Custom collision handling;

src/api/lovr.h

@@ -2,6 +2,7 @@
 #include "filesystem/blob.h"
 #include "graphics/mesh.h"
 #include "math/math.h"
+#include "physics/physics.h"
 #include "lib/map/map.h"
 
 int l_lovrAudioInit(lua_State* L);
@@ -62,3 +63,4 @@ extern map_int_t WrapModes;
 void luax_checkmeshformat(lua_State* L, int index, MeshFormat* format);
 int luax_readtransform(lua_State* L, int index, mat4 transform);
 Blob* luax_readblob(lua_State* L, int index, const char* debug);
+int luax_pushshape(lua_State* L, Shape* shape);

src/api/types/shapes.c

@@ -1,6 +1,15 @@
 #include "api/lovr.h"
 #include "physics/physics.h"
 
+int luax_pushshape(lua_State* L, Shape* shape) {
+  switch (lovrShapeGetType(shape)) {
+    case SHAPE_SPHERE: luax_pushtype(L, SphereShape, shape); return 1;
+    case SHAPE_BOX: luax_pushtype(L, BoxShape, shape); return 1;
+    case SHAPE_CAPSULE: luax_pushtype(L, CapsuleShape, shape); return 1;
+    case SHAPE_CYLINDER: luax_pushtype(L, CylinderShape, shape); return 1;
+  }
+}
+
 int l_lovrShapeGetType(lua_State* L) {
   Shape* shape = luax_checktypeof(L, 1, Shape);
   luax_pushenum(L, &ShapeTypes, lovrShapeGetType(shape));

src/api/types/world.c

@@ -1,6 +1,27 @@
 #include "api/lovr.h"
 #include "physics/physics.h"
 
+static void collisionResolver(World* world, void* userdata) {
+  lua_State* L = userdata;
+  luaL_checktype(L, -1, LUA_TFUNCTION);
+  luax_pushtype(L, World, world);
+  lua_call(L, 1, 0);
+}
+
+static int nextOverlap(lua_State* L) {
+  World* world = luax_checktype(L, lua_upvalueindex(1), World);
+  Shape* a;
+  Shape* b;
+  if (lovrWorldGetNextOverlap(world, &a, &b)) {
+    luax_pushshape(L, a);
+    luax_pushshape(L, b);
+    return 2;
+  } else {
+    lua_pushnil(L);
+    return 1;
+  }
+}
+
 int l_lovrWorldGetGravity(lua_State* L) {
   World* world = luax_checktype(L, 1, World);
   float x, y, z;
@@ -68,12 +89,35 @@ int l_lovrWorldSetSleepingAllowed(lua_State* L) {
 }
 
 int l_lovrWorldUpdate(lua_State* L) {
+  lua_settop(L, 3);
   World* world = luax_checktype(L, 1, World);
   float dt = luaL_checknumber(L, 2);
-  lovrWorldUpdate(world, dt);
+  CollisionResolver resolver = lua_type(L, 3) == LUA_TFUNCTION ? collisionResolver : NULL;
+  lovrWorldUpdate(world, dt, resolver, L);
   return 0;
 }
 
+int l_lovrWorldComputeOverlaps(lua_State* L) {
+  World* world = luax_checktype(L, 1, World);
+  lovrWorldComputeOverlaps(world);
+  return 0;
+}
+
+int l_lovrWorldOverlaps(lua_State* L) {
+  luax_checktype(L, 1, World);
+  lua_settop(L, 1);
+  lua_pushcclosure(L, nextOverlap, 1);
+  return 1;
+}
+
+int l_lovrWorldCollide(lua_State* L) {
+  World* world = luax_checktype(L, 1, World);
+  Shape* a = luax_checktypeof(L, 2, Shape);
+  Shape* b = luax_checktypeof(L, 3, Shape);
+  lua_pushboolean(L, lovrWorldCollide(world, a, b));
+  return 1;
+}
+
 const luaL_Reg lovrWorld[] = {
   { "getGravity", l_lovrWorldGetGravity },
   { "setGravity", l_lovrWorldSetGravity },
@@ -84,5 +128,8 @@ const luaL_Reg lovrWorld[] = {
   { "isSleepingAllowed", l_lovrWorldIsSleepingAllowed },
   { "setSleepingAllowed", l_lovrWorldSetSleepingAllowed },
   { "update", l_lovrWorldUpdate },
+  { "computeOverlaps", l_lovrWorldComputeOverlaps },
+  { "overlaps", l_lovrWorldOverlaps },
+  { "collide", l_lovrWorldCollide },
   { NULL, NULL }
 };

