mirror of https://github.com/bjornbytes/lovr.git
Merge 060e72c525
into f4d1161a3d
This commit is contained in:
commit
9b57b3de70
|
@ -1 +1 @@
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|||
Subproject commit 29fe07e8088279c47d7108107856ec3c826d1817
|
||||
Subproject commit 2cda386d71174bec355888539679f7a4f7be1c2a
|
|
@ -203,4 +203,5 @@ struct Shape* luax_newcapsuleshape(lua_State* L, int index);
|
|||
struct Shape* luax_newcylindershape(lua_State* L, int index);
|
||||
struct Shape* luax_newmeshshape(lua_State* L, int index);
|
||||
struct Shape* luax_newterrainshape(lua_State* L, int index);
|
||||
struct Shape* luax_newcompoundshape(lua_State* L, int index);
|
||||
#endif
|
||||
|
|
|
@ -9,6 +9,7 @@ StringEntry lovrShapeType[] = {
|
|||
[SHAPE_CYLINDER] = ENTRY("cylinder"),
|
||||
[SHAPE_MESH] = ENTRY("mesh"),
|
||||
[SHAPE_TERRAIN] = ENTRY("terrain"),
|
||||
[SHAPE_COMPOUND] = ENTRY("compound"),
|
||||
{ 0 }
|
||||
};
|
||||
|
||||
|
@ -178,6 +179,13 @@ static int l_lovrPhysicsNewTerrainShape(lua_State* L) {
|
|||
return 1;
|
||||
}
|
||||
|
||||
static int l_lovrPhysicsNewCompoundShape(lua_State* L) {
|
||||
CompoundShape* shape = luax_newcompoundshape(L, 1);
|
||||
luax_pushtype(L, CompoundShape, shape);
|
||||
lovrRelease(shape, lovrShapeDestroy);
|
||||
return 1;
|
||||
}
|
||||
|
||||
static const luaL_Reg lovrPhysics[] = {
|
||||
{ "newWorld", l_lovrPhysicsNewWorld },
|
||||
{ "newBallJoint", l_lovrPhysicsNewBallJoint },
|
||||
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@ -190,6 +198,7 @@ static const luaL_Reg lovrPhysics[] = {
|
|||
{ "newSliderJoint", l_lovrPhysicsNewSliderJoint },
|
||||
{ "newSphereShape", l_lovrPhysicsNewSphereShape },
|
||||
{ "newTerrainShape", l_lovrPhysicsNewTerrainShape },
|
||||
{ "newCompoundShape", l_lovrPhysicsNewCompoundShape },
|
||||
{ NULL, NULL }
|
||||
};
|
||||
|
||||
|
@ -205,6 +214,7 @@ extern const luaL_Reg lovrCapsuleShape[];
|
|||
extern const luaL_Reg lovrCylinderShape[];
|
||||
extern const luaL_Reg lovrMeshShape[];
|
||||
extern const luaL_Reg lovrTerrainShape[];
|
||||
extern const luaL_Reg lovrCompoundShape[];
|
||||
|
||||
int luaopen_lovr_physics(lua_State* L) {
|
||||
lua_newtable(L);
|
||||
|
@ -221,6 +231,7 @@ int luaopen_lovr_physics(lua_State* L) {
|
|||
luax_registertype(L, CylinderShape);
|
||||
luax_registertype(L, MeshShape);
|
||||
luax_registertype(L, TerrainShape);
|
||||
luax_registertype(L, CompoundShape);
|
||||
lovrPhysicsInit();
|
||||
luax_atexit(L, lovrPhysicsDestroy);
|
||||
return 1;
|
||||
|
|
|
@ -17,6 +17,20 @@ static int l_lovrColliderIsDestroyed(lua_State* L) {
|
|||
return 1;
|
||||
}
|
||||
|
||||
static int l_lovrColliderIsEnabled(lua_State* L) {
|
||||
Collider* collider = luax_checktype(L, 1, Collider);
|
||||
bool enabled = lovrColliderIsEnabled(collider);
|
||||
lua_pushboolean(L, enabled);
|
||||
return 1;
|
||||
}
|
||||
|
||||
static int l_lovrColliderSetEnabled(lua_State* L) {
|
||||
Collider* collider = luax_checktype(L, 1, Collider);
|
||||
bool enable = lua_toboolean(L, 2);
|
||||
lovrColliderSetEnabled(collider, enable);
|
||||
return 1;
|
||||
}
|
||||
|
||||
static int l_lovrColliderGetWorld(lua_State* L) {
|
||||
Collider* collider = luax_checktype(L, 1, Collider);
|
||||
World* world = lovrColliderGetWorld(collider);
|
||||
|
@ -24,32 +38,50 @@ static int l_lovrColliderGetWorld(lua_State* L) {
|
|||
return 1;
|
||||
}
|
||||
|
||||
static int l_lovrColliderAddShape(lua_State* L) {
|
||||
static int l_lovrColliderGetShape(lua_State* L) {
|
||||
Collider* collider = luax_checktype(L, 1, Collider);
|
||||
Shape* shape = luax_checkshape(L, 2);
|
||||
lovrColliderAddShape(collider, shape);
|
||||
return 0;
|
||||
}
|
||||
|
||||
static int l_lovrColliderRemoveShape(lua_State* L) {
|
||||
Collider* collider = luax_checktype(L, 1, Collider);
|
||||
Shape* shape = luax_checkshape(L, 2);
|
||||
lovrColliderRemoveShape(collider, shape);
|
||||
return 0;
|
||||
}
|
||||
|
||||
static int l_lovrColliderGetShapes(lua_State* L) {
|
||||
Collider* collider = luax_checktype(L, 1, Collider);
|
||||
size_t count;
|
||||
Shape** shapes = lovrColliderGetShapes(collider, &count);
|
||||
lua_createtable(L, (int) count, 0);
|
||||
for (size_t i = 0; i < count; i++) {
|
||||
luax_pushshape(L, shapes[i]);
|
||||
lua_rawseti(L, -2, (int) i + 1);
|
||||
uint32_t child = lua_gettop(L) == 1 ? ~0u : luax_checku32(L, 2) - 1;
|
||||
Shape* shape = lovrColliderGetShape(collider, child);
|
||||
if (shape) {
|
||||
luax_pushshape(L, shape);
|
||||
} else {
|
||||
lua_pushnil(L);
|
||||
}
|
||||
return 1;
|
||||
}
|
||||
|
||||
static int l_lovrColliderSetShape(lua_State* L) {
|
||||
Collider* collider = luax_checktype(L, 1, Collider);
|
||||
Shape* shape = lua_isnoneornil(L, 2) ? NULL : luax_checkshape(L, 2);
|
||||
lovrColliderSetShape(collider, shape);
|
||||
return 0;
|
||||
}
|
||||
|
||||
static int l_lovrColliderGetShapeOffset(lua_State* L) {
|
||||
Collider* collider = luax_checktype(L, 1, Collider);
|
||||
float position[3], orientation[4], angle, ax, ay, az;
|
||||
lovrColliderGetShapeOffset(collider, position, orientation);
|
||||
quat_getAngleAxis(orientation, &angle, &ax, &ay, &az);
|
||||
lua_pushnumber(L, position[0]);
|
||||
lua_pushnumber(L, position[1]);
|
||||
lua_pushnumber(L, position[2]);
|
||||
lua_pushnumber(L, angle);
|
||||
lua_pushnumber(L, ax);
|
||||
lua_pushnumber(L, ay);
|
||||
lua_pushnumber(L, az);
|
||||
return 7;
|
||||
}
|
||||
|
||||
static int l_lovrColliderSetShapeOffset(lua_State* L) {
|
||||
Collider* collider = luax_checktype(L, 1, Collider);
|
||||
int index = 2;
|
||||
float position[3], orientation[4];
|
||||
index = luax_readvec3(L, index, position, NULL);
|
||||
index = luax_readquat(L, index, orientation, NULL);
|
||||
lovrColliderSetShapeOffset(collider, position, orientation);
|
||||
return 0;
|
||||
}
|
||||
|
||||
static int l_lovrColliderGetJoints(lua_State* L) {
|
||||
Collider* collider = luax_checktype(L, 1, Collider);
|
||||
size_t count;
|
||||
|
@ -110,6 +142,19 @@ static int l_lovrColliderSetKinematic(lua_State* L) {
|
|||
return 0;
|
||||
}
|
||||
|
||||
static int l_lovrColliderIsSensor(lua_State* L) {
|
||||
Collider* collider = luax_checktype(L, 1, Collider);
|
||||
lua_pushboolean(L, lovrColliderIsSensor(collider));
|
||||
return 1;
|
||||
}
|
||||
|
||||
static int l_lovrColliderSetSensor(lua_State* L) {
|
||||
Collider* collider = luax_checktype(L, 1, Collider);
|
||||
bool sensor = lua_toboolean(L, 2);
|
||||
lovrColliderSetSensor(collider, sensor);
|
||||
return 0;
|
||||
}
|
||||
|
||||
static int l_lovrColliderIsContinuous(lua_State* L) {
|
||||
Collider* collider = luax_checktype(L, 1, Collider);
|
||||
bool continuous = lovrColliderIsContinuous(collider);
|
||||
|
@ -544,6 +589,16 @@ static int l_lovrColliderSetTag(lua_State* L) {
|
|||
return 0;
|
||||
}
|
||||
|
||||
// Deprecated
|
||||
static int l_lovrColliderGetShapes(lua_State* L) {
|
||||
Collider* collider = luax_checktype(L, 1, Collider);
|
||||
Shape* shape = lovrColliderGetShape(collider, ~0u);
|
||||
lua_createtable(L, 1, 0);
|
||||
luax_pushshape(L, shape);
|
||||
lua_rawseti(L, -2, 1);
|
||||
return 1;
|
||||
}
|
||||
|
||||
// Deprecated
|
||||
static int l_lovrColliderIsGravityIgnored(lua_State* L) {
|
||||
Collider* collider = luax_checktype(L, 1, Collider);
|
||||
|
@ -562,15 +617,20 @@ static int l_lovrColliderSetGravityIgnored(lua_State* L) {
|
|||
const luaL_Reg lovrCollider[] = {
|
||||
{ "destroy", l_lovrColliderDestroy },
|
||||
{ "isDestroyed", l_lovrColliderIsDestroyed },
|
||||
{ "isEnabled", l_lovrColliderIsEnabled },
|
||||
{ "setEnabled", l_lovrColliderSetEnabled },
|
||||
{ "getWorld", l_lovrColliderGetWorld },
|
||||
{ "addShape", l_lovrColliderAddShape },
|
||||
{ "removeShape", l_lovrColliderRemoveShape },
|
||||
{ "getShapes", l_lovrColliderGetShapes },
|
||||
{ "getShape", l_lovrColliderGetShape },
|
||||
{ "setShape", l_lovrColliderSetShape },
|
||||
{ "getShapeOffset", l_lovrColliderGetShapeOffset },
|
||||
{ "setShapeOffset", l_lovrColliderSetShapeOffset },
|
||||
{ "getJoints", l_lovrColliderGetJoints },
|
||||
{ "getUserData", l_lovrColliderGetUserData },
|
||||
{ "setUserData", l_lovrColliderSetUserData },
|
||||
{ "isKinematic", l_lovrColliderIsKinematic },
|
||||
{ "setKinematic", l_lovrColliderSetKinematic },
|
||||
{ "isSensor", l_lovrColliderIsSensor },
|
||||
{ "setSensor", l_lovrColliderSetSensor },
|
||||
{ "isContinuous", l_lovrColliderIsContinuous },
|
||||
{ "setContinuous", l_lovrColliderSetContinuous },
|
||||
{ "getGravityScale", l_lovrColliderGetGravityScale },
|
||||
|
@ -617,6 +677,7 @@ const luaL_Reg lovrCollider[] = {
|
|||
{ "setTag", l_lovrColliderSetTag },
|
||||
|
||||
// Deprecated
|
||||
{ "getShapes", l_lovrColliderGetShapes },
|
||||
{ "isGravityIgnored", l_lovrColliderIsGravityIgnored },
|
||||
{ "setGravityIgnored", l_lovrColliderSetGravityIgnored },
|
||||
|
||||
|
|
|
@ -14,6 +14,7 @@ void luax_pushshape(lua_State* L, Shape* shape) {
|
|||
case SHAPE_CYLINDER: luax_pushtype(L, CylinderShape, shape); break;
|
||||
case SHAPE_MESH: luax_pushtype(L, MeshShape, shape); break;
|
||||
case SHAPE_TERRAIN: luax_pushtype(L, TerrainShape, shape); break;
|
||||
case SHAPE_COMPOUND: luax_pushtype(L, CompoundShape, shape); break;
|
||||
default: lovrUnreachable();
|
||||
}
|
||||
}
|
||||
|
@ -28,7 +29,8 @@ Shape* luax_checkshape(lua_State* L, int index) {
|
|||
hash64("CapsuleShape", strlen("CapsuleShape")),
|
||||
hash64("CylinderShape", strlen("CylinderShape")),
|
||||
hash64("MeshShape", strlen("MeshShape")),
|
||||
hash64("TerrainShape", strlen("TerrainShape"))
|
||||
hash64("TerrainShape", strlen("TerrainShape")),
|
||||
hash64("CompoundShape", strlen("CompoundShape"))
|
||||
};
|
||||
|
||||
for (size_t i = 0; i < COUNTOF(hashes); i++) {
|
||||
|
@ -135,6 +137,85 @@ Shape* luax_newterrainshape(lua_State* L, int index) {
|
|||
}
|
||||
}
|
||||
|
||||
Shape* luax_newcompoundshape(lua_State* L, int index) {
|
||||
if (lua_isnoneornil(L, index)) {
|
||||
return lovrCompoundShapeCreate(NULL, NULL, NULL, 0, false);
|
||||
}
|
||||
|
||||
luaL_checktype(L, index, LUA_TTABLE);
|
||||
int length = luax_len(L, index);
|
||||
|
||||
uint32_t defer = lovrDeferPush();
