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https://github.com/raylib-cs/raylib-cs
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Fixing physac issues
- Trying to fix marshall issues withh physac. Comparing struct size compared to c etc.
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@ -27,67 +27,93 @@ namespace Raylib
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public float m11;
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}
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[StructLayout(LayoutKind.Sequential, CharSet = CharSet.Ansi)]
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public struct PolygonData
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// [StructLayout(LayoutKind.Sequential, CharSet = CharSet.Ansi)]
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[StructLayout(LayoutKind.Explicit, Size = 388)]
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public unsafe struct PolygonData
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{
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[FieldOffset(0)]
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public uint vertexCount; // Current used vertex and normals count
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//[MarshalAs(UnmanagedType.ByValArray, ArraySubType = UnmanagedType.Struct, SizeConst = Raylib.PHYSAC_MAX_VERTICES)]
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//public Vector2[] positions; // Polygon vertex positions vectors
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[FieldOffset(4)]
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public unsafe Vector2* positions;
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//[MarshalAs(UnmanagedType.ByValArray, ArraySubType = UnmanagedType.Struct, SizeConst = Raylib.PHYSAC_MAX_VERTICES)]
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//public Vector2[] normals; // Polygon vertex normals vectors
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[FieldOffset(196)]
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public unsafe Vector2* normals;
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}
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[StructLayout(LayoutKind.Sequential, CharSet = CharSet.Ansi)]
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// [StructLayout(LayoutKind.Sequential, CharSet = CharSet.Ansi)]
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[StructLayout(LayoutKind.Explicit, Size = 424)]
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public struct PhysicsShape
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{
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[FieldOffset(0)]
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public PhysicsShapeType type; // Physics shape type (circle or polygon)
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public IntPtr body; // Shape physics body reference
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[FieldOffset(8)]
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public IntPtr body; // Shape physics body reference
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[FieldOffset(16)]
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public float radius; // Circle shape radius (used for circle shapes)
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[FieldOffset(20)]
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public Mat2 transform; // Vertices transform matrix 2x2
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[FieldOffset(36)]
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public PolygonData vertexData; // Polygon shape vertices position and normals data (just used for polygon shapes)
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}
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[StructLayout(LayoutKind.Sequential, CharSet = CharSet.Ansi)]
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public struct PhysicsBodyData
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public partial struct PhysicsBodyData
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{
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public uint id; // Reference unique identifier
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public bool enabled; // Enabled dynamics state (collisions are calculated anyway)
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public Vector2 position; // Physics body shape pivot
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public Vector2 velocity; // Current linear velocity applied to position
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public Vector2 force; // Current linear force (reset to 0 every step)
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public float angularVelocity; // Current angular velocity applied to orient
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public float torque; // Current angular force (reset to 0 every step)
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public float orient; // Rotation in radians
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public float inertia; // Moment of inertia
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public float inverseInertia; // Inverse value of inertia
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public float mass; // Physics body mass
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public float inverseMass; // Inverse value of mass
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public float staticFriction; // Friction when the body has not movement (0 to 1)
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public float dynamicFriction; // Friction when the body has movement (0 to 1)
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public float restitution; // Restitution coefficient of the body (0 to 1)
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public bool useGravity; // Apply gravity force to dynamics
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public bool isGrounded; // Physics grounded on other body state
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public bool freezeOrient; // Physics rotation constraint
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public PhysicsShape shape; // Physics body shape information (type, radius, vertices, normals)
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public uint id;
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public bool enabled;
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public Vector2 position;
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public Vector2 velocity;
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public Vector2 force;
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public float angularVelocity;
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public float torque;
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public float orient;
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public float inertia;
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public float inverseInertia;
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public float mass;
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public float inverseMass;
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public float staticFriction;
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public float dynamicFriction;
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public float restitution;
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public bool useGravity;
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public bool isGrounded;
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public bool freezeOrient;
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public PhysicsShape shape;
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// convert c bool(stored as byte) to bool
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/*public bool enabled
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{
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get { return Convert.ToBoolean(bEnabled); }
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set {
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bEnabled = Convert.ToByte(value); }
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}
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public bool useGravity
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{
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get { return Convert.ToBoolean(bUseGravity); }
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set { bUseGravity = Convert.ToByte(value); }
