mirror of https://github.com/bjornbytes/lovr.git
Cleanup; Methods take vectors;
Ugh this was way worse than I thought
This commit is contained in:
bjorn
parent
2952ed764d
commit
5df8405af3
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@ -26,8 +26,7 @@ static int l_lovrPhysicsNewWorld(lua_State* L) {
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.maxColliders = 65536,
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.maxColliderPairs = 65536,
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.maxContacts = 16384,
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.allowSleep = true,
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.gravity = { 0.f, -9.81f, 0.f }
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.allowSleep = true
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};
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if (lua_istable(L, 1)) {
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@ -64,9 +63,6 @@ static int l_lovrPhysicsNewWorld(lua_State* L) {
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}
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lua_pop(L, 1);
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} else { // Deprecated
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info.gravity[0] = luax_optfloat(L, 1, 0.f);
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info.gravity[1] = luax_optfloat(L, 2, -9.81f);
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info.gravity[2] = luax_optfloat(L, 3, 0.f);
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info.allowSleep = lua_gettop(L) < 4 || lua_toboolean(L, 4);
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if (lua_type(L, 5) == LUA_TTABLE) {
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info.tagCount = luax_len(L, 5);
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@ -86,6 +82,15 @@ static int l_lovrPhysicsNewWorld(lua_State* L) {
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}
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World* world = lovrWorldCreate(&info);
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if (!lua_istable(L, 1)) {
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float gravity[3];
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gravity[0] = luax_optfloat(L, 1, 0.f);
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gravity[1] = luax_optfloat(L, 2, -9.81f);
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gravity[2] = luax_optfloat(L, 3, 0.f);
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lovrWorldSetGravity(world, gravity);
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}
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luax_pushtype(L, World, world);
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lovrRelease(world, lovrWorldDestroy);
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return 1;
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@ -225,12 +225,11 @@ static int l_lovrColliderSetMass(lua_State* L) {
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static int l_lovrColliderGetMassData(lua_State* L) {
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Collider* collider = luax_checktype(L, 1, Collider);
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float cx, cy, cz, mass;
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float inertia[6];
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lovrColliderGetMassData(collider, &cx, &cy, &cz, &mass, inertia);
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lua_pushnumber(L, cx);
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lua_pushnumber(L, cy);
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lua_pushnumber(L, cz);
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float centerOfMass[3], mass, inertia[6];
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lovrColliderGetMassData(collider, centerOfMass, &mass, inertia);
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lua_pushnumber(L, centerOfMass[0]);
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lua_pushnumber(L, centerOfMass[1]);
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lua_pushnumber(L, centerOfMass[2]);
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lua_pushnumber(L, mass);
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lua_newtable(L);
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for (int i = 0; i < 6; i++) {
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@ -242,14 +241,13 @@ static int l_lovrColliderGetMassData(lua_State* L) {
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static int l_lovrColliderSetMassData(lua_State* L) {
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Collider* collider = luax_checktype(L, 1, Collider);
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float cx = luax_checkfloat(L, 2);
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float cy = luax_checkfloat(L, 3);
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float cz = luax_checkfloat(L, 4);
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float mass = luax_checkfloat(L, 5);
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float centerOfMass[3];
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int index = luax_readvec3(L, 2, centerOfMass, NULL);
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float mass = luax_checkfloat(L, index++);
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float inertia[6];
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if (lua_istable(L, 6) && luax_len(L, 6) >= 6) {
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if (lua_istable(L, index) && luax_len(L, index) >= 6) {
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for (int i = 0; i < 6; i++) {
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lua_rawgeti(L, 6, i + 1);
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lua_rawgeti(L, index, i + 1);
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if (!lua_isnumber(L, -1)) {
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return luaL_argerror(L, 6, "Expected 6 numbers or a table with 6 numbers");
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}
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@ -258,25 +256,25 @@ static int l_lovrColliderSetMassData(lua_State* L) {
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lua_pop(L, 1);
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}
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} else {
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for (int i = 6; i < 12; i++) {
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for (int i = index; i < index + 6; i++) {
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if (lua_isnumber(L, i)) {
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inertia[i - 6] = lua_tonumber(L, i);
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inertia[i - index] = lua_tonumber(L, i);
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} else {
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return luaL_argerror(L, i, "Expected 6 numbers or a table with 6 numbers");
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}
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}
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}
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lovrColliderSetMassData(collider, cx, cy, cz, mass, inertia);
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lovrColliderSetMassData(collider, centerOfMass, mass, inertia);
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return 0;
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}
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static int l_lovrColliderGetPosition(lua_State* L) {
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Collider* collider = luax_checktype(L, 1, Collider);
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float x, y, z;
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lovrColliderGetPosition(collider, &x, &y, &z);
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lua_pushnumber(L, x);
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lua_pushnumber(L, y);
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lua_pushnumber(L, z);
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float position[3];
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lovrColliderGetPosition(collider, position);
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lua_pushnumber(L, position[0]);
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lua_pushnumber(L, position[1]);
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lua_pushnumber(L, position[2]);
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return 3;
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}
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@ -284,13 +282,13 @@ static int l_lovrColliderSetPosition(lua_State* L) {
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Collider* collider = luax_checktype(L, 1, Collider);
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float position[3];
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luax_readvec3(L, 2, position, NULL);
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lovrColliderSetPosition(collider, position[0], position[1], position[2]);
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lovrColliderSetPosition(collider, position);
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return 0;
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}
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static int l_lovrColliderGetOrientation(lua_State* L) {
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Collider* collider = luax_checktype(L, 1, Collider);
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float angle, x, y, z, orientation[4];
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float orientation[4], angle, x, y, z;
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lovrColliderGetOrientation(collider, orientation);
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quat_getAngleAxis(orientation, &angle, &x, &y, &z);
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lua_pushnumber(L, angle);
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@ -310,13 +308,13 @@ static int l_lovrColliderSetOrientation(lua_State* L) {
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static int l_lovrColliderGetPose(lua_State* L) {
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Collider* collider = luax_checktype(L, 1, Collider);
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float x, y, z, angle, ax, ay, az, orientation[4];
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lovrColliderGetPosition(collider, &x, &y, &z);
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float position[3], orientation[4], angle, ax, ay, az;
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lovrColliderGetPosition(collider, position);
