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WeldJoint; Joint:getForce; Joint:getTorque;

This commit is contained in:
bjorn 2024-04-22 20:31:54 -07:00
parent 6575b6ad70
commit 1d4d403ae5
5 changed files with 140 additions and 1 deletions
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15
src/api/l_physics.c
View File

@ -15,6 +15,7 @@ StringEntry lovrShapeType[] = {
};
StringEntry lovrJointType[] = {
[JOINT_WELD] = ENTRY("weld"),
[JOINT_BALL] = ENTRY("ball"),
[JOINT_DISTANCE] = ENTRY("distance"),
[JOINT_HINGE] = ENTRY("hinge"),
@ -97,6 +98,17 @@ static int l_lovrPhysicsNewWorld(lua_State* L) {
return 1;
}
static int l_lovrPhysicsNewWeldJoint(lua_State* L) {
Collider* a = luax_checktype(L, 1, Collider);
Collider* b = luax_checktype(L, 2, Collider);
float anchor[3];
luax_readvec3(L, 3, anchor, NULL);
WeldJoint* joint = lovrWeldJointCreate(a, b, anchor);
luax_pushtype(L, WeldJoint, joint);
lovrRelease(joint, lovrJointDestroy);
return 1;
}
static int l_lovrPhysicsNewBallJoint(lua_State* L) {
Collider* a = luax_checktype(L, 1, Collider);
Collider* b = luax_checktype(L, 2, Collider);
@ -201,6 +213,7 @@ static int l_lovrPhysicsNewCompoundShape(lua_State* L) {
static const luaL_Reg lovrPhysics[] = {
{ "newWorld", l_lovrPhysicsNewWorld },
{ "newWeldJoint", l_lovrPhysicsNewWeldJoint },
{ "newBallJoint", l_lovrPhysicsNewBallJoint },
{ "newBoxShape", l_lovrPhysicsNewBoxShape },
{ "newCapsuleShape", l_lovrPhysicsNewCapsuleShape },
@ -218,6 +231,7 @@ static const luaL_Reg lovrPhysics[] = {
extern const luaL_Reg lovrWorld[];
extern const luaL_Reg lovrCollider[];
extern const luaL_Reg lovrWeldJoint[];
extern const luaL_Reg lovrBallJoint[];
extern const luaL_Reg lovrDistanceJoint[];
extern const luaL_Reg lovrHingeJoint[];
@ -236,6 +250,7 @@ int luaopen_lovr_physics(lua_State* L) {
luax_register(L, lovrPhysics);
luax_registertype(L, World);
luax_registertype(L, Collider);
luax_registertype(L, WeldJoint);
luax_registertype(L, BallJoint);
luax_registertype(L, DistanceJoint);
luax_registertype(L, HingeJoint);