|
||||
Shape** shapes = lovrMalloc(length * sizeof(Shape*));
|
||||
float* positions = lovrMalloc(length * 3 * sizeof(float));
|
||||
float* orientations = lovrMalloc(length * 4 * sizeof(float));
|
||||
lovrDefer(lovrFree, shapes);
|
||||
lovrDefer(lovrFree, positions);
|
||||
lovrDefer(lovrFree, orientations);
|
||||
|
||||
for (int i = 0; i < length; i++) {
|
||||
lua_rawgeti(L, index, i + 1);
|
||||
lovrCheck(lua_istable(L, -1), "Expected table of tables for compound shape");
|
||||
|
||||
lua_rawgeti(L, -1, 1);
|
||||
shapes[i] = luax_checkshape(L, -1);
|
||||
lua_pop(L, 1);
|
||||
|
||||
int index = 2;
|
||||
lua_rawgeti(L, -1, index);
|
||||
switch (lua_type(L, -1)) {
|
||||
case LUA_TNIL:
|
||||
vec3_set(&positions[3 * i], 0.f, 0.f, 0.f);
|
||||
lua_pop(L, 1);
|
||||
break;
|
||||
case LUA_TNUMBER:
|
||||
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");
|
||||
vec3_init(&positions[3 * i], v);
|
||||
lua_pop(L, 1);
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
lua_rawgeti(L, -1, index);
|
||||
switch (lua_type(L, -1)) {
|
||||
case LUA_TNIL:
|
||||
quat_identity(&orientations[4 * i]);
|
||||
lua_pop(L, 1);
|
||||
break;
|
||||
case LUA_TNUMBER:
|
||||
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;
|
||||
default: {
|
||||
float* q = luax_checkvector(L, -1, V_QUAT, "nil, number, or quat");
|
||||
quat_init(&positions[4 * i], q);
|
||||
lua_pop(L, 1);
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
lua_pop(L, 1);
|
||||
}
|
||||
|
||||
lua_getfield(L, index, "freeze");
|
||||
bool freeze = lua_toboolean(L, -1);
|
||||
lua_pop(L, 1);
|
||||
|
||||
CompoundShape* shape = lovrCompoundShapeCreate(shapes, positions, orientations, length, freeze);
|
||||
lovrDeferPop(defer);
|
||||
return shape;
|
||||
}
|
||||
|
||||
static int l_lovrShapeDestroy(lua_State* L) {
|
||||
Shape* shape = luax_checkshape(L, 1);
|
||||
lovrShapeDestroyData(shape);
|
||||
|
@ -147,38 +228,6 @@ static int l_lovrShapeGetType(lua_State* L) {
|
|||
return 1;
|
||||
}
|
||||
|
||||
static int l_lovrShapeGetCollider(lua_State* L) {
|
||||
Shape* shape = luax_checkshape(L, 1);
|
||||
luax_pushtype(L, Collider, lovrShapeGetCollider(shape));
|
||||
return 1;
|
||||
}
|
||||
|
||||
static int l_lovrShapeIsEnabled(lua_State* L) {
|
||||
Shape* shape = luax_checkshape(L, 1);
|
||||
lua_pushboolean(L, lovrShapeIsEnabled(shape));
|
||||
return 1;
|
||||
}
|
||||
|
||||
static int l_lovrShapeSetEnabled(lua_State* L) {
|
||||
Shape* shape = luax_checkshape(L, 1);
|
||||
bool enabled = lua_toboolean(L, 2);
|
||||
lovrShapeSetEnabled(shape, enabled);
|
||||
return 0;
|
||||
}
|
||||
|
||||
static int l_lovrShapeIsSensor(lua_State* L) {
|
||||
Shape* shape = luax_checkshape(L, 1);
|
||||
lua_pushboolean(L, lovrShapeIsSensor(shape));
|
||||
return 1;
|
||||
}
|
||||
|
||||
static int l_lovrShapeSetSensor(lua_State* L) {
|
||||
Shape* shape = luax_checkshape(L, 1);
|
||||
bool sensor = lua_toboolean(L, 2);
|
||||
lovrShapeSetSensor(shape, sensor);
|
||||
return 0;
|
||||
}
|
||||
|
||||
static void luax_pushshapestash(lua_State* L) {
|
||||
lua_getfield(L, LUA_REGISTRYINDEX, "_lovrshapestash");
|
||||
|
||||
|
@ -214,74 +263,6 @@ static int l_lovrShapeSetUserData(lua_State* L) {
|
|||
return 0;
|
||||
}
|
||||
|
||||
static int l_lovrShapeGetPosition(lua_State* L) {
|
||||
Shape* shape = luax_checkshape(L, 1);
|
||||
float x, y, z;
|
||||
lovrShapeGetPosition(shape, &x, &y, &z);
|
||||
lua_pushnumber(L, x);
|
||||
lua_pushnumber(L, y);
|
||||
lua_pushnumber(L, z);
|
||||
return 3;
|
||||
}
|
||||
|
||||
static int l_lovrShapeSetPosition(lua_State* L) {
|
||||
Shape* shape = luax_checkshape(L, 1);
|
||||
lovrCheck(lovrShapeGetCollider(shape) != NULL, "Shape must be attached to collider");
|
||||
float position[3];
|
||||
luax_readvec3(L, 2, position, NULL);
|
||||
lovrShapeSetPosition(shape, position[0], position[1], position[2]);
|
||||
return 0;
|
||||
}
|
||||
|
||||
static int l_lovrShapeGetOrientation(lua_State* L) {
|
||||
Shape* shape = luax_checkshape(L, 1);
|
||||
float angle, x, y, z, orientation[4];
|
||||
lovrShapeGetOrientation(shape, orientation);
|
||||
quat_getAngleAxis(orientation, &angle, &x, &y, &z);
|
||||
lua_pushnumber(L, angle);
|
||||
lua_pushnumber(L, x);
|
||||
lua_pushnumber(L, y);
|
||||
lua_pushnumber(L, z);
|
||||
return 4;
|
||||
}
|
||||
|
||||
static int l_lovrShapeSetOrientation(lua_State* L) {
|
||||
Shape* shape = luax_checkshape(L, 1);
|
||||
lovrCheck(lovrShapeGetCollider(shape) != NULL, "Shape must be attached to collider");
|
||||
float orientation[4];
|
||||
luax_readquat(L, 2, orientation, NULL);
|
||||
lovrShapeSetOrientation(shape, orientation);
|
||||
return 0;
|
||||
}
|
||||
|
||||
static int l_lovrShapeGetPose(lua_State* L) {
|
||||
Shape* shape = luax_checkshape(L, 1);
|
||||
float x, y, z;
|
||||
lovrShapeGetPosition(shape, &x, &y, &z);
|
||||
float angle, ax, ay, az, orientation[4];
|
||||
lovrShapeGetOrientation(shape, orientation);
|
||||
quat_getAngleAxis(orientation, &angle, &ax, &ay, &az);
|
||||
lua_pushnumber(L, x);
|
||||
lua_pushnumber(L, y);
|
||||
lua_pushnumber(L, z);
|
||||
lua_pushnumber(L, angle);
|
||||
lua_pushnumber(L, ax);
|
||||
lua_pushnumber(L, ay);
|
||||
lua_pushnumber(L, az);
|
||||
return 7;
|
||||
}
|
||||
|
||||
static int l_lovrShapeSetPose(lua_State* L) {
|
||||
Shape* shape = luax_checkshape(L, 1);
|
||||
lovrCheck(lovrShapeGetCollider(shape) != NULL, "Shape must be attached to collider");
|
||||
float position[3], orientation[4];
|
||||
int index = luax_readvec3(L, 2, position, NULL);
|
||||
luax_readquat(L, index, orientation, NULL);
|
||||
lovrShapeSetPosition(shape, position[0], position[1], position[2]);
|
||||
lovrShapeSetOrientation(shape, orientation);
|
||||
return 0;
|
||||
}
|
||||
|
||||
static int l_lovrShapeGetMass(lua_State* L) {
|
||||
Shape* shape = luax_checkshape(L, 1);
|
||||
float density = luax_checkfloat(L, 2);
|
||||
|
@ -302,8 +283,15 @@ static int l_lovrShapeGetMass(lua_State* L) {
|
|||
|
||||
static int l_lovrShapeGetAABB(lua_State* L) {
|
||||
Shape* shape = luax_checkshape(L, 1);
|
||||
float aabb[6];
|
||||
lovrShapeGetAABB(shape, aabb);
|
||||
float position[3], orientation[4], aabb[6];
|
||||
if (lua_gettop(L) >= 2) {
|
||||
int index = 2;
|
||||
index = luax_readvec3(L, index, position, NULL);
|
||||
index = luax_readquat(L, index, orientation, NULL);
|
||||
lovrShapeGetAABB(shape, position, orientation, aabb);
|
||||
} else {
|
||||
lovrShapeGetAABB(shape, NULL, NULL, aabb);
|
||||
}
|
||||
for (int i = 0; i < 6; i++) {
|
||||
lua_pushnumber(L, aabb[i]);
|
||||
}
|
||||
|
@ -313,19 +301,8 @@ static int l_lovrShapeGetAABB(lua_State* L) {
|
|||
#define lovrShape \
|
||||
{ "destroy", l_lovrShapeDestroy }, \
|
||||
{ "getType", l_lovrShapeGetType }, \
|
||||
{ "getCollider", l_lovrShapeGetCollider }, \
|
||||
{ "isEnabled", l_lovrShapeIsEnabled }, \
|
||||
{ "setEnabled", l_lovrShapeSetEnabled }, \
|
||||
{ "isSensor", l_lovrShapeIsSensor }, \
|
||||
{ "setSensor", l_lovrShapeSetSensor }, \
|
||||
{ "getUserData", l_lovrShapeGetUserData }, \
|
||||
{ "setUserData", l_lovrShapeSetUserData }, \
|
||||
{ "getPosition", l_lovrShapeGetPosition }, \
|
||||
{ "setPosition", l_lovrShapeSetPosition }, \
|
||||
{ "getOrientation", l_lovrShapeGetOrientation }, \
|
||||
{ "setOrientation", l_lovrShapeSetOrientation }, \
|
||||
{ "getPose", l_lovrShapeGetPose }, \
|
||||
{ "setPose", l_lovrShapeSetPose }, \
|
||||
{ "getMass", l_lovrShapeGetMass }, \
|
||||
{ "getAABB", l_lovrShapeGetAABB }
|
||||
|
||||
|
@ -335,17 +312,9 @@ static int l_lovrSphereShapeGetRadius(lua_State* L) {
|
|||
return 1;
|
||||
}
|
||||
|
||||
static int l_lovrSphereShapeSetRadius(lua_State* L) {
|
||||
SphereShape* sphere = luax_checktype(L, 1, SphereShape);
|
||||
float radius = luax_checkfloat(L, 2);
|
||||
lovrSphereShapeSetRadius(sphere, radius);
|
||||
return 0;
|
||||
}
|
||||
|
||||
const luaL_Reg lovrSphereShape[] = {
|
||||
lovrShape,
|
||||
{ "getRadius", l_lovrSphereShapeGetRadius },
|
||||
{ "setRadius", l_lovrSphereShapeSetRadius },
|
||||
{ NULL, NULL }
|
||||
};
|
||||
|
||||
|
@ -359,18 +328,9 @@ static int l_lovrBoxShapeGetDimensions(lua_State* L) {
|
|||
return 3;
|
||||
}
|
||||
|
||||
static int l_lovrBoxShapeSetDimensions(lua_State* L) {
|
||||
BoxShape* box = luax_checktype(L, 1, BoxShape);
|
||||
float size[3];
|
||||
luax_readscale(L, 2, size, 3, NULL);
|
||||
lovrBoxShapeSetDimensions(box, size[0], size[1], size[2]);
|
||||
return 0;
|
||||
}
|
||||
|
||||
const luaL_Reg lovrBoxShape[] = {
|
||||
lovrShape,
|
||||
{ "getDimensions", l_lovrBoxShapeGetDimensions },
|
||||
{ "setDimensions", l_lovrBoxShapeSetDimensions },
|
||||
{ NULL, NULL }
|
||||
};
|
||||
|
||||
|
@ -380,32 +340,16 @@ static int l_lovrCapsuleShapeGetRadius(lua_State* L) {
|
|||
return 1;
|
||||
}
|
||||
|
||||
static int l_lovrCapsuleShapeSetRadius(lua_State* L) {
|
||||
CapsuleShape* capsule = luax_checktype(L, 1, CapsuleShape);
|
||||
float radius = luax_checkfloat(L, 2);
|
||||
lovrCapsuleShapeSetRadius(capsule, radius);
|
||||
return 0;
|
||||
}
|
||||
|
||||
static int l_lovrCapsuleShapeGetLength(lua_State* L) {
|
||||
CapsuleShape* capsule = luax_checktype(L, 1, CapsuleShape);
|
||||
lua_pushnumber(L, lovrCapsuleShapeGetLength(capsule));
|
||||
return 1;
|
||||
}
|
||||
|
||||
static int l_lovrCapsuleShapeSetLength(lua_State* L) {
|
||||
CapsuleShape* capsule = luax_checktype(L, 1, CapsuleShape);
|
||||
float length = luax_checkfloat(L, 2);
|
||||
lovrCapsuleShapeSetLength(capsule, length);
|
||||
return 0;
|
||||
}
|
||||
|
||||
const luaL_Reg lovrCapsuleShape[] = {
|
||||
lovrShape,
|
||||
{ "getRadius", l_lovrCapsuleShapeGetRadius },
|
||||
{ "setRadius", l_lovrCapsuleShapeSetRadius },
|
||||
{ "getLength", l_lovrCapsuleShapeGetLength },
|
||||
{ "setLength", l_lovrCapsuleShapeSetLength },
|
||||
{ NULL, NULL }
|
||||
};
|
||||
|
||||
|
@ -415,32 +359,16 @@ static int l_lovrCylinderShapeGetRadius(lua_State* L) {
|
|||
return 1;
|
||||
}
|
||||
|
||||
static int l_lovrCylinderShapeSetRadius(lua_State* L) {
|
||||
CylinderShape* cylinder = luax_checktype(L, 1, CylinderShape);
|
||||
float radius = luax_checkfloat(L, 2);
|
||||
lovrCylinderShapeSetRadius(cylinder, radius);