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lovrColliderGetOrientation(collider, orientation);
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quat_getAngleAxis(orientation, &angle, &ax, &ay, &az);
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lua_pushnumber(L, x);
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lua_pushnumber(L, y);
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lua_pushnumber(L, z);
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lua_pushnumber(L, position[0]);
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lua_pushnumber(L, position[1]);
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lua_pushnumber(L, position[2]);
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lua_pushnumber(L, angle);
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lua_pushnumber(L, ax);
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lua_pushnumber(L, ay);
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@ -329,18 +327,18 @@ static int l_lovrColliderSetPose(lua_State* L) {
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float position[3], orientation[4];
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int index = luax_readvec3(L, 2, position, NULL);
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luax_readquat(L, index, orientation, NULL);
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lovrColliderSetPosition(collider, position[0], position[1], position[2]);
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lovrColliderSetPosition(collider, position);
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lovrColliderSetOrientation(collider, orientation);
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return 0;
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}
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static int l_lovrColliderGetLinearVelocity(lua_State* L) {
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Collider* collider = luax_checktype(L, 1, Collider);
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float x, y, z;
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lovrColliderGetLinearVelocity(collider, &x, &y, &z);
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lua_pushnumber(L, x);
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lua_pushnumber(L, y);
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lua_pushnumber(L, z);
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float velocity[3];
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lovrColliderGetLinearVelocity(collider, velocity);
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lua_pushnumber(L, velocity[0]);
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lua_pushnumber(L, velocity[1]);
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lua_pushnumber(L, velocity[2]);
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return 3;
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}
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@ -348,17 +346,17 @@ static int l_lovrColliderSetLinearVelocity(lua_State* L) {
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Collider* collider = luax_checktype(L, 1, Collider);
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float velocity[3];
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luax_readvec3(L, 2, velocity, NULL);
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lovrColliderSetLinearVelocity(collider, velocity[0], velocity[1], velocity[2]);
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lovrColliderSetLinearVelocity(collider, velocity);
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return 0;
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}
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static int l_lovrColliderGetAngularVelocity(lua_State* L) {
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Collider* collider = luax_checktype(L, 1, Collider);
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float x, y, z;
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lovrColliderGetAngularVelocity(collider, &x, &y, &z);
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lua_pushnumber(L, x);
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lua_pushnumber(L, y);
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lua_pushnumber(L, z);
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float velocity[3];
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lovrColliderGetAngularVelocity(collider, velocity);
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lua_pushnumber(L, velocity[0]);
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lua_pushnumber(L, velocity[1]);
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lua_pushnumber(L, velocity[2]);
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return 3;
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}
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@ -366,7 +364,7 @@ static int l_lovrColliderSetAngularVelocity(lua_State* L) {
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Collider* collider = luax_checktype(L, 1, Collider);
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float velocity[3];
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luax_readvec3(L, 2, velocity, NULL);
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lovrColliderSetAngularVelocity(collider, velocity[0], velocity[1], velocity[2]);
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lovrColliderSetAngularVelocity(collider, velocity);
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return 0;
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}
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@ -412,10 +410,9 @@ static int l_lovrColliderApplyForce(lua_State* L) {
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if (lua_gettop(L) >= index) {
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float position[3];
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luax_readvec3(L, index, position, NULL);
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lovrColliderApplyForceAtPosition(collider, force[0], force[1], force[2],
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position[0], position[1], position[2]);
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lovrColliderApplyForceAtPosition(collider, force, position);
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} else {
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lovrColliderApplyForce(collider, force[0], force[1], force[2]);
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lovrColliderApplyForce(collider, force);
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}
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return 0;
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@ -423,9 +420,9 @@ static int l_lovrColliderApplyForce(lua_State* L) {
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static int l_lovrColliderApplyTorque(lua_State* L) {
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Collider* collider = luax_checktype(L, 1, Collider);
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float force[3];
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luax_readvec3(L, 2, force, NULL);
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lovrColliderApplyTorque(collider, force[0], force[1], force[2]);
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float torque[3];
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luax_readvec3(L, 2, torque, NULL);
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lovrColliderApplyTorque(collider, torque);
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return 0;
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}
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@ -453,83 +450,77 @@ static int l_lovrColliderApplyAngularImpulse(lua_State* L) {
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static int l_lovrColliderGetLocalCenter(lua_State* L) {
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Collider* collider = luax_checktype(L, 1, Collider);
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float x, y, z;
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lovrColliderGetLocalCenter(collider, &x, &y, &z);
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lua_pushnumber(L, x);
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lua_pushnumber(L, y);
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lua_pushnumber(L, z);
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float center[3];
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lovrColliderGetLocalCenter(collider, center);
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lua_pushnumber(L, center[0]);
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lua_pushnumber(L, center[1]);
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lua_pushnumber(L, center[2]);
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return 3;
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}
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static int l_lovrColliderGetLocalPoint(lua_State* L) {
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Collider* collider = luax_checktype(L, 1, Collider);
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float world[3];
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float world[3], local[3];
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luax_readvec3(L, 2, world, NULL);
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float x, y, z;
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lovrColliderGetLocalPoint(collider, world[0], world[1], world[2], &x, &y, &z);
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lua_pushnumber(L, x);
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lua_pushnumber(L, y);
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lua_pushnumber(L, z);
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lovrColliderGetLocalPoint(collider, world, local);
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lua_pushnumber(L, local[0]);
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lua_pushnumber(L, local[1]);
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lua_pushnumber(L, local[2]);
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return 3;
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}
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static int l_lovrColliderGetWorldPoint(lua_State* L) {
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Collider* collider = luax_checktype(L, 1, Collider);
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float local[3];
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float local[3], world[3];
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luax_readvec3(L, 2, local, NULL);
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float wx, wy, wz;
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lovrColliderGetWorldPoint(collider, local[0], local[1], local[2], &wx, &wy, &wz);
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lua_pushnumber(L, wx);
