4.165875) (6.009995 4.165875) BRICK0
(-16.000000 -5.699999 -2.000000) (-16.000000 -2.299999 1.000000) (-16.000000 -5.699999 1.000000) (6.956025 3.093707) (6.009995 4.165875) (6.009994 3.093707) BRICK0
(-14.000000 -5.699999 -2.000000) (-16.000000 -5.699999 -2.000000) (-16.000000 -5.699999 1.000000) (2.463020 7.668415) (1.832333 7.668415) (1.832333 6.722384) BRICK0
(-14.000000 -5.699999 -2.000000) (-16.000000 -5.699999 1.000000) (-14.000000 -5.699999 1.000000) (2.463020 7.668415) (1.832333 6.722384) (2.463020 6.722384) BRICK0
(-8.000000 4.000000 1.000000) (-8.000000 4.000000 -2.000000) (-8.000000 6.000000 -2.000000) (0.821007 4.985767) (0.821007 5.931798) (0.190320 5.931798) BRICK0
(-8.000000 4.000000 1.000000) (-8.000000 6.000000 -2.000000) (-8.000000 6.000000 1.000000) (0.821007 4.985767) (0.190320 5.931798) (0.190320 4.985767) BRICK0
(-10.300000 -2.299999 -2.000000) (-8.300000 -2.299999 -2.000000) (-8.300000 -2.299999 -1.500000) (3.854987 5.521851) (3.854987 6.152538) (3.697315 6.152538) BRICK0
(-10.300000 -2.299999 -2.000000) (-8.300000 -2.299999 -1.500000) (-10.300000 -2.299999 -1.500000) (3.854987 5.521851) (3.697315 6.152538) (3.697315 5.521851) BRICK0
(-10.300000 -5.699999 -2.000000) (-10.300001 -9.999999 -2.000000) (-10.300001 -9.999999 -1.500000) (3.316675 4.985768) (3.316675 6.341744) (3.159004 6.341744) BRICK0
(-10.300000 -5.699999 -2.000000) (-10.300001 -9.999999 -1.500000) (-10.300000 -5.699999 -1.500000) (3.316675 4.985768) (3.159004 6.341744) (3.159004 4.985768) BRICK0
(-10.000000 -5.999999 -2.000000) (-8.000000 -6.000000 -2.000000) (-8.000000 -6.000000 -1.500000) (6.956343 1.990005) (6.325656 1.990005) (6.325656 1.832333) BRICK0
(-10.000000 -5.999999 -2.000000) (-8.000000 -6.000000 -1.500000) (-10.000000 -5.999999 -1.500000) (6.956343 1.990005) (6.325656 1.832333) (6.956343 1.832333) BRICK0
(-12.000000 -1.999999 -2.000000) (-12.000000 -2.299999 -2.000000) (-12.000000 -2.299999 -1.500000) (2.938263 6.880056) (2.843660 6.880056) (2.843660 6.722384) BRICK0
(-12.000000 -1.999999 -2.000000) (-12.000000 -2.299999 -1.500000) (-12.000000 -1.999999 -1.500000) (2.938263 6.880056) (2.843660 6.722384) (2.938263 6.722384) BRICK0
(-8.300000 -2.299999 -2.000000) (-8.300000 -5.699999 -2.000000) (-8.300000 -5.699999 -1.500000) (7.494336 3.093707) (7.494337 4.165875) (7.336665 4.165875) BRICK0
(-8.300000 -2.299999 -2.000000) (-8.300000 -5.699999 -1.500000) (-8.300000 -2.299999 -1.500000) (7.494336 3.093707) (7.336665 4.165875) (7.336665 3.093707) BRICK0
(-8.000000 -1.999999 -2.000000) (-12.000000 -1.999999 -2.000000) (-12.000000 -1.999999 -1.500000) (6.167666 5.902491) (6.167666 7.163865) (6.009995 7.163865) BRICK0
(-8.000000 -1.999999 -2.000000) (-12.000000 -1.999999 -1.500000) (-8.000000 -1.999999 -1.500000) (6.167666 5.902491) (6.009995 7.163865) (6.009995 5.902491) BRICK0