|
||||
return 0;
|
||||
}
|
||||
|
||||
static int l_lovrCylinderShapeGetLength(lua_State* L) {
|
||||
CylinderShape* cylinder = luax_checktype(L, 1, CylinderShape);
|
||||
lua_pushnumber(L, lovrCylinderShapeGetLength(cylinder));
|
||||
return 1;
|
||||
}
|
||||
|
||||
static int l_lovrCylinderShapeSetLength(lua_State* L) {
|
||||
CylinderShape* cylinder = luax_checktype(L, 1, CylinderShape);
|
||||
float length = luax_checkfloat(L, 2);
|
||||
lovrCylinderShapeSetLength(cylinder, length);
|
||||
return 0;
|
||||
}
|
||||
|
||||
const luaL_Reg lovrCylinderShape[] = {
|
||||
lovrShape,
|
||||
{ "getRadius", l_lovrCylinderShapeGetRadius },
|
||||
{ "setRadius", l_lovrCylinderShapeSetRadius },
|
||||
{ "getLength", l_lovrCylinderShapeGetLength },
|
||||
{ "setLength", l_lovrCylinderShapeSetLength },
|
||||
{ NULL, NULL }
|
||||
};
|
||||
|
||||
|
@ -453,3 +381,109 @@ const luaL_Reg lovrTerrainShape[] = {
|
|||
lovrShape,
|
||||
{ NULL, NULL }
|
||||
};
|
||||
|
||||
static int l_lovrCompoundShapeIsFrozen(lua_State* L) {
|
||||
CompoundShape* shape = luax_checktype(L, 1, CompoundShape);
|
||||
bool frozen = lovrCompoundShapeIsFrozen(shape);
|
||||
lua_pushboolean(L, frozen);
|
||||
return 1;
|
||||
}
|
||||
|
||||
static int l_lovrCompoundShapeAddChild(lua_State* L) {
|
||||
CompoundShape* shape = luax_checktype(L, 1, CompoundShape);
|
||||
Shape* child = luax_checkshape(L, 2);
|
||||
float position[3], orientation[4];
|
||||
int index = 3;
|
||||
index = luax_readvec3(L, index, position, NULL);
|
||||
index = luax_readquat(L, index, orientation, NULL);
|
||||
lovrCompoundShapeAddChild(shape, child, position, orientation);
|
||||
return 0;
|
||||
}
|
||||
|
||||
static int l_lovrCompoundShapeReplaceChild(lua_State* L) {
|
||||
CompoundShape* shape = luax_checktype(L, 1, CompoundShape);
|
||||
uint32_t index = luax_checku32(L, 2) - 1;
|
||||
Shape* child = luax_checkshape(L, 3);
|
||||
float position[3], orientation[4];
|
||||
int i = 4;
|
||||
i = luax_readvec3(L, i, position, NULL);
|
||||
i = luax_readquat(L, i, orientation, NULL);
|
||||
lovrCompoundShapeReplaceChild(shape, index, child, position, orientation);
|
||||
return 0;
|
||||
}
|
||||
|
||||
static int l_lovrCompoundShapeRemoveChild(lua_State* L) {
|
||||
CompoundShape* shape = luax_checktype(L, 1, CompoundShape);
|
||||
uint32_t index = luax_checku32(L, 2) - 1;
|
||||
lovrCompoundShapeRemoveChild(shape, index);
|
||||
return 0;
|
||||
}
|
||||
|
||||
static int l_lovrCompoundShapeGetChild(lua_State* L) {
|
||||
CompoundShape* shape = luax_checktype(L, 1, CompoundShape);
|
||||
uint32_t index = luax_checku32(L, 2) - 1;
|
||||
Shape* child = lovrCompoundShapeGetChild(shape, index);
|
||||
luax_pushshape(L, child);
|
||||
return 1;
|
||||
}
|
||||
|
||||
static int l_lovrCompoundShapeGetChildren(lua_State* L) {
|
||||
CompoundShape* shape = luax_checktype(L, 1, CompoundShape);
|
||||
int count = (int) lovrCompoundShapeGetChildCount(shape);
|
||||
lua_createtable(L, count, 0);
|
||||
for (int i = 0; i < count; i++) {
|
||||
Shape* child = lovrCompoundShapeGetChild(shape, (uint32_t) i);
|
||||
luax_pushshape(L, child);
|
||||
lua_rawseti(L, -2, i + 1);
|
||||
}
|
||||
return 1;
|
||||
}
|
||||
|
||||
static int l_lovrCompoundShapeGetChildCount(lua_State* L) {
|
||||
CompoundShape* shape = luax_checktype(L, 1, CompoundShape);
|
||||
uint32_t count = lovrCompoundShapeGetChildCount(shape);
|
||||
lua_pushinteger(L, count);
|
||||
return 1;
|
||||
}
|
||||
|
||||
static int l_lovrCompoundShapeGetChildOffset(lua_State* L) {
|
||||
CompoundShape* shape = luax_checktype(L, 1, CompoundShape);
|
||||
uint32_t index = luax_checku32(L, 2) - 1;
|
||||
float position[3], orientation[4], angle, ax, ay, az;
|
||||
lovrCompoundShapeGetChildOffset(shape, index, position, orientation);
|
||||
quat_getAngleAxis(orientation, &angle, &ax, &ay, &az);
|
||||
lua_pushnumber(L, position[0]);
|
||||
lua_pushnumber(L, position[1]);
|
||||
lua_pushnumber(L, position[2]);
|
||||
lua_pushnumber(L, angle);
|
||||
lua_pushnumber(L, ax);
|
||||
lua_pushnumber(L, ay);
|
||||
lua_pushnumber(L, az);
|
||||
return 7;
|
||||
}
|
||||
|
||||
static int l_lovrCompoundShapeSetChildOffset(lua_State* L) {
|
||||
CompoundShape* shape = luax_checktype(L, 1, CompoundShape);
|
||||
uint32_t index = luax_checku32(L, 2) - 1;
|
||||
float position[3], orientation[4];
|
||||
int i = 3;
|
||||
i = luax_readvec3(L, i, position, NULL);
|
||||
i = luax_readquat(L, i, orientation, NULL);
|
||||
lovrCompoundShapeSetChildOffset(shape, index, position, orientation);
|
||||
return 0;
|
||||
}
|
||||
|
||||
const luaL_Reg lovrCompoundShape[] = {
|
||||
lovrShape,
|
||||
{ "isFrozen", l_lovrCompoundShapeIsFrozen },
|
||||
{ "addChild", l_lovrCompoundShapeAddChild },
|
||||
{ "replaceChild", l_lovrCompoundShapeReplaceChild },
|
||||
{ "removeChild", l_lovrCompoundShapeRemoveChild },
|
||||
{ "getChild", l_lovrCompoundShapeGetChild },
|
||||
{ "getChildren", l_lovrCompoundShapeGetChildren },
|
||||
{ "getChildCount", l_lovrCompoundShapeGetChildCount },
|
||||
{ "getChildOffset", l_lovrCompoundShapeGetChildOffset },
|
||||
{ "setChildOffset", l_lovrCompoundShapeSetChildOffset },
|
||||
{ "__len", l_lovrCompoundShapeGetChildCount }, // :)
|
||||
{ NULL, NULL }
|
||||
};
|
||||
|
|
|
@ -27,17 +27,18 @@ static int nextOverlap(lua_State* L) {
|
|||
}
|
||||
}
|
||||
|
||||
static bool raycastCallback(Shape* shape, float x, float y, float z, float nx, float ny, float nz, void* userdata) {
|
||||
static bool raycastCallback(Collider* collider, float position[3], float normal[3], uint32_t shape, void* userdata) {
|
||||
lua_State* L = userdata;
|
||||
lua_pushvalue(L, -1);
|
||||
luax_pushshape(L, shape);
|
||||
lua_pushnumber(L, x);
|
||||
lua_pushnumber(L, y);
|
||||
lua_pushnumber(L, z);
|
||||
lua_pushnumber(L, nx);
|
||||
lua_pushnumber(L, ny);
|
||||
lua_pushnumber(L, nz);
|
||||
lua_call(L, 7, 1);
|
||||
luax_pushtype(L, Collider, collider);
|
||||
lua_pushnumber(L, position[0]);
|
||||
lua_pushnumber(L, position[1]);
|
||||
lua_pushnumber(L, position[2]);
|
||||
lua_pushnumber(L, normal[0]);
|
||||
lua_pushnumber(L, normal[1]);
|
||||
lua_pushnumber(L, normal[2]);
|
||||
lua_pushinteger(L, shape + 1);
|
||||
lua_call(L, 8, 1);
|
||||
bool shouldStop = lua_type(L, -1) == LUA_TBOOLEAN && !lua_toboolean(L, -1);
|
||||
lua_pop(L, 1);
|
||||
return shouldStop;
|
||||
|
@ -45,53 +46,55 @@ static bool raycastCallback(Shape* shape, float x, float y, float z, float nx, f
|
|||
|
||||
typedef struct {
|
||||
const char* tag;
|
||||
Shape* shape;
|
||||
Collider* collider;
|
||||
uint32_t shape;
|
||||
float distance;
|
||||
float origin[3];
|
||||
float position[3];
|
||||
float normal[3];
|
||||
} RaycastData;
|
||||
|
||||
static bool raycastAnyCallback(Shape* shape, float x, float y, float z, float nx, float ny, float nz, void* userdata) {
|
||||
static bool raycastAnyCallback(Collider* collider, float position[3], float normal[3], uint32_t shape, void* userdata) {
|
||||
RaycastData* data = userdata;
|
||||
if (data->tag) {
|
||||
const char* tag = lovrColliderGetTag(lovrShapeGetCollider(shape));
|
||||
const char* tag = lovrColliderGetTag(collider);
|
||||
if (!tag || strcmp(tag, data->tag)) {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
data->collider = collider;
|
||||
data->shape = shape;
|
||||
vec3_set(data->position, x, y, z);
|
||||
vec3_set(data->normal, nx, ny, nz);
|
||||
vec3_init(data->position, position);
|
||||
vec3_init(data->normal, normal);
|
||||
data->distance = vec3_distance(data->origin, data->position);
|
||||
return true;
|
||||
}
|
||||
|
||||
static bool raycastClosestCallback(Shape* shape, float x, float y, float z, float nx, float ny, float nz, void* userdata) {
|
||||
static bool raycastClosestCallback(Collider* collider, float position[3], float normal[3], uint32_t shape, void* userdata) {
|
||||
RaycastData* data = userdata;
|
||||
if (data->tag) {
|
||||
const char* tag = lovrColliderGetTag(lovrShapeGetCollider(shape));
|
||||
const char* tag = lovrColliderGetTag(collider);
|
||||
if (!tag || strcmp(tag, data->tag)) {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
float position[3];
|
||||
vec3_set(position, x, y, z);
|
||||
float distance = vec3_distance(data->origin, position);
|
||||
if (distance < data->distance) {
|
||||
vec3_init(data->position, position);
|
||||
vec3_set(data->normal, nx, ny, nz);
|
||||
vec3_init(data->normal, normal);
|
||||
data->distance = distance;
|
||||
data->collider = collider;
|
||||
data->shape = shape;
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
static bool queryCallback(Shape* shape, void* userdata) {
|
||||
static bool queryCallback(Collider* collider, uint32_t shape, void* userdata) {
|
||||
lua_State* L = userdata;
|
||||
lua_pushvalue(L, -1);
|
||||
luax_pushshape(L, shape);
|
||||
lua_call(L, 1, 1);
|
||||
luax_pushtype(L, Collider, collider);
|
||||
lua_pushinteger(L, shape + 1);
|
||||
lua_call(L, 2, 1);
|
||||
bool shouldStop = lua_type(L, -1) == LUA_TBOOLEAN && !lua_toboolean(L, -1);
|
||||
lua_pop(L, 1);
|
||||
return shouldStop;
|
||||
|
@ -99,9 +102,10 @@ static bool queryCallback(Shape* shape, void* userdata) {
|
|||
|
||||
static int l_lovrWorldNewCollider(lua_State* L) {
|
||||
World* world = luax_checktype(L, 1, World);
|
||||
Shape* shape = luax_totype(L, 2, Shape);
|
||||
float position[3];
|
||||
luax_readvec3(L, 2, position, NULL);
|
||||
Collider* collider = lovrColliderCreate(world, position[0], position[1], position[2]);
|
||||
luax_readvec3(L, 2 + !!shape, position, NULL);
|
||||
Collider* collider = lovrColliderCreate(world, shape, position[0], position[1], position[2]);
|
||||
luax_pushtype(L, Collider, collider);
|
||||
lovrRelease(collider, lovrColliderDestroy);
|
||||
return 1;
|
||||
|
@ -111,9 +115,8 @@ static int l_lovrWorldNewBoxCollider(lua_State* L) {
|
|||
World* world = luax_checktype(L, 1, World);
|
||||
float position[3];
|
||||
int index = luax_readvec3(L, 2, position, NULL);
|
||||
Collider* collider = lovrColliderCreate(world, position[0], position[1], position[2]);
|
||||
BoxShape* shape = luax_newboxshape(L, index);
|
||||
lovrColliderAddShape(collider, shape);
|
||||
