From 6bfea99be6a8a6b4dc0bee5ce3706ab21893951c Mon Sep 17 00:00:00 2001
From: bjorn <tie.372@gmail.com>
Date: Wed, 24 May 2017 18:10:39 -0700
Subject: [PATCH] Collider:getAABB;

---
 src/api/types/collider.c | 11 +++++++++++
 src/physics/physics.c    | 22 ++++++++++++++++++++++
 src/physics/physics.h    |  1 +
 3 files changed, 34 insertions(+)

diff --git a/src/api/types/collider.c b/src/api/types/collider.c
index 1d64a101..f78579c8 100644
--- a/src/api/types/collider.c
+++ b/src/api/types/collider.c
@@ -413,6 +413,16 @@ int l_lovrColliderGetLinearVelocityFromWorldPoint(lua_State* L) {
   return 3;
 }
 
+int l_lovrColliderGetAABB(lua_State* L) {
+  Collider* collider = luax_checktype(L, 1, Collider);
+  float aabb[6];
+  lovrColliderGetAABB(collider, aabb);
+  for (int i = 0; i < 6; i++) {
+    lua_pushnumber(L, aabb[i]);
+  }
+  return 6;
+}
+
 const luaL_Reg lovrCollider[] = {
   { "destroy", l_lovrColliderDestroy },
   { "getWorld", l_lovrColliderGetWorld },
@@ -454,5 +464,6 @@ const luaL_Reg lovrCollider[] = {
   { "getWorldVector", l_lovrColliderGetWorldVector },
   { "getLinearVelocityFromLocalPoint", l_lovrColliderGetLinearVelocityFromLocalPoint },
   { "getLinearVelocityFromWorldPoint", l_lovrColliderGetLinearVelocityFromWorldPoint },
+  { "getAABB", l_lovrColliderGetAABB },
   { NULL, NULL }
 };
diff --git a/src/physics/physics.c b/src/physics/physics.c
index 340962f2..b4e9ed6b 100644
--- a/src/physics/physics.c
+++ b/src/physics/physics.c
@@ -495,6 +495,28 @@ void lovrColliderGetLinearVelocityFromWorldPoint(Collider* collider, float wx, f
   *vz = velocity[2];
 }
 
+void lovrColliderGetAABB(Collider* collider, float aabb[6]) {
+  dGeomID shape = dBodyGetFirstGeom(collider->body);
+
+  if (!shape) {
+    memset(aabb, 0, 6 * sizeof(float));
+    return;
+  }
+
+  dGeomGetAABB(shape, aabb);
+
+  float otherAABB[6];
+  while ((shape = dBodyGetNextGeom(shape)) != NULL) {
+    dGeomGetAABB(shape, otherAABB);
+    aabb[0] = MIN(aabb[0], otherAABB[0]);
+    aabb[1] = MAX(aabb[0], otherAABB[0]);
+    aabb[2] = MIN(aabb[2], otherAABB[2]);
+    aabb[3] = MAX(aabb[3], otherAABB[3]);
+    aabb[4] = MIN(aabb[4], otherAABB[4]);
+    aabb[5] = MAX(aabb[5], otherAABB[5]);
+  }
+}
+
 void lovrShapeDestroy(const Ref* ref) {
   Shape* shape = containerof(ref, Shape);
   lovrShapeDestroyData(shape);
diff --git a/src/physics/physics.h b/src/physics/physics.h
index 9730c9e6..4ec8867a 100644
--- a/src/physics/physics.h
+++ b/src/physics/physics.h
@@ -131,6 +131,7 @@ void lovrColliderGetLocalVector(Collider* collider, float wx, float wy, float wz
 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 lovrColliderGetAABB(Collider* collider, float aabb[6]);
 
 void lovrShapeDestroy(const Ref* ref);
 void lovrShapeDestroyData(Shape* shape);