amerkoleci / joltphysicssharp Goto Github PK

I noticed that both the C# port as well as the Zig port of Jolt implement a C port of Jolt underneath to use as a compatibility layer (both happen to be named JoltC, even).

Is it an issue that there are two different C APIs reproducing the same work? Could it benefit from more collaboration?

Using dotnet run. Can't seem to find the shared library for jolt.
OS: Macos.

Unhandled exception. System.DllNotFoundException: Unable to load shared library 'joltc' or one of its dependencies.

I cant find classes like VehicleController and others. Is there a way to compile this package with the vehicle support?

JPH_RVec3 and JPH_RMat44 are currently always defined to use doubles, even when DOUBLE_PRECISION option isn't set.

This causes extra float <-> double conversions: If a user is representing their vectors as floats, they need to convert them to doubles to send them to JoltC, but JoltC will immediately convert them back to floats to send to Jolt. These conversions aren't that slow, but they are unnecessary and can start to add up.

Example:

void setBodyPosition(Body* body, float x, float y, float z) {
  // floats get converted to doubles here:
  JPH_RVec3 position = { x, y, z };

  // this calls ToRVec3, which converts the doubles back to floats:
  JPH_BodyInterface_SetPosition(world->body_interface, body->id, &position, JPH_Activation_Activate);
}

It also means that we can't operate on RVec3/RMat44 as though they were arrays of floats in memory, so we need to write custom functions to convert between floats and JoltC's types instead of using e.g. memcpy or casts.

I can send a PR to change the "R" types to conditionally use floats or doubles based on the JPH_DOUBLE_PRECISION define, but I wanted to discuss first to make sure this sort of change would work with the C# bindings.

I don't think there are any concerns with ABI compatibility, since the library is currently set up to use different names (joltc vs. joltc_double) for the different precision modes.

Is there no interface to PhysicsSettings such as PenetrationSlop and TimeBeforeSleep?

(https://jrouwe.github.io/JoltPhysics/struct_physics_settings.html)

struct MassProperties's Property:
public bool IsNull => Handle != 0;
public bool IsNotNull => Handle == 0;
maybe it inverted?

Hi today i tried CastRay out and it just crash:

Issue description

Hello, I'm encountering an issue with the .dll importer in C#. It's a bit puzzling because it seems to work on some PCs but not others. On my main development machine, everything runs smoothly. However, on my test PC, I consistently encounter an error. Interestingly, on my sister's PC, it works flawlessly. It's quite perplexing, but I found that replacing the .dll with the original joltc one resolves the issue on any PC.

Issue screenshot

I am getting 2 of those entries, when I call

var body = _physicsSystem.BodyInterface.CreateBody(bodyCreationSettings);

where bodyCreationSettings is a BoxShapeSettings which i have created via

var halfSize = modelMesh.MeshData.BoundingBox.HalfSize;
BoxShapeSettings = new BoxShapeSettings(new Vector3(halfSize.X, halfSize.Y, halfSize.Z));

BSS's ctor has an optional parameter convexRadius which defaults to 0.05f. Setting it to something else, 0.5f, 0.0f, 1.0f, ... doesn't change anything. The docs talk about 0.0f in that case

Hi 👋, I noticed really minor typo

TempAllocator has two ls

but the parameter name, tempAlocator, has one l

(there are a few other usages too)

I can make a PR to fix it if you it would help :)

Hello,

I can see the there are settings to set DoublePrecision in the JoltApi.cs but the referenced functions such as

public static extern void JPH_Body_GetPosition(IntPtr handle, out Vector3 result);

seem to return a single precision vector3.

is it the case that the c++ implementation supports double precision but the binding does not?

Thanks very much for the work so far.

This error comes not by every build it looks very random...

But pls take a look on it!

The Silk.NET team are always banging on about how they use codegen tools to generate the bindings for a lot of their libraries could something similar be used here to help automate the process?

