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Clean up Rust example
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@LPGhatguy
LPGhatguy committed Apr 20, 2024
1 parent 33b2cc8 commit ad0e50a
Showing 1 changed file with 53 additions and 64 deletions.
117 changes: 53 additions & 64 deletions crates/hello-world-sys/src/main.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -2,12 +2,8 @@ use std::ffi::{c_uint, c_void, CStr};
use std::mem::MaybeUninit;
use std::ptr;

use jolt_sys::{
JPC_BodyInterface_AddBody, JPC_BodyInterface_CreateBody,
JPC_BodyInterface_GetCenterOfMassPosition, JPC_BodyInterface_GetLinearVelocity, JPC_Body_GetID,
JPC_BroadPhaseLayer, JPC_ObjectLayer, Real, JPC_ACTIVATION_ACTIVATE,
JPC_ACTIVATION_DONT_ACTIVATE, JPC_MOTION_TYPE_DYNAMIC, JPC_MOTION_TYPE_STATIC,
};
// Everything prefixed with `JPC_` comes from the jolt_sys crate.
use jolt_sys::*;

const OL_NON_MOVING: JPC_ObjectLayer = 0;
const OL_MOVING: JPC_ObjectLayer = 1;
Expand All @@ -31,7 +27,7 @@ unsafe extern "C" fn bpl_get_broad_phase_layer(
}
}

const BPL: jolt_sys::JPC_BroadPhaseLayerInterfaceFns = jolt_sys::JPC_BroadPhaseLayerInterfaceFns {
const BPL: JPC_BroadPhaseLayerInterfaceFns = JPC_BroadPhaseLayerInterfaceFns {
GetNumBroadPhaseLayers: Some(bpl_get_num_broad_phase_layers as _),
GetBroadPhaseLayer: Some(bpl_get_broad_phase_layer as _),
};
Expand All @@ -48,10 +44,9 @@ unsafe extern "C" fn ovb_should_collide(
}
}

const OVB: jolt_sys::JPC_ObjectVsBroadPhaseLayerFilterFns =
jolt_sys::JPC_ObjectVsBroadPhaseLayerFilterFns {
ShouldCollide: Some(ovb_should_collide as _),
};
const OVB: JPC_ObjectVsBroadPhaseLayerFilterFns = JPC_ObjectVsBroadPhaseLayerFilterFns {
ShouldCollide: Some(ovb_should_collide as _),
};

unsafe extern "C" fn ovo_should_collide(
_this: *const c_void,
Expand All @@ -65,48 +60,44 @@ unsafe extern "C" fn ovo_should_collide(
}
}

const OVO: jolt_sys::JPC_ObjectLayerPairFilterFns = jolt_sys::JPC_ObjectLayerPairFilterFns {
const OVO: JPC_ObjectLayerPairFilterFns = JPC_ObjectLayerPairFilterFns {
ShouldCollide: Some(ovo_should_collide as _),
};

fn vec3(x: f32, y: f32, z: f32) -> jolt_sys::JPC_Vec3 {
jolt_sys::JPC_Vec3 { x, y, z, _w: z }
fn vec3(x: f32, y: f32, z: f32) -> JPC_Vec3 {
JPC_Vec3 { x, y, z, _w: z }
}

fn rvec3(x: Real, y: Real, z: Real) -> jolt_sys::JPC_RVec3 {
jolt_sys::JPC_RVec3 { x, y, z, _w: z }
fn rvec3(x: Real, y: Real, z: Real) -> JPC_RVec3 {
JPC_RVec3 { x, y, z, _w: z }
}

fn main() {
unsafe {
jolt_sys::JPC_RegisterDefaultAllocator();
jolt_sys::JPC_FactoryInit();
jolt_sys::JPC_RegisterTypes();
JPC_RegisterDefaultAllocator();
JPC_FactoryInit();
JPC_RegisterTypes();

let temp_allocator = jolt_sys::JPC_TempAllocatorImpl_new(10 * 1024 * 1024);
let temp_allocator = JPC_TempAllocatorImpl_new(10 * 1024 * 1024);

let job_system = jolt_sys::JPC_JobSystemThreadPool_new2(
jolt_sys::JPC_MAX_PHYSICS_JOBS as _,
jolt_sys::JPC_MAX_PHYSICS_BARRIERS as _,
);
let job_system =
JPC_JobSystemThreadPool_new2(JPC_MAX_PHYSICS_JOBS as _, JPC_MAX_PHYSICS_BARRIERS as _);

let broad_phase_layer_interface =
jolt_sys::JPC_BroadPhaseLayerInterface_new(ptr::null(), BPL);
let broad_phase_layer_interface = JPC_BroadPhaseLayerInterface_new(ptr::null(), BPL);

let object_vs_broad_phase_layer_filter =
jolt_sys::JPC_ObjectVsBroadPhaseLayerFilter_new(ptr::null_mut(), OVB);
JPC_ObjectVsBroadPhaseLayerFilter_new(ptr::null_mut(), OVB);

let object_vs_object_layer_filter =
jolt_sys::JPC_ObjectLayerPairFilter_new(ptr::null_mut(), OVO);
let object_vs_object_layer_filter = JPC_ObjectLayerPairFilter_new(ptr::null_mut(), OVO);

let physics_system = jolt_sys::JPC_PhysicsSystem_new();
let physics_system = JPC_PhysicsSystem_new();

let max_bodies = 1024;
let num_body_mutexes = 0;
let max_body_pairs = 1024;
let max_contact_constraints = 1024;

jolt_sys::JPC_PhysicsSystem_Init(
JPC_PhysicsSystem_Init(
physics_system,
max_bodies,
num_body_mutexes,
Expand All @@ -120,25 +111,22 @@ fn main() {
// TODO: register body activation listener
// TODO: register contact listener