(-8.000000 -6.000000 -2.000000) (-8.000000 -1.999999 -2.000000) (-8.000000 -1.999999 -1.500000) (4.525971 5.997094) (4.525971 7.258468) (4.368299 7.258468) BRICK0
(-8.000000 -6.000000 -2.000000) (-8.000000 -1.999999 -1.500000) (-8.000000 -6.000000 -1.500000) (4.525971 5.997094) (4.368299 7.258468) (4.368299 5.997094) BRICK0
(-8.300000 -5.699999 -2.000000) (-10.300000 -5.699999 -2.000000) (-10.300000 -5.699999 -1.500000) (3.854987 6.533178) (3.854987 7.163865) (3.697315 7.163865) BRICK0
(-8.300000 -5.699999 -2.000000) (-10.300000 -5.699999 -1.500000) (-8.300000 -5.699999 -1.500000) (3.854987 6.533178) (3.697315 7.163865) (3.697315 6.533178) BRICK0
(-10.000001 -9.999999 -2.000000) (-10.000000 -5.999999 -2.000000) (-10.000000 -5.999999 -1.500000) (6.483328 0.190320) (6.483328 1.451694) (6.325656 1.451694) BRICK0
(-10.000001 -9.999999 -2.000000) (-10.000000 -5.999999 -1.500000) (-10.000001 -9.999999 -1.500000) (6.483328 0.190320) (6.325656 1.451694) (6.325656 0.190320) BRICK0
(-12.000000 -2.299999 -2.000000) (-10.300000 -2.299999 -2.000000) (-10.300000 -2.299999 -1.500000) (3.854987 4.985767) (3.854987 5.521851) (3.697315 5.521851) BRICK0
(-12.000000 -2.299999 -2.000000) (-10.300000 -2.299999 -1.500000) (-12.000000 -2.299999 -1.500000) (3.854987 4.985767) (3.697315 5.521851) (3.697315 4.985767) BRICK0
(-10.000000 -5.999999 -1.500000) (-10.300000 -5.699999 -1.500000) (-10.300001 -9.999999 -1.500000) (4.998827 4.355081) (4.904248 4.449684) (4.904248 3.093707) BRICK0
(-10.000000 -5.999999 -1.500000) (-10.300001 -9.999999 -1.500000) (-10.000001 -9.999999 -1.500000) (4.998827 4.355081) (4.904248 3.093707) (4.998827 3.093707) BRICK0
(-8.000000 -6.000000 -1.500000) (-8.300000 -5.699999 -1.500000) (-10.300000 -5.699999 -1.500000) (5.629354 4.355081) (5.534775 4.449684) (4.904248 4.449684) BRICK0
(-8.000000 -6.000000 -1.500000) (-10.300000 -5.699999 -1.500000) (-10.000000 -5.999999 -1.500000) (5.629354 4.355081) (4.904248 4.449684) (4.998827 4.355081) BRICK0
(-8.000000 -1.999999 -1.500000) (-8.300000 -2.299999 -1.500000) (-8.300000 -5.699999 -1.500000) (5.629354 5.616455) (5.534775 5.521852) (5.534775 4.449684) BRICK0
(-8.000000 -1.999999 -1.500000) (-8.300000 -5.699999 -1.500000) (-8.000000 -6.000000 -1.500000) (5.629354 5.616455) (5.534775 4.449684) (5.629354 4.355081) BRICK0
(-10.300000 -2.299999 -1.500000) (-8.300000 -2.299999 -1.500000) (-8.000000 -1.999999 -1.500000) (4.904248 5.521852) (5.534775 5.521852) (5.629354 5.616455) BRICK0
(-8.000000 -1.999999 -1.500000) (-12.000000 -1.999999 -1.500000) (-12.000000 -2.299999 -1.500000) (5.629354 5.616455) (4.368299 5.616455) (4.368299 5.521852) BRICK0
(-10.300000 -2.299999 -1.500000) (-8.000000 -1.999999 -1.500000) (-12.000000 -2.299999 -1.500000) (4.904248 5.521852) (5.629354 5.616455) (4.368299 5.521852) BRICK0
}
}
{
"classname" "light"
"intensity" "4.0"
}
{
"classname" "light"
"intensity" "4.0"
}