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lua_pushnumber(L, wy);
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lua_pushnumber(L, wz);
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lovrColliderGetWorldPoint(collider, local, world);
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lua_pushnumber(L, world[0]);
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lua_pushnumber(L, world[1]);
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lua_pushnumber(L, world[2]);
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return 3;
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}
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static int l_lovrColliderGetLocalVector(lua_State* L) {
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Collider* collider = luax_checktype(L, 1, Collider);
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float world[3];
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float world[3], local[3];
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luax_readvec3(L, 2, world, NULL);
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float x, y, z;
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lovrColliderGetLocalVector(collider, world[0], world[1], world[2], &x, &y, &z);
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lua_pushnumber(L, x);
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lua_pushnumber(L, y);
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lua_pushnumber(L, z);
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lovrColliderGetLocalVector(collider, world, local);
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lua_pushnumber(L, local[0]);
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lua_pushnumber(L, local[1]);
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lua_pushnumber(L, local[2]);
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return 3;
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}
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static int l_lovrColliderGetWorldVector(lua_State* L) {
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Collider* collider = luax_checktype(L, 1, Collider);
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float local[3];
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float local[3], world[3];
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luax_readvec3(L, 2, local, NULL);
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float wx, wy, wz;
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lovrColliderGetWorldVector(collider, local[0], local[1], local[2], &wx, &wy, &wz);
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lua_pushnumber(L, wx);
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lua_pushnumber(L, wy);
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lua_pushnumber(L, wz);
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lovrColliderGetWorldVector(collider, local, world);
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lua_pushnumber(L, world[0]);
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lua_pushnumber(L, world[1]);
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lua_pushnumber(L, world[2]);
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return 3;
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}
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static int l_lovrColliderGetLinearVelocityFromLocalPoint(lua_State* L) {
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Collider* collider = luax_checktype(L, 1, Collider);
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float local[3];
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luax_readvec3(L, 2, local, NULL);
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float vx, vy, vz;
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lovrColliderGetLinearVelocityFromLocalPoint(collider, local[0], local[1], local[2], &vx, &vy, &vz);
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lua_pushnumber(L, vx);
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lua_pushnumber(L, vy);
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lua_pushnumber(L, vz);
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float point[3], velocity[3];
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luax_readvec3(L, 2, point, NULL);
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lovrColliderGetLinearVelocityFromLocalPoint(collider, point, velocity);
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lua_pushnumber(L, velocity[0]);
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lua_pushnumber(L, velocity[1]);
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lua_pushnumber(L, velocity[2]);
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return 3;
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}
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static int l_lovrColliderGetLinearVelocityFromWorldPoint(lua_State* L) {
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Collider* collider = luax_checktype(L, 1, Collider);
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float world[3];
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luax_readvec3(L, 2, world, NULL);
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float vx, vy, vz;
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lovrColliderGetLinearVelocityFromWorldPoint(collider, world[0], world[1], world[2], &vx, &vy, &vz);
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lua_pushnumber(L, vx);
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lua_pushnumber(L, vy);
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lua_pushnumber(L, vz);
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float point[3], velocity[3];
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luax_readvec3(L, 2, point, NULL);
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lovrColliderGetLinearVelocityFromWorldPoint(collider, point, velocity);
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lua_pushnumber(L, velocity[0]);
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lua_pushnumber(L, velocity[1]);
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lua_pushnumber(L, velocity[2]);
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return 3;
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}
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@ -52,7 +52,7 @@ Shape* luax_newsphereshape(lua_State* L, int index) {
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Shape* luax_newboxshape(lua_State* L, int index) {
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float size[3];
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luax_readscale(L, index, size, 3, NULL);
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return lovrBoxShapeCreate(size[0], size[1], size[2]);
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return lovrBoxShapeCreate(size);
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}
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Shape* luax_newcapsuleshape(lua_State* L, int index) {
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@ -266,12 +266,11 @@ static int l_lovrShapeSetUserData(lua_State* L) {
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static int l_lovrShapeGetMass(lua_State* L) {
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Shape* shape = luax_checkshape(L, 1);
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float density = luax_checkfloat(L, 2);
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float cx, cy, cz, mass;
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float inertia[6];
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lovrShapeGetMass(shape, density, &cx, &cy, &cz, &mass, inertia);
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lua_pushnumber(L, cx);
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lua_pushnumber(L, cy);
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lua_pushnumber(L, cz);
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float centerOfMass[3], mass, inertia[6];
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lovrShapeGetMass(shape, density, centerOfMass, &mass, inertia);
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lua_pushnumber(L, centerOfMass[0]);
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lua_pushnumber(L, centerOfMass[1]);
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lua_pushnumber(L, centerOfMass[2]);
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lua_pushnumber(L, mass);
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lua_newtable(L);
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for (int i = 0; i < 6; i++) {
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@ -320,11 +319,11 @@ const luaL_Reg lovrSphereShape[] = {
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static int l_lovrBoxShapeGetDimensions(lua_State* L) {
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BoxShape* box = luax_checktype(L, 1, BoxShape);
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float w, h, d;
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lovrBoxShapeGetDimensions(box, &w, &h, &d);
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lua_pushnumber(L, w);
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lua_pushnumber(L, h);
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lua_pushnumber(L, d);
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float dimensions[3];
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lovrBoxShapeGetDimensions(box, dimensions);
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lua_pushnumber(L, dimensions[0]);
|
||||
lua_pushnumber(L, dimensions[1]);
|
||||
lua_pushnumber(L, dimensions[2]);
|
||||
return 3;
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -105,7 +105,7 @@ static int l_lovrWorldNewCollider(lua_State* L) {
|
|||
Shape* shape = luax_totype(L, 2, Shape);
|
||||
float position[3];
|
||||
luax_readvec3(L, 2 + !!shape, position, NULL);
|
||||
Collider* collider = lovrColliderCreate(world, shape, position[0], position[1], position[2]);
|
||||
Collider* collider = lovrColliderCreate(world, shape, position);
|
||||
luax_pushtype(L, Collider, collider);
|
||||
lovrRelease(collider, lovrColliderDestroy);
|
||||
return 1;
|
||||
|
|
@ -116,7 +116,7 @@ static int l_lovrWorldNewBoxCollider(lua_State* L) {
|
|||
float position[3];
|
||||
int index = luax_readvec3(L, 2, position, NULL);
|
||||
BoxShape* shape = luax_newboxshape(L, index);
|
||||
Collider* collider = lovrColliderCreate(world, shape, position[0], position[1], position[2]);
|
||||
Collider* collider = lovrColliderCreate(world, shape, position);
|
||||
lovrColliderInitInertia(collider, shape);
|
||||
luax_pushtype(L, Collider, collider);
|
||||
lovrRelease(collider, lovrColliderDestroy);
|
||||
|
|
@ -129,7 +129,7 @@ static int l_lovrWorldNewCapsuleCollider(lua_State* L) {
|
|||
float position[3];
|
||||
int index = luax_readvec3(L, 2, position, NULL);