Collider* collider = lovrColliderCreate(world, shape, position[0], position[1], position[2]);
|
||||
lovrColliderInitInertia(collider, shape);
|
||||
luax_pushtype(L, Collider, collider);
|
||||
lovrRelease(collider, lovrColliderDestroy);
|
||||
|
@ -125,9 +128,8 @@ static int l_lovrWorldNewCapsuleCollider(lua_State* L) {
|
|||
World* world = luax_checktype(L, 1, World);
|
||||
float position[3];
|
||||
int index = luax_readvec3(L, 2, position, NULL);
|
||||
Collider* collider = lovrColliderCreate(world, position[0], position[1], position[2]);
|
||||
CapsuleShape* shape = luax_newcapsuleshape(L, index);
|
||||
lovrColliderAddShape(collider, shape);
|
||||
Collider* collider = lovrColliderCreate(world, shape, position[0], position[1], position[2]);
|
||||
lovrColliderInitInertia(collider, shape);
|
||||
luax_pushtype(L, Collider, collider);
|
||||
lovrRelease(collider, lovrColliderDestroy);
|
||||
|
@ -139,9 +141,8 @@ static int l_lovrWorldNewCylinderCollider(lua_State* L) {
|
|||
World* world = luax_checktype(L, 1, World);
|
||||
float position[3];
|
||||
int index = luax_readvec3(L, 2, position, NULL);
|
||||
Collider* collider = lovrColliderCreate(world, position[0], position[1], position[2]);
|
||||
CylinderShape* shape = luax_newcylindershape(L, index);
|
||||
lovrColliderAddShape(collider, shape);
|
||||
Collider* collider = lovrColliderCreate(world, shape, position[0], position[1], position[2]);
|
||||
lovrColliderInitInertia(collider, shape);
|
||||
luax_pushtype(L, Collider, collider);
|
||||
lovrRelease(collider, lovrColliderDestroy);
|
||||
|
@ -153,9 +154,8 @@ static int l_lovrWorldNewSphereCollider(lua_State* L) {
|
|||
World* world = luax_checktype(L, 1, World);
|
||||
float position[3];
|
||||
int index = luax_readvec3(L, 2, position, NULL);
|
||||
Collider* collider = lovrColliderCreate(world, position[0], position[1], position[2]);
|
||||
SphereShape* shape = luax_newsphereshape(L, index);
|
||||
lovrColliderAddShape(collider, shape);
|
||||
Collider* collider = lovrColliderCreate(world, shape, position[0], position[1], position[2]);
|
||||
lovrColliderInitInertia(collider, shape);
|
||||
luax_pushtype(L, Collider, collider);
|
||||
lovrRelease(collider, lovrColliderDestroy);
|
||||
|
@ -165,9 +165,8 @@ static int l_lovrWorldNewSphereCollider(lua_State* L) {
|
|||
|
||||
static int l_lovrWorldNewMeshCollider(lua_State* L) {
|
||||
World* world = luax_checktype(L, 1, World);
|
||||
Collider* collider = lovrColliderCreate(world, 0.f, 0.f, 0.f);
|
||||
MeshShape* shape = luax_newmeshshape(L, 2);
|
||||
lovrColliderAddShape(collider, shape);
|
||||
Collider* collider = lovrColliderCreate(world, shape, 0.f, 0.f, 0.f);
|
||||
lovrColliderInitInertia(collider, shape);
|
||||
luax_pushtype(L, Collider, collider);
|
||||
lovrRelease(collider, lovrColliderDestroy);
|
||||
|
@ -177,9 +176,8 @@ static int l_lovrWorldNewMeshCollider(lua_State* L) {
|
|||
|
||||
static int l_lovrWorldNewTerrainCollider(lua_State* L) {
|
||||
World* world = luax_checktype(L, 1, World);
|
||||
Collider* collider = lovrColliderCreate(world, 0.f, 0.f, 0.f);
|
||||
TerrainShape* shape = luax_newterrainshape(L, 2);
|
||||
lovrColliderAddShape(collider, shape);
|
||||
Collider* collider = lovrColliderCreate(world, shape, 0.f, 0.f, 0.f);
|
||||
lovrColliderSetKinematic(collider, true);
|
||||
luax_pushtype(L, Collider, collider);
|
||||
lovrRelease(collider, lovrColliderDestroy);
|
||||
|
@ -309,15 +307,16 @@ static int l_lovrWorldRaycastAny(lua_State* L) {
|
|||
RaycastData data = { 0 };
|
||||
data.tag = lua_tostring(L, index);
|
||||
lovrWorldRaycast(world, start[0], start[1], start[2], end[0], end[1], end[2], raycastAnyCallback, &data);
|
||||
if (data.shape) {
|
||||
luax_pushshape(L, data.shape);
|
||||
if (data.collider) {
|
||||
luax_pushtype(L, Collider, data.collider);
|
||||
lua_pushnumber(L, data.position[0]);
|
||||
lua_pushnumber(L, data.position[1]);
|
||||
lua_pushnumber(L, data.position[2]);
|
||||
lua_pushnumber(L, data.normal[0]);
|
||||
lua_pushnumber(L, data.normal[1]);
|
||||
lua_pushnumber(L, data.normal[2]);
|
||||
return 7;
|
||||
lua_pushinteger(L, data.shape + 1);
|
||||
return 8;
|
||||
} else {
|
||||
lua_pushnil(L);
|
||||
return 1;
|
||||
|
@ -334,14 +333,15 @@ static int l_lovrWorldRaycastClosest(lua_State* L) {
|
|||
data.tag = lua_tostring(L, index);
|
||||
lovrWorldRaycast(world, start[0], start[1], start[2], end[0], end[1], end[2], raycastClosestCallback, &data);
|
||||
if (data.shape) {
|
||||
luax_pushshape(L, data.shape);
|
||||
luax_pushtype(L, Collider, data.collider);
|
||||
lua_pushnumber(L, data.position[0]);
|
||||
lua_pushnumber(L, data.position[1]);
|
||||
lua_pushnumber(L, data.position[2]);
|
||||
lua_pushnumber(L, data.normal[0]);
|
||||
lua_pushnumber(L, data.normal[1]);
|
||||
lua_pushnumber(L, data.normal[2]);
|
||||
return 7;
|
||||
lua_pushinteger(L, data.shape + 1);
|
||||
return 8;
|
||||
} else {
|
||||
lua_pushnil(L);
|
||||
return 1;
|
||||
|
|
|
@ -19,6 +19,7 @@ typedef Shape CapsuleShape;
|
|||
typedef Shape CylinderShape;
|
||||
typedef Shape MeshShape;
|
||||
typedef Shape TerrainShape;
|
||||
typedef Shape CompoundShape;
|
||||
|
||||
typedef Joint BallJoint;
|
||||
typedef Joint DistanceJoint;
|
||||
|
@ -26,8 +27,8 @@ typedef Joint HingeJoint;
|
|||
typedef Joint SliderJoint;
|
||||
|
||||
typedef void (*CollisionResolver)(World* world, void* userdata);
|
||||
typedef bool (*RaycastCallback)(Shape* shape, float x, float y, float z, float nx, float ny, float nz, void* userdata);
|
||||
typedef bool (*QueryCallback)(Shape* shape, void* userdata);
|
||||
typedef bool (*RaycastCallback)(Collider* collider, float position[3], float normal[3], uint32_t child, void* userdata);
|
||||
typedef bool (*QueryCallback)(Collider* collider, uint32_t child, void* userdata);
|
||||
|
||||
bool lovrPhysicsInit(void);
|
||||
void lovrPhysicsDestroy(void);
|
||||
|
@ -85,16 +86,19 @@ void lovrWorldSetSleepingAllowed(World* world, bool allowed);
|
|||
|
||||
// Collider
|
||||
|
||||
Collider* lovrColliderCreate(World* world, float x, float y, float z);
|
||||
Collider* lovrColliderCreate(World* world, Shape* shape, float x, float y, float z);
|
||||
void lovrColliderDestroy(void* ref);
|
||||
void lovrColliderDestroyData(Collider* collider);
|
||||
bool lovrColliderIsDestroyed(Collider* collider);
|
||||
bool lovrColliderIsEnabled(Collider* collider);
|
||||
void lovrColliderSetEnabled(Collider* collider, bool enable);
|
||||
void lovrColliderInitInertia(Collider* collider, Shape* shape);
|
||||
World* lovrColliderGetWorld(Collider* collider);
|
||||
Collider* lovrColliderGetNext(Collider* collider);
|
||||
void lovrColliderAddShape(Collider* collider, Shape* shape);
|
||||
void lovrColliderRemoveShape(Collider* collider, Shape* shape);
|
||||
Shape** lovrColliderGetShapes(Collider* collider, size_t* count);
|
||||
Shape* lovrColliderGetShape(Collider* collider, uint32_t child);
|
||||
void lovrColliderSetShape(Collider* collider, Shape* shape);
|
||||
void lovrColliderGetShapeOffset(Collider* collider, float* position, float* orientation);
|
||||
void lovrColliderSetShapeOffset(Collider* collider, float* position, float* orientation);
|
||||
Joint** lovrColliderGetJoints(Collider* collider, size_t* count);
|
||||
const char* lovrColliderGetTag(Collider* collider);
|
||||
bool lovrColliderSetTag(Collider* collider, const char* tag);
|
||||
|
@ -104,6 +108,8 @@ float lovrColliderGetRestitution(Collider* collider);
|
|||
void lovrColliderSetRestitution(Collider* collider, float restitution);
|
||||
bool lovrColliderIsKinematic(Collider* collider);
|
||||
void lovrColliderSetKinematic(Collider* collider, bool kinematic);
|
||||
bool lovrColliderIsSensor(Collider* collider);
|
||||
void lovrColliderSetSensor(Collider* collider, bool sensor);
|
||||
bool lovrColliderIsContinuous(Collider* collider);
|
||||
void lovrColliderSetContinuous(Collider* collider, bool continuous);
|
||||
float lovrColliderGetGravityScale(Collider* collider);
|
||||
|
@ -151,48 +157,44 @@ typedef enum {
|
|||
SHAPE_CAPSULE,
|
||||
SHAPE_CYLINDER,
|
||||
SHAPE_MESH,
|
||||
SHAPE_TERRAIN
|
||||
SHAPE_TERRAIN,
|
||||
SHAPE_COMPOUND
|
||||
} ShapeType;
|
||||
|
||||
void lovrShapeDestroy(void* ref);
|
||||
void lovrShapeDestroyData(Shape* shape);
|
||||
ShapeType lovrShapeGetType(Shape* shape);
|
||||
Collider* lovrShapeGetCollider(Shape* shape);
|
||||
bool lovrShapeIsEnabled(Shape* shape);
|
||||
void lovrShapeSetEnabled(Shape* shape, bool enabled);
|
||||
bool lovrShapeIsSensor(Shape* shape);
|
||||
void lovrShapeSetSensor(Shape* shape, bool sensor);
|
||||
void lovrShapeGetPosition(Shape* shape, float* x, float* y, float* z);
|
||||
void lovrShapeSetPosition(Shape* shape, float x, float y, float z);
|
||||
void lovrShapeGetOrientation(Shape* shape, float* orientation);
|
||||
void lovrShapeSetOrientation(Shape* shape, float* orientation);
|
||||
void lovrShapeGetMass(Shape* shape, float density, float* cx, float* cy, float* cz, float* mass, float inertia[6]);
|
||||
void lovrShapeGetAABB(Shape* shape, float aabb[6]);
|
||||
void lovrShapeGetAABB(Shape* shape, float position[3], float orientation[4], float aabb[6]);
|
||||
|
||||
SphereShape* lovrSphereShapeCreate(float radius);
|
||||
float lovrSphereShapeGetRadius(SphereShape* sphere);
|
||||
void lovrSphereShapeSetRadius(SphereShape* sphere, float radius);
|
||||
|
||||
BoxShape* lovrBoxShapeCreate(float w, float h, float d);
|
||||
void lovrBoxShapeGetDimensions(BoxShape* box, float* w, float* h, float* d);
|
||||
void lovrBoxShapeSetDimensions(BoxShape* box, float w, float h, float d);
|
||||
|
||||
CapsuleShape* lovrCapsuleShapeCreate(float radius, float length);
|
||||
float lovrCapsuleShapeGetRadius(CapsuleShape* capsule);
|
||||
void lovrCapsuleShapeSetRadius(CapsuleShape* capsule, float radius);
|
||||
float lovrCapsuleShapeGetLength(CapsuleShape* capsule);
|
||||
void lovrCapsuleShapeSetLength(CapsuleShape* capsule, float length);
|
||||
|
||||
CylinderShape* lovrCylinderShapeCreate(float radius, float length);
|
||||
float lovrCylinderShapeGetRadius(CylinderShape* cylinder);
|
||||
void lovrCylinderShapeSetRadius(CylinderShape* cylinder, float radius);
|
||||
float lovrCylinderShapeGetLength(CylinderShape* cylinder);
