Support for trimesh shape colliders

deps/ode

@@ -1 +1 @@
-Subproject commit b85a951862d13d1f731daaf960249ebbbe12730f
+Subproject commit dbc457549169d04fa6baece760d052133ac2e3ba

src/api/api.h

@@ -50,6 +50,7 @@ extern const luaL_Reg lovrSliderJoint[];
 extern const luaL_Reg lovrSoundData[];
 extern const luaL_Reg lovrSource[];
 extern const luaL_Reg lovrSphereShape[];
+extern const luaL_Reg lovrMeshShape[];
 extern const luaL_Reg lovrTexture[];
 extern const luaL_Reg lovrTextureData[];
 extern const luaL_Reg lovrThread[];

src/api/l_physics.c

@@ -7,6 +7,7 @@ StringEntry ShapeTypes[] = {
   [SHAPE_BOX] = ENTRY("box"),
   [SHAPE_CAPSULE] = ENTRY("capsule"),
   [SHAPE_CYLINDER] = ENTRY("cylinder"),
+  [SHAPE_MESH] = ENTRY("mesh"),
   { 0 }
 };
 
@@ -153,6 +154,7 @@ int luaopen_lovr_physics(lua_State* L) {
   luax_registertype(L, BoxShape);
   luax_registertype(L, CapsuleShape);
   luax_registertype(L, CylinderShape);
+  luax_registertype(L, MeshShape);
   if (lovrPhysicsInit()) {
     luax_atexit(L, lovrPhysicsDestroy);
   }

src/api/l_physics_shapes.c

@@ -7,6 +7,7 @@ void luax_pushshape(lua_State* L, Shape* shape) {
     case SHAPE_BOX: luax_pushtype(L, BoxShape, shape); break;
     case SHAPE_CAPSULE: luax_pushtype(L, CapsuleShape, shape); break;
     case SHAPE_CYLINDER: luax_pushtype(L, CylinderShape, shape); break;
+    case SHAPE_MESH: luax_pushtype(L, MeshShape, shape); break;
     default: lovrThrow("Unreachable");
   }
 }
@@ -19,7 +20,8 @@ Shape* luax_checkshape(lua_State* L, int index) {
       hash64("SphereShape", strlen("SphereShape")),
       hash64("BoxShape", strlen("BoxShape")),
       hash64("CapsuleShape", strlen("CapsuleShape")),
-      hash64("CylinderShape", strlen("CylinderShape"))
+      hash64("CylinderShape", strlen("CylinderShape")),
+      hash64("MeshShape", strlen("MeshShape")),
     };
 
     for (size_t i = 0; i < sizeof(hashes) / sizeof(hashes[0]); i++) {
@@ -298,3 +300,8 @@ const luaL_Reg lovrCylinderShape[] = {
   { "setLength", l_lovrCylinderShapeSetLength },
   { NULL, NULL }
 };
+
+const luaL_Reg lovrMeshShape[] = {
+  lovrShape,
+  { NULL, NULL }
+};

src/api/l_physics_world.c

@@ -110,6 +110,44 @@ static int l_lovrWorldNewSphereCollider(lua_State* L) {
   return 1;
 }
 
+static int l_lovrWorldNewMeshCollider(lua_State* L) {
+  World* world = luax_checktype(L, 1, World);
+  lovrAssert(lua_istable(L, 2), "Vertices must be a table");
+  lovrAssert(lua_istable(L, 3), "Indices must be a table");
+  int vertexCount = luax_len(L, 2);
+  int indexCount  = luax_len(L, 3);
+  // TODO: this never gets deallocated
+  float    * vertices = malloc(sizeof(float) * vertexCount * 3);
+  unsigned * indices  = malloc(sizeof(unsigned) * indexCount);
+
+  for (int i = 0; i < vertexCount; i++) {
+    lua_rawgeti(L, 2, i + 1);
+    lovrAssert(lua_istable(L, -1), "Each verticle must be a table of coordinates");
+    lua_rawgeti(L, -1, 1); // x
+    vertices[i * 3 + 0] = luaL_optnumber(L, -1, 0.);
+    lua_pop(L, 1);
+    lua_rawgeti(L, -1, 2); // y
+    vertices[i * 3 + 1] = luaL_optnumber(L, -1, 0.);
+    lua_pop(L, 1);
+    lua_rawgeti(L, -1, 3); // z
+    vertices[i * 3 + 2] = luaL_optnumber(L, -1, 0.);
+    lua_pop(L, 2);
+  }
+  for (int i = 0; i < indexCount; i++) {
+    lua_rawgeti(L, 3, i + 1);
+    indices[i] = luaL_checkinteger(L, -1) - 1;
+  }
+  lua_pop(L, indexCount);
+  Collider* collider = lovrColliderCreate(world, 0,0,0);
+  MeshShape* shape = lovrMeshShapeCreate(vertexCount, vertices, indexCount, indices);
+  lovrColliderAddShape(collider, shape);
+  lovrColliderInitInertia(collider, shape);
+  luax_pushtype(L, Collider, collider);
+  lovrRelease(Collider, collider);
+  lovrRelease(Shape, shape);
+  return 1;
+}
+
 static int l_lovrWorldGetColliders(lua_State* L) {
   World* world = luax_checktype(L, 1, World);
 