let body_interface = jolt_sys::JPC_PhysicsSystem_GetBodyInterface(physics_system);
let body_interface = JPC_PhysicsSystem_GetBodyInterface(physics_system);

let floor_shape_settings = jolt_sys::JPC_BoxShapeSettings_new(vec3(100.0, 1.0, 100.0));
let floor_shape_settings = JPC_BoxShapeSettings_new(vec3(100.0, 1.0, 100.0));

let mut floor_shape: *mut jolt_sys::JPC_Shape = ptr::null_mut();
let mut err: *mut jolt_sys::JPC_String = ptr::null_mut();
if !jolt_sys::JPC_ShapeSettings_Create(
floor_shape_settings.cast::<jolt_sys::JPC_ShapeSettings>(),
let mut floor_shape: *mut JPC_Shape = ptr::null_mut();
let mut err: *mut JPC_String = ptr::null_mut();
if !JPC_ShapeSettings_Create(
floor_shape_settings.cast::<JPC_ShapeSettings>(),
&mut floor_shape,
&mut err,
) {
panic!(
"Fatal error: {:?}",
CStr::from_ptr(jolt_sys::JPC_String_c_str(err))
);
panic!("Fatal error: {:?}", CStr::from_ptr(JPC_String_c_str(err)));
}

let mut floor_settings = MaybeUninit::<jolt_sys::JPC_BodyCreationSettings>::zeroed();
jolt_sys::JPC_BodyCreationSettings_default(floor_settings.as_mut_ptr());
let mut floor_settings = MaybeUninit::<JPC_BodyCreationSettings>::zeroed();
JPC_BodyCreationSettings_default(floor_settings.as_mut_ptr());
let mut floor_settings = floor_settings.assume_init();
floor_settings.Position = rvec3(0.0, -1.0, 0.0);
floor_settings.MotionType = JPC_MOTION_TYPE_STATIC;
Expand All @@ -152,23 +140,20 @@ fn main() {
JPC_ACTIVATION_DONT_ACTIVATE,
);

let sphere_shape_settings = jolt_sys::JPC_SphereShapeSettings_new(0.5);
let sphere_shape_settings = JPC_SphereShapeSettings_new(0.5);

let mut sphere_shape: *mut jolt_sys::JPC_Shape = ptr::null_mut();
let mut err: *mut jolt_sys::JPC_String = ptr::null_mut();
if !jolt_sys::JPC_ShapeSettings_Create(
sphere_shape_settings.cast::<jolt_sys::JPC_ShapeSettings>(),
let mut sphere_shape: *mut JPC_Shape = ptr::null_mut();
let mut err: *mut JPC_String = ptr::null_mut();
if !JPC_ShapeSettings_Create(
sphere_shape_settings.cast::<JPC_ShapeSettings>(),
&mut sphere_shape,
&mut err,
) {
panic!(
"Fatal error: {:?}",
CStr::from_ptr(jolt_sys::JPC_String_c_str(err))
);
panic!("Fatal error: {:?}", CStr::from_ptr(JPC_String_c_str(err)));
}

let mut sphere_settings = MaybeUninit::<jolt_sys::JPC_BodyCreationSettings>::zeroed();
jolt_sys::JPC_BodyCreationSettings_default(sphere_settings.as_mut_ptr());
let mut sphere_settings = MaybeUninit::<JPC_BodyCreationSettings>::zeroed();
JPC_BodyCreationSettings_default(sphere_settings.as_mut_ptr());
let mut sphere_settings = sphere_settings.assume_init();
sphere_settings.Position = rvec3(0.0, 2.0, 0.0);
sphere_settings.MotionType = JPC_MOTION_TYPE_DYNAMIC;
Expand All @@ -193,7 +178,7 @@ fn main() {
position.x, position.y, position.z, velocity.x, velocity.y, velocity.z
);

jolt_sys::JPC_PhysicsSystem_Update(
JPC_PhysicsSystem_Update(
physics_system,
delta_time,
collision_steps,
Expand All @@ -202,18 +187,22 @@ fn main() {
);
}

// TODO: RemoveBody and DestroyBody
JPC_BodyInterface_RemoveBody(body_interface, JPC_Body_GetID(floor));
JPC_BodyInterface_DestroyBody(body_interface, JPC_Body_GetID(floor));

JPC_BodyInterface_RemoveBody(body_interface, sphere_id);
JPC_BodyInterface_DestroyBody(body_interface, sphere_id);

jolt_sys::JPC_PhysicsSystem_delete(physics_system);
jolt_sys::JPC_BroadPhaseLayerInterface_delete(broad_phase_layer_interface);
jolt_sys::JPC_ObjectVsBroadPhaseLayerFilter_delete(object_vs_broad_phase_layer_filter);
jolt_sys::JPC_ObjectLayerPairFilter_delete(object_vs_object_layer_filter);
JPC_PhysicsSystem_delete(physics_system);
JPC_BroadPhaseLayerInterface_delete(broad_phase_layer_interface);
JPC_ObjectVsBroadPhaseLayerFilter_delete(object_vs_broad_phase_layer_filter);
JPC_ObjectLayerPairFilter_delete(object_vs_object_layer_filter);

jolt_sys::JPC_JobSystemThreadPool_delete(job_system);
jolt_sys::JPC_TempAllocatorImpl_delete(temp_allocator);
JPC_JobSystemThreadPool_delete(job_system);
JPC_TempAllocatorImpl_delete(temp_allocator);

jolt_sys::JPC_UnregisterTypes();
jolt_sys::JPC_FactoryDelete();
JPC_UnregisterTypes();
JPC_FactoryDelete();
}

println!("Hello, world!");
Expand Down

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