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#![warn(clippy::all)] #![warn(rust_2018_idioms)] use crate::px_type::*; use crate::rigid_dynamic::RigidDynamic; use glam::Vec3; use physx_macros::*; use physx_sys::{ phys_PxCreateControllerManager, PxCapsuleControllerDesc, PxCapsuleControllerDesc_delete, PxCapsuleControllerDesc_isValid, PxCapsuleControllerDesc_new_alloc, PxController, PxControllerDesc, PxControllerManager, PxControllerManager_createController_mut, PxControllerManager_release_mut, PxController_getActor, PxController_getPosition, PxController_release_mut, PxController_setPosition_mut, PxExtendedVec3, PxMaterial, PxScene, }; use thiserror::Error; #[physx_type] impl ControllerDesc {} #[physx_type] impl ControllerManager { pub fn new(scene: *mut PxScene, locking_enabled: bool) -> Self { let ptr = unsafe { phys_PxCreateControllerManager(scene, locking_enabled) }; ControllerManager { ptr } } pub fn create_controller(&self, desc: &ControllerDesc) -> Controller { let controller = unsafe { PxControllerManager_createController_mut(self.ptr, desc.get_raw()) }; Controller::new(controller) } pub unsafe fn release(self: Self) { PxControllerManager_release_mut(self.ptr); } } #[physx_type(inherit = "ControllerDesc")] impl CapsuleControllerDesc { pub fn new( height: f32, radius: f32, step_offset: f32, material: *mut PxMaterial, ) -> Result<Self, ControllerError> { unsafe { let c = PxCapsuleControllerDesc_new_alloc(); (*c).height = height; (*c).radius = radius; (*c).stepOffset = step_offset; (*c).material = material; if PxCapsuleControllerDesc_isValid(c) { Ok(CapsuleControllerDesc { ptr: c }) } else { PxCapsuleControllerDesc_delete(c); Err(ControllerError::InvalidDescription { height, radius, step_offset, }) } } } pub fn release(self: Self) { unsafe { PxCapsuleControllerDesc_delete(self.ptr) }; } } #[physx_type] impl Controller { pub fn new(controller: *mut PxController) -> Self { Self { ptr: controller } } pub fn set_position(&mut self, position: Vec3) { unsafe { PxController_setPosition_mut(self.get_raw_mut(), &to_extended(&position)); } } pub fn get_position(&self) -> Vec3 { unsafe { from_extended(*PxController_getPosition(self.get_raw())) } } pub fn get_actor(&self) -> RigidDynamic { unsafe { RigidDynamic::from_ptr(PxController_getActor(self.ptr)) } } pub fn release(&mut self) { unsafe { PxController_release_mut(self.get_raw_mut()); } } } fn to_extended(vec: &Vec3) -> PxExtendedVec3 { PxExtendedVec3 { x: vec.x() as f64, y: vec.y() as f64, z: vec.z() as f64, } } fn from_extended(vec: PxExtendedVec3) -> Vec3 { Vec3::new(vec.x as f32, vec.y as f32, vec.z as f32) } #[derive(Error, Debug)] pub enum ControllerError { #[error( "Controller description is invalid. height={}, radius={}, step_offset={}", height, radius, step_offset )] InvalidDescription { height: f32, radius: f32, step_offset: f32, }, #[error("No controller manager present")] NoControllerManager, }