Body:getOrientation; Body:setOrientation;

src/api/types/body.c

@@ -20,8 +20,31 @@ int l_lovrBodySetPosition(lua_State* L) {
   return 0;
 }
 
+int l_lovrBodyGetOrientation(lua_State* L) {
+  Body* body = luax_checktype(L, 1, Body);
+  float angle, x, y, z;
+  lovrBodyGetOrientation(body, &angle, &x, &y, &z);
+  lua_pushnumber(L, angle);
+  lua_pushnumber(L, x);
+  lua_pushnumber(L, y);
+  lua_pushnumber(L, z);
+  return 3;
+}
+
+int l_lovrBodySetOrientation(lua_State* L) {
+  Body* body = luax_checktype(L, 1, Body);
+  float angle = luaL_checknumber(L, 2);
+  float x = luaL_checknumber(L, 3);
+  float y = luaL_checknumber(L, 4);
+  float z = luaL_checknumber(L, 5);
+  lovrBodySetOrientation(body, angle, x, y, z);
+  return 0;
+}
+
 const luaL_Reg lovrBody[] = {
   { "getPosition", l_lovrBodyGetPosition },
   { "setPosition", l_lovrBodySetPosition },
+  { "getOrientation", l_lovrBodyGetOrientation },
+  { "setOrientation", l_lovrBodySetOrientation },
   { NULL, NULL }
 };

src/physics/physics.c

@@ -1,4 +1,5 @@
 #include "physics.h"
+#include "math/quat.h"
 #include <stdlib.h>
 
 void lovrPhysicsInit() {
@@ -104,3 +105,16 @@ void lovrBodyGetPosition(Body* body, float* x, float* y, float* z) {
 void lovrBodySetPosition(Body* body, float x, float y, float z) {
   dBodySetPosition(body->id, x, y, z);
 }
+
+void lovrBodyGetOrientation(Body* body, float* angle, float* x, float* y, float* z) {
+  const dReal* q = dBodyGetQuaternion(body->id);
+  float quaternion[4] = { q[0], q[1], q[2], q[3] };
+  quat_getAngleAxis(quaternion, angle, x, y, z);
+}
+
+void lovrBodySetOrientation(Body* body, float angle, float x, float y, float z) {
+  float axis[3] = { x, y, z };
+  float quaternion[4];
+  quat_fromAngleAxis(quaternion, angle, axis);
+  dBodySetQuaternion(body->id, quaternion);
+}

src/physics/physics.h

@@ -31,3 +31,5 @@ Body* lovrBodyCreate();
 void lovrBodyDestroy(const Ref* ref);
 void lovrBodyGetPosition(Body* body, float* x, float* y, float* z);
 void lovrBodySetPosition(Body* body, float x, float y, float z);
+void lovrBodyGetOrientation(Body* body, float* angle, float* x, float* y, float* z);
+void lovrBodySetOrientation(Body* body, float angle, float x, float y, float z);