39
src/api/l_physics_joints.c
View File

@ -5,6 +5,7 @@
void luax_pushjoint(lua_State* L, Joint* joint) {
switch (lovrJointGetType(joint)) {
case JOINT_WELD: luax_pushtype(L, WeldJoint, joint); break;
case JOINT_BALL: luax_pushtype(L, BallJoint, joint); break;
case JOINT_DISTANCE: luax_pushtype(L, DistanceJoint, joint); break;
case JOINT_HINGE: luax_pushtype(L, HingeJoint, joint); break;
@ -18,6 +19,7 @@ Joint* luax_checkjoint(lua_State* L, int index) {
if (p) {
const uint64_t hashes[] = {
hash64("WeldJoint", strlen("WeldJoint")),
hash64("BallJoint", strlen("BallJoint")),
hash64("DistanceJoint", strlen("DistanceJoint")),
hash64("HingeJoint", strlen("HingeJoint")),
@ -93,6 +95,20 @@ static int l_lovrJointSetEnabled(lua_State* L) {
return 0;
}
static int l_lovrJointGetForce(lua_State* L) {
Joint* joint = luax_checkjoint(L, 1);
float force = lovrJointGetForce(joint);
lua_pushnumber(L, force);
return 1;
}
static int l_lovrJointGetTorque(lua_State* L) {
Joint* joint = luax_checkjoint(L, 1);
float torque = lovrJointGetTorque(joint);
lua_pushnumber(L, torque);
return 1;
}
#define lovrJoint \
{ "destroy", l_lovrJointDestroy }, \
{ "isDestroyed", l_lovrJointIsDestroyed }, \
@ -101,7 +117,28 @@ static int l_lovrJointSetEnabled(lua_State* L) {
{ "getUserData", l_lovrJointGetUserData }, \
{ "setUserData", l_lovrJointSetUserData }, \
{ "isEnabled", l_lovrJointIsEnabled }, \
{ "setEnabled", l_lovrJointSetEnabled }
{ "setEnabled", l_lovrJointSetEnabled }, \
{ "getForce", l_lovrJointGetForce }, \
{ "getTorque", l_lovrJointGetTorque }
static int l_lovrWeldJointGetAnchors(lua_State* L) {
WeldJoint* joint = luax_checktype(L, 1, WeldJoint);
float anchor1[3], anchor2[3];
lovrWeldJointGetAnchors(joint, anchor1, anchor2);
lua_pushnumber(L, anchor1[0]);
lua_pushnumber(L, anchor1[1]);
lua_pushnumber(L, anchor1[2]);
lua_pushnumber(L, anchor2[0]);
lua_pushnumber(L, anchor2[1]);
lua_pushnumber(L, anchor2[2]);
return 6;
}
const luaL_Reg lovrWeldJoint[] = {
lovrJoint,
{ "getAnchors", l_lovrWeldJointGetAnchors },
{ NULL, NULL }
};
static int l_lovrBallJointGetAnchors(lua_State* L) {
BallJoint* joint = luax_checktype(L, 1, BallJoint);

8
src/modules/physics/physics.h
View File

@ -22,6 +22,7 @@ typedef Shape MeshShape;
typedef Shape TerrainShape;
typedef Shape CompoundShape;
typedef Joint WeldJoint;
typedef Joint BallJoint;
typedef Joint DistanceJoint;
typedef Joint HingeJoint;
@ -202,6 +203,7 @@ void lovrCompoundShapeSetChildOffset(CompoundShape* shape, uint32_t index, float
// Joints
typedef enum {
JOINT_WELD,
JOINT_BALL,
JOINT_DISTANCE,
JOINT_HINGE,
@ -217,6 +219,11 @@ Collider* lovrJointGetColliderB(Joint* joint);
Joint* lovrJointGetNext(Joint* joint, Collider* collider);
bool lovrJointIsEnabled(Joint* joint);
void lovrJointSetEnabled(Joint* joint, bool enable);
float lovrJointGetForce(Joint* joint);
float lovrJointGetTorque(Joint* joint);
WeldJoint* lovrWeldJointCreate(Collider* a, Collider* b, float anchor[3]);
void lovrWeldJointGetAnchors(WeldJoint* joint, float anchor1[3], float anchor2[3]);
BallJoint* lovrBallJointCreate(Collider* a, Collider* b, float anchor[3]);
void lovrBallJointGetAnchors(BallJoint* joint, float anchor1[3], float anchor2[3]);
@ -257,6 +264,7 @@ float lovrSliderJointGetUpperLimit(SliderJoint* joint);
void lovrSliderJointSetUpperLimit(SliderJoint* joint, float limit);
// These tokens need to exist for Lua bindings
#define lovrWeldJointDestroy lovrJointDestroy
#define lovrBallJointDestroy lovrJointDestroy
#define lovrDistanceJointDestroy lovrJointDestroy
#define lovrHingeJointDestroy lovrJointDestroy