|
||||
void lovrCylinderShapeSetLength(CylinderShape* cylinder, float length);
|
||||
|
||||
MeshShape* lovrMeshShapeCreate(int vertexCount, float vertices[], int indexCount, uint32_t indices[]);
|
||||
|
||||
TerrainShape* lovrTerrainShapeCreate(float* vertices, uint32_t n, float scaleXZ, float scaleY);
|
||||
|
||||
CompoundShape* lovrCompoundShapeCreate(Shape** shapes, float* positions, float* orientations, uint32_t count, bool freeze);
|
||||
bool lovrCompoundShapeIsFrozen(CompoundShape* shape);
|
||||
void lovrCompoundShapeAddChild(CompoundShape* shape, Shape* child, float* position, float* orientation);
|
||||
void lovrCompoundShapeReplaceChild(CompoundShape* shape, uint32_t index, Shape* child, float* position, float* orientation);
|
||||
void lovrCompoundShapeRemoveChild(CompoundShape* shape, uint32_t index);
|
||||
Shape* lovrCompoundShapeGetChild(CompoundShape* shape, uint32_t index);
|
||||
uint32_t lovrCompoundShapeGetChildCount(CompoundShape* shape);
|
||||
void lovrCompoundShapeGetChildOffset(CompoundShape* shape, uint32_t index, float* position, float* orientation);
|
||||
void lovrCompoundShapeSetChildOffset(CompoundShape* shape, uint32_t index, float* position, float* orientation);
|
||||
|
||||
// These tokens need to exist for Lua bindings
|
||||
#define lovrSphereShapeDestroy lovrShapeDestroy
|
||||
#define lovrBoxShapeDestroy lovrShapeDestroy
|
||||
|
@ -200,6 +202,7 @@ TerrainShape* lovrTerrainShapeCreate(float* vertices, uint32_t n, float scaleXZ,
|
|||
#define lovrCylinderShapeDestroy lovrShapeDestroy
|
||||
#define lovrMeshShapeDestroy lovrShapeDestroy
|
||||
#define lovrTerrainShapeDestroy lovrShapeDestroy
|
||||
#define lovrCompoundShapeDestroy lovrShapeDestroy
|
||||
|
||||
// Joints
|
||||
|
||||
|
|
|
@ -22,9 +22,9 @@ struct Collider {
|
|||
JPH_BodyID id;
|
||||
JPH_Body* body;
|
||||
World* world;
|
||||
Shape* shape;
|
||||
Collider* prev;
|
||||
Collider* next;
|
||||
arr_t(Shape*) shapes;
|
||||
arr_t(Joint*) joints;
|
||||
uint32_t tag;
|
||||
};
|
||||
|
@ -32,7 +32,6 @@ struct Collider {
|
|||
struct Shape {
|
||||
uint32_t ref;
|
||||
ShapeType type;
|
||||
Collider* collider;
|
||||
JPH_Shape* shape;
|
||||
};
|
||||
|
||||
|
@ -44,6 +43,7 @@ struct Joint {
|
|||
|
||||
static struct {
|
||||
bool initialized;
|
||||
Shape* pointShape;
|
||||
JPH_Shape* queryBox;
|
||||
JPH_Shape* querySphere;
|
||||
JPH_AllHit_CastShapeCollector* castShapeCollector;
|
||||
|
@ -70,14 +70,16 @@ static uint32_t findTag(World* world, const char* name) {
|
|||
bool lovrPhysicsInit(void) {
|
||||
if (state.initialized) return false;
|
||||
JPH_Init(32 * 1024 * 1024);
|
||||
state.castShapeCollector = JPH_AllHit_CastShapeCollector_Create();
|
||||
state.pointShape = lovrSphereShapeCreate(FLT_EPSILON);
|
||||
state.querySphere = (JPH_Shape*) JPH_SphereShape_Create(1.f);
|
||||
state.queryBox = (JPH_Shape*) JPH_BoxShape_Create(&(const JPH_Vec3) { .5, .5f, .5f }, 0.f);
|
||||
state.castShapeCollector = JPH_AllHit_CastShapeCollector_Create();
|
||||
return state.initialized = true;
|
||||
}
|
||||
|
||||
void lovrPhysicsDestroy(void) {
|
||||
if (!state.initialized) return;
|
||||
lovrRelease(state.pointShape, lovrShapeDestroy);
|
||||
JPH_Shutdown();
|
||||
state.initialized = false;
|
||||
}
|
||||
|
@ -173,32 +175,34 @@ void lovrWorldRaycast(World* world, float x1, float y1, float z1, float x2, floa
|
|||
const JPH_Vec3 direction = { x2 - x1, y2 - y1, z2 - z1 };
|
||||
JPH_AllHit_CastRayCollector* collector = JPH_AllHit_CastRayCollector_Create();
|
||||
JPH_NarrowPhaseQuery_CastRayAll(query, &origin, &direction, collector, NULL, NULL, NULL);
|
||||
size_t hit_count;
|
||||
JPH_RayCastResult* hit_array = JPH_AllHit_CastRayCollector_GetHits(collector, &hit_count);
|
||||
for (int i = 0; i < hit_count; i++) {
|
||||
float x = x1 + hit_array[i].fraction * (x2 - x1);
|
||||
float y = y1 + hit_array[i].fraction * (y2 - y1);
|
||||
float z = z1 + hit_array[i].fraction * (z2 - z1);
|
||||
// todo: assuming one shape per collider; doesn't support compound shape
|
||||
Collider* collider = (Collider*) JPH_BodyInterface_GetUserData(
|
||||
world->bodies,
|
||||
hit_array[i].bodyID);
|
||||
size_t count;
|
||||
Shape** shape = lovrColliderGetShapes(collider, &count);
|
||||
const JPH_RVec3 position = { x, y, z };
|
||||
|
||||
size_t count;
|
||||
JPH_RayCastResult* hits = JPH_AllHit_CastRayCollector_GetHits(collector, &count);
|
||||
|
||||
for (size_t i = 0; i < count; i++) {
|
||||
Collider* collider = (Collider*) (uintptr_t) JPH_BodyInterface_GetUserData(world->bodies, hits[i].bodyID);
|
||||
uint32_t child = 0;
|
||||
|
||||
if (collider->shape->type == SHAPE_COMPOUND) {
|
||||
JPH_SubShapeID id = hits[i].subShapeID2;
|
||||
JPH_SubShapeID remainder;
|
||||
child = JPH_CompoundShape_GetSubShapeIndexFromID((JPH_CompoundShape*) collider->shape, id, &remainder);
|
||||
}
|
||||
|
||||
JPH_RVec3 position = {
|
||||
x1 + hits[i].fraction * (x2 - x1),
|
||||
y1 + hits[i].fraction * (y2 - y1),
|
||||
z1 + hits[i].fraction * (z2 - z1)
|
||||
};
|
||||
|
||||
JPH_Vec3 normal;
|
||||
JPH_Body_GetWorldSpaceSurfaceNormal(collider->body, hit_array[i].subShapeID2, &position, &normal);
|
||||
JPH_Body_GetWorldSpaceSurfaceNormal(collider->body, hits[i].subShapeID2, &position, &normal);
|
||||
|
||||
bool shouldStop = callback(
|
||||
shape[0], // assumes one shape per collider; todo: compound shapes
|
||||
x, y, z,
|
||||
normal.x, normal.y, normal.z,
|
||||
userdata);
|
||||
|
||||
if (shouldStop) {
|
||||
if (callback(collider, &position.x, &normal.x, child, userdata)) {
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
JPH_AllHit_CastRayCollector_Destroy(collector);
|
||||
}
|
||||
|
||||
|
@ -209,26 +213,25 @@ static bool lovrWorldQueryShape(World* world, JPH_Shape* shape, float position[3
|
|||
mat4_translate(m, position[0], position[1], position[2]);
|
||||
mat4_scale(m, scale[0], scale[1], scale[2]);
|
||||
|
||||
JPH_Vec3 direction = { 0.f };
|
||||
JPH_RVec3 base_offset = { 0.f };
|
||||
JPH_Vec3 direction = { 0.f, 0.f, 0.f };
|
||||
JPH_RVec3 base_offset = { 0.f, 0.f, 0.f };
|
||||
const JPH_NarrowPhaseQuery* query = JPC_PhysicsSystem_GetNarrowPhaseQueryNoLock(world->system);
|
||||
JPH_AllHit_CastShapeCollector_Reset(state.castShapeCollector);
|
||||
JPH_NarrowPhaseQuery_CastShape(query, shape, &transform, &direction, &base_offset, state.castShapeCollector);
|
||||
size_t hit_count;
|
||||
JPH_ShapeCastResult* hit_array = JPH_AllHit_CastShapeCollector_GetHits(state.castShapeCollector, &hit_count);
|
||||
for (int i = 0; i < hit_count; i++) {
|
||||
|
||||
size_t count;
|
||||
JPH_AllHit_CastShapeCollector_GetHits(state.castShapeCollector, &count);
|
||||
|
||||
for (size_t i = 0; i < count; i++) {
|
||||
JPH_BodyID id = JPH_AllHit_CastShapeCollector_GetBodyID2(state.castShapeCollector, i);
|
||||
Collider* collider = (Collider*) JPH_BodyInterface_GetUserData(
|
||||
world->bodies,
|
||||
id);
|
||||
size_t count;
|
||||
Shape** shape = lovrColliderGetShapes(collider, &count);
|
||||
bool shouldStop = callback(shape[0], userdata);
|
||||
if (shouldStop) {
|
||||
Collider* collider = (Collider*) (uintptr_t) JPH_BodyInterface_GetUserData(world->bodies, id);
|
||||
|
||||
if (callback(collider, 0, userdata)) {
|
||||
break;
|
||||
}
|
||||
}
|
||||
return hit_count > 0;
|
||||
|
||||
return count > 0;
|
||||
}
|
||||
|
||||
bool lovrWorldQueryBox(World* world, float position[3], float size[3], QueryCallback callback, void* userdata) {
|
||||
|
@ -315,7 +318,7 @@ void lovrWorldSetAngularDamping(World* world, float damping, float threshold) {
|
|||
|
||||
// Collider
|
||||
|
||||
Collider* lovrColliderCreate(World* world, float x, float y, float z) {
|
||||
Collider* lovrColliderCreate(World* world, Shape* shape, float x, float y, float z) {
|
||||
uint32_t count = JPH_PhysicsSystem_GetNumBodies(world->system);
|
||||
uint32_t limit = JPH_PhysicsSystem_GetMaxBodies(world->system);
|
||||
lovrCheck(count < limit, "Too many colliders!");
|
||||
|
@ -323,25 +326,25 @@ Collider* lovrColliderCreate(World* world, float x, float y, float z) {
|
|||
Collider* collider = lovrCalloc(sizeof(Collider));
|
||||
collider->ref = 1;
|
||||
collider->world = world;
|
||||
collider->shape = shape ? shape : state.pointShape;
|
||||
collider->tag = UNTAGGED;
|
||||
JPH_MotionType motionType = JPH_MotionType_Dynamic;
|
||||
JPH_ObjectLayer objectLayer = UNTAGGED * 2 + 1;
|
||||
|
||||
const JPH_RVec3 position = { x, y, z };
|
||||
const JPH_Quat rotation = { 0.f, 0.f, 0.f, 1.f };
|
||||
// todo: a placeholder querySphere shape is used in collider, then replaced in lovrColliderAddShape
|
||||
JPH_BodyCreationSettings* settings = JPH_BodyCreationSettings_Create3(
|
||||
state.querySphere, &position, &rotation, motionType, objectLayer);
|
||||
JPH_MotionType type = JPH_MotionType_Dynamic;
|
||||
JPH_ObjectLayer objectLayer = UNTAGGED * 2 + 1;
|
||||
JPH_BodyCreationSettings* settings = JPH_BodyCreationSettings_Create3(collider->shape->shape, &position, &rotation, type, objectLayer);
|
||||
collider->body = JPH_BodyInterface_CreateBody(world->bodies, settings);
|
||||
JPH_BodyCreationSettings_Destroy(settings);
|
||||
collider->id = JPH_Body_GetID(collider->body);
|
||||
JPH_BodyCreationSettings_Destroy(settings);
|
||||
|
||||
JPH_BodyInterface_AddBody(world->bodies, collider->id, JPH_Activation_Activate);
|
||||
JPH_BodyInterface_SetUserData(world->bodies, collider->id, (uint64_t) collider);
|
||||
|
||||
lovrColliderSetLinearDamping(collider, world->defaultLinearDamping, 0.f);
|
||||
lovrColliderSetAngularDamping(collider, world->defaultAngularDamping, 0.f);
|
||||
lovrColliderSetSleepingAllowed(collider, world->defaultIsSleepingAllowed);
|
||||
|
||||
arr_init(&collider->shapes);
|
||||
arr_init(&collider->joints);
|
||||
|
||||
// Adjust the world's collider list
|
||||
|
@ -353,15 +356,14 @@ Collider* lovrColliderCreate(World* world, float x, float y, float z) {
|
|||
world->head = collider;
|
||||
}
|
||||
|
||||
// The world owns a reference to the collider
|
||||
lovrRetain(collider);
|
||||
lovrRetain(collider->shape);
|
||||
lovrRetain(collider); // The world owns a reference to the collider
|
||||
return collider;
|
||||
}
|