3
public/brush.h
View File

@@ -4,6 +4,7 @@
#include "tier1/utlvector.h"
#include "rendering.h"
#include "baseentity.h"
#include "physics.h"
class CBrushEntity: public CBaseEntity
{
@@ -14,6 +15,8 @@ public:
virtual void Think( float fDelta ) override;
CUtlVector<Triangle_t> m_mesh;
Collider *m_collider;
RigidBodyHandle *m_body;
};
class C_BrushEntity: public C_BaseEntity

25
public/physics.h
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@@ -0,0 +1,25 @@
#ifndef PHYSICS_H
#define PHYSICS_H
#include "tier0/lib.h"
#include "stdint.h"
typedef void Collider;
typedef void RigidBodyHandle;
template <typename T>
struct Point {
T x, y, z;
};
typedef struct u128 {
uint64_t a;
uint64_t b;
} u128;
#include "physics_gen.h"
extern funnyphysics *px;
#endif

96
public/physics_gen.h Normal file
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@@ -0,0 +1,96 @@
#ifndef RAPIER_H
#define RAPIER_H
typedef struct funnyphysics funnyphysics;
typedef struct px_collider_params {
float friction;
} px_collider_params;
typedef struct px_vec3 {
float m[3];
} px_vec3;
typedef struct px_cast_result {
int8_t hit;
float time;
struct px_vec3 witness1;
struct px_vec3 witness2;
struct px_vec3 normal1;
struct px_vec3 normal2;
} px_cast_result;
typedef struct px_matrix {
float m[16];
} px_matrix;
typedef struct px_rigidbody_params {
float velocity[3];
float angular_velocity[3];
float gravity_scale;
float linear_damping;
float angular_damping;
uint8_t continous;
uint8_t sleeping;
uint8_t lockrotx;
uint8_t lockroty;
uint8_t lockrotz;
uint8_t lockposx;
uint8_t lockposy;
uint8_t lockposz;
int8_t dominance;
} px_rigidbody_params;
#ifdef __cplusplus
extern "C" {
#endif // __cplusplus
Collider *px_ball(float radius, struct px_collider_params params);
Collider *px_box(float x, float y, float z, struct px_collider_params params);
struct px_cast_result px_box_cast(struct funnyphysics *px_world,
float x,
float y,
float z,
struct px_vec3 pos,
struct px_vec3 rot,
struct px_vec3 vel,
float time);
void px_frame(struct funnyphysics *px_world, float delta);
struct px_matrix px_getmatrix(struct funnyphysics *px_world, RigidBodyHandle *body);
struct px_vec3 px_getposition(struct funnyphysics *px_world, RigidBodyHandle *body);
struct px_vec3 px_getvelocity(struct funnyphysics *px_world, RigidBodyHandle *body);
struct funnyphysics *px_init(void);
RigidBodyHandle *px_rigidbody(struct funnyphysics *px_world,
Collider *collider,
struct px_matrix m,
struct px_rigidbody_params params);
void px_setposition(struct funnyphysics *px_world, RigidBodyHandle *body, struct px_vec3 vec);
void px_setvelocity(struct funnyphysics *px_world, RigidBodyHandle *body, struct px_vec3 vec);
RigidBodyHandle *px_staticbody(struct funnyphysics *px_world,
Collider *collider,
struct px_matrix m);
Collider *px_trimesh(const Point<float> *ptr_vert,
size_t len_vert,
const uint32_t (*ptr_ind)[3],
size_t len_ind,
struct px_collider_params params);
#ifdef __cplusplus
} // extern "C"
#endif // __cplusplus
#endif /* RAPIER_H */