src/physics/physics.c

@@ -2,31 +2,14 @@
 #include "math/quat.h"
 #include <stdlib.h>
 
-static void nearCallback(void* data, dGeomID shapeA, dGeomID shapeB) {
+static void defaultNearCallback(void* data, dGeomID a, dGeomID b) {
+  lovrWorldCollide((World*) data, dGeomGetData(a), dGeomGetData(b));
+}
+
+static void customNearCallback(void* data, dGeomID shapeA, dGeomID shapeB) {
   World* world = data;
-
+  vec_push(&world->overlaps, dGeomGetData(shapeA));
-  dBodyID bodyA = dGeomGetBody(shapeA);
+  vec_push(&world->overlaps, dGeomGetData(shapeB));
-  dBodyID bodyB = dGeomGetBody(shapeB);
-  if (bodyA && bodyB && dAreConnectedExcluding(bodyA, bodyB, dJointTypeContact)) {
-    return;
-  }
-
-  dContact contacts[8];
-
-  for (int i = 0; i < 8; i++) {
-    contacts[i].surface.mode = 0;
-    contacts[i].surface.mu = dInfinity;
-    contacts[i].surface.mu2 = 0;
-  }
-
-  int contactCount;
-
-  contactCount = dCollide(shapeA, shapeB, 8, &contacts[0].geom, sizeof(dContact));
-
-  for (int i = 0; i < contactCount; i++) {
-    dJointID joint = dJointCreateContact(world->id, world->contactGroup, &contacts[i]);
-    dJointAttach(joint, bodyA, bodyB);
-  }
 }
 
 void lovrPhysicsInit() {
@@ -51,6 +34,7 @@ World* lovrWorldCreate() {
   world->space = dHashSpaceCreate(0);
   dHashSpaceSetLevels(world->space, -4, 8);
   world->contactGroup = dJointGroupCreate(0);
+  vec_init(&world->overlaps);
 
   return world;
 }
@@ -58,6 +42,7 @@ World* lovrWorldCreate() {
 void lovrWorldDestroy(const Ref* ref) {
   World* world = containerof(ref, World);
   dWorldDestroy(world->id);
+  vec_deinit(&world->overlaps);
   free(world);
 }
 
@@ -101,12 +86,55 @@ void lovrWorldSetSleepingAllowed(World* world, int allowed) {
   dWorldSetAutoDisableFlag(world->id, allowed);
 }
 
-void lovrWorldUpdate(World* world, float dt) {
+void lovrWorldUpdate(World* world, float dt, CollisionResolver resolver, void* userdata) {
-  dSpaceCollide(world->space, world, nearCallback);
+  if (resolver) {
+    resolver(world, userdata);
+  } else {
+    dSpaceCollide(world->space, world, defaultNearCallback);
+  }
+
   dWorldQuickStep(world->id, dt);
   dJointGroupEmpty(world->contactGroup);
 }
 
+void lovrWorldComputeOverlaps(World* world) {
+  vec_clear(&world->overlaps);
+  dSpaceCollide(world->space, world, customNearCallback);
+}
+
+int lovrWorldGetNextOverlap(World* world, Shape** a, Shape** b) {
+  if (world->overlaps.length == 0) {
+    *a = *b = NULL;
+    return 0;
+  }
+
+  *a = vec_pop(&world->overlaps);
+  *b = vec_pop(&world->overlaps);
+  return 1;
+}
+
+int lovrWorldCollide(World* world, Shape* a, Shape* b) {
+  if (!a || !b) {
+    return 0;
+  }
+
+  dContact contacts[MAX_CONTACTS];
+
+  for (int i = 0; i < MAX_CONTACTS; i++) {
+    contacts[i].surface.mode = 0;
+    contacts[i].surface.mu = dInfinity;
+  }
+
+  int contactCount = dCollide(a->id, b->id, MAX_CONTACTS, &contacts[0].geom, sizeof(dContact));
+
+  for (int i = 0; i < contactCount; i++) {
+    dJointID joint = dJointCreateContact(world->id, world->contactGroup, &contacts[i]);
+    dJointAttach(joint, a->body->id, b->body->id);
+  }
+
+  return contactCount;
+}
+
 Body* lovrBodyCreate(World* world) {
   if (!world) {
     error("No world specified");
@@ -117,6 +145,7 @@ Body* lovrBodyCreate(World* world) {
 
   body->id = dBodyCreate(world->id);
   body->world = world;
+  dBodySetData(body->id, body);
 
   return body;
 }
@@ -287,11 +316,11 @@ void lovrBodySetAwake(Body* body, int awake) {
 }
 
 void* lovrBodyGetUserData(Body* body) {
-  return dBodyGetData(body->id);
+  return body->userdata;
 }
 
 void lovrBodySetUserData(Body* body, void* data) {
-  dBodySetData(body->id, data);
+  body->userdata = data;
 }
 