||||
|
||||
void lovrColliderDestroy(void* ref) {
|
||||
Collider* collider = ref;
|
||||
lovrColliderDestroyData(collider);
|
||||
arr_free(&collider->shapes);
|
||||
arr_free(&collider->joints);
|
||||
lovrFree(collider);
|
||||
}
|
||||
|
@ -371,13 +373,9 @@ void lovrColliderDestroyData(Collider* collider) {
|
|||
return;
|
||||
}
|
||||
|
||||
lovrRelease(collider->shape, lovrShapeDestroy);
|
||||
|
||||
size_t count;
|
||||
|
||||
Shape** shapes = lovrColliderGetShapes(collider, &count);
|
||||
for (size_t i = 0; i < count; i++) {
|
||||
lovrColliderRemoveShape(collider, shapes[i]);
|
||||
}
|
||||
|
||||
Joint** joints = lovrColliderGetJoints(collider, &count);
|
||||
for (size_t i = 0; i < count; i++) {
|
||||
lovrRelease(joints[i], lovrJointDestroy);
|
||||
|
@ -399,6 +397,18 @@ bool lovrColliderIsDestroyed(Collider* collider) {
|
|||
return !collider->body;
|
||||
}
|
||||
|
||||
bool lovrColliderIsEnabled(Collider* collider) {
|
||||
return JPH_BodyInterface_IsAdded(collider->world->bodies, collider->id);
|
||||
}
|
||||
|
||||
void lovrColliderSetEnabled(Collider* collider, bool enable) {
|
||||
if (enable && !lovrColliderIsEnabled(collider)) {
|
||||
JPH_BodyInterface_AddBody(collider->world->bodies, collider->id, JPH_Activation_DontActivate);
|
||||
} else if (!enable && lovrColliderIsEnabled(collider)) {
|
||||
JPH_BodyInterface_RemoveBody(collider->world->bodies, collider->id);
|
||||
}
|
||||
}
|
||||
|
||||
void lovrColliderInitInertia(Collider* collider, Shape* shape) {
|
||||
//
|
||||
}
|
||||
|
@ -411,29 +421,75 @@ Collider* lovrColliderGetNext(Collider* collider) {
|
|||
return collider->next;
|
||||
}
|
||||
|
||||
void lovrColliderAddShape(Collider* collider, Shape* shape) {
|
||||
Shape* lovrColliderGetShape(Collider* collider, uint32_t child) {
|
||||
if (collider->shape == state.pointShape) {
|
||||
return NULL;
|
||||
}
|
||||
|
||||
if (child == ~0u || collider->shape->type != SHAPE_COMPOUND) {
|
||||
return collider->shape;
|
||||
}
|
||||
|
||||
return lovrCompoundShapeGetChild(collider->shape, child);
|
||||
}
|
||||
|
||||
void lovrColliderSetShape(Collider* collider, Shape* shape) {
|
||||
shape = shape ? shape : state.pointShape;
|
||||
|
||||
if (shape == collider->shape) {
|
||||
return;
|
||||
}
|
||||
|
||||
float position[3], orientation[4];
|
||||
const JPH_Shape* parent = JPH_BodyInterface_GetShape(collider->world->bodies, collider->id);
|
||||
bool hasOffset = JPH_Shape_GetSubType(parent) == JPH_ShapeSubType_RotatedTranslated;
|
||||
if (hasOffset) lovrColliderGetShapeOffset(collider, position, orientation);
|
||||
|
||||
lovrRelease(collider->shape, lovrShapeDestroy);
|
||||
collider->shape = shape;
|
||||
lovrRetain(shape);
|
||||
shape->collider = collider;
|
||||
arr_push(&collider->shapes, shape);
|
||||
bool isMeshOrTerrain = (shape->type == SHAPE_TERRAIN) || (shape->type == SHAPE_MESH);
|
||||
bool shouldUpdateMass = !isMeshOrTerrain;
|
||||
if (isMeshOrTerrain) {
|
||||
lovrColliderSetKinematic(shape->collider, true);
|
||||
}
|
||||
JPH_BodyInterface_SetShape(collider->world->bodies, collider->id, shape->shape, shouldUpdateMass, JPH_Activation_Activate);
|
||||
}
|
||||
|
||||
void lovrColliderRemoveShape(Collider* collider, Shape* shape) {
|
||||
if (shape->collider == collider) {
|
||||
// todo: actions necessary for compound shapes
|
||||
shape->collider = NULL;
|
||||
lovrRelease(shape, lovrShapeDestroy);
|
||||
bool updateMass = true;
|
||||
if (shape->type == SHAPE_MESH || shape->type == SHAPE_TERRAIN) {
|
||||
lovrColliderSetKinematic(collider, true);
|
||||
updateMass = false;
|
||||
}
|
||||
|
||||
JPH_BodyInterface_SetShape(collider->world->bodies, collider->id, shape->shape, updateMass, JPH_Activation_Activate);
|
||||
|
||||
if (hasOffset) {
|
||||
lovrColliderSetShapeOffset(collider, position, orientation);
|
||||
}
|
||||
}
|
||||
|
||||
Shape** lovrColliderGetShapes(Collider* collider, size_t* count) {
|
||||
*count = collider->shapes.length;
|
||||
return collider->shapes.data;
|
||||
void lovrColliderGetShapeOffset(Collider* collider, float* position, float* orientation) {
|
||||
const JPH_Shape* shape = JPH_BodyInterface_GetShape(collider->world->bodies, collider->id);
|
||||
|
||||
if (JPH_Shape_GetSubType(shape) == JPH_ShapeSubType_RotatedTranslated) {
|
||||
JPH_Vec3 jposition;
|
||||
JPH_Quat jrotation;
|
||||
JPH_RotatedTranslatedShape_GetPosition((JPH_RotatedTranslatedShape*) shape, &jposition);
|
||||
JPH_RotatedTranslatedShape_GetRotation((JPH_RotatedTranslatedShape*) shape, &jrotation);
|
||||
vec3_init(position, &jposition.x);
|
||||
quat_init(orientation, &jrotation.x);
|
||||
} else {
|
||||
vec3_set(position, 0.f, 0.f, 0.f);
|
||||
quat_identity(orientation);
|
||||
}
|
||||
}
|
||||
|
||||
void lovrColliderSetShapeOffset(Collider* collider, float* position, float* orientation) {
|
||||
const JPH_Shape* shape = JPH_BodyInterface_GetShape(collider->world->bodies, collider->id);
|
||||
|
||||
if (JPH_Shape_GetSubType(shape) == JPH_ShapeSubType_RotatedTranslated) {
|
||||
JPH_Shape_Destroy((JPH_Shape*) shape);
|
||||
}
|
||||
|
||||
JPH_Vec3 jposition = { position[0], position[1], position[2] };
|
||||
JPH_Quat jrotation = { orientation[0], orientation[1], orientation[2], orientation[3] };
|
||||
shape = (JPH_Shape*) JPH_RotatedTranslatedShape_Create(&jposition, &jrotation, collider->shape->shape);
|
||||
bool updateMass = collider->shape && (collider->shape->type == SHAPE_MESH || collider->shape->type == SHAPE_TERRAIN);
|
||||
JPH_BodyInterface_SetShape(collider->world->bodies, collider->id, shape, updateMass, JPH_Activation_Activate);
|
||||
}
|
||||
|
||||
Joint** lovrColliderGetJoints(Collider* collider, size_t* count) {
|
||||
|
@ -500,6 +556,14 @@ void lovrColliderSetKinematic(Collider* collider, bool kinematic) {
|
|||
}
|
||||
}
|
||||
|
||||
bool lovrColliderIsSensor(Collider* collider) {
|
||||
return JPH_Body_IsSensor(collider->body);
|
||||
}
|
||||
|
||||
void lovrColliderSetSensor(Collider* collider, bool sensor) {
|
||||
JPH_Body_SetIsSensor(collider->body, sensor);
|
||||
}
|
||||
|
||||
bool lovrColliderIsContinuous(Collider* collider) {
|
||||
return JPH_BodyInterface_GetMotionQuality(collider->world->bodies, collider->id) == JPH_MotionQuality_LinearCast;
|
||||
}
|
||||
|
@ -538,22 +602,17 @@ void lovrColliderSetAwake(Collider* collider, bool awake) {
|
|||
}
|
||||
|
||||
float lovrColliderGetMass(Collider* collider) {
|
||||
if (collider->shapes.length > 0) {
|
||||
JPH_MotionProperties* motionProperties = JPH_Body_GetMotionProperties(collider->body);
|
||||
return 1.f / JPH_MotionProperties_GetInverseMassUnchecked(motionProperties);
|
||||
}
|
||||
return 0.f;
|
||||
JPH_MotionProperties* motionProperties = JPH_Body_GetMotionProperties(collider->body);
|
||||
return 1.f / JPH_MotionProperties_GetInverseMassUnchecked(motionProperties);
|
||||
}
|
||||
|
||||
void lovrColliderSetMass(Collider* collider, float mass) {
|
||||
if (collider->shapes.length > 0) {
|
||||
JPH_MotionProperties* motionProperties = JPH_Body_GetMotionProperties(collider->body);
|
||||
Shape* shape = collider->shapes.data[0];
|
||||
JPH_MassProperties* massProperties;
|
||||
JPH_Shape_GetMassProperties(shape->shape, massProperties);
|
||||
JPH_MassProperties_ScaleToMass(massProperties, mass);
|
||||
JPH_MotionProperties_SetMassProperties(motionProperties, JPH_AllowedDOFs_All, massProperties);
|
||||
}
|
||||
JPH_MotionProperties* motionProperties = JPH_Body_GetMotionProperties(collider->body);
|
||||
Shape* shape = collider->shape;
|
||||
JPH_MassProperties* massProperties;
|
||||
JPH_Shape_GetMassProperties(shape->shape, massProperties);
|
||||
JPH_MassProperties_ScaleToMass(massProperties, mass);
|
||||
JPH_MotionProperties_SetMassProperties(motionProperties, JPH_AllowedDOFs_All, massProperties);
|
||||
}
|
||||
|
||||
void lovrColliderGetMassData(Collider* collider, float* cx, float* cy, float* cz, float* mass, float inertia[6]) {
|
||||
|
@ -765,6 +824,8 @@ void lovrColliderGetAABB(Collider* collider, float aabb[6]) {
|
|||
aabb[5] = box.max.z;
|
||||
}
|
||||
|
||||
// Shapes
|
||||
|
||||
void lovrShapeDestroy(void* ref) {
|
||||
Shape* shape = ref;
|
||||
lovrShapeDestroyData(shape);
|
||||
|
@ -773,6 +834,14 @@ void lovrShapeDestroy(void* ref) {
|
|||
|
||||
void lovrShapeDestroyData(Shape* shape) {
|
||||
if (shape->shape) {
|
||||
if (shape->type == SHAPE_COMPOUND) {
|
||||
uint32_t count = lovrCompoundShapeGetChildCount(shape);
|
||||
for (uint32_t i = 0; i < count; i++) {
|
||||
Shape* child = lovrCompoundShapeGetChild(shape, i);
|
||||
lovrRelease(child, lovrShapeDestroy);
|
||||
}
|
||||
}
|
||||
|
||||
JPH_Shape_Destroy(shape->shape);
|
||||
shape->shape = NULL;
|
||||
}
|
||||
|
@ -782,58 +851,26 @@ ShapeType lovrShapeGetType(Shape* shape) {
|
|||
return shape->type;
|
||||
}
|
||||
|
||||
Collider* lovrShapeGetCollider(Shape* shape) {
|
||||
return shape->collider;
|
||||
void lovrShapeGetMass(Shape* shape, float density, float* cx, float* cy, float* cz, float* mass, float inertia[6]) {
|
||||
//
|
||||
}
|
||||
|
||||
bool lovrShapeIsEnabled(Shape* shape) {
|
||||
return true;
|
||||
}
|
||||
|
||||
void lovrShapeSetEnabled(Shape* shape, bool enabled) {
|
||||
if (!enabled) {
|
||||
lovrLog(LOG_WARN, "PHY", "Jolt doesn't support disabling shapes");
|
||||
void lovrShapeGetAABB(Shape* shape, float position[3], float orientation[4], float aabb[6]) {
|
||||
JPH_AABox box;
|
||||
if (!position && !orientation) {
|
||||
JPH_Shape_GetLocalBounds(shape->shape, &box);
|
||||
} else {
|
||||
JPH_RMatrix4x4 transform;
|
||||
JPH_Vec3 scale = { 1.f, 1.f, 1.f };
|
||||
mat4_fromPose(&transform.m11, position, orientation);
|
||||
JPH_Shape_GetWorldSpaceBounds(shape->shape, &transform, &scale, &box);
|
||||
}
|
||||
}
|
||||
|
||||
bool lovrShapeIsSensor(Shape* shape) {
|
||||
lovrLog(LOG_WARN, "PHY", "Jolt sensor property fetched from collider, not shape");
|
||||
return JPH_Body_IsSensor(shape->collider->body);
|
||||
}
|
||||
|
||||
void lovrShapeSetSensor(Shape* shape, bool sensor) {
|
||||
lovrLog(LOG_WARN, "PHY", "Jolt sensor property is applied to collider, not shape");
|
||||
JPH_Body_SetIsSensor(shape->collider->body, sensor);
|
||||
}
|
||||
|