2
rapier/.gitignore vendored Normal file
View File

@@ -0,0 +1,2 @@
target
Cargo.lock

12
rapier/Cargo.toml Normal file
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@@ -0,0 +1,12 @@
[package]
name = "rapier_rtt"
version = "0.1.0"
edition = "2024"
[lib]
crate-type = ["staticlib"]
path = "px.rs"
[dependencies]
parry3d = "*"
rapier3d = { version = "*", features = [ "simd-stable", "parallel" ] }

23
rapier/__build.c Normal file
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@@ -0,0 +1,23 @@
#include "god/c.h"
#include "god/ld.h"
#include "god/utils.h"
char *rapierLib = NULL;
void rapier_build(struct build_data b)
{
struct run_project cargo_build = run_new("cargo");
cargo_build.wd = "rapier";
run_add_arg(&cargo_build, "build");
run_add_arg(&cargo_build, "--release");
run_run(&cargo_build);
struct run_project cbindgen = run_new("cbindgen");
cbindgen.wd = "rapier";
run_add_arg(&cbindgen, "--config");
run_add_arg(&cbindgen, "cbindgen.toml");
run_add_arg(&cbindgen, "--crate");
run_add_arg(&cbindgen, "rapier_rtt");
run_add_arg(&cbindgen, "--output");
run_add_arg(&cbindgen, "../public/physics_gen.h");
run_run(&cbindgen);
rapierLib = "rapier/target/release/librapier_rtt.a";
}

160
rapier/cbindgen.toml Normal file
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@@ -0,0 +1,160 @@
# This is a template cbindgen.toml file with all of the default values.
# Some values are commented out because their absence is the real default.
#
# See https://github.com/mozilla/cbindgen/blob/master/docs.md#cbindgentoml
# for detailed documentation of every option here.
language = "C"
############## Options for Wrapping the Contents of the Header #################
# header = "/* Text to put at the beginning of the generated file. Probably a license. */"
# trailer = "/* Text to put at the end of the generated file */"
include_guard = "RAPIER_H"
# pragma_once = true
# autogen_warning = "#ifndef PHYSICS_H\n#error \"Do not use physics_gen.h on its own\"\n#endif"
include_version = false
# namespace = "my_namespace"
namespaces = []
using_namespaces = []
sys_includes = []
includes = []
no_includes = true
cpp_compat = true
after_includes = ""
############################ Code Style Options ################################
braces = "SameLine"
line_length = 100
tab_width = 2
documentation = true
documentation_style = "auto"
documentation_length = "full"
line_endings = "LF" # also "CR", "CRLF", "Native"
############################# Codegen Options ##################################
style = "both"
sort_by = "Name" # default for `fn.sort_by` and `const.sort_by`
usize_is_size_t = true
[defines]
# "target_os = freebsd" = "DEFINE_FREEBSD"
# "feature = serde" = "DEFINE_SERDE"
[export]
include = []
exclude = []
# prefix = "CAPI_"
item_types = []
renaming_overrides_prefixing = false
[export.rename]
[export.body]
[export.mangle]
[fn]
rename_args = "None"
# must_use = "MUST_USE_FUNC"
# deprecated = "DEPRECATED_FUNC"
# deprecated_with_note = "DEPRECATED_FUNC_WITH_NOTE"
# no_return = "NO_RETURN"
# prefix = "START_FUNC"
# postfix = "END_FUNC"
args = "auto"
sort_by = "Name"
[struct]
rename_fields = "None"
# must_use = "MUST_USE_STRUCT"
# deprecated = "DEPRECATED_STRUCT"
# deprecated_with_note = "DEPRECATED_STRUCT_WITH_NOTE"
rename_associated_constant = "None"
derive_constructor = false
derive_eq = false
derive_neq = false
derive_lt = false
derive_lte = false
derive_gt = false
derive_gte = false
[enum]
rename_variants = "None"
# must_use = "MUST_USE_ENUM"
# deprecated = "DEPRECATED_ENUM"
# deprecated_with_note = "DEPRECATED_ENUM_WITH_NOTE"
add_sentinel = false
prefix_with_name = false
derive_helper_methods = false
derive_const_casts = false
derive_mut_casts = false
# cast_assert_name = "ASSERT"
derive_tagged_enum_destructor = false
derive_tagged_enum_copy_constructor = false
enum_class = true
private_default_tagged_enum_constructor = false
[const]
allow_static_const = true
allow_constexpr = false
sort_by = "Name"
[macro_expansion]
bitflags = false
############## Options for How Your Rust library Should Be Parsed ##############
[parse]
parse_deps = false
# include = []
exclude = []
clean = false
extra_bindings = []
[parse.expand]
crates = []
all_features = false
default_features = true
features = []