63
src/modules/physics/physics_jolt.c
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@ -1156,6 +1156,69 @@ void lovrJointSetEnabled(Joint* joint, bool enable) {
JPH_Constraint_SetEnabled(joint->constraint, enable);
}
float lovrJointGetForce(Joint* joint) {
JPH_Vec3 v;
float force[3], x, y;
switch (joint->type) {
case JOINT_WELD:
JPH_FixedConstraint_GetTotalLambdaPosition((JPH_FixedConstraint*) joint->constraint, &v);
return vec3_length(vec3_fromJolt(force, &v));
case JOINT_BALL:
JPH_PointConstraint_GetTotalLambdaPosition((JPH_PointConstraint*) joint->constraint, &v);
return vec3_length(vec3_fromJolt(force, &v));
case JOINT_DISTANCE:
return JPH_DistanceConstraint_GetTotalLambdaPosition((JPH_DistanceConstraint*) joint->constraint);
case JOINT_HINGE:
JPH_HingeConstraint_GetTotalLambdaPosition((JPH_HingeConstraint*) joint->constraint, &v);
return vec3_length(vec3_fromJolt(force, &v));
case JOINT_SLIDER:
JPH_SliderConstraint_GetTotalLambdaPosition((JPH_SliderConstraint*) joint->constraint, &x, &y);
return sqrtf((x * x) + (y * y));
default: return 0.f;
}
}
float lovrJointGetTorque(Joint* joint) {
JPH_Vec3 v;
float torque[3], x, y;
switch (joint->type) {
case JOINT_WELD:
JPH_FixedConstraint_GetTotalLambdaRotation((JPH_FixedConstraint*) joint->constraint, &v);
return vec3_length(vec3_fromJolt(torque, &v));
case JOINT_BALL:
return 0.f;
case JOINT_DISTANCE:
return 0.f;
case JOINT_HINGE:
JPH_HingeConstraint_GetTotalLambdaRotation((JPH_HingeConstraint*) joint->constraint, &x, &y);
return sqrtf((x * x) + (y * y));
case JOINT_SLIDER:
JPH_SliderConstraint_GetTotalLambdaRotation((JPH_SliderConstraint*) joint->constraint, &v);
return vec3_length(vec3_fromJolt(torque, &v));
default: return 0.f;
}
}
WeldJoint* lovrWeldJointCreate(Collider* a, Collider* b, float anchor[3]) {
lovrCheck(a->world == b->world, "Joint bodies must exist in same World");
WeldJoint* joint = lovrCalloc(sizeof(WeldJoint));
joint->ref = 1;
joint->type = JOINT_WELD;
JPH_FixedConstraintSettings* settings = JPH_FixedConstraintSettings_Create();
JPH_FixedConstraintSettings_SetPoint1(settings, vec3_toJolt(anchor));
JPH_FixedConstraintSettings_SetPoint2(settings, vec3_toJolt(anchor));
joint->constraint = (JPH_Constraint*) JPH_FixedConstraintSettings_CreateConstraint(settings, a->body, b->body);
JPH_ConstraintSettings_Destroy((JPH_ConstraintSettings*) settings);
JPH_PhysicsSystem_AddConstraint(a->world->system, joint->constraint);
lovrJointInit(joint, a, b);
lovrRetain(joint);
return joint;
}
void lovrWeldJointGetAnchors(WeldJoint* joint, float anchor1[3], float anchor2[3]) {
lovrJointGetAnchors((Joint*) joint, anchor1, anchor2);
}
BallJoint* lovrBallJointCreate(Collider* a, Collider* b, float anchor[3]) {
lovrCheck(a->world == b->world, "Joint bodies must exist in same World");
BallJoint* joint = lovrCalloc(sizeof(BallJoint));

16
src/modules/physics/physics_ode.c
View File

@ -1102,6 +1102,22 @@ void lovrJointSetEnabled(Joint* joint, bool enable) {
}
}
float lovrJointGetForce(Joint* joint) {
return 0.f;
}
float lovrJointGetTorque(Joint* joint) {
return 0.f;
}
BallJoint* lovrWeldJointCreate(Collider* a, Collider* b, float anchor[3]) {
lovrThrow("NYI");
}
void lovrWeldJointGetAnchors(WeldJoint* joint, float anchor1[3], float anchor2[3]) {
//
}
BallJoint* lovrBallJointCreate(Collider* a, Collider* b, float anchor[3]) {
lovrCheck(a->world == b->world, "Joint bodies must exist in same World");
BallJoint* joint = lovrCalloc(sizeof(BallJoint));