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CompoundShape fixes;

This commit is contained in:
bjorn 2024-04-04 13:38:41 -07:00
parent 7640be2281
commit 6cf9f8082e
2 changed files with 42 additions and 24 deletions
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27
src/api/l_physics_shapes.c
View File

@ -158,7 +158,7 @@ Shape* luax_newcompoundshape(lua_State* L, int index) {
lovrCheck(lua_istable(L, -1), "Expected table of tables for compound shape");
lua_rawgeti(L, -1, 1);
shapes[i] = luax_totype(L, -1, Shape);
shapes[i] = luax_checkshape(L, -1);
lovrCheck(shapes[i], "Expected a Shape for CompoundShape entry #%d", i + 1);
lua_pop(L, 1);
@ -170,10 +170,11 @@ Shape* luax_newcompoundshape(lua_State* L, int index) {
lua_pop(L, 1);
break;
case LUA_TNUMBER:
lua_rawgeti(L, -2, index++);
lua_rawgeti(L, -3, index++);
lua_rawgeti(L, -2, index + 1);
lua_rawgeti(L, -3, index + 2);
vec3_set(&positions[3 * i], luax_tofloat(L, -3), luax_tofloat(L, -2), luax_tofloat(L, -1));
lua_pop(L, 3);
index += 3;
break;
default: {
float* v = luax_checkvector(L, -1, V_VEC3, "nil, number, or vec3");
@ -190,9 +191,9 @@ Shape* luax_newcompoundshape(lua_State* L, int index) {
lua_pop(L, 1);
break;
case LUA_TNUMBER:
lua_rawgeti(L, -2, index++);
lua_rawgeti(L, -3, index++);
lua_rawgeti(L, -4, index++);
lua_rawgeti(L, -2, index);
lua_rawgeti(L, -3, index);
lua_rawgeti(L, -4, index);
quat_set(&orientations[4 * i], luax_tofloat(L, -4), luax_tofloat(L, -3), luax_tofloat(L, -2), luax_tofloat(L, -1));
lua_pop(L, 4);
break;
@ -486,14 +487,14 @@ static int l_lovrCompoundShapeReplaceShape(lua_State* L) {
static int l_lovrCompoundShapeRemoveShape(lua_State* L) {
CompoundShape* shape = luax_checktype(L, 1, CompoundShape);
uint32_t index = luax_checku32(L, 2);
uint32_t index = luax_checku32(L, 2) - 1;
lovrCompoundShapeRemoveShape(shape, index);
return 0;
}
static int l_lovrCompoundShapeGetShape(lua_State* L) {
CompoundShape* shape = luax_checktype(L, 1, CompoundShape);
uint32_t index = luax_checku32(L, 2);
uint32_t index = luax_checku32(L, 2) - 1;
Shape* child = lovrCompoundShapeGetShape(shape, index);
luax_pushshape(L, child);
return 1;
@ -504,8 +505,8 @@ static int l_lovrCompoundShapeGetShapes(lua_State* L) {
int count = (int) lovrCompoundShapeGetShapeCount(shape);
lua_createtable(L, count, 0);
for (int i = 0; i < count; i++) {
Shape* shape = lovrCompoundShapeGetShape(shape, (uint32_t) i);
luax_pushshape(L, shape);
Shape* child = lovrCompoundShapeGetShape(shape, (uint32_t) i);
luax_pushshape(L, child);
lua_rawseti(L, -2, i + 1);
}
return 1;
@ -520,7 +521,7 @@ static int l_lovrCompoundShapeGetShapeCount(lua_State* L) {
static int l_lovrCompoundShapeGetShapeOffset(lua_State* L) {
CompoundShape* shape = luax_checktype(L, 1, CompoundShape);
uint32_t index = luax_checku32(L, 2);
uint32_t index = luax_checku32(L, 2) - 1;
float position[3], orientation[4], angle, ax, ay, az;
lovrCompoundShapeGetShapeOffset(shape, index, position, orientation);
quat_getAngleAxis(orientation, &angle, &ax, &ay, &az);
@ -536,7 +537,7 @@ static int l_lovrCompoundShapeGetShapeOffset(lua_State* L) {
static int l_lovrCompoundShapeSetShapeOffset(lua_State* L) {