261
rapier/px.rs Normal file
View File

@@ -0,0 +1,261 @@
/*
* Rapier bindings are defined here
* We use crust btw
*/
extern crate rapier3d;
extern crate parry3d;
use rapier3d::{na::{Isometry, Vector3}, prelude::*, pipeline};
use self::parry3d::query::*;
use std::num::NonZeroUsize;
use std::arch::asm;
#[derive(Default)]
pub struct funnyphysics {
rigid_body_set: RigidBodySet,
collider_set: ColliderSet,
physics_pipeline: PhysicsPipeline,
island_manager: IslandManager,
broad_phase: DefaultBroadPhase,
narrow_phase: NarrowPhase,
impulse_joint_set: ImpulseJointSet,
multibody_joint_set: MultibodyJointSet,
ccd_solver: CCDSolver,
query_pipeline: QueryPipeline,
}
#[unsafe(no_mangle)]
pub unsafe extern "C" fn px_init() -> *mut funnyphysics {
let mut px = Box::new(funnyphysics::default());
px.rigid_body_set=RigidBodySet::new();
px.collider_set=ColliderSet::new();
px.physics_pipeline = PhysicsPipeline::new();
px.island_manager = IslandManager::new();
px.broad_phase = DefaultBroadPhase::new();
px.narrow_phase = NarrowPhase::new();
px.impulse_joint_set = ImpulseJointSet::new();
px.multibody_joint_set = MultibodyJointSet::new();
px.ccd_solver = CCDSolver::new();
px.query_pipeline = QueryPipeline::new();
return Box::into_raw(px);
}
#[unsafe(no_mangle)]
pub unsafe extern "C" fn px_frame(px_world: *mut funnyphysics, delta:f32) {
let gravity = vector![0.0, 0.0, -9.81];
let mut integration_parameters = IntegrationParameters::default();
integration_parameters.dt=delta;
integration_parameters.min_island_size=1;
integration_parameters.num_solver_iterations=NonZeroUsize::new(4).unwrap();
integration_parameters.num_internal_stabilization_iterations=2;
let physics_hooks = ();
let event_handler = ();
if let Some(px) = px_world.as_mut() {
px.physics_pipeline.step(
&gravity,
&integration_parameters,
&mut px.island_manager,
&mut px.broad_phase,
&mut px.narrow_phase,
&mut px.rigid_body_set,
&mut px.collider_set,
&mut px.impulse_joint_set,
&mut px.multibody_joint_set,
&mut px.ccd_solver,
Some(&mut px.query_pipeline),
&physics_hooks,
&event_handler,
);
};
}
#[repr(C)]
pub struct px_collider_params {
friction:f32
}
#[unsafe(no_mangle)]
pub unsafe extern "C" fn px_ball(radius:f32, params:px_collider_params) -> *mut Collider {
Box::into_raw(Box::new(ColliderBuilder::ball(radius).friction(params.friction).build()))
}
#[unsafe(no_mangle)]
pub unsafe extern "C" fn px_box(x:f32,y:f32,z:f32, params:px_collider_params) -> *mut Collider {
Box::into_raw(Box::new(ColliderBuilder::cuboid(x, y, z).friction(params.friction).build()))
}
#[unsafe(no_mangle)]