|
||||
CapsuleShape* shape = luax_newcapsuleshape(L, index);
|
||||
Collider* collider = lovrColliderCreate(world, shape, position[0], position[1], position[2]);
|
||||
Collider* collider = lovrColliderCreate(world, shape, position);
|
||||
lovrColliderInitInertia(collider, shape);
|
||||
luax_pushtype(L, Collider, collider);
|
||||
lovrRelease(collider, lovrColliderDestroy);
|
||||
|
|
@ -142,7 +142,7 @@ static int l_lovrWorldNewCylinderCollider(lua_State* L) {
|
|||
float position[3];
|
||||
int index = luax_readvec3(L, 2, position, NULL);
|
||||
CylinderShape* shape = luax_newcylindershape(L, index);
|
||||
Collider* collider = lovrColliderCreate(world, shape, position[0], position[1], position[2]);
|
||||
Collider* collider = lovrColliderCreate(world, shape, position);
|
||||
lovrColliderInitInertia(collider, shape);
|
||||
luax_pushtype(L, Collider, collider);
|
||||
lovrRelease(collider, lovrColliderDestroy);
|
||||
|
|
@ -155,7 +155,7 @@ static int l_lovrWorldNewSphereCollider(lua_State* L) {
|
|||
float position[3];
|
||||
int index = luax_readvec3(L, 2, position, NULL);
|
||||
SphereShape* shape = luax_newsphereshape(L, index);
|
||||
Collider* collider = lovrColliderCreate(world, shape, position[0], position[1], position[2]);
|
||||
Collider* collider = lovrColliderCreate(world, shape, position);
|
||||
lovrColliderInitInertia(collider, shape);
|
||||
luax_pushtype(L, Collider, collider);
|
||||
lovrRelease(collider, lovrColliderDestroy);
|
||||
|
|
@ -166,7 +166,8 @@ static int l_lovrWorldNewSphereCollider(lua_State* L) {
|
|||
static int l_lovrWorldNewMeshCollider(lua_State* L) {
|
||||
World* world = luax_checktype(L, 1, World);
|
||||
MeshShape* shape = luax_newmeshshape(L, 2);
|
||||
Collider* collider = lovrColliderCreate(world, shape, 0.f, 0.f, 0.f);
|
||||
float position[3] = { 0.f, 0.f, 0.f };
|
||||
Collider* collider = lovrColliderCreate(world, shape, position);
|
||||
lovrColliderInitInertia(collider, shape);
|
||||
luax_pushtype(L, Collider, collider);
|
||||
lovrRelease(collider, lovrColliderDestroy);
|
||||
|
|
@ -177,7 +178,8 @@ static int l_lovrWorldNewMeshCollider(lua_State* L) {
|
|||
static int l_lovrWorldNewTerrainCollider(lua_State* L) {
|
||||
World* world = luax_checktype(L, 1, World);
|
||||
TerrainShape* shape = luax_newterrainshape(L, 2);
|
||||
Collider* collider = lovrColliderCreate(world, shape, 0.f, 0.f, 0.f);
|
||||
float position[3] = { 0.f, 0.f, 0.f };
|
||||
Collider* collider = lovrColliderCreate(world, shape, position);
|
||||
lovrColliderSetKinematic(collider, true);
|
||||
luax_pushtype(L, Collider, collider);
|
||||
lovrRelease(collider, lovrColliderDestroy);
|
||||
|
|
@ -311,7 +313,7 @@ static int l_lovrWorldRaycast(lua_State* L) {
|
|||
index = luax_readvec3(L, index, end, NULL);
|
||||
luaL_checktype(L, index, LUA_TFUNCTION);
|
||||
lua_settop(L, index);
|
||||
lovrWorldRaycast(world, start[0], start[1], start[2], end[0], end[1], end[2], raycastCallback, L);
|
||||
lovrWorldRaycast(world, start, end, raycastCallback, L);
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
|
@ -323,7 +325,7 @@ static int l_lovrWorldRaycastAny(lua_State* L) {
|
|||
index = luax_readvec3(L, index, end, NULL);
|
||||
RaycastData data = { 0 };
|
||||
data.tag = lua_tostring(L, index);
|
||||
lovrWorldRaycast(world, start[0], start[1], start[2], end[0], end[1], end[2], raycastAnyCallback, &data);
|
||||
lovrWorldRaycast(world, start, end, raycastAnyCallback, &data);
|
||||
if (data.collider) {
|
||||
luax_pushtype(L, Collider, data.collider);
|
||||
lua_pushnumber(L, data.position[0]);
|
||||
|
|
@ -348,7 +350,7 @@ static int l_lovrWorldRaycastClosest(lua_State* L) {
|
|||
index = luax_readvec3(L, index, end, NULL);
|
||||
RaycastData data = { .distance = FLT_MAX };
|
||||
data.tag = lua_tostring(L, index);
|
||||
lovrWorldRaycast(world, start[0], start[1], start[2], end[0], end[1], end[2], raycastClosestCallback, &data);
|
||||
lovrWorldRaycast(world, start, end, raycastClosestCallback, &data);
|
||||
if (data.shape) {
|
||||
luax_pushtype(L, Collider, data.collider);
|
||||
lua_pushnumber(L, data.position[0]);
|
||||
|
|
|
|||
|
|
@ -48,7 +48,6 @@ typedef struct {
|
|||
bool allowSleep;
|
||||
const char* tags[MAX_TAGS];
|
||||
uint32_t tagCount;
|
||||
float gravity[3]; // Deprecated
|
||||
} WorldInfo;
|
||||
|
||||
World* lovrWorldCreate(WorldInfo* info);
|
||||
|
|
@ -63,7 +62,7 @@ void lovrWorldComputeOverlaps(World* world);
|
|||
int lovrWorldGetNextOverlap(World* world, Shape** a, Shape** b);
|
||||
int lovrWorldCollide(World* world, Shape* a, Shape* b, float friction, float restitution);
|
||||
void lovrWorldGetContacts(World* world, Shape* a, Shape* b, Contact contacts[MAX_CONTACTS], uint32_t* count);
|
||||
void lovrWorldRaycast(World* world, float x1, float y1, float z1, float x2, float y2, float z2, RaycastCallback callback, void* userdata);
|
||||
void lovrWorldRaycast(World* world, float start[3], float end[3], RaycastCallback callback, void* userdata);
|
||||
bool lovrWorldQueryBox(World* world, float position[3], float size[3], QueryCallback callback, void* userdata);
|
||||
bool lovrWorldQuerySphere(World* world, float position[3], float radius, QueryCallback callback, void* userdata);
|
||||
void lovrWorldGetGravity(World* world, float gravity[3]);
|
||||
|
|
@ -89,7 +88,7 @@ void lovrWorldSetSleepingAllowed(World* world, bool allowed);
|
|||
|
||||
// Collider
|
||||
|
||||
Collider* lovrColliderCreate(World* world, Shape* shape, float x, float y, float z);
|
||||
Collider* lovrColliderCreate(World* world, Shape* shape, float position[3]);
|
||||
void lovrColliderDestroy(void* ref);
|
||||
void lovrColliderDestroyData(Collider* collider);
|
||||
bool lovrColliderIsDestroyed(Collider* collider);
|
||||
|
|
@ -99,8 +98,8 @@ void lovrColliderInitInertia(Collider* collider, Shape* shape);
|
|||
World* lovrColliderGetWorld(Collider* collider);
|
||||
Shape* lovrColliderGetShape(Collider* collider, uint32_t child);
|
||||
void lovrColliderSetShape(Collider* collider, Shape* shape);
|
||||
void lovrColliderGetShapeOffset(Collider* collider, float* position, float* orientation);
|
||||
void lovrColliderSetShapeOffset(Collider* collider, float* position, float* orientation);
|
||||
void lovrColliderGetShapeOffset(Collider* collider, float position[3], float orientation[4]);
|
||||
void lovrColliderSetShapeOffset(Collider* collider, float position[3], float orientation[4]);
|
||||
Joint* lovrColliderEnumerateJoints(Collider* collider, Joint* joint, void** private);
|
||||
const char* lovrColliderGetTag(Collider* collider);
|
||||
bool lovrColliderSetTag(Collider* collider, const char* tag);
|
||||
|
|
@ -122,33 +121,33 @@ bool lovrColliderIsAwake(Collider* collider);
|
|||
void lovrColliderSetAwake(Collider* collider, bool awake);
|
||||
float lovrColliderGetMass(Collider* collider);
|
||||
void lovrColliderSetMass(Collider* collider, float mass);
|
||||
void lovrColliderGetMassData(Collider* collider, float* cx, float* cy, float* cz, float* mass, float inertia[6]);
|
||||
void lovrColliderSetMassData(Collider* collider, float cx, float cy, float cz, float mass, float inertia[6]);
|
||||
void lovrColliderGetPosition(Collider* collider, float* x, float* y, float* z);
|
||||
void lovrColliderSetPosition(Collider* collider, float x, float y, float z);
|
||||
void lovrColliderGetOrientation(Collider* collider, float* orientation);
|
||||
void lovrColliderSetOrientation(Collider* collider, float* orientation);
|
||||
void lovrColliderGetLinearVelocity(Collider* collider, float* x, float* y, float* z);
|
||||
void lovrColliderSetLinearVelocity(Collider* collider, float x, float y, float z);
|
||||
void lovrColliderGetAngularVelocity(Collider* collider, float* x, float* y, float* z);
|
||||
void lovrColliderSetAngularVelocity(Collider* collider, float x, float y, float z);
|
||||
void lovrColliderGetMassData(Collider* collider, float centerOfMass[3], float* mass, float inertia[6]);
|
||||
void lovrColliderSetMassData(Collider* collider, float centerOfMass[3], float mass, float inertia[6]);
|
||||
void lovrColliderGetPosition(Collider* collider, float position[3]);
|
||||
void lovrColliderSetPosition(Collider* collider, float position[3]);
|
||||
void lovrColliderGetOrientation(Collider* collider, float orientation[4]);
|
||||
void lovrColliderSetOrientation(Collider* collider, float orientation[4]);
|
||||
void lovrColliderGetLinearVelocity(Collider* collider, float velocity[3]);
|
||||
void lovrColliderSetLinearVelocity(Collider* collider, float velocity[3]);
|
||||
void lovrColliderGetAngularVelocity(Collider* collider, float velocity[3]);
|
||||
void lovrColliderSetAngularVelocity(Collider* collider, float velocity[3]);
|
||||
void lovrColliderGetLinearDamping(Collider* collider, float* damping, float* threshold);
|
||||
void lovrColliderSetLinearDamping(Collider* collider, float damping, float threshold);
|
||||
void lovrColliderGetAngularDamping(Collider* collider, float* damping, float* threshold);
|
||||
void lovrColliderSetAngularDamping(Collider* collider, float damping, float threshold);
|
||||
void lovrColliderApplyForce(Collider* collider, float x, float y, float z);
|
||||
void lovrColliderApplyForceAtPosition(Collider* collider, float x, float y, float z, float cx, float cy, float cz);
|
||||
void lovrColliderApplyTorque(Collider* collider, float x, float y, float z);
|
||||
void lovrColliderApplyForce(Collider* collider, float force[3]);
|
||||
void lovrColliderApplyForceAtPosition(Collider* collider, float force[3], float position[3]);
|
||||
void lovrColliderApplyTorque(Collider* collider, float torque[3]);
|
||||
void lovrColliderApplyLinearImpulse(Collider* collider, float impulse[3]);
|
||||
void lovrColliderApplyLinearImpulseAtPosition(Collider* collider, float impulse[3], float position[3]);
|
||||
void lovrColliderApplyAngularImpulse(Collider* collider, float impulse[3]);
|
||||
void lovrColliderGetLocalCenter(Collider* collider, float* x, float* y, float* z);
|
||||
void lovrColliderGetLocalPoint(Collider* collider, float wx, float wy, float wz, float* x, float* y, float* z);
|
||||
void lovrColliderGetWorldPoint(Collider* collider, float x, float y, float z, float* wx, float* wy, float* wz);
|
||||
void lovrColliderGetLocalVector(Collider* collider, float wx, float wy, float wz, float* x, float* y, float* z);
|
||||
void lovrColliderGetWorldVector(Collider* collider, float x, float y, float z, float* wx, float* wy, float* wz);
|
||||
void lovrColliderGetLinearVelocityFromLocalPoint(Collider* collider, float x, float y, float z, float* vx, float* vy, float* vz);
|
||||
void lovrColliderGetLinearVelocityFromWorldPoint(Collider* collider, float wx, float wy, float wz, float* vx, float* vy, float* vz);
|
||||
void lovrColliderGetLocalCenter(Collider* collider, float center[3]);
|
||||
void lovrColliderGetLocalPoint(Collider* collider, float world[3], float local[3]);
|
||||
void lovrColliderGetWorldPoint(Collider* collider, float local[3], float world[3]);