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}
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public bool isGrounded
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{
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get { return bIsGrounded != 0; }
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set { bIsGrounded = (byte)(value ? 1 : 0); }
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}
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public bool freezeOrient
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{
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get { return Convert.ToBoolean(bFreezeOrient); }
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set { bFreezeOrient = Convert.ToByte(value); }
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}*/
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}
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[StructLayout(LayoutKind.Sequential, CharSet = CharSet.Ansi)]
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public unsafe struct PhysicsManifoldData
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{
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public uint id; // Reference unique identifier
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public PhysicsBodyData bodyA; // Manifold first physics body reference
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public PhysicsBodyData bodyB; // Manifold second physics body reference
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public IntPtr bodyA; // Manifold first physics body reference
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public IntPtr bodyB; // Manifold second physics body reference
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public float penetration; // Depth of penetration from collision
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public Vector2 normal; // Normal direction vector from 'a' to 'b'
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//[MarshalAs(UnmanagedType.ByValArray, ArraySubType = UnmanagedType.Struct, SizeConst = 2)]
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// public fixed Vector2[] contacts; // Points of contact during collision
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public unsafe Vector2* contacts;
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public unsafe Vector2* contacts; // Points of contact during collision
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public uint contactsCount; // Current collision number of contacts
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public float restitution; // Mixed restitution during collision
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public float dynamicFriction; // Mixed dynamic friction during collision
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@ -100,8 +126,6 @@ namespace Raylib
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{
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#region Raylib-cs Variables
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// Used by DllImport to load the native library.
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// private const string nativeLibName = "raylib.dll";
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public const int PHYSAC_MAX_BODIES = 64;
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public const int PHYSAC_MAX_MANIFOLDS = 4096;
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public const int PHYSAC_MAX_VERTICES = 24;
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@ -138,7 +162,6 @@ namespace Raylib
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// Creates a new circle physics body with generic parameters
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[DllImport(nativeLibName, EntryPoint = "CreatePhysicsBodyCircle")]
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// [return: MarshalAs(UnmanagedType.LPStruct)]
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private static extern IntPtr CreatePhysicsBodyCircleImport(Vector2 pos, float radius, float density);
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public static PhysicsBodyData CreatePhysicsBodyCircle(Vector2 pos, float radius, float density)
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{
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@ -1,6 +1,9 @@
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using Raylib;
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using static Raylib.Raylib;
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using System;
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using System.Runtime.InteropServices;
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public partial class physics_demo
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{
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/*******************************************************************************************
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@ -19,8 +22,6 @@ public partial class physics_demo
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*
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********************************************************************************************/
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public static int Main()
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{
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// Initialization
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@ -40,8 +41,14 @@ public partial class physics_demo
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InitPhysics();
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// Create floor rectangle physics body
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var floor = CreatePhysicsBodyRectangle(new Vector2( screenWidth/2, screenHeight ), 500, 100, 10);
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var floor = CreatePhysicsBodyRectangle(new Vector2(screenWidth / 2, screenHeight), 500, 100, 10);
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floor.enabled = false; // Disable body state to convert it to static (no dynamics, but collisions)
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floor.isGrounded = true;
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Console.WriteLine(Marshal.SizeOf<PhysicsBodyData>());
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Console.WriteLine(Marshal.SizeOf<PhysicsShape>());
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Console.WriteLine(Marshal.SizeOf<PolygonData>());
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Console.WriteLine(Marshal.SizeOf<bool>());
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// Create obstacle circle physics body
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var circle = CreatePhysicsBodyCircle(new Vector2( screenWidth/2, screenHeight/2 ), 45, 10);
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@ -56,6 +63,8 @@ public partial class physics_demo
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// Update
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//----------------------------------------------------------------------------------
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// Delay initialization of variables due to physics reset async
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RunPhysicsStep();
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if (needsReset)
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{
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floor = CreatePhysicsBodyRectangle(new Vector2( screenWidth/2, screenHeight ), 500, 100, 10);
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@ -81,7 +90,8 @@ public partial class physics_demo
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for (int i = bodiesCount - 1; i >= 0; i--)
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{
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var body = GetPhysicsBody(i);
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if (body.id != 0 && (body.position.y > screenHeight*2)) DestroyPhysicsBody(body);
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if (!body.Equals(default(PhysicsBodyData)) && (body.position.y > screenHeight*2))
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DestroyPhysicsBody(body);
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}
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//----------------------------------------------------------------------------------
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