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add physX colliders ,add trigger, colliders now can visible, some rotation for cs and native cpp connection

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This commit is contained in:
Atdunbg
2025-12-24 10:10:24 +08:00
parent 00d3993a77
commit f747db4e27
44 changed files with 2322 additions and 860 deletions
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56
Prism-ScriptCore/Src/Prism/Math/Queternion.cs Normal file
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@ -0,0 +1,56 @@
using System;
using System.Runtime.InteropServices;
namespace Prism
{
[StructLayout(LayoutKind.Sequential)]
public struct Quaternion
{
public float X;
public float Y;
public float Z;
public float W;
public Quaternion(float x, float y, float z, float w)
{
X = x;
Y = y;
Z = z;
W = w;
}
public Quaternion(float w, Vec3 xyz)
{
X = xyz.X;
Y = xyz.Y;
Z = xyz.Z;
W = w;
}
public Quaternion(Vec3 eulerAngles)
{
Vec3 c = Vec3.Cos(eulerAngles * 0.5F);
Vec3 s = Vec3.Sin(eulerAngles * 0.5F);
W = c.X * c.Y * c.Z + s.X * s.Y * s.Z;
X = s.X * c.Y * c.Z - c.X * s.Y * s.Z;
Y = c.X * s.Y * c.Z + s.X * c.Y * s.Z;
Z = c.X * c.Y * s.Z - s.X * s.Y * c.Z;
}
public static Quaternion AngleAxis(float angle, Vec3 axis)
{
float s = (float)Math.Sin(angle * 0.5F);
return new Quaternion(s, axis * s);
}
public static Quaternion operator*(Quaternion a, Quaternion b)
{
float w = a.W * b.W - a.X * b.X - a.Y * b.Y - a.Z * b.Z;
float x = a.W * b.X + a.X * b.W + a.Y * b.Z - a.Z * b.Y;
float y = a.W * b.Y + a.Y * b.W + a.Z * b.X - a.X * b.Z;
float z = a.W * b.Z + a.Z * b.W + a.X * b.Y - a.Y * b.X;
return new Quaternion(x, y, z, w);
}
}
}

21
Prism-ScriptCore/Src/Prism/Math/Vec2.cs
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@ -25,20 +25,23 @@ namespace Prism
}
public void Clamp(Vec2 min, Vec2 max) {
if (X < min.X)
X = min.X;
if (X > max.X)
X = max.X;
if (Y < min.Y)
Y = min.Y;
if (Y > max.Y)
Y = max.Y;
X = Mathf.Clamp(X, min.X, max.X);
Y = Mathf.Clamp(Y, min.Y, max.Y);
}
public static Vec2 operator -(Vec2 l, Vec2 r)
{
return new Vec2(l.X - r.X, l.Y - r.Y);
}
public static Vec2 operator -(Vec2 vector)
{
return new Vec2(-vector.X, -vector.Y);
}
public override string ToString()
{
return $"({X}, {Y})";
}
}
}

66
Prism-ScriptCore/Src/Prism/Math/Vec3.cs
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@ -5,6 +5,12 @@ namespace Prism
[StructLayout(LayoutKind.Sequential)]
public struct Vec3
{
public static Vec3 Zero = new Vec3(0.0f, 0.0f, 0.0f);
public static Vec3 Forward = new Vec3(0.0f, 0.0f, -1.0f);
public static Vec3 Right = new Vec3(1.0f, 0.0f, 0.0f);
public static Vec3 Up = new Vec3(0.0f, 1.0f, 0.0f);
public float X;
public float Y;
public float Z;
@ -40,15 +46,6 @@ namespace Prism
Z = Mathf.Clamp(Z, min.Z, max.Z);
}
public static Vec3 operator *(Vec3 left, float scalar)
{
return new Vec3(left.X * scalar, left.Y * scalar, left.Z * scalar);
}
public static Vec3 operator *(float scalar, Vec3 right)
{
return new Vec3(scalar * right.X, scalar * right.Y, scalar * right.Z);
}
public Vec2 XY {
get { return new Vec2(X, Y); }
@ -66,5 +63,56 @@ namespace Prism
set { Y = value.X; Z = value.Y; }
}
public static Vec3 operator *(Vec3 left, float scalar)
{
return new Vec3(left.X * scalar, left.Y * scalar, left.Z * scalar);
}
public static Vec3 operator *(float scalar, Vec3 right)
{
return new Vec3(scalar * right.X, scalar * right.Y, scalar * right.Z);
}
public static Vec3 operator +(Vec3 left, Vec3 right)
{
return new Vec3(left.X + right.X, left.Y + right.Y, left.Z + right.Z);
}
public static Vec3 operator -(Vec3 left, Vec3 right)
{
return new Vec3(left.X - right.X, left.Y - right.Y, left.Z - right.Z);
}
public static Vec3 operator /(Vec3 left, Vec3 right)
{
return new Vec3(left.X / right.X, left.Y / right.Y, left.Z / right.Z);
}
public static Vec3 operator /(Vec3 left, float scalar)
{
return new Vec3(left.X / scalar, left.Y / scalar, left.Z / scalar);
}
public static Vec3 operator-(Vec3 vector)
{
return new Vec3(-vector.X, -vector.Y, -vector.Z);
}
public static Vec3 Cos(Vec3 vector)
{
return new Vec3((float)Math.Cos(vector.X), (float)Math.Cos(vector.Y), (float)Math.Cos(vector.Z));
}
public static Vec3 Sin(Vec3 vector)
{
return new Vec3((float)Math.Sin(vector.X), (float)Math.Sin(vector.Y), (float)Math.Sin(vector.Z));
}
public override string ToString()
{
return $"({X}, {Y}, {Z})";
}
}
}

10
Prism-ScriptCore/Src/Prism/Math/Vec4.cs
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@ -2,13 +2,13 @@ using System.Runtime.InteropServices;
namespace Prism
{
[StructLayout(LayoutKind.Explicit)]
[StructLayout(LayoutKind.Sequential)]
public struct Vec4
{
[FieldOffset(0)] public float X;
[FieldOffset(4)] public float Y;
[FieldOffset(8)] public float Z;
[FieldOffset(12)] public float W;
public float X;
public float Y;
public float Z;
public float W;
public Vec4(float scalar)
{