CompoundShape* shape = luax_checktype(L, 1, CompoundShape);
uint32_t index = luax_checku32(L, 2);
uint32_t index = luax_checku32(L, 2) - 1;
float position[3], orientation[4];
int i = 3;
i = luax_readvec3(L, i, position, NULL);
@ -553,7 +554,7 @@ const luaL_Reg lovrCompoundShape[] = {
{ "removeShape", l_lovrCompoundShapeRemoveShape },
{ "getShape", l_lovrCompoundShapeGetShape },
{ "getShapes", l_lovrCompoundShapeGetShapes },
{ "getShapeCount", l_lovrCompoundShapeGetShapes },
{ "getShapeCount", l_lovrCompoundShapeGetShapeCount },
{ "getShapeOffset", l_lovrCompoundShapeGetShapeOffset },
{ "setShapeOffset", l_lovrCompoundShapeSetShapeOffset },
{ "__len", l_lovrCompoundShapeGetShapeCount }, // :)

39
src/modules/physics/physics_jolt.c
View File

@ -953,23 +953,30 @@ TerrainShape* lovrTerrainShapeCreate(float* vertices, uint32_t n, float scaleXZ,
}
CompoundShape* lovrCompoundShapeCreate(Shape** shapes, vec3 positions, quat orientations, uint32_t count, bool freeze) {
lovrCheck(!freeze || count > 0, "A frozen CompoundShape must contain at least one shape");
CompoundShape* parent = lovrCalloc(sizeof(CompoundShape));
parent->ref = 1;
parent->type = SHAPE_COMPOUND;
JPH_MutableCompoundShapeSettings* settings = JPH_MutableCompoundShapeSettings_Create();
JPH_CompoundShapeSettings* superSettings = (JPH_CompoundShapeSettings*) settings;
JPH_CompoundShapeSettings* settings = freeze ?
(JPH_CompoundShapeSettings*) JPH_StaticCompoundShapeSettings_Create() :
(JPH_CompoundShapeSettings*) JPH_MutableCompoundShapeSettings_Create();
for (uint32_t i = 0; i < count; i++) {
JPH_Vec3 position;
JPH_Quat rotation;
vec3_init(&position.x, positions + 3 * i);
quat_init(&rotation.x, orientations + 3 * i);
JPH_CompoundShapeSettings_AddShape2(superSettings, &position, &rotation, shapes[i]->shape, 0);
lovrCheck(shapes[i]->type != SHAPE_COMPOUND, "Currently, nesting compound shapes is not supported");
JPH_Vec3 position = { positions[3 * i + 0], positions[3 * i + 1], positions[3 * i + 2] };
JPH_Quat rotation = { orientations[4 * i + 0], orientations[4 * i + 1], orientations[4 * i + 2], orientations[4 * i + 3] };
JPH_CompoundShapeSettings_AddShape2(settings, &position, &rotation, shapes[i]->shape, 0);
lovrRetain(shapes[i]);
}
parent->shape = (JPH_Shape*) JPH_MutableCompoundShape_Create(settings);
if (freeze) {
parent->shape = (JPH_Shape*) JPH_StaticCompoundShape_Create((JPH_StaticCompoundShapeSettings*) settings);
} else {
parent->shape = (JPH_Shape*) JPH_MutableCompoundShape_Create((JPH_MutableCompoundShapeSettings*) settings);
}
JPH_ShapeSettings_Destroy((JPH_ShapeSettings*) settings);
return parent;
}
@ -981,6 +988,7 @@ bool lovrCompoundShapeIsFrozen(CompoundShape* shape) {
void lovrCompoundShapeAddShape(CompoundShape* shape, Shape* child, float* position, float* orientation) {
lovrCheck(!lovrCompoundShapeIsFrozen(shape), "CompoundShape is frozen and can not be changed");
lovrCheck(child->type != SHAPE_COMPOUND, "Currently, nesting compound shapes is not supported");
lovrCheck(child != shape, "Don't put a CompoundShape inside itself! lol");
JPH_Vec3 pos = { position[0], position[1], position[2] };
JPH_Quat rot = { orientation[0], orientation[1], orientation[2], orientation[3] };