After publishing my project the .dll get not founded unpublished it works fine

To create a rigidbody with my destination mass, in JoltPhysics docs' method, do following:

SphereShape shape = new(0.5f);
MassProperties massProperties = shape.MassProperties;
massProperties.ScaleToMass(10);
BodyCreationSettings spherSettings = new(shape, new Double3(0, 2, 0), Quaternion.Identity, MotionType.Dynamic, Layers.Moving);
Body sphereBody = bodyInterface.CreateBody(spherSettings);
Console.WriteLine("Mass: " + 1 / sphereBody.MotionProperties.InverseMassUnchecked); // not 10

That doesn't work.
Maybe do sphereBody.MotionProperties.SetMassProperties(AllowedDOFs.All, massProperties); after that works, but what to do if I create Rigidbody with multiple Shapes with CompoundShape? there's no way to get CompoundShape's massProperties, and ConvexHullShape even have no MassProperties, so there's only one way to do that:

SphereShape boxShapeForWorkAroundMass = new(1);
MassProperties createdMassProp = boxShapeForWorkAroundMass.MassProperties;
createdMassProp.ScaleToMass(128);
SphereShape shap = new(0.5f);
BodyCreationSettings spherSettings = new(shap, new Double3(0, 2, 0), Quaternion.Identity, MotionType.Dynamic, Layers.Moving);
Body sphereBody = bodyInterface.CreateBody(spherSettings);
bodyInterface.AddBody(sphereBody.ID, 0);
sphereBody.MotionProperties.SetMassProperties(AllowedDOFs.All, createdMassProp);
Console.WriteLine("Mass: " + 1 / sphereBody.MotionProperties.InverseMassUnchecked);//128

Maybe there's many important APIs missing?

Could you pls add:

• LockX/Y/Z (To disable of a physical object to fall in a setet direction, like X).
• Mass

I hope you can add this features :)

Hi, I am porting my project to Android but unfortunately this library doesn't include the correct native libraries.
As I understand you are quite busy but I don't really know how can I add them myself so I would really appreciate some pointers to some resources on this topic.

Since this is C#, is there anything that would keep me from integrating with Unity Engine projects? The advantage would be to support cross-engine physics with similar behaviors and APIs.

I realize that the native interface might work, but that wouldn’t be as simple for getting started.

Hey i try to start with debug mode and it crash often, but not everytime is kind of wierd but idk you should take a look on it.

When looking at the Jolt documentation I noticed a few shapes missing, including the CompoundShape which I need for my application.

I'm going to look into adding it and creating a PR shortly but I thought I'd open an issue in case it gets added before I open a PR.

Hi Amer,

looks like a few things are missing in PhysicsSystem.

1. Gravity See

2. The constraints parts See

How to reproduce bug:
commit set : 9b764ca
Run hello world project without any modify under .NET7.0
Console output:

A body got activated
A body got activated
A body got activated
A body got activated
A body got activated
A body got activated
A body got activated
A body got activated
A body got activated
A body got activated
A body got activated
Fatal error. System.AccessViolationException: Attempted to read or write protected memory. This is often an indication that other memory is corrupt.
Repeat 2 times:

at JoltPhysicsSharp.JoltApi.JPH_MeshShapeSettings_Create2(System.Numerics.Vector3*, Int32, JoltPhysicsSharp.IndexedTriangle*, Int32)

at JoltPhysicsSharp.MeshShapeSettings..ctor(System.Span1<System.Numerics.Vector3>, System.Span1<JoltPhysicsSharp.IndexedTriangle>)
at HelloWorld.Program.CreateTorusMesh(Single, Single, Int32, Int32)
at HelloWorld.Program.Main()

Not sure if this is a JoltC, Jolt C# or my own issue but calling bodyInterface.GetWorldTransform(bodyID) with a valid bodyID causes a NullReference exception. I can call other methods such as GetRotation or GetPosition and they work correctly. If it should work let me know and I'll post an example but it's not much different to the HelloWorld example just using GetWorldTransform.