pub unsafe extern "C" fn px_trimesh(ptr_vert: *const Point<f32>, len_vert: usize, ptr_ind: *const [u32; 3], len_ind: usize, params:px_collider_params) -> *mut Collider {
let vertices: &[Point<f32>] = std::slice::from_raw_parts(ptr_vert, len_vert);
let indices: &[[u32; 3]] = std::slice::from_raw_parts(ptr_ind, len_ind);
Box::into_raw(Box::new(ColliderBuilder::trimesh(vertices.to_vec(), indices.to_vec()).unwrap().friction(params.friction).build()))
}
#[unsafe(no_mangle)]
pub unsafe extern "C" fn px_staticbody(px_world: *mut funnyphysics, collider: *mut Collider, m: px_matrix) -> *mut RigidBodyHandle {
let c = &mut *collider;
let px = px_world.as_mut().unwrap();
let rigid_body = RigidBodyBuilder::fixed()
.translation(vector![m.m[3],m.m[7],m.m[11]])
.dominance_group(127)
.build();
let body = px.rigid_body_set.insert(rigid_body);
px.collider_set.insert_with_parent(c.clone(),body,&mut px.rigid_body_set);
Box::into_raw(Box::new(body))
}
#[repr(C)]
pub struct px_matrix {
m: [f32; 16],
}
#[repr(C)]
#[derive(Default)]
pub struct px_vec3 {
m: [f32; 3],
}
#[repr(C)]
pub struct px_rigidbody_params {
velocity: [f32;3],
angular_velocity: [f32;3],
gravity_scale: f32,
linear_damping: f32,
angular_damping: f32,
continous: u8,
sleeping: u8,
lockrotx: u8,
lockroty: u8,
lockrotz: u8,
lockposx: u8,
lockposy: u8,
lockposz: u8,
dominance: i8,
}
#[unsafe(no_mangle)]
pub unsafe extern "C" fn px_rigidbody(px_world: *mut funnyphysics, collider: *mut Collider, m:px_matrix,params:px_rigidbody_params) -> *mut RigidBodyHandle {
let c = &mut *collider;
let px = px_world.as_mut().unwrap();
let rigid_body = RigidBodyBuilder::dynamic()
.translation(vector![m.m[3],m.m[7],m.m[11]])
.can_sleep(false)
.gravity_scale(1.0)
.enabled_rotations(params.lockrotx==0, params.lockroty==0, params.lockrotz==0)
.enabled_translations(params.lockposx==0, params.lockposy==0, params.lockposz==0)
.dominance_group(params.dominance)
.linear_damping(0.0)
.angular_damping(0.0)
.build();
let body = px.rigid_body_set.insert(rigid_body);
px.collider_set.insert_with_parent(c.clone(),body,&mut px.rigid_body_set);
Box::into_raw(Box::new(body))
}
#[unsafe(no_mangle)]
pub unsafe extern "C" fn px_getposition(px_world: *mut funnyphysics, body: *mut RigidBodyHandle) -> px_vec3 {
let c = &mut *body;
let px = px_world.as_mut().unwrap();
let mut m = px_vec3 { m: [0.0,0.0,0.0]};
let b = &px.rigid_body_set[*c];
m.m[0]=b.translation().x;
m.m[1]=b.translation().y;
m.m[2]=b.translation().z;
m
}
#[unsafe(no_mangle)]
pub unsafe extern "C" fn px_setposition(px_world: *mut funnyphysics, body: *mut RigidBodyHandle, vec: px_vec3) {