|
||||
void lovrColliderGetLocalVector(Collider* collider, float world[3], float local[3]);
|
||||
void lovrColliderGetWorldVector(Collider* collider, float local[3], float world[3]);
|
||||
void lovrColliderGetLinearVelocityFromLocalPoint(Collider* collider, float point[3], float velocity[3]);
|
||||
void lovrColliderGetLinearVelocityFromWorldPoint(Collider* collider, float point[3], float velocity[3]);
|
||||
void lovrColliderGetAABB(Collider* collider, float aabb[6]);
|
||||
|
||||
// Shapes
|
||||
|
|
@ -166,14 +165,14 @@ typedef enum {
|
|||
void lovrShapeDestroy(void* ref);
|
||||
void lovrShapeDestroyData(Shape* shape);
|
||||
ShapeType lovrShapeGetType(Shape* shape);
|
||||
void lovrShapeGetMass(Shape* shape, float density, float* cx, float* cy, float* cz, float* mass, float inertia[6]);
|
||||
void lovrShapeGetMass(Shape* shape, float density, float centerOfMass[3], float* mass, float inertia[6]);
|
||||
void lovrShapeGetAABB(Shape* shape, float position[3], float orientation[4], float aabb[6]);
|
||||
|
||||
SphereShape* lovrSphereShapeCreate(float radius);
|
||||
float lovrSphereShapeGetRadius(SphereShape* sphere);
|
||||
|
||||
BoxShape* lovrBoxShapeCreate(float w, float h, float d);
|
||||
void lovrBoxShapeGetDimensions(BoxShape* box, float* w, float* h, float* d);
|
||||
BoxShape* lovrBoxShapeCreate(float dimensions[3]);
|
||||
void lovrBoxShapeGetDimensions(BoxShape* box, float dimensions[3]);
|
||||
|
||||
CapsuleShape* lovrCapsuleShapeCreate(float radius, float length);
|
||||
float lovrCapsuleShapeGetRadius(CapsuleShape* capsule);
|
||||
|
|
@ -189,13 +188,13 @@ TerrainShape* lovrTerrainShapeCreate(float* vertices, uint32_t n, float scaleXZ,
|
|||
|
||||
CompoundShape* lovrCompoundShapeCreate(Shape** shapes, float* positions, float* orientations, uint32_t count, bool freeze);
|
||||
bool lovrCompoundShapeIsFrozen(CompoundShape* shape);
|
||||
void lovrCompoundShapeAddChild(CompoundShape* shape, Shape* child, float* position, float* orientation);
|
||||
void lovrCompoundShapeReplaceChild(CompoundShape* shape, uint32_t index, Shape* child, float* position, float* orientation);
|
||||
void lovrCompoundShapeAddChild(CompoundShape* shape, Shape* child, float position[3], float orientation[4]);
|
||||
void lovrCompoundShapeReplaceChild(CompoundShape* shape, uint32_t index, Shape* child, float position[3], float orientation[4]);
|
||||
void lovrCompoundShapeRemoveChild(CompoundShape* shape, uint32_t index);
|
||||
Shape* lovrCompoundShapeGetChild(CompoundShape* shape, uint32_t index);
|
||||
uint32_t lovrCompoundShapeGetChildCount(CompoundShape* shape);
|
||||
void lovrCompoundShapeGetChildOffset(CompoundShape* shape, uint32_t index, float* position, float* orientation);
|
||||
void lovrCompoundShapeSetChildOffset(CompoundShape* shape, uint32_t index, float* position, float* orientation);
|
||||
void lovrCompoundShapeGetChildOffset(CompoundShape* shape, uint32_t index, float position[3], float orientation[4]);
|
||||
void lovrCompoundShapeSetChildOffset(CompoundShape* shape, uint32_t index, float position[3], float orientation[4]);
|
||||
|
||||
// These tokens need to exist for Lua bindings
|
||||
#define lovrSphereShapeDestroy lovrShapeDestroy
|
||||
|
|
|
|||
|
|
@ -132,8 +132,6 @@ World* lovrWorldCreate(WorldInfo* info) {
|
|||
world->system = JPH_PhysicsSystem_Create(&settings);
|
||||
world->bodies = JPH_PhysicsSystem_GetBodyInterface(world->system);
|
||||
|
||||
lovrWorldSetGravity(world, info->gravity);
|
||||
|
||||
for (uint32_t i = 0; i < info->tagCount; i++) {
|
||||
size_t size = strlen(info->tags[i]) + 1;
|
||||
world->tags[i] = lovrMalloc(size);
|
||||
|
|
@ -198,10 +196,10 @@ void lovrWorldGetContacts(World* world, Shape* a, Shape* b, Contact contacts[MAX
|
|||
//
|
||||
}
|
||||
|
||||
void lovrWorldRaycast(World* world, float x1, float y1, float z1, float x2, float y2, float z2, RaycastCallback callback, void* userdata) {
|
||||
void lovrWorldRaycast(World* world, float start[3], float end[3], RaycastCallback callback, void* userdata) {
|
||||
const JPH_NarrowPhaseQuery* query = JPC_PhysicsSystem_GetNarrowPhaseQueryNoLock(world->system);
|
||||
const JPH_RVec3 origin = { x1, y1, z1 };
|
||||
const JPH_Vec3 direction = { x2 - x1, y2 - y1, z2 - z1 };
|
||||
const JPH_RVec3 origin = { start[0], start[1], start[2] };
|
||||
const JPH_Vec3 direction = { end[0] - start[0], end[1] - start[1], end[2] - start[2] };
|
||||
JPH_AllHit_CastRayCollector* collector = JPH_AllHit_CastRayCollector_Create();
|
||||
JPH_NarrowPhaseQuery_CastRayAll(query, &origin, &direction, collector, NULL, NULL, NULL);
|
||||
|
||||
|
|
@ -219,9 +217,9 @@ void lovrWorldRaycast(World* world, float x1, float y1, float z1, float x2, floa
|
|||
}
|
||||
|
||||
JPH_RVec3 position = {
|
||||
x1 + hits[i].fraction * (x2 - x1),
|
||||
y1 + hits[i].fraction * (y2 - y1),
|
||||
z1 + hits[i].fraction * (z2 - z1)
|
||||
start[0] + hits[i].fraction * direction.x,
|
||||
start[1] + hits[i].fraction * direction.y,
|
||||
start[2] + hits[i].fraction * direction.z
|
||||
};
|
||||
|
||||
JPH_Vec3 normal;
|
||||
|
|
@ -243,10 +241,10 @@ static bool lovrWorldQueryShape(World* world, JPH_Shape* shape, float position[3
|
|||
mat4_scale(m, scale[0], scale[1], scale[2]);
|
||||
|
||||
JPH_Vec3 direction = { 0.f, 0.f, 0.f };
|
||||
JPH_RVec3 base_offset = { 0.f, 0.f, 0.f };
|
||||
JPH_RVec3 baseOffset = { 0.f, 0.f, 0.f };
|
||||
const JPH_NarrowPhaseQuery* query = JPC_PhysicsSystem_GetNarrowPhaseQueryNoLock(world->system);
|
||||
JPH_AllHit_CastShapeCollector_Reset(state.castShapeCollector);
|
||||
JPH_NarrowPhaseQuery_CastShape(query, shape, &transform, &direction, &base_offset, state.castShapeCollector);
|
||||
JPH_NarrowPhaseQuery_CastShape(query, shape, &transform, &direction, &baseOffset, state.castShapeCollector);
|
||||
|
||||
size_t count;
|
||||
JPH_AllHit_CastShapeCollector_GetHits(state.castShapeCollector, &count);
|
||||
|
|
@ -275,11 +273,12 @@ bool lovrWorldQuerySphere(World* world, float position[3], float radius, QueryCa
|
|||
void lovrWorldGetGravity(World* world, float gravity[3]) {
|
||||
JPH_Vec3 g;
|
||||
JPH_PhysicsSystem_GetGravity(world->system, &g);
|
||||
vec3_init(gravity, &g.x);
|
||||
vec3_set(gravity, g.x, g.y, g.z);
|
||||
}
|
||||
|
||||
void lovrWorldSetGravity(World* world, float gravity[3]) {
|
||||
JPH_PhysicsSystem_SetGravity(world->system, &(const JPH_Vec3) { gravity[0], gravity[1], gravity[2] });
|
||||
JPH_Vec3 g = { gravity[0], gravity[1], gravity[2] };
|
||||
JPH_PhysicsSystem_SetGravity(world->system, &g);
|
||||
}
|
||||
|
||||
const char* lovrWorldGetTagName(World* world, uint32_t tag) {
|
||||
|
|
@ -343,7 +342,7 @@ void lovrWorldSetAngularDamping(World* world, float damping, float threshold) {
|
|||
|
||||
// Collider
|
||||
|
||||
Collider* lovrColliderCreate(World* world, Shape* shape, float x, float y, float z) {
|
||||
Collider* lovrColliderCreate(World* world, Shape* shape, float position[3]) {
|
||||
uint32_t count = JPH_PhysicsSystem_GetNumBodies(world->system);
|
||||
uint32_t limit = JPH_PhysicsSystem_GetMaxBodies(world->system);
|
||||
lovrCheck(count < limit, "Too many colliders!");
|
||||
|
|
@ -354,11 +353,11 @@ Collider* lovrColliderCreate(World* world, Shape* shape, float x, float y, float
|
|||
collider->shape = shape ? shape : state.pointShape;
|
||||
collider->tag = UNTAGGED;
|
||||
|
||||
const JPH_RVec3 position = { x, y, z };
|
||||
const JPH_Quat rotation = { 0.f, 0.f, 0.f, 1.f };
|
||||
JPH_RVec3 p = { position[0], position[1], position[2] };
|
||||
JPH_Quat q = { 0.f, 0.f, 0.f, 1.f };
|
||||
JPH_MotionType type = JPH_MotionType_Dynamic;
|
||||
JPH_ObjectLayer objectLayer = UNTAGGED * 2 + 1;
|
||||
JPH_BodyCreationSettings* settings = JPH_BodyCreationSettings_Create3(collider->shape->shape, &position, &rotation, type, objectLayer);
|
||||
JPH_BodyCreationSettings* settings = JPH_BodyCreationSettings_Create3(collider->shape->shape, &p, &q, type, objectLayer);
|
||||
collider->body = JPH_BodyInterface_CreateBody(world->bodies, settings);
|
||||
collider->id = JPH_Body_GetID(collider->body);
|
||||
JPH_BodyCreationSettings_Destroy(settings);
|
||||
|
|
@ -485,32 +484,32 @@ void lovrColliderSetShape(Collider* collider, Shape* shape) {
|
|||
}
|
||||
}
|
||||
|
||||
void lovrColliderGetShapeOffset(Collider* collider, float* position, float* orientation) {
|
||||
void lovrColliderGetShapeOffset(Collider* collider, float position[3], float orientation[4]) {
|
||||
const JPH_Shape* shape = JPH_BodyInterface_GetShape(collider->world->bodies, collider->id);
|
||||
|
||||
if (JPH_Shape_GetSubType(shape) == JPH_ShapeSubType_RotatedTranslated) {
|
||||
JPH_Vec3 jposition;
|
||||
JPH_Quat jrotation;
|
||||
JPH_RotatedTranslatedShape_GetPosition((JPH_RotatedTranslatedShape*) shape, &jposition);
|
||||
JPH_RotatedTranslatedShape_GetRotation((JPH_RotatedTranslatedShape*) shape, &jrotation);
|
||||
vec3_init(position, &jposition.x);
|
||||
quat_init(orientation, &jrotation.x);
|
||||
JPH_Vec3 p;
|
||||
JPH_Quat q;
|
||||
JPH_RotatedTranslatedShape_GetPosition((JPH_RotatedTranslatedShape*) shape, &p);
|
||||
JPH_RotatedTranslatedShape_GetRotation((JPH_RotatedTranslatedShape*) shape, &q);
|
||||
vec3_set(position, p.x, p.y, p.z);
|
||||
quat_set(orientation, q.x, q.y, q.z, q.w);
|
||||
} else {
|
||||
vec3_set(position, 0.f, 0.f, 0.f);
|
||||
quat_identity(orientation);
|
||||
}
|
||||
}
|
||||
|
||||
void lovrColliderSetShapeOffset(Collider* collider, float* position, float* orientation) {
|
||||
void lovrColliderSetShapeOffset(Collider* collider, float position[3], float orientation[4]) {
|
||||
const JPH_Shape* shape = JPH_BodyInterface_GetShape(collider->world->bodies, collider->id);
|
||||
|
||||
if (JPH_Shape_GetSubType(shape) == JPH_ShapeSubType_RotatedTranslated) {
|
||||
JPH_Shape_Destroy((JPH_Shape*) shape);
|
||||
}
|
||||
|
||||
JPH_Vec3 jposition = { position[0], position[1], position[2] };
|
||||
JPH_Quat jrotation = { orientation[0], orientation[1], orientation[2], orientation[3] };
|
||||
shape = (JPH_Shape*) JPH_RotatedTranslatedShape_Create(&jposition, &jrotation, collider->shape->shape);
|
||||
JPH_Vec3 p = { position[0], position[1], position[2] };
|
||||
JPH_Quat q = { orientation[0], orientation[1], orientation[2], orientation[3] };
|
||||
shape = (JPH_Shape*) JPH_RotatedTranslatedShape_Create(&p, &q, collider->shape->shape);
|
||||
bool updateMass = collider->shape && (collider->shape->type == SHAPE_MESH || collider->shape->type == SHAPE_TERRAIN);
|
||||
JPH_BodyInterface_SetShape(collider->world->bodies, collider->id, shape, updateMass, JPH_Activation_Activate);
|
||||
}
|
||||
|
|
@ -646,74 +645,56 @@ void lovrColliderSetMass(Collider* collider, float mass) {
|
|||
JPH_MotionProperties_SetMassProperties(motionProperties, JPH_AllowedDOFs_All, massProperties);
|
||||
}
|
||||
|
||||
void lovrColliderGetMassData(Collider* collider, float* cx, float* cy, float* cz, float* mass, float inertia[6]) {
|
||||