JPH_MutableCompoundShape_AddShape((JPH_MutableCompoundShape*) shape->shape, &pos, &rot, child->shape, 0);
@ -990,6 +998,8 @@ void lovrCompoundShapeAddShape(CompoundShape* shape, Shape* child, float* positi
void lovrCompoundShapeReplaceShape(CompoundShape* shape, uint32_t index, Shape* child, float* position, float* orientation) {
lovrCheck(!lovrCompoundShapeIsFrozen(shape), "CompoundShape is frozen and can not be changed");
lovrCheck(child->type != SHAPE_COMPOUND, "Currently, nesting compound shapes is not supported");
lovrCheck(index < lovrCompoundShapeGetShapeCount(shape), "CompoundShape has no shape at index %d", index + 1);
lovrCheck(child != shape, "Don't put a CompoundShape inside itself! lol");
JPH_Vec3 pos = { position[0], position[1], position[2] };
JPH_Quat rot = { orientation[0], orientation[1], orientation[2], orientation[3] };
JPH_MutableCompoundShape_ModifyShape2((JPH_MutableCompoundShape*) shape->shape, index, &pos, &rot, child->shape);
@ -998,15 +1008,20 @@ void lovrCompoundShapeReplaceShape(CompoundShape* shape, uint32_t index, Shape*
void lovrCompoundShapeRemoveShape(CompoundShape* shape, uint32_t index) {
lovrCheck(!lovrCompoundShapeIsFrozen(shape), "CompoundShape is frozen and can not be changed");
lovrCheck(index < lovrCompoundShapeGetShapeCount(shape), "CompoundShape has no shape at index %d", index + 1);
Shape* child = lovrCompoundShapeGetShape(shape, index);
JPH_MutableCompoundShape_RemoveShape((JPH_MutableCompoundShape*) shape->shape, index);
lovrRelease(child, lovrShapeDestroy);
}
Shape* lovrCompoundShapeGetShape(CompoundShape* shape, uint32_t index) {
const JPH_Shape* child;
JPH_CompoundShape_GetSubShape((JPH_CompoundShape*) shape->shape, index, &child, NULL, NULL, NULL);
return (Shape*) (uintptr_t) JPH_Shape_GetUserData(child);
if (index < lovrCompoundShapeGetShapeCount(shape)) {
const JPH_Shape* child;
JPH_CompoundShape_GetSubShape((JPH_CompoundShape*) shape->shape, index, &child, NULL, NULL, NULL);
return (Shape*) (uintptr_t) JPH_Shape_GetUserData(child);
} else {
return NULL;
}
}
uint32_t lovrCompoundShapeGetShapeCount(CompoundShape* shape) {
@ -1014,6 +1029,7 @@ uint32_t lovrCompoundShapeGetShapeCount(CompoundShape* shape) {
}
void lovrCompoundShapeGetShapeOffset(CompoundShape* shape, uint32_t index, float* position, float* orientation) {
lovrCheck(index < lovrCompoundShapeGetShapeCount(shape), "CompoundShape has no shape at index %d", index + 1);
const JPH_Shape* child;
JPH_Vec3 pos;
JPH_Quat rot;
@ -1025,6 +1041,7 @@ void lovrCompoundShapeGetShapeOffset(CompoundShape* shape, uint32_t index, float
void lovrCompoundShapeSetShapeOffset(CompoundShape* shape, uint32_t index, float* position, float* orientation) {
lovrCheck(!lovrCompoundShapeIsFrozen(shape), "CompoundShape is frozen and can not be changed");
lovrCheck(index < lovrCompoundShapeGetShapeCount(shape), "CompoundShape has no shape at index %d", index + 1);
JPH_Vec3 pos = { position[0], position[1], position[2] };
JPH_Quat rot = { orientation[0], orientation[1], orientation[2], orientation[3] };
JPH_MutableCompoundShape_ModifyShape((JPH_MutableCompoundShape*) shape->shape, index, &pos, &rot);