let c = &mut *body;
let px = px_world.as_mut().unwrap();
let b = &mut px.rigid_body_set[*c];
b.set_translation(vector![vec.m[0],vec.m[1],vec.m[2]],true);
}
#[unsafe(no_mangle)]
pub unsafe extern "C" fn px_getvelocity(px_world: *mut funnyphysics, body: *mut RigidBodyHandle) -> px_vec3 {
let c = &mut *body;
let px = px_world.as_mut().unwrap();
let mut m = px_vec3 { m: [0.0,0.0,0.0]};
let b = &px.rigid_body_set[*c];
m.m[0]=b.linvel().x;
m.m[1]=b.linvel().y;
m.m[2]=b.linvel().z;
m
}
#[unsafe(no_mangle)]
pub unsafe extern "C" fn px_setvelocity(px_world: *mut funnyphysics, body: *mut RigidBodyHandle, vec: px_vec3) {
let c = &mut *body;
let px = px_world.as_mut().unwrap();
let b = &mut px.rigid_body_set[*c];
b.set_linvel(vector![vec.m[0],vec.m[1],vec.m[2]],true);
}
#[unsafe(no_mangle)]
pub unsafe extern "C" fn px_getmatrix(px_world: *mut funnyphysics, body: *mut RigidBodyHandle) -> px_matrix {
let c = &mut *body;
let px = px_world.as_mut().unwrap();
let mut m = px_matrix { m: [
1.0,0.0,0.0,0.0,
0.0,1.0,0.0,0.0,
0.0,0.0,1.0,0.0,
0.0,0.0,0.0,1.0,
]};
let b = &px.rigid_body_set[*c];
let mat = b.rotation().to_rotation_matrix();
m.m[0]=mat[(0,0)];
m.m[4]=mat[(0,1)];
m.m[8]=mat[(0,2)];
m.m[1]=mat[(1,0)];
m.m[5]=mat[(1,1)];
m.m[9]=mat[(1,2)];
m.m[2]=mat[(2,0)];
m.m[6]=mat[(2,1)];
m.m[10]=mat[(2,2)];
m.m[12]=b.translation().x;
m.m[13]=b.translation().y;
m.m[14]=b.translation().z;
m
}
#[repr(C)]
#[derive(Default)]
pub struct px_cast_result {
hit: i8,
time: f32,
witness1: px_vec3,
witness2: px_vec3,
normal1: px_vec3,
normal2: px_vec3,
}
#[unsafe(no_mangle)]
pub unsafe extern "C" fn px_box_cast(px_world: *mut funnyphysics, x:f32,y:f32,z:f32, pos:px_vec3, rot: px_vec3, vel: px_vec3, time:f32) -> px_cast_result {
let c = Cuboid::new(vector![x,y,z]);
let mut res = px_cast_result::default();
let px = px_world.as_mut().unwrap();
let filter = QueryFilter::default();
let options = ShapeCastOptions {
max_time_of_impact: time,
target_distance: 0.0,
stop_at_penetration: false,
compute_impact_geometry_on_penetration: false,
};
let shape_pos = Isometry { translation: Translation{vector: vector![pos.m[0],pos.m[1],pos.m[2]]}, rotation: Rotation::from_euler_angles(rot.m[0], rot.m[1], rot.m[2])};
let shape_vel=vector![vel.m[0],vel.m[1],vel.m[2]];
if let Some((handle, hit)) = px.query_pipeline.cast_shape(
&px.rigid_body_set, &px.collider_set, &shape_pos, &shape_vel, &c, options, filter
) {
res.time=hit.time_of_impact;
res.hit = 1;
}
res
}

3
src/main.rs Normal file
View File

@@ -0,0 +1,3 @@
fn main() {
println!("Hello, world!");
}