||||
void lovrShapeGetPosition(Shape* shape, float* x, float* y, float* z) {
|
||||
// todo: compound shapes
|
||||
*x = 0.f;
|
||||
*y = 0.f;
|
||||
*z = 0.f;
|
||||
}
|
||||
|
||||
void lovrShapeSetPosition(Shape* shape, float x, float y, float z) {
|
||||
// todo: compound shapes
|
||||
}
|
||||
|
||||
void lovrShapeGetOrientation(Shape* shape, float* orientation) {
|
||||
// todo: compound shapes
|
||||
orientation[0] = 0.f;
|
||||
orientation[1] = 0.f;
|
||||
orientation[2] = 0.f;
|
||||
orientation[3] = 1.f;
|
||||
}
|
||||
|
||||
void lovrShapeSetOrientation(Shape* shape, float* orientation) {
|
||||
// todo: compound shapes
|
||||
}
|
||||
|
||||
void lovrShapeGetMass(Shape* shape, float density, float* cx, float* cy, float* cz, float* mass, float inertia[6]) {}
|
||||
|
||||
void lovrShapeGetAABB(Shape* shape, float aabb[6]) {
|
||||
// todo: with compound shapes this is no longer correct
|
||||
lovrColliderGetAABB(shape->collider, aabb);
|
||||
aabb[0] = box.min.x;
|
||||
aabb[1] = box.max.x;
|
||||
aabb[2] = box.min.y;
|
||||
aabb[3] = box.max.y;
|
||||
aabb[4] = box.min.z;
|
||||
aabb[5] = box.max.z;
|
||||
}
|
||||
|
||||
SphereShape* lovrSphereShapeCreate(float radius) {
|
||||
|
@ -842,6 +879,7 @@ SphereShape* lovrSphereShapeCreate(float radius) {
|
|||
sphere->ref = 1;
|
||||
sphere->type = SHAPE_SPHERE;
|
||||
sphere->shape = (JPH_Shape*) JPH_SphereShape_Create(radius);
|
||||
JPH_Shape_SetUserData(sphere->shape, (uint64_t) (uintptr_t) sphere);
|
||||
return sphere;
|
||||
}
|
||||
|
||||
|
@ -849,17 +887,13 @@ float lovrSphereShapeGetRadius(SphereShape* sphere) {
|
|||
return JPH_SphereShape_GetRadius((JPH_SphereShape*) sphere->shape);
|
||||
}
|
||||
|
||||
void lovrSphereShapeSetRadius(SphereShape* sphere, float radius) {
|
||||
lovrLog(LOG_WARN, "PHY", "Jolt SphereShape radius is read-only");
|
||||
// todo: no setter available, but the shape could be removed and re-added
|
||||
}
|
||||
|
||||
BoxShape* lovrBoxShapeCreate(float w, float h, float d) {
|
||||
BoxShape* box = lovrCalloc(sizeof(BoxShape));
|
||||
box->ref = 1;
|
||||
box->type = SHAPE_BOX;
|
||||
const JPH_Vec3 halfExtent = { w / 2.f, h / 2.f, d / 2.f };
|
||||
box->shape = (JPH_Shape*) JPH_BoxShape_Create(&halfExtent, 0.f);
|
||||
JPH_Shape_SetUserData(box->shape, (uint64_t) (uintptr_t) box);
|
||||
return box;
|
||||
}
|
||||
|
||||
|
@ -871,17 +905,13 @@ void lovrBoxShapeGetDimensions(BoxShape* box, float* w, float* h, float* d) {
|
|||
*d = halfExtent.z * 2.f;
|
||||
}
|
||||
|
||||
void lovrBoxShapeSetDimensions(BoxShape* box, float w, float h, float d) {
|
||||
lovrLog(LOG_WARN, "PHY", "Jolt BoxShape dimensions are read-only");
|
||||
// todo: no setter available, but the shape could be removed and re-added
|
||||
}
|
||||
|
||||
CapsuleShape* lovrCapsuleShapeCreate(float radius, float length) {
|
||||
lovrCheck(radius > 0.f && length > 0.f, "CapsuleShape dimensions must be positive");
|
||||
CapsuleShape* capsule = lovrCalloc(sizeof(CapsuleShape));
|
||||
capsule->ref = 1;
|
||||
capsule->type = SHAPE_CAPSULE;
|
||||
capsule->shape = (JPH_Shape*) JPH_CapsuleShape_Create(length / 2, radius);
|
||||
JPH_Shape_SetUserData(capsule->shape, (uint64_t) (uintptr_t) capsule);
|
||||
return capsule;
|
||||
}
|
||||
|
||||
|
@ -889,45 +919,26 @@ float lovrCapsuleShapeGetRadius(CapsuleShape* capsule) {
|
|||
return JPH_CapsuleShape_GetRadius((JPH_CapsuleShape*) capsule->shape);
|
||||
}
|
||||
|
||||
void lovrCapsuleShapeSetRadius(CapsuleShape* capsule, float radius) {
|
||||
lovrLog(LOG_WARN, "PHY", "Jolt CapsuleShape radius is read-only");
|
||||
// todo: no setter available, but the shape could be removed and re-added
|
||||
}
|
||||
|
||||
float lovrCapsuleShapeGetLength(CapsuleShape* capsule) {
|
||||
return 2.f * JPH_CapsuleShape_GetHalfHeightOfCylinder((JPH_CapsuleShape*) capsule->shape);
|
||||
}
|
||||
|
||||
void lovrCapsuleShapeSetLength(CapsuleShape* capsule, float length) {
|
||||
lovrLog(LOG_WARN, "PHY", "Jolt CapsuleShape length is read-only");
|
||||
// todo: no setter available, but the shape could be removed and re-added
|
||||
}
|
||||
|
||||
CylinderShape* lovrCylinderShapeCreate(float radius, float length) {
|
||||
lovrCheck(radius > 0.f && length > 0.f, "CylinderShape dimensions must be positive");
|
||||
CylinderShape* Cylinder = lovrCalloc(sizeof(CylinderShape));
|
||||
Cylinder->ref = 1;
|
||||
Cylinder->type = SHAPE_CYLINDER;
|
||||
Cylinder->shape = (JPH_Shape*) JPH_CylinderShape_Create(length / 2.f, radius);
|
||||
return Cylinder;
|
||||
CylinderShape* cylinder = lovrCalloc(sizeof(CylinderShape));
|
||||
cylinder->ref = 1;
|
||||
cylinder->type = SHAPE_CYLINDER;
|
||||
cylinder->shape = (JPH_Shape*) JPH_CylinderShape_Create(length / 2.f, radius);
|
||||
JPH_Shape_SetUserData(cylinder->shape, (uint64_t) (uintptr_t) cylinder);
|
||||
return cylinder;
|
||||
}
|
||||
|
||||
float lovrCylinderShapeGetRadius(CylinderShape* Cylinder) {
|
||||
return JPH_CylinderShape_GetRadius((JPH_CylinderShape*) Cylinder->shape);
|
||||
float lovrCylinderShapeGetRadius(CylinderShape* cylinder) {
|
||||
return JPH_CylinderShape_GetRadius((JPH_CylinderShape*) cylinder->shape);
|
||||
}
|
||||
|
||||
void lovrCylinderShapeSetRadius(CylinderShape* Cylinder, float radius) {
|
||||
lovrLog(LOG_WARN, "PHY", "Jolt CylinderShape radius is read-only");
|
||||
// todo: no setter available, but the shape could be removed and re-added
|
||||
}
|
||||
|
||||
float lovrCylinderShapeGetLength(CylinderShape* Cylinder) {
|
||||
return JPH_CylinderShape_GetHalfHeight((JPH_CylinderShape*) Cylinder->shape) * 2.f;
|
||||
}
|
||||
|
||||
void lovrCylinderShapeSetLength(CylinderShape* cylinder, float length) {
|
||||
lovrLog(LOG_WARN, "PHY", "Jolt CylinderShape length is read-only");
|
||||
// todo: no setter available, but the shape could be removed and re-added
|
||||
float lovrCylinderShapeGetLength(CylinderShape* cylinder) {
|
||||
return JPH_CylinderShape_GetHalfHeight((JPH_CylinderShape*) cylinder->shape) * 2.f;
|
||||
}
|
||||
|
||||
MeshShape* lovrMeshShapeCreate(int vertexCount, float vertices[], int indexCount, uint32_t indices[]) {
|
||||
|
@ -980,6 +991,102 @@ TerrainShape* lovrTerrainShapeCreate(float* vertices, uint32_t n, float scaleXZ,
|
|||
return terrain;
|
||||
}
|
||||
|
||||
CompoundShape* lovrCompoundShapeCreate(Shape** shapes, vec3 positions, quat orientations, uint32_t count, bool freeze) {
|
||||
lovrCheck(!freeze || count >= 2, "A frozen CompoundShape must contain at least two shapes");
|
||||
|
||||
CompoundShape* shape = lovrCalloc(sizeof(CompoundShape));
|
||||
shape->ref = 1;
|
||||
shape->type = SHAPE_COMPOUND;
|
||||
|
||||
JPH_CompoundShapeSettings* settings = freeze ?
|
||||
(JPH_CompoundShapeSettings*) JPH_StaticCompoundShapeSettings_Create() :
|
||||
(JPH_CompoundShapeSettings*) JPH_MutableCompoundShapeSettings_Create();
|
||||
|
||||
for (uint32_t i = 0; i < count; i++) {
|
||||
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]);
|
||||
}
|
||||
|
||||
if (freeze) {
|
||||
shape->shape = (JPH_Shape*) JPH_StaticCompoundShape_Create((JPH_StaticCompoundShapeSettings*) settings);
|
||||
} else {
|
||||
shape->shape = (JPH_Shape*) JPH_MutableCompoundShape_Create((JPH_MutableCompoundShapeSettings*) settings);
|
||||
}
|
||||
|
||||
JPH_ShapeSettings_Destroy((JPH_ShapeSettings*) settings);
|
||||
return shape;
|
||||
}
|
||||
|
||||
bool lovrCompoundShapeIsFrozen(CompoundShape* shape) {
|
||||
return JPH_Shape_GetSubType(shape->shape) == JPH_ShapeSubType_StaticCompound;
|
||||
}
|
||||
|
||||
void lovrCompoundShapeAddChild(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");
|
||||
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);
|
||||
lovrRetain(child);
|
||||
}
|
||||
|
||||
void lovrCompoundShapeReplaceChild(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 < lovrCompoundShapeGetChildCount(shape), "CompoundShape has no child 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] };
|
||||
lovrRelease(lovrCompoundShapeGetChild(shape, index), lovrShapeDestroy);
|
||||
JPH_MutableCompoundShape_ModifyShape2((JPH_MutableCompoundShape*) shape->shape, index, &pos, &rot, child->shape);
|
||||
lovrRetain(child);
|
||||
}
|
||||
|
||||
void lovrCompoundShapeRemoveChild(CompoundShape* shape, uint32_t index) {
|
||||
lovrCheck(!lovrCompoundShapeIsFrozen(shape), "CompoundShape is frozen and can not be changed");
|
||||
lovrCheck(index < lovrCompoundShapeGetChildCount(shape), "CompoundShape has no child at index %d", index + 1);
|
||||
Shape* child = lovrCompoundShapeGetChild(shape, index);
|
||||
JPH_MutableCompoundShape_RemoveShape((JPH_MutableCompoundShape*) shape->shape, index);
|
||||
lovrRelease(child, lovrShapeDestroy);
|
||||
}
|
||||
|
||||
Shape* lovrCompoundShapeGetChild(CompoundShape* shape, uint32_t index) {
|
||||
if (index < lovrCompoundShapeGetChildCount(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 lovrCompoundShapeGetChildCount(CompoundShape* shape) {
|
||||
return JPH_CompoundShape_GetNumSubShapes((JPH_CompoundShape*) shape->shape);
|
||||
}
|
||||
|
||||
void lovrCompoundShapeGetChildOffset(CompoundShape* shape, uint32_t index, float* position, float* orientation) {
|
||||
lovrCheck(index < lovrCompoundShapeGetChildCount(shape), "CompoundShape has no child at index %d", index + 1);
|
||||
const JPH_Shape* child;
|
||||
JPH_Vec3 pos;
|
||||
JPH_Quat rot;
|
||||
uint32_t userData;
|
||||
JPH_CompoundShape_GetSubShape((JPH_CompoundShape*) shape->shape, index, &child, &pos, &rot, &userData);
|
||||
vec3_init(position, &pos.x);
|
||||
quat_init(orientation, &rot.x);
|
||||
}
|
||||
|
||||
void lovrCompoundShapeSetChildOffset(CompoundShape* shape, uint32_t index, float* position, float* orientation) {
|
||||
lovrCheck(!lovrCompoundShapeIsFrozen(shape), "CompoundShape is frozen and can not be changed");
|
||||
lovrCheck(index < lovrCompoundShapeGetChildCount(shape), "CompoundShape has no child 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);
|
||||
}
|
||||
|
||||
// Joints
|
||||
|
||||
void lovrJointGetAnchors(Joint* joint, float anchor1[3], float anchor2[3]) {
|
||||
JPH_Body* body1 = JPH_TwoBodyConstraint_GetBody1((JPH_TwoBodyConstraint*) joint->constraint);
|
||||