 World* lovrBodyGetWorld(Body* body) {
@@ -380,11 +409,11 @@ void lovrShapeSetEnabled(Shape* shape, int enabled) {
 }
 
 void* lovrShapeGetUserData(Shape* shape) {
-  return dGeomGetData(shape->id);
+  return shape->userdata;
 }
 
 void lovrShapeSetUserData(Shape* shape, void* data) {
-  dGeomSetData(shape->id, data);
+  shape->userdata = data;
 }
 
 void lovrShapeGetPosition(Shape* shape, float* x, float* y, float* z) {
@@ -487,6 +516,7 @@ SphereShape* lovrSphereShapeCreate(float radius) {
 
   sphere->type = SHAPE_SPHERE;
   sphere->id = dCreateSphere(0, radius);
+  dGeomSetData(sphere->id, sphere);
 
   return sphere;
 }
@@ -505,6 +535,7 @@ BoxShape* lovrBoxShapeCreate(float x, float y, float z) {
 
   box->type = SHAPE_BOX;
   box->id = dCreateBox(0, x, y, z);
+  dGeomSetData(box->id, box);
 
   return box;
 }
@@ -527,6 +558,7 @@ CapsuleShape* lovrCapsuleShapeCreate(float radius, float length) {
 
   capsule->type = SHAPE_CAPSULE;
   capsule->id = dCreateCapsule(0, radius, length);
+  dGeomSetData(capsule->id, capsule);
 
   return capsule;
 }
@@ -557,6 +589,7 @@ CylinderShape* lovrCylinderShapeCreate(float radius, float length) {
 
   cylinder->type = SHAPE_CYLINDER;
   cylinder->id = dCreateCylinder(0, radius, length);
+  dGeomSetData(cylinder->id, cylinder);
 
   return cylinder;
 }

src/physics/physics.h

@@ -1,7 +1,12 @@
 #include "util.h"
+#include "lib/vec/vec.h"
 #include <stdint.h>
 #include <ode/ode.h>
 
+#pragma once
+
+#define MAX_CONTACTS 4
+
 typedef enum {
   SHAPE_SPHERE,
   SHAPE_BOX,
@@ -14,12 +19,14 @@ typedef struct {
   dWorldID id;
   dSpaceID space;
   dJointGroupID contactGroup;
+  vec_void_t overlaps;
 } World;
 
 typedef struct {
   Ref ref;
   dBodyID id;
   World* world;
+  void* userdata;
 } Body;
 
 typedef struct {
@@ -27,6 +34,7 @@ typedef struct {
   ShapeType type;
   dGeomID id;
   Body* body;
+  void* userdata;
 } Shape;
 
 typedef Shape SphereShape;
@@ -34,6 +42,8 @@ typedef Shape BoxShape;
 typedef Shape CapsuleShape;
 typedef Shape CylinderShape;
 
+typedef void (*CollisionResolver)(World* world, void* userdata);
+
 void lovrPhysicsInit();
 void lovrPhysicsDestroy();
 
@@ -47,7 +57,10 @@ void lovrWorldGetAngularDamping(World* world, float* damping, float* threshold);
 void lovrWorldSetAngularDamping(World* world, float damping, float threshold);
 int lovrWorldIsSleepingAllowed(World* world);
 void lovrWorldSetSleepingAllowed(World* world, int allowed);
-void lovrWorldUpdate(World* world, float dt);
+void lovrWorldUpdate(World* world, float dt, CollisionResolver resolver, void* userdata);
+void lovrWorldComputeOverlaps(World* world);
+int lovrWorldGetNextOverlap(World* world, Shape** a, Shape** b);
+int lovrWorldCollide(World* world, Shape* a, Shape* b);
 
 Body* lovrBodyCreate();
 void lovrBodyDestroy(const Ref* ref);