physxx 0.3.1

Wrapper around the PhysX C++ API that aims to preserve the original API as much as possible.
Documentation 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75

use std::fmt;

#[derive(Clone, Copy)]
pub struct PxTransform(pub(crate) physx_sys::PxTransform);
impl PxTransform {
    pub fn from_translation(translation: glam::Vec3) -> Self {
        Self(unsafe { physx_sys::PxTransform_new_1(&to_physx_vec3(translation)) })
    }
    pub fn new(translation: glam::Vec3, rotation: glam::Quat) -> Self {
        Self(unsafe {
            physx_sys::PxTransform_new_5(&to_physx_vec3(translation), &to_physx_quat(rotation))
        })
    }
    pub fn from_rotation(rotation: glam::Quat) -> Self {
        Self(unsafe { physx_sys::PxTransform_new_3(&to_physx_quat(rotation)) })
    }
    pub fn identity() -> Self {
        Self(unsafe { physx_sys::PxTransform_new_2(physx_sys::PxIdentity) })
    }
    pub fn translation(&self) -> glam::Vec3 {
        to_glam_vec3(&self.0.p)
    }
    pub fn rotation(&self) -> glam::Quat {
        to_glam_quat(self.0.q)
    }
    pub fn to_mat4(&self) -> glam::Mat4 {
        glam::Mat4::from_rotation_translation(self.rotation(), self.translation())
    }
    pub fn set_translation(&mut self, translation: glam::Vec3) {
        self.0.p = to_physx_vec3(translation);
    }
    pub fn set_rotation(&mut self, rotation: glam::Quat) {
        self.0.q = to_physx_quat(rotation);
    }
}
impl fmt::Debug for PxTransform {
    fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
        f.debug_struct("Transform")
            .field("translation", &self.translation())
            .field("rotation", &self.rotation())
            .finish()
    }
}

pub(crate) fn to_glam_vec3(v: &physx_sys::PxVec3) -> glam::Vec3 {
    glam::Vec3::new(v.x, v.y, v.z)
}
pub(crate) fn to_glam_vec3_f64(v: &physx_sys::PxExtendedVec3) -> glam::f64::DVec3 {
    glam::f64::DVec3::new(v.x, v.y, v.z)
}
pub(crate) fn to_glam_quat(v: physx_sys::PxQuat) -> glam::Quat {
    glam::Quat::from_xyzw(v.x, v.y, v.z, v.w)
}
pub(crate) fn to_physx_vec3(v: glam::Vec3) -> physx_sys::PxVec3 {
    physx_sys::PxVec3 {
        x: v.x,
        y: v.y,
        z: v.z,
    }
}
pub(crate) fn to_physx_vec3_f64(v: glam::f64::DVec3) -> physx_sys::PxExtendedVec3 {
    physx_sys::PxExtendedVec3 {
        x: v.x,
        y: v.y,
        z: v.z,
    }
}
pub(crate) fn to_physx_quat(v: glam::Quat) -> physx_sys::PxQuat {
    physx_sys::PxQuat {
        x: v.x,
        y: v.y,
        z: v.z,
        w: v.w,
    }
}