JPH_Body* body2 = JPH_TwoBodyConstraint_GetBody2((JPH_TwoBodyConstraint*) joint->constraint);
|
||||
|
|
|
@ -22,10 +22,11 @@ struct Collider {
|
|||
Collider* prev;
|
||||
Collider* next;
|
||||
uint32_t tag;
|
||||
arr_t(Shape*) shapes;
|
||||
Shape* shape;
|
||||
arr_t(Joint*) joints;
|
||||
float friction;
|
||||
float restitution;
|
||||
bool sensor;
|
||||
};
|
||||
|
||||
struct Shape {
|
||||
|
@ -35,7 +36,6 @@ struct Shape {
|
|||
Collider* collider;
|
||||
void* vertices;
|
||||
void* indices;
|
||||
bool sensor;
|
||||
};
|
||||
|
||||
struct Joint {
|
||||
|
@ -66,8 +66,9 @@ static void raycastCallback(void* d, dGeomID a, dGeomID b) {
|
|||
RaycastCallback callback = data->callback;
|
||||
void* userdata = data->userdata;
|
||||
Shape* shape = dGeomGetData(b);
|
||||
Collider* collider = dBodyGetData(dGeomGetBody(b));
|
||||
|
||||
if (!shape) {
|
||||
if (!shape || !collider) {
|
||||
return;
|
||||
}
|
||||
|
||||
|
@ -75,9 +76,7 @@ static void raycastCallback(void* d, dGeomID a, dGeomID b) {
|
|||
int count = dCollide(a, b, MAX_CONTACTS, &contact->geom, sizeof(dContact));
|
||||
for (int i = 0; i < count; i++) {
|
||||
dContactGeom g = contact[i].geom;
|
||||
data->shouldStop = callback(
|
||||
shape, g.pos[0], g.pos[1], g.pos[2], g.normal[0], g.normal[1], g.normal[2], userdata
|
||||
);
|
||||
data->shouldStop = callback(collider, g.pos, g.normal, 0, userdata);
|
||||
}
|
||||
}
|
||||
|
||||
|
@ -93,14 +92,15 @@ static void queryCallback(void* d, dGeomID a, dGeomID b) {
|
|||
if (data->shouldStop) return;
|
||||
|
||||
Shape* shape = dGeomGetData(b);
|
||||
if (!shape) {
|
||||
Collider* collider = dBodyGetData(dGeomGetBody(b));
|
||||
if (!shape || !collider) {
|
||||
return;
|
||||
}
|
||||
|
||||
dContactGeom contact;
|
||||
if (dCollide(a, b, 1 | CONTACTS_UNIMPORTANT, &contact, sizeof(contact))) {
|
||||
if (data->callback) {
|
||||
data->shouldStop = data->callback(shape, data->userdata);
|
||||
data->shouldStop = data->callback(collider, 0, data->userdata);
|
||||
} else {
|
||||
data->shouldStop = true;
|
||||
}
|
||||
|
@ -279,7 +279,7 @@ int lovrWorldCollide(World* world, Shape* a, Shape* b, float friction, float res
|
|||
|
||||
int contactCount = dCollide(a->id, b->id, MAX_CONTACTS, &contacts[0].geom, sizeof(dContact));
|
||||
|
||||
if (!a->sensor && !b->sensor) {
|
||||
if (!colliderA->sensor && !colliderB->sensor) {
|
||||
for (int c = 0; c < contactCount; c++) {
|
||||
dJointID joint = dJointCreateContact(world->id, world->contactGroup, &contacts[c]);
|
||||
dJointAttach(joint, colliderA->body, colliderB->body);
|
||||
|
@ -436,7 +436,7 @@ bool lovrWorldIsCollisionEnabledBetween(World* world, const char* tag1, const ch
|
|||
return (world->masks[i] & (1 << j)) && (world->masks[j] & (1 << i));
|
||||
}
|
||||
|
||||
Collider* lovrColliderCreate(World* world, float x, float y, float z) {
|
||||
Collider* lovrColliderCreate(World* world, Shape* shape, float x, float y, float z) {
|
||||
Collider* collider = lovrCalloc(sizeof(Collider));
|
||||
collider->ref = 1;
|
||||
collider->body = dBodyCreate(world->id);
|
||||
|
@ -445,9 +445,9 @@ Collider* lovrColliderCreate(World* world, float x, float y, float z) {
|
|||
collider->restitution = 0;
|
||||
collider->tag = NO_TAG;
|
||||
dBodySetData(collider->body, collider);
|
||||
arr_init(&collider->shapes);
|
||||
arr_init(&collider->joints);
|
||||
|
||||
lovrColliderSetShape(collider, shape);
|
||||
lovrColliderSetPosition(collider, x, y, z);
|
||||
|
||||
// Adjust the world's collider list
|
||||
|
@ -467,7 +467,6 @@ Collider* lovrColliderCreate(World* world, float x, float y, float z) {
|
|||
void lovrColliderDestroy(void* ref) {
|
||||
Collider* collider = ref;
|
||||
lovrColliderDestroyData(collider);
|
||||
arr_free(&collider->shapes);
|
||||
arr_free(&collider->joints);
|
||||
lovrFree(collider);
|
||||
}
|
||||
|
@ -477,13 +476,9 @@ void lovrColliderDestroyData(Collider* collider) {
|
|||
return;
|
||||
}
|
||||
|
||||
lovrColliderSetShape(collider, NULL);
|
||||
|
||||
size_t count;
|
||||
|
||||
Shape** shapes = lovrColliderGetShapes(collider, &count);
|
||||
for (size_t i = 0; i < count; i++) {
|
||||
lovrColliderRemoveShape(collider, shapes[i]);
|
||||
}
|
||||
|
||||
Joint** joints = lovrColliderGetJoints(collider, &count);
|
||||
for (size_t i = 0; i < count; i++) {
|
||||
lovrRelease(joints[i], lovrJointDestroy);
|
||||
|
@ -505,6 +500,14 @@ bool lovrColliderIsDestroyed(Collider* collider) {
|
|||
return !collider->body;
|
||||
}
|
||||
|
||||
bool lovrColliderIsEnabled(Collider* collider) {
|
||||
return true;
|
||||
}
|
||||
|
||||
void lovrColliderSetEnabled(Collider* collider, bool enable) {
|
||||
//
|
||||
}
|
||||
|
||||
void lovrColliderInitInertia(Collider* collider, Shape* shape) {
|
||||
// compute inertia matrix for default density
|
||||
const float density = 1.0f;
|
||||
|
@ -521,38 +524,50 @@ Collider* lovrColliderGetNext(Collider* collider) {
|
|||
return collider->next;
|
||||
}
|
||||
|
||||
void lovrColliderAddShape(Collider* collider, Shape* shape) {
|
||||
lovrRetain(shape);
|
||||
|
||||
if (shape->collider) {
|
||||
lovrColliderRemoveShape(shape->collider, shape);
|
||||
}
|
||||
|
||||
shape->collider = collider;
|
||||
dGeomSetBody(shape->id, collider->body);
|
||||
dSpaceID newSpace = collider->world->space;
|
||||
dSpaceAdd(newSpace, shape->id);
|
||||
Shape* lovrColliderGetShape(Collider* collider, uint32_t child) {
|
||||
return collider->shape;
|
||||
}
|
||||
|
||||
void lovrColliderRemoveShape(Collider* collider, Shape* shape) {
|
||||
if (shape->collider == collider) {
|
||||
dSpaceRemove(collider->world->space, shape->id);
|
||||
dGeomSetBody(shape->id, 0);
|
||||
shape->collider = NULL;
|
||||
lovrRelease(shape, lovrShapeDestroy);
|
||||
void lovrColliderSetShape(Collider* collider, Shape* shape) {
|
||||
if (collider->shape) {
|
||||
dSpaceRemove(collider->world->space, collider->shape->id);
|
||||
dGeomSetBody(collider->shape->id, 0);
|
||||
collider->shape->collider = NULL;
|
||||
lovrRelease(collider->shape, lovrShapeDestroy);
|
||||
}
|
||||
}
|
||||
|
||||
Shape** lovrColliderGetShapes(Collider* collider, size_t* count) {
|
||||
arr_clear(&collider->shapes);
|
||||
for (dGeomID geom = dBodyGetFirstGeom(collider->body); geom; geom = dBodyGetNextGeom(geom)) {
|
||||
Shape* shape = dGeomGetData(geom);
|
||||
if (shape) {
|
||||
arr_push(&collider->shapes, shape);
|
||||
collider->shape = shape;
|
||||
|
||||
if (shape) {
|
||||
if (shape->collider) {
|
||||
lovrColliderSetShape(shape->collider, NULL);
|
||||
}
|
||||
|
||||
shape->collider = collider;
|
||||
dGeomSetBody(shape->id, collider->body);
|
||||
dSpaceID newSpace = collider->world->space;
|
||||
dSpaceAdd(newSpace, shape->id);
|
||||
lovrRetain(shape);
|
||||
}
|
||||
*count = collider->shapes.length;
|
||||
return collider->shapes.data;
|
||||
}
|
||||
|
||||
void lovrColliderGetShapeOffset(Collider* collider, float* position, float* orientation) {
|
||||
const dReal* p = dGeomGetOffsetPosition(collider->shape->id);
|
||||
position[0] = p[0];
|
||||
position[1] = p[1];
|
||||
position[2] = p[2];
|
||||
dReal q[4];
|
||||
dGeomGetOffsetQuaternion(collider->shape->id, q);
|
||||
orientation[0] = q[1];
|
||||
orientation[1] = q[2];
|
||||
orientation[2] = q[3];
|
||||
orientation[3] = q[0];
|
||||
}
|
||||
|
||||
void lovrColliderSetShapeOffset(Collider* collider, float* position, float* orientation) {
|
||||
dGeomSetOffsetPosition(collider->shape->id, position[0], position[1], position[2]);
|
||||
dReal q[4] = { orientation[3], orientation[0], orientation[1], orientation[2] };
|
||||
dGeomSetOffsetQuaternion(collider->shape->id, q);
|
||||
}
|
||||
|
||||
Joint** lovrColliderGetJoints(Collider* collider, size_t* count) {
|
||||
|
@ -610,6 +625,14 @@ void lovrColliderSetKinematic(Collider* collider, bool kinematic) {
|
|||
}
|
||||
}
|
||||
|
||||
bool lovrColliderIsSensor(Collider* collider) {
|
||||
return collider->sensor;
|
||||
}
|
||||
|
||||
void lovrColliderSetSensor(Collider* collider, bool sensor) {
|
||||
collider->sensor = sensor;
|
||||
}
|
||||
|
||||
bool lovrColliderIsContinuous(Collider* collider) {
|
||||
return false;
|
||||
}
|
||||
|
@ -888,51 +911,6 @@ Collider* lovrShapeGetCollider(Shape* shape) {
|
|||
return shape->collider;
|
||||
}
|
||||
|
||||
bool lovrShapeIsEnabled(Shape* shape) {
|
||||
return dGeomIsEnabled(shape->id);
|
||||
}
|
||||
|
||||
void lovrShapeSetEnabled(Shape* shape, bool enabled) {
|
||||
if (enabled) {
|
||||
dGeomEnable(shape->id);
|
||||
} else {
|
||||
dGeomDisable(shape->id);
|
||||
}
|
||||
}
|
||||
|
||||
bool lovrShapeIsSensor(Shape* shape) {
|
||||
return shape->sensor;
|
||||
}
|
||||
|
||||
void lovrShapeSetSensor(Shape* shape, bool sensor) {
|
||||
shape->sensor = sensor;
|
||||
}
|
||||
|
||||
void lovrShapeGetPosition(Shape* shape, float* x, float* y, float* z) {
|
||||
const dReal* position = dGeomGetOffsetPosition(shape->id);
|
||||
*x = position[0];
|
||||
*y = position[1];
|
||||
*z = position[2];
|
||||
}
|
||||
|
||||
void lovrShapeSetPosition(Shape* shape, float x, float y, float z) {
|
||||
dGeomSetOffsetPosition(shape->id, x, y, z);
|
||||
}
|
||||
|
||||
void lovrShapeGetOrientation(Shape* shape, float* orientation) {
|
||||
dReal q[4];
|
||||
dGeomGetOffsetQuaternion(shape->id, q);
|
||||
orientation[0] = q[1];
|
||||
orientation[1] = q[2];
|
||||
orientation[2] = q[3];
|
||||
orientation[3] = q[0];
|
||||
}
|
||||
|
||||
void lovrShapeSetOrientation(Shape* shape, float* orientation) {
|
||||
dReal q[4] = { orientation[3], orientation[0], orientation[1], orientation[2] };
|
||||
dGeomSetOffsetQuaternion(shape->id, q);
|
||||
}
|
||||
|
||||
void lovrShapeGetMass(Shape* shape, float density, float* cx, float* cy, float* cz, float* mass, float inertia[6]) {
|
||||
dMass m;
|
||||
dMassSetZero(&m);
|
||||
|
@ -973,6 +951,8 @@ void lovrShapeGetMass(Shape* shape, float density, float* cx, float* cy, float*
|
|||
case SHAPE_TERRAIN: {
|
||||
break;
|
||||
}
|
||||
|
||||
default: break;
|
||||
}
|
||||
|
||||
const dReal* position = dGeomGetOffsetPosition(shape->id);
|
||||
|
@ -996,7 +976,7 @@ void lovrShapeGetMass(Shape* shape, float density, float* cx, float* cy, float*
|
|||
inertia[5] = m.I[9];
|
||||