@@ -306,6 +344,7 @@ const luaL_Reg lovrWorld[] = {
   { "newCapsuleCollider", l_lovrWorldNewCapsuleCollider },
   { "newCylinderCollider", l_lovrWorldNewCylinderCollider },
   { "newSphereCollider", l_lovrWorldNewSphereCollider },
+  { "newMeshCollider", l_lovrWorldNewMeshCollider },
   { "getColliders", l_lovrWorldGetColliders },
   { "destroy", l_lovrWorldDestroy },
   { "update", l_lovrWorldUpdate },

src/modules/physics/physics.c

@@ -687,6 +687,10 @@ void lovrShapeDestroy(void* ref) {
 
 void lovrShapeDestroyData(Shape* shape) {
   if (shape->id) {
+    if (shape->type == SHAPE_MESH) {
+      dTriMeshDataID dataID = dGeomTriMeshGetData(shape->id);
+      dGeomTriMeshDataDestroy(dataID);
+    }
     dGeomDestroy(shape->id);
     shape->id = NULL;
   }
@@ -779,6 +783,13 @@ void lovrShapeGetMass(Shape* shape, float density, float* cx, float* cy, float*
       dMassSetCylinder(&m, density, 3, radius, length);
       break;
     }
+
+    case SHAPE_MESH: {
+      dMassSetTrimesh(&m, density, shape->id);
+      dGeomSetPosition(shape->id, -m.c[0], -m.c[1], -m.c[2]);
+      dMassTranslate(&m, -m.c[0], -m.c[1], -m.c[2]);
+      break;
+    }
   }
 
   const dReal* position = dGeomGetOffsetPosition(shape->id);
@@ -894,6 +905,17 @@ void lovrCylinderShapeSetLength(CylinderShape* cylinder, float length) {
   dGeomCylinderSetParams(cylinder->id, lovrCylinderShapeGetRadius(cylinder), length);
 }
 
+MeshShape* lovrMeshShapeInit(MeshShape* mesh, int vertexCount, float vertices[], int indexCount, dTriIndex indices[]) {
+  dTriMeshDataID dataID = dGeomTriMeshDataCreate();
+  dGeomTriMeshDataBuildSingle(dataID, vertices, 3 * sizeof(float), vertexCount, 
+                              indices, indexCount, 3 * sizeof(dTriIndex));
+  dGeomTriMeshDataPreprocess2(dataID, (1U << dTRIDATAPREPROCESS_BUILD_FACE_ANGLES), NULL);
+  mesh->id = dCreateTriMesh(0, dataID, 0, 0, 0);
+  mesh->type = SHAPE_MESH;
+  dGeomSetData(mesh->id, mesh);
+  return mesh;
+}
+
 void lovrJointDestroy(void* ref) {
   Joint* joint = ref;
   lovrJointDestroyData(joint);

src/modules/physics/physics.h

@@ -14,7 +14,8 @@ typedef enum {
   SHAPE_SPHERE,
   SHAPE_BOX,
   SHAPE_CAPSULE,
-  SHAPE_CYLINDER
+  SHAPE_CYLINDER,
+  SHAPE_MESH,
 } ShapeType;
 
 typedef enum {
@@ -63,6 +64,7 @@ typedef Shape SphereShape;
 typedef Shape BoxShape;
 typedef Shape CapsuleShape;
 typedef Shape CylinderShape;
+typedef Shape MeshShape;
 
 struct Joint {
   JointType type;
@@ -212,6 +214,10 @@ void lovrCylinderShapeSetRadius(CylinderShape* cylinder, float radius);
 float lovrCylinderShapeGetLength(CylinderShape* cylinder);
 void lovrCylinderShapeSetLength(CylinderShape* cylinder, float length);
 
+MeshShape* lovrMeshShapeInit(MeshShape* mesh, int vertexCount, float vertices[], int indexCount, dTriIndex indices[]);
+#define lovrMeshShapeCreate(...) lovrMeshShapeInit(lovrAlloc(MeshShape), __VA_ARGS__)
+#define lovrMeshShapeDestroy lovrShapeDestroy
+
 void lovrJointDestroy(void* ref);
 void lovrJointDestroyData(Joint* joint);
 JointType lovrJointGetType(Joint* joint);