void lovrColliderGetMassData(Collider* collider, float centerOfMass[3], float* mass, float inertia[6]) {
|
||||
//
|
||||
}
|
||||
|
||||
void lovrColliderSetMassData(Collider* collider, float cx, float cy, float cz, float mass, float inertia[6]) {
|
||||
void lovrColliderSetMassData(Collider* collider, float centerOfMass[3], float mass, float inertia[6]) {
|
||||
//
|
||||
}
|
||||
|
||||
void lovrColliderGetPosition(Collider* collider, float* x, float* y, float* z) {
|
||||
JPH_RVec3 position;
|
||||
JPH_Body_GetPosition(collider->body, &position);
|
||||
*x = position.x;
|
||||
*y = position.y;
|
||||
*z = position.z;
|
||||
void lovrColliderGetPosition(Collider* collider, float position[3]) {
|
||||
JPH_RVec3 p;
|
||||
JPH_Body_GetPosition(collider->body, &p);
|
||||
vec3_set(position, p.x, p.y, p.z);
|
||||
}
|
||||
|
||||
void lovrColliderSetPosition(Collider* collider, float x, float y, float z) {
|
||||
JPH_RVec3 position = { x, y, z };
|
||||
JPH_BodyInterface_SetPosition(collider->world->bodies, collider->id, &position, JPH_Activation_Activate);
|
||||
void lovrColliderSetPosition(Collider* collider, float position[3]) {
|
||||
JPH_RVec3 p = { position[0], position[1], position[2] };
|
||||
JPH_BodyInterface_SetPosition(collider->world->bodies, collider->id, &p, JPH_Activation_Activate);
|
||||
}
|
||||
|
||||
void lovrColliderGetOrientation(Collider* collider, float* orientation) {
|
||||
JPH_Quat quat;
|
||||
JPH_Body_GetRotation(collider->body, &quat);
|
||||
orientation[0] = quat.x;
|
||||
orientation[1] = quat.y;
|
||||
orientation[2] = quat.z;
|
||||
orientation[3] = quat.w;
|
||||
JPH_Quat q;
|
||||
JPH_Body_GetRotation(collider->body, &q);
|
||||
quat_set(orientation, q.x, q.y, q.z, q.w);
|
||||
}
|
||||
|
||||
void lovrColliderSetOrientation(Collider* collider, float* orientation) {
|
||||
JPH_Quat rotation = {
|
||||
.x = orientation[0],
|
||||
.y = orientation[1],
|
||||
.z = orientation[2],
|
||||
.w = orientation[3]
|
||||
};
|
||||
JPH_BodyInterface_SetRotation(
|
||||
collider->world->bodies,
|
||||
collider->id,
|
||||
&rotation,
|
||||
JPH_Activation_Activate);
|
||||
JPH_Quat q = { orientation[0], orientation[1], orientation[2], orientation[3] };
|
||||
JPH_BodyInterface_SetRotation(collider->world->bodies, collider->id, &q, JPH_Activation_Activate);
|
||||
}
|
||||
|
||||
void lovrColliderGetLinearVelocity(Collider* collider, float* x, float* y, float* z) {
|
||||
JPH_Vec3 velocity;
|
||||
JPH_BodyInterface_GetLinearVelocity(collider->world->bodies, collider->id, &velocity);
|
||||
*x = velocity.x;
|
||||
*y = velocity.y;
|
||||
*z = velocity.z;
|
||||
void lovrColliderGetLinearVelocity(Collider* collider, float velocity[3]) {
|
||||
JPH_Vec3 v;
|
||||
JPH_BodyInterface_GetLinearVelocity(collider->world->bodies, collider->id, &v);
|
||||
vec3_set(velocity, v.x, v.y, v.z);
|
||||
}
|
||||
|
||||
void lovrColliderSetLinearVelocity(Collider* collider, float x, float y, float z) {
|
||||
const JPH_Vec3 velocity = { x, y, z };
|
||||
JPH_BodyInterface_SetLinearVelocity(collider->world->bodies, collider->id, &velocity);
|
||||
void lovrColliderSetLinearVelocity(Collider* collider, float velocity[3]) {
|
||||
JPH_Vec3 v = { velocity[0], velocity[1], velocity[2] };
|
||||
JPH_BodyInterface_SetLinearVelocity(collider->world->bodies, collider->id, &v);
|
||||
}
|
||||
|
||||
void lovrColliderGetAngularVelocity(Collider* collider, float* x, float* y, float* z) {
|
||||
JPH_Vec3 velocity;
|
||||
JPH_BodyInterface_GetAngularVelocity(collider->world->bodies, collider->id, &velocity);
|
||||
*x = velocity.x;
|
||||
*y = velocity.y;
|
||||
*z = velocity.z;
|
||||
void lovrColliderGetAngularVelocity(Collider* collider, float velocity[3]) {
|
||||
JPH_Vec3 v;
|
||||
JPH_BodyInterface_GetAngularVelocity(collider->world->bodies, collider->id, &v);
|
||||
vec3_set(velocity, v.x, v.y, v.z);
|
||||
}
|
||||
|
||||
void lovrColliderSetAngularVelocity(Collider* collider, float x, float y, float z) {
|
||||
JPH_Vec3 velocity = { x, y, z };
|
||||
JPH_BodyInterface_SetAngularVelocity(collider->world->bodies, collider->id, &velocity);
|
||||
void lovrColliderSetAngularVelocity(Collider* collider, float velocity[3]) {
|
||||
JPH_Vec3 v = { velocity[0], velocity[1], velocity[2] };
|
||||
JPH_BodyInterface_SetAngularVelocity(collider->world->bodies, collider->id, &v);
|
||||
}
|
||||
|
||||
void lovrColliderGetLinearDamping(Collider* collider, float* damping, float* threshold) {
|
||||
|
|
@ -744,104 +725,84 @@ void lovrColliderSetAngularDamping(Collider* collider, float damping, float thre
|
|||
}
|
||||
}
|
||||
|
||||
void lovrColliderApplyForce(Collider* collider, float x, float y, float z) {
|
||||
JPH_Vec3 force = { x, y, z };
|
||||
JPH_BodyInterface_AddForce(collider->world->bodies, collider->id, &force);
|
||||
void lovrColliderApplyForce(Collider* collider, float force[3]) {
|
||||
JPH_Vec3 f = { force[0], force[1], force[2] };
|
||||
JPH_BodyInterface_AddForce(collider->world->bodies, collider->id, &f);
|
||||
}
|
||||
|
||||
void lovrColliderApplyForceAtPosition(Collider* collider, float x, float y, float z, float cx, float cy, float cz) {
|
||||
JPH_Vec3 force = { x, y, z };
|
||||
JPH_RVec3 position = { cx, cy, cz };
|
||||
JPH_BodyInterface_AddForce2(collider->world->bodies, collider->id, &force, &position);
|
||||
void lovrColliderApplyForceAtPosition(Collider* collider, float force[3], float position[3]) {
|
||||
JPH_Vec3 f = { force[0], force[1], force[2] };
|
||||
JPH_RVec3 p = { position[0], position[1], position[2] };
|
||||
JPH_BodyInterface_AddForce2(collider->world->bodies, collider->id, &f, &p);
|
||||
}
|
||||
|
||||
void lovrColliderApplyTorque(Collider* collider, float x, float y, float z) {
|
||||
JPH_Vec3 torque = { x, y, z };
|
||||
JPH_BodyInterface_AddTorque(collider->world->bodies, collider->id, &torque);
|
||||
void lovrColliderApplyTorque(Collider* collider, float torque[3]) {
|
||||
JPH_Vec3 t = { torque[0], torque[1], torque[2] };
|
||||
JPH_BodyInterface_AddTorque(collider->world->bodies, collider->id, &t);
|
||||
}
|
||||
|
||||
void lovrColliderApplyLinearImpulse(Collider* collider, float impulse[3]) {
|
||||
JPH_Vec3 vector = { impulse[0], impulse[1], impulse[2] };
|
||||
JPH_BodyInterface_AddImpulse(collider->world->bodies, collider->id, &vector);
|
||||
JPH_Vec3 v = { impulse[0], impulse[1], impulse[2] };
|
||||
JPH_BodyInterface_AddImpulse(collider->world->bodies, collider->id, &v);
|
||||
}
|
||||
|
||||
void lovrColliderApplyLinearImpulseAtPosition(Collider* collider, float impulse[3], float position[3]) {
|
||||
JPH_Vec3 vector = { impulse[0], impulse[1], impulse[2] };
|
||||
JPH_Vec3 point = { position[0], position[1], position[2] };
|
||||
JPH_BodyInterface_AddImpulse2(collider->world->bodies, collider->id, &vector, &point);
|
||||
JPH_Vec3 v = { impulse[0], impulse[1], impulse[2] };
|
||||
JPH_Vec3 p = { position[0], position[1], position[2] };
|
||||
JPH_BodyInterface_AddImpulse2(collider->world->bodies, collider->id, &v, &p);
|
||||
}
|
||||
|
||||
void lovrColliderApplyAngularImpulse(Collider* collider, float impulse[3]) {
|
||||
JPH_Vec3 vector = { impulse[0], impulse[1], impulse[2] };
|
||||
JPH_BodyInterface_AddAngularImpulse(collider->world->bodies, collider->id, &vector);
|
||||
JPH_Vec3 v = { impulse[0], impulse[1], impulse[2] };
|
||||
JPH_BodyInterface_AddAngularImpulse(collider->world->bodies, collider->id, &v);
|
||||
}
|
||||
|
||||
void lovrColliderGetLocalCenter(Collider* collider, float* x, float* y, float* z) {
|
||||
void lovrColliderGetLocalCenter(Collider* collider, float center[3]) {
|
||||
// todo: applicable for CompoundShape and OffsetCenterOfMassShape
|
||||
*x = 0.f;
|
||||
*y = 0.f;
|
||||
*z = 0.f;
|
||||
vec3_set(center, 0.f, 0.f, 0.f);
|
||||
}
|
||||
|
||||
void lovrColliderGetLocalPoint(Collider* collider, float wx, float wy, float wz, float* x, float* y, float* z) {
|
||||
float position[4] = { wx, wy, wz, 1.f };
|
||||
void lovrColliderGetLocalPoint(Collider* collider, float world[3], float local[3]) {
|
||||
JPH_RMatrix4x4 transform;
|
||||
float* m = &transform.m11;
|
||||
JPH_Body_GetWorldTransform(collider->body, &transform);
|
||||
mat4_invert(m);
|
||||
mat4_mulVec4(m, position);
|
||||
*x = position[0];
|
||||
*y = position[1];
|
||||
*z = position[2];
|
||||
vec3_init(local, world);
|
||||
mat4_invert(&transform.m11);
|
||||
mat4_mulPoint(&transform.m11, local);
|
||||
}
|
||||
|
||||
void lovrColliderGetWorldPoint(Collider* collider, float x, float y, float z, float* wx, float* wy, float* wz) {
|
||||
float position[4] = { x, y, z, 1.f };
|
||||
void lovrColliderGetWorldPoint(Collider* collider, float local[3], float world[3]) {
|
||||
JPH_RMatrix4x4 transform;
|
||||
float* m = &transform.m11;
|
||||
JPH_Body_GetWorldTransform(collider->body, &transform);
|
||||
mat4_mulVec4(m, position);
|
||||
*wx = position[0];
|
||||
*wy = position[1];
|
||||
*wz = position[2];
|
||||
vec3_init(world, local);
|
||||
mat4_mulPoint(&transform.m11, world);
|
||||
}
|
||||
|
||||
void lovrColliderGetLocalVector(Collider* collider, float wx, float wy, float wz, float* x, float* y, float* z) {
|
||||
float direction[4] = { wx, wy, wz, 0.f };
|
||||
void lovrColliderGetLocalVector(Collider* collider, float world[3], float local[3]) {
|
||||
JPH_RMatrix4x4 transform;
|
||||
float* m = &transform.m11;
|
||||
JPH_Body_GetWorldTransform(collider->body, &transform);
|
||||
mat4_invert(m);
|
||||
mat4_mulVec4(m, direction);
|
||||
*x = direction[0];
|
||||
*y = direction[1];
|
||||
*z = direction[2];
|
||||
vec3_init(local, world);
|
||||
mat4_invert(&transform.m11);
|
||||
mat4_mulDirection(&transform.m11, local);
|
||||
}
|
||||
|
||||
void lovrColliderGetWorldVector(Collider* collider, float x, float y, float z, float* wx, float* wy, float* wz) {
|
||||
float direction[4] = { x, y, z, 0.f };
|
||||
void lovrColliderGetWorldVector(Collider* collider, float local[3], float world[3]) {
|
||||
JPH_RMatrix4x4 transform;
|
||||
float* m = &transform.m11;
|
||||
JPH_Body_GetWorldTransform(collider->body, &transform);
|
||||
mat4_mulVec4(m, direction);
|
||||
*wx = direction[0];
|
||||
*wy = direction[1];
|
||||
*wz = direction[2];
|
||||
vec3_init(world, local);
|
||||
mat4_mulDirection(&transform.m11, world);
|
||||
}
|
||||
|
||||
void lovrColliderGetLinearVelocityFromLocalPoint(Collider* collider, float x, float y, float z, float* vx, float* vy, float* vz) {
|
||||
void lovrColliderGetLinearVelocityFromLocalPoint(Collider* collider, float point[3], float velocity[3]) {
|
||||
float wx, wy, wz;
|
||||
lovrColliderGetWorldPoint(collider, x, y, z, &wx, &wy, &wz);
|
||||
lovrColliderGetLinearVelocityFromWorldPoint(collider, wx, wy, wz, vx, vy, vz);
|
||||
lovrColliderGetWorldPoint(collider, point, velocity);
|
||||
lovrColliderGetLinearVelocityFromWorldPoint(collider, point, velocity);
|
||||
}
|
||||
|
||||
void lovrColliderGetLinearVelocityFromWorldPoint(Collider* collider, float wx, float wy, float wz, float* vx, float* vy, float* vz) {
|
||||
