From 08c75b06c797e6ec152fe880734ddc1236cf1fbd Mon Sep 17 00:00:00 2001
From: tovjemam <tovjemam@deadfish.cz>
Date: Thu, 7 Mar 2024 21:44:41 +0100
Subject: [PATCH] dsdf

---
 karo.cpp | 58 ++++++++++++++++++++++++++++++++++++++++++++++++++++----
 1 file changed, 54 insertions(+), 4 deletions(-)

diff --git a/karo.cpp b/karo.cpp
index 7cddb49..ad319a5 100644
--- a/karo.cpp
+++ b/karo.cpp
@@ -78,6 +78,45 @@ static void CheckProgramLinkErrors(GLuint program) {
 	}
 }
 
+enum ContactGroup {
+	CG_NONE		= 0,
+	CG_BOX		= (1 << 1),
+	CG_FLOOR	= (1 << 2),
+};
+
+PxFilterFlags FilterShaderExample(
+	PxFilterObjectAttributes attributes0, PxFilterData filterData0,
+	PxFilterObjectAttributes attributes1, PxFilterData filterData1,
+	PxPairFlags& pairFlags, const void* constantBlock, PxU32 constantBlockSize)
+{
+	// let triggers through
+	if (PxFilterObjectIsTrigger(attributes0) || PxFilterObjectIsTrigger(attributes1))
+	{
+		pairFlags = PxPairFlag::eTRIGGER_DEFAULT;
+		return PxFilterFlag::eDEFAULT;
+	}
+	// generate contacts for all that were not filtered above
+	pairFlags = PxPairFlag::eCONTACT_DEFAULT;
+
+	// trigger the contact callback for pairs (A,B) where
+	// the filtermask of A contains the ID of B and vice versa.
+	if ((filterData0.word0 & filterData1.word1) && (filterData1.word0 & filterData0.word1)) {
+		pairFlags |= PxPairFlag::eNOTIFY_TOUCH_FOUND;
+		return PxFilterFlag::eDEFAULT;
+
+	}
+
+	return PxFilterFlag::eSUPPRESS;
+}
+
+void SetupFiltering(PxShape* shape, PxU32 filterGroup, PxU32 filterMask)
+{
+	PxFilterData filterData;
+	filterData.word0 = filterGroup; // word0 = own ID
+	filterData.word1 = filterMask;  // word1 = ID mask to filter pairs that trigger a contact callback
+	shape->setSimulationFilterData(filterData);
+}
+
 static std::vector<Vertex> s_draw_lines;
 static std::vector<Vertex> s_draw_points;
 
@@ -113,9 +152,10 @@ static void InitPhysics() {
 		exit(3);
 
 	sceneDesc.cpuDispatcher = s_cpu_dispatcher;
+	sceneDesc.filterShader = &FilterShaderExample;
 
-	if (!sceneDesc.filterShader)
-		sceneDesc.filterShader = &PxDefaultSimulationFilterShader;
+	//if (!sceneDesc.filterShader)
+	//	sceneDesc.filterShader = &PxDefaultSimulationFilterShader;
 
 	s_scene = s_physics->createScene(sceneDesc);
 	if (!s_scene)
@@ -153,14 +193,20 @@ static void InitPhysics() {
 	//m_scene->setVisualizationParameter(PxVisualizationParameter::eJOINT_LOCAL_FRAMES, enable ? 1.0f : 0.0f);
 	m_scene->setVisualizationParameter(PxVisualizationParameter::eWORLD_AXES, enable ? 1.0f : 0.0f);
 
+	PxShape* shape;
 
 	auto floor_material = s_physics->createMaterial(1.0f, 1.0f, 0.0f);
 	s_material = s_physics->createMaterial(1.0f, 1.0f, 0.6f);
 
 	auto floor = PxCreatePlane(*s_physics, PxPlane(PxVec3(0.f, 1.f, 0.f), 0.f), *floor_material);
+	floor->getShapes(&shape, 1);
+	SetupFiltering(shape, CG_FLOOR, CG_BOX | CG_FLOOR);
 	s_scene->addActor(*floor);
 
+
 	s_box1 = PxCreateDynamic(*s_physics, PxTransform(PxVec3(0.f, 5.0f, 0.f)), PxBoxGeometry(0.5f, 0.5f, 0.5f), *s_material, 1.f);
+	s_box1->getShapes(&shape, 1);
+	SetupFiltering(shape, CG_BOX, CG_FLOOR);
 	s_scene->addActor(*s_box1);
 }
 
@@ -223,6 +269,7 @@ int main() {
 	glfwWindowHint(GLFW_STENCIL_BITS, 0);
 	glfwWindowHint(GLFW_VISIBLE, GLFW_FALSE);
 
+	//GLFWwindow* window = glfwCreateWindow(1920, 1080, "Karo", glfwGetPrimaryMonitor(), NULL);
 	GLFWwindow* window = glfwCreateWindow(800, 600, "Karo", NULL, NULL);
 	if (!window) {
 		std::cerr << "Failed to create window\n";
@@ -304,9 +351,12 @@ int main() {
 				break;
 
 			case GLFW_KEY_E:
-				for (int i = 0; i < 100; i++) {
+				for (int i = 0; i < 1; i++) {
 
 					auto newbox = PxCreateDynamic(*s_physics, PxTransform(PxVec3(0.f, 5.0f * i, 0.f)), PxBoxGeometry(0.5f, 0.5f, 0.5f), *s_material, 1.f);
+					PxShape* shape;
+					newbox->getShapes(&shape, 1);
+					SetupFiltering(shape, CG_BOX, CG_FLOOR | CG_BOX);
 					s_scene->addActor(*newbox);
 					s_count++;
 				}
@@ -331,7 +381,7 @@ int main() {
 		glViewport(0, 0, width, height);
 
 		glm::mat4 proj = glm::perspective(glm::radians(45.0f), (float)width / (float)height, 0.1f, 1000.0f);
-		glm::mat4 view = glm::lookAt(glm::vec3(1.0f, 10.0f, 20.0f) * 10.0f, glm::vec3(0.0f, 0.0f, 0.0f), glm::vec3(0.0, 1.0, 0.0));
+		glm::mat4 view = glm::lookAt(glm::vec3(1.0f, 10.0f, 20.0f) * 1.0f, glm::vec3(0.0f, 0.0f, 0.0f), glm::vec3(0.0, 1.0, 0.0));
 
 		glm::mat4 mvp = proj * view;