JPH_RVec3 point = { wx, wy, wz };
|
||||
JPH_Vec3 velocity;
|
||||
JPH_BodyInterface_GetPointVelocity(collider->world->bodies, collider->id, &point, &velocity);
|
||||
*vx = velocity.x;
|
||||
*vy = velocity.y;
|
||||
*vz = velocity.z;
|
||||
void lovrColliderGetLinearVelocityFromWorldPoint(Collider* collider, float point[3], float velocity[3]) {
|
||||
JPH_RVec3 p = { point[0], point[1], point[2] };
|
||||
JPH_Vec3 v;
|
||||
JPH_BodyInterface_GetPointVelocity(collider->world->bodies, collider->id, &p, &v);
|
||||
vec3_set(velocity, v.x, v.y, v.z);
|
||||
}
|
||||
|
||||
void lovrColliderGetAABB(Collider* collider, float aabb[6]) {
|
||||
|
|
@ -882,7 +843,7 @@ ShapeType lovrShapeGetType(Shape* shape) {
|
|||
return shape->type;
|
||||
}
|
||||
|
||||
void lovrShapeGetMass(Shape* shape, float density, float* cx, float* cy, float* cz, float* mass, float inertia[6]) {
|
||||
void lovrShapeGetMass(Shape* shape, float density, float centerOfMass[3], float* mass, float inertia[6]) {
|
||||
//
|
||||
}
|
||||
|
||||
|
|
@ -918,22 +879,20 @@ float lovrSphereShapeGetRadius(SphereShape* sphere) {
|
|||
return JPH_SphereShape_GetRadius((JPH_SphereShape*) sphere->shape);
|
||||
}
|
||||
|
||||
BoxShape* lovrBoxShapeCreate(float w, float h, float d) {
|
||||
BoxShape* lovrBoxShapeCreate(float dimensions[3]) {
|
||||
BoxShape* box = lovrCalloc(sizeof(BoxShape));
|
||||
box->ref = 1;
|
||||
box->type = SHAPE_BOX;
|
||||
const JPH_Vec3 halfExtent = { w / 2.f, h / 2.f, d / 2.f };
|
||||
const JPH_Vec3 halfExtent = { dimensions[0] / 2.f, dimensions[1] / 2.f, dimensions[2] / 2.f };
|
||||
box->shape = (JPH_Shape*) JPH_BoxShape_Create(&halfExtent, 0.f);
|
||||
JPH_Shape_SetUserData(box->shape, (uint64_t) (uintptr_t) box);
|
||||
return box;
|
||||
}
|
||||
|
||||
void lovrBoxShapeGetDimensions(BoxShape* box, float* w, float* h, float* d) {
|
||||
void lovrBoxShapeGetDimensions(BoxShape* box, float dimensions[3]) {
|
||||
JPH_Vec3 halfExtent;
|
||||
JPH_BoxShape_GetHalfExtent((JPH_BoxShape*) box->shape, &halfExtent);
|
||||
*w = halfExtent.x * 2.f;
|
||||
*h = halfExtent.y * 2.f;
|
||||
*d = halfExtent.z * 2.f;
|
||||
vec3_set(dimensions, halfExtent.x * 2.f, halfExtent.y * 2.f, halfExtent.z * 2.f);
|
||||
}
|
||||
|
||||
CapsuleShape* lovrCapsuleShapeCreate(float radius, float length) {
|
||||
|
|
@ -1097,7 +1056,7 @@ uint32_t lovrCompoundShapeGetChildCount(CompoundShape* shape) {
|
|||
return JPH_CompoundShape_GetNumSubShapes((JPH_CompoundShape*) shape->shape);
|
||||
}
|
||||
|
||||
void lovrCompoundShapeGetChildOffset(CompoundShape* shape, uint32_t index, float* position, float* orientation) {
|
||||
void lovrCompoundShapeGetChildOffset(CompoundShape* shape, uint32_t index, float position[3], float orientation[4]) {
|
||||
lovrCheck(index < lovrCompoundShapeGetChildCount(shape), "CompoundShape has no child at index %d", index + 1);
|
||||
const JPH_Shape* child;
|
||||
JPH_Vec3 pos;
|
||||
|
|
@ -1108,7 +1067,7 @@ void lovrCompoundShapeGetChildOffset(CompoundShape* shape, uint32_t index, float
|
|||
quat_init(orientation, &rot.x);
|
||||
}
|
||||
|
||||
void lovrCompoundShapeSetChildOffset(CompoundShape* shape, uint32_t index, float* position, float* orientation) {
|
||||
void lovrCompoundShapeSetChildOffset(CompoundShape* shape, uint32_t index, float position[3], float orientation[4]) {
|
||||
lovrCheck(!lovrCompoundShapeIsFrozen(shape), "CompoundShape is frozen and can not be changed");
|
||||
lovrCheck(index < lovrCompoundShapeGetChildCount(shape), "CompoundShape has no child at index %d", index + 1);
|
||||
JPH_Vec3 pos = { position[0], position[1], position[2] };
|
||||
|
|
|
|||
|
|
@ -1,4 +1,5 @@
|
|||
#include "physics.h"
|
||||
#include "core/maf.h"
|
||||
#include "util.h"
|
||||
#include <ode/ode.h>
|
||||
#include <stdatomic.h>
|
||||
|
|
@ -162,7 +163,6 @@ World* lovrWorldCreate(WorldInfo* info) {
|
|||
dHashSpaceSetLevels(world->space, -4, 8);
|
||||
world->contactGroup = dJointGroupCreate(0);
|
||||
arr_init(&world->overlaps);
|
||||
lovrWorldSetGravity(world, info->gravity);
|
||||
lovrWorldSetSleepingAllowed(world, info->allowSleep);
|
||||
for (uint32_t i = 0; i < info->tagCount; i++) {
|
||||
size_t size = strlen(info->tags[i]) + 1;
|
||||
|
|
@ -327,14 +327,14 @@ void lovrWorldGetContacts(World* world, Shape* a, Shape* b, Contact contacts[MAX
|
|||
}
|
||||
}
|
||||
|
||||
void lovrWorldRaycast(World* world, float x1, float y1, float z1, float x2, float y2, float z2, RaycastCallback callback, void* userdata) {
|
||||
void lovrWorldRaycast(World* world, float start[3], float end[3], RaycastCallback callback, void* userdata) {
|
||||
RaycastData data = { .callback = callback, .userdata = userdata, .shouldStop = false };
|
||||
float dx = x2 - x1;
|
||||
float dy = y2 - y1;
|
||||
float dz = z2 - z1;
|
||||
float dx = start[0] - end[0];
|
||||
float dy = start[1] - end[1];
|
||||
float dz = start[2] - end[2];
|
||||
float length = sqrtf(dx * dx + dy * dy + dz * dz);
|
||||
dGeomID ray = dCreateRay(world->space, length);
|
||||
dGeomRaySet(ray, x1, y1, z1, dx, dy, dz);
|
||||
dGeomRaySet(ray, start[0], start[1], start[2], end[0], end[1], end[2]);
|
||||
dSpaceCollide2(ray, (dGeomID) world->space, &data, raycastCallback);
|
||||
dGeomDestroy(ray);
|
||||
}
|
||||
|
|
@ -454,7 +454,7 @@ bool lovrWorldIsCollisionEnabledBetween(World* world, const char* tag1, const ch
|
|||
return (world->masks[i] & (1 << j)) && (world->masks[j] & (1 << i));
|
||||
}
|
||||
|
||||
Collider* lovrColliderCreate(World* world, Shape* shape, float x, float y, float z) {
|
||||
Collider* lovrColliderCreate(World* world, Shape* shape, float position[3]) {
|
||||
Collider* collider = lovrCalloc(sizeof(Collider));
|
||||
collider->ref = 1;
|
||||
collider->body = dBodyCreate(world->id);
|
||||
|
|
@ -466,7 +466,7 @@ Collider* lovrColliderCreate(World* world, Shape* shape, float x, float y, float
|
|||
arr_init(&collider->joints);
|
||||
|
||||
lovrColliderSetShape(collider, shape);
|
||||
lovrColliderSetPosition(collider, x, y, z);
|
||||
lovrColliderSetPosition(collider, position);
|
||||
|
||||
// Adjust the world's collider list
|
||||
if (!collider->world->head) {
|
||||
|
|
@ -529,9 +529,9 @@ void lovrColliderSetEnabled(Collider* collider, bool enable) {
|
|||
void lovrColliderInitInertia(Collider* collider, Shape* shape) {
|
||||
// compute inertia matrix for default density
|
||||
const float density = 1.0f;
|
||||
float cx, cy, cz, mass, inertia[6];
|
||||
lovrShapeGetMass(shape, density, &cx, &cy, &cz, &mass, inertia);
|
||||
lovrColliderSetMassData(collider, cx, cy, cz, mass, inertia);
|
||||
float centerOfMass[3], mass, inertia[6];
|
||||
lovrShapeGetMass(shape, density, centerOfMass, &mass, inertia);
|
||||
lovrColliderSetMassData(collider, centerOfMass, mass, inertia);
|
||||
}
|
||||
|
||||
World* lovrColliderGetWorld(Collider* collider) {
|
||||
|
|
@ -569,7 +569,7 @@ void lovrColliderSetShape(Collider* collider, Shape* shape) {
|
|||
}
|
||||
}
|
||||
|
||||
void lovrColliderGetShapeOffset(Collider* collider, float* position, float* orientation) {
|
||||
void lovrColliderGetShapeOffset(Collider* collider, float position[3], float orientation[4]) {
|
||||
const dReal* p = dGeomGetOffsetPosition(collider->shape->id);
|
||||
position[0] = p[0];
|
||||
position[1] = p[1];
|
||||
|
|
@ -582,7 +582,7 @@ void lovrColliderGetShapeOffset(Collider* collider, float* position, float* orie
|
|||
orientation[3] = q[0];
|
||||
}
|
||||
|
||||
void lovrColliderSetShapeOffset(Collider* collider, float* position, float* orientation) {
|
||||
void lovrColliderSetShapeOffset(Collider* collider, float position[3], float orientation[4]) {
|
||||
dGeomSetOffsetPosition(collider->shape->id, position[0], position[1], position[2]);
|
||||
dReal q[4] = { orientation[3], orientation[0], orientation[1], orientation[2] };
|
||||
dGeomSetOffsetQuaternion(collider->shape->id, q);
|
||||
|
|
@ -709,12 +709,10 @@ void lovrColliderSetMass(Collider* collider, float mass) {
|
|||
dBodySetMass(collider->body, &m);
|
||||
}
|
||||
|
||||
void lovrColliderGetMassData(Collider* collider, float* cx, float* cy, float* cz, float* mass, float inertia[6]) {
|
||||
void lovrColliderGetMassData(Collider* collider, float centerOfMass[3], float* mass, float inertia[6]) {
|
||||
dMass m;
|
||||
dBodyGetMass(collider->body, &m);
|
||||
*cx = m.c[0];
|
||||
*cy = m.c[1];
|
||||
*cz = m.c[2];
|
||||
vec3_set(centerOfMass, m.c[0], m.c[1], m.c[2]);
|
||||
*mass = m.mass;
|
||||
|
||||
// Diagonal
|
||||
|
|
@ -728,30 +726,25 @@ void lovrColliderGetMassData(Collider* collider, float* cx, float* cy, float* cz
|
|||
inertia[5] = m.I[9];
|
||||
}
|
||||
|
||||
void lovrColliderSetMassData(Collider* collider, float cx, float cy, float cz, float mass, float inertia[6]) {
|
||||
void lovrColliderSetMassData(Collider* collider, float centerOfMass[3], float mass, float inertia[6]) {
|
||||
dMass m;
|
||||
dBodyGetMass(collider->body, &m);
|
||||
dMassSetParameters(&m, mass, cx, cy, cz, inertia[0], inertia[1], inertia[2], inertia[3], inertia[4], inertia[5]);
|
||||
dMassSetParameters(&m, mass, centerOfMass[0], centerOfMass[1], centerOfMass[2], inertia[0], inertia[1], inertia[2], inertia[3], inertia[4], inertia[5]);
|
||||
dBodySetMass(collider->body, &m);
|
||||
}
|
||||
|
||||
void lovrColliderGetPosition(Collider* collider, float* x, float* y, float* z) {
|
||||
const dReal* position = dBodyGetPosition(collider->body);
|
||||
*x = position[0];
|
||||
*y = position[1];
|
||||
*z = position[2];
|
||||
void lovrColliderGetPosition(Collider* collider, float position[3]) {
|
||||
const dReal* p = dBodyGetPosition(collider->body);
|
||||
vec3_set(position, p[0], p[1], p[2]);
|
||||
}
|
||||
|
||||
void lovrColliderSetPosition(Collider* collider, float x, float y, float z) {
|
||||
dBodySetPosition(collider->body, x, y, z);
|
||||
void lovrColliderSetPosition(Collider* collider, float position[3]) {
|
||||
dBodySetPosition(collider->body, position[0], position[1], position[2]);
|
||||
}
|
||||
|
||||
void lovrColliderGetOrientation(Collider* collider, float* orientation) {
|
||||
void lovrColliderGetOrientation(Collider* collider, float orientation[4]) {
|
||||
const dReal* q = dBodyGetQuaternion(collider->body);
|
||||
orientation[0] = q[1];
|
||||
orientation[1] = q[2];
|
||||
orientation[2] = q[3];
|
||||
orientation[3] = q[0];
|
||||
quat_set(orientation, q[1], q[2], q[3], q[0]);
|
||||
}
|
||||
|
||||
void lovrColliderSetOrientation(Collider* collider, float* orientation) {
|
||||
|
|
@ -759,28 +752,24 @@ void lovrColliderSetOrientation(Collider* collider, float* orientation) {
|
|||
dBodySetQuaternion(collider->body, q);
|
||||
}
|
||||
|
||||
void lovrColliderGetLinearVelocity(Collider* collider, float* x, float* y, float* z) {
|
||||
const dReal* velocity = dBodyGetLinearVel(collider->body);
|
||||
*x = velocity[0];
|
||||
*y = velocity[1];
|
||||
*z = velocity[2];
|
||||
void lovrColliderGetLinearVelocity(Collider* collider, float velocity[3]) {
|
||||
const dReal* v = dBodyGetLinearVel(collider->body);
|
||||
vec3_set(velocity, v[0], v[1], v[2]);
|
||||
}
|
||||
|
||||
void lovrColliderSetLinearVelocity(Collider* collider, float x, float y, float z) {
|
||||
void lovrColliderSetLinearVelocity(Collider* collider, float velocity[3]) {
|
||||
dBodyEnable(collider->body);
|
||||
dBodySetLinearVel(collider->body, x, y, z);
|
||||
dBodySetLinearVel(collider->body, velocity[0], velocity[1], velocity[2]);
|
||||
}
|
||||
|
||||
void lovrColliderGetAngularVelocity(Collider* collider, float* x, float* y, float* z) {
|
||||
const dReal* velocity = dBodyGetAngularVel(collider->body);
|
||||
*x = velocity[0];
|
||||
*y = velocity[1];
|
||||
*z = velocity[2];
|
||||
void lovrColliderGetAngularVelocity(Collider* collider, float velocity[3]) {
|
||||
const dReal* v = dBodyGetAngularVel(collider->body);
|
||||
vec3_set(velocity, v[0], v[1], v[2]);
|
||||
}
|
||||
|
||||
void lovrColliderSetAngularVelocity(Collider* collider, float x, float y, float z) {
|
||||
void lovrColliderSetAngularVelocity(Collider* collider, float velocity[3]) {
|
||||
dBodyEnable(collider->body);
|
||||
dBodySetAngularVel(collider->body, x, y, z);
|
||||
dBodySetAngularVel(collider->body, velocity[0], velocity[1], velocity[2]);
|
||||
}
|
||||
|
||||
void lovrColliderGetLinearDamping(Collider* collider, float* damping, float* threshold) {
|
||||
|
|
@ -803,19 +792,19 @@ void lovrColliderSetAngularDamping(Collider* collider, float damping, float thre
|
|||
dBodySetAngularDampingThreshold(collider->body, threshold);
|
||||
}
|
||||
|
||||
void lovrColliderApplyForce(Collider* collider, float x, float y, float z) {
|
||||
void lovrColliderApplyForce(Collider* collider, float force[3]) {
|
||||
dBodyEnable(collider->body);
|
||||
dBodyAddForce(collider->body, x, y, z);
|
||||
dBodyAddForce(collider->body, force[0], force[1], force[2]);
|
||||
}
|
||||
|
||||
void lovrColliderApplyForceAtPosition(Collider* collider, float x, float y, float z, float cx, float cy, float cz) {
|
||||
void lovrColliderApplyForceAtPosition(Collider* collider, float force[3], float position[3]) {
|
||||
dBodyEnable(collider->body);
|
||||
dBodyAddForceAtPos(collider->body, x, y, z, cx, cy, cz);
|
||||
dBodyAddForceAtPos(collider->body, force[0], force[1], force[2], position[0], position[1], position[2]);
|
||||
}
|
||||
|
||||
void lovrColliderApplyTorque(Collider* collider, float x, float y, float z) {
|
||||
void lovrColliderApplyTorque(Collider* collider, float torque[3]) {
|
||||
dBodyEnable(collider->body);
|
||||
dBodyAddTorque(collider->body, x, y, z);
|
||||
dBodyAddTorque(collider->body, torque[0], torque[1], torque[2]);
|
||||
}
|
||||
|
||||
void lovrColliderApplyLinearImpulse(Collider* collider, float impulse[3]) {
|
||||
|
|
@ -830,60 +819,46 @@ void lovrColliderApplyAngularImpulse(Collider* collider, float impulse[3]) {
|
|||
//
|
||||
}
|
||||
|
||||
void lovrColliderGetLocalCenter(Collider* collider, float* x, float* y, float* z) {
|
||||
void lovrColliderGetLocalCenter(Collider* collider, float center[3]) {
|
||||
dMass m;
|
||||
dBodyGetMass(collider->body, &m);
|
||||
*x = m.c[0];
|
||||
*y = m.c[1];
|
||||
*z = m.c[2];
|
||||
vec3_set(center, m.c[0], m.c[1], m.c[2]);
|
||||
}
|
||||
|
||||
void lovrColliderGetLocalPoint(Collider* collider, float wx, float wy, float wz, float* x, float* y, float* z) {
|
||||
dReal local[4];
|
||||
dBodyGetPosRelPoint(collider->body, wx, wy, wz, local);
|
||||
*x = local[0];
|
||||
*y = local[1];
|
||||
*z = local[2];
|
||||
void lovrColliderGetLocalPoint(Collider* collider, float world[3], float local[3]) {
|
||||
dReal point[4];
|
||||
dBodyGetPosRelPoint(collider->body, world[0], world[1], world[2], point);
|
||||
vec3_set(local, point[0], point[1], point[2]);
|
||||
}
|
||||
|
||||
void lovrColliderGetWorldPoint(Collider* collider, float x, float y, float z, float* wx, float* wy, float* wz) {
|
||||
dReal world[4];
|
||||
dBodyGetRelPointPos(collider->body, x, y, z, world);
|
||||
*wx = world[0];
|
||||
*wy = world[1];
|
||||
*wz = world[2];
|
||||
void lovrColliderGetWorldPoint(Collider* collider, float local[3], float world[3]) {
|
||||
dReal point[4];
|
||||
dBodyGetRelPointPos(collider->body, local[0], local[1], local[2], point);
|
||||
vec3_set(world, point[0], point[1], point[2]);
|
||||
}
|
||||
|
||||
void lovrColliderGetLocalVector(Collider* collider, float wx, float wy, float wz, float* x, float* y, float* z) {
|
||||
dReal local[4];
|
||||
dBodyVectorFromWorld(collider->body, wx, wy, wz, local);
|
||||
*x = local[0];
|
||||
*y = local[1];
|
||||
*z = local[2];
|
||||
void lovrColliderGetLocalVector(Collider* collider, float world[3], float local[3]) {
|
||||
dReal vector[4];
|
||||
dBodyVectorFromWorld(collider->body, world[0], world[1], world[2], local);
|
||||
vec3_set(local, vector[0], vector[1], vector[2]);
|
||||
}
|
||||
|
||||
void lovrColliderGetWorldVector(Collider* collider, float x, float y, float z, float* wx, float* wy, float* wz) {
|
||||
dReal world[4];
|
||||
dBodyVectorToWorld(collider->body, x, y, z, world);
|
||||
*wx = world[0];
|
||||
*wy = world[1];
|
||||
*wz = world[2];
|
||||
void lovrColliderGetWorldVector(Collider* collider, float local[3], float world[3]) {
|
||||
dReal vector[4];
|
||||
dBodyVectorToWorld(collider->body, local[0], local[1], local[2], world);
|
||||
vec3_set(world, vector[0], vector[1], vector[2]);
|
||||
}
|
||||
|
||||
void lovrColliderGetLinearVelocityFromLocalPoint(Collider* collider, float x, float y, float z, float* vx, float* vy, float* vz) {
|
||||
dReal velocity[4];
|
||||
dBodyGetRelPointVel(collider->body, x, y, z, velocity);
|
||||
*vx = velocity[0];
|
||||
*vy = velocity[1];
|
||||
*vz = velocity[2];
|
||||
void lovrColliderGetLinearVelocityFromLocalPoint(Collider* collider, float point[3], float velocity[3]) {
|
||||
dReal vector[4];
|
||||
dBodyGetRelPointVel(collider->body, point[0], point[1], point[2], vector);
|
||||
vec3_set(velocity, vector[0], vector[1], vector[2]);
|
||||
}
|
||||
|
||||
void lovrColliderGetLinearVelocityFromWorldPoint(Collider* collider, float wx, float wy, float wz, float* vx, float* vy, float* vz) {
|
||||
dReal velocity[4];
|
||||
dBodyGetPointVel(collider->body, wx, wy, wz, velocity);
|
||||
*vx = velocity[0];
|
||||
*vy = velocity[1];
|
||||
*vz = velocity[2];
|
||||
void lovrColliderGetLinearVelocityFromWorldPoint(Collider* collider, float point[3], float velocity[3]) {
|
||||
dReal vector[4];
|
||||
dBodyGetPointVel(collider->body, point[0], point[1], point[2], velocity);
|
||||
vec3_set(velocity, vector[0], vector[1], vector[2]);
|
||||
}
|
||||
|
||||
void lovrColliderGetAABB(Collider* collider, float aabb[6]) {
|
||||
|
|
@ -938,7 +913,7 @@ Collider* lovrShapeGetCollider(Shape* shape) {
|
|||
return shape->collider;
|
||||
}
|
||||
|
||||
void lovrShapeGetMass(Shape* shape, float density, float* cx, float* cy, float* cz, float* mass, float inertia[6]) {
|
||||
void lovrShapeGetMass(Shape* shape, float density, float centerOfMass[3], float* mass, float inertia[6]) {
|
||||
dMass m;
|
||||
dMassSetZero(&m);
|
||||
switch (shape->type) {
|
||||
|
|
@ -987,9 +962,9 @@ void lovrShapeGetMass(Shape* shape, float density, float* cx, float* cy, float*
|
|||
const dReal* rotation = dGeomGetOffsetRotation(shape->id);
|
||||
dMassRotate(&m, rotation);
|
||||
|
||||
*cx = m.c[0];
|
||||
*cy = m.c[1];
|
||||
*cz = m.c[2];
|
||||
centerOfMass[0] = m.c[0];
|
||||
centerOfMass[1] = m.c[1];
|
||||
centerOfMass[2] = m.c[2];
|
||||
*mass = m.mass;
|
||||
|
||||
// Diagonal
|
||||
|
|
@ -1026,26 +1001,19 @@ void lovrSphereShapeSetRadius(SphereShape* sphere, float radius) {
|
|||
dGeomSphereSetRadius(sphere->id, radius);
|
||||
}
|
||||
|
||||
BoxShape* lovrBoxShapeCreate(float w, float h, float d) {
|
||||
BoxShape* lovrBoxShapeCreate(float dimensions[3]) {
|
||||
BoxShape* box = lovrCalloc(sizeof(BoxShape));
|
||||
box->ref = 1;
|
||||
box->type = SHAPE_BOX;
|
||||
box->id = dCreateBox(0, w, h, d);
|
||||
box->id = dCreateBox(0, dimensions[0], dimensions[1], dimensions[2]);
|
||||
dGeomSetData(box->id, box);
|
||||
return box;
|
||||
}
|
||||
|
||||
void lovrBoxShapeGetDimensions(BoxShape* box, float* w, float* h, float* d) {
|
||||
dReal dimensions[4];
|
||||
dGeomBoxGetLengths(box->id, dimensions);
|
||||
*w = dimensions[0];
|
||||
*h = dimensions[1];
|
||||
*d = dimensions[2];
|
||||
}
|
||||
|
||||
void lovrBoxShapeSetDimensions(BoxShape* box, float w, float h, float d) {
|
||||
lovrCheck(w > 0.f && h > 0.f && d > 0.f, "BoxShape dimensions must be positive");
|
||||
dGeomBoxSetLengths(box->id, w, h, d);
|
||||
void lovrBoxShapeGetDimensions(BoxShape* box, float dimensions[3]) {
|
||||
dReal d[4];
|
||||
dGeomBoxGetLengths(box->id, d);
|
||||
vec3_set(dimensions, d[0], d[1], d[2]);
|
||||
}
|
||||
|
||||
CapsuleShape* lovrCapsuleShapeCreate(float radius, float length) {
|
||||
|
|
@ -1064,22 +1032,12 @@ float lovrCapsuleShapeGetRadius(CapsuleShape* capsule) {
|
|||
return radius;
|
||||
}
|
||||
|
||||
void lovrCapsuleShapeSetRadius(CapsuleShape* capsule, float radius) {
|
||||
lovrCheck(radius > 0.f, "CapsuleShape dimensions must be positive");
|
||||
dGeomCapsuleSetParams(capsule->id, radius, lovrCapsuleShapeGetLength(capsule));
|
||||
}
|
||||
|
||||
float lovrCapsuleShapeGetLength(CapsuleShape* capsule) {
|
||||
dReal radius, length;
|
||||
dGeomCapsuleGetParams(capsule->id, &radius, &length);
|
||||
return length;
|
||||
}
|
||||
|
||||
void lovrCapsuleShapeSetLength(CapsuleShape* capsule, float length) {
|
||||
lovrCheck(length > 0.f, "CapsuleShape dimensions must be positive");
|
||||
dGeomCapsuleSetParams(capsule->id, lovrCapsuleShapeGetRadius(capsule), length);
|
||||
}
|
||||
|
||||
CylinderShape* lovrCylinderShapeCreate(float radius, float length) {
|
||||
lovrCheck(radius > 0.f && length > 0.f, "CylinderShape dimensions must be positive");
|
||||
CylinderShape* cylinder = lovrCalloc(sizeof(CylinderShape));
|
||||
|
|
@ -1096,22 +1054,12 @@ float lovrCylinderShapeGetRadius(CylinderShape* cylinder) {
|
|||
return radius;
|
||||
}
|
||||
|
||||
void lovrCylinderShapeSetRadius(CylinderShape* cylinder, float radius) {
|
||||
lovrCheck(radius > 0.f, "CylinderShape dimensions must be positive");
|
||||
dGeomCylinderSetParams(cylinder->id, radius, lovrCylinderShapeGetLength(cylinder));
|
||||
}
|
||||
|
||||
float lovrCylinderShapeGetLength(CylinderShape* cylinder) {
|
||||
dReal radius, length;
|
||||
dGeomCylinderGetParams(cylinder->id, &radius, &length);
|
||||
return length;
|
||||
}
|
||||
|
||||
void lovrCylinderShapeSetLength(CylinderShape* cylinder, float length) {
|
||||
lovrCheck(length > 0.f, "CylinderShape dimensions must be positive");
|
||||
dGeomCylinderSetParams(cylinder->id, lovrCylinderShapeGetRadius(cylinder), length);
|
||||
}
|
||||
|
||||
MeshShape* lovrMeshShapeCreate(int vertexCount, float* vertices, int indexCount, dTriIndex* indices) {
|
||||
MeshShape* mesh = lovrCalloc(sizeof(MeshShape));
|
||||
mesh->ref = 1;
|
||||
|
|
|
|||
Loading…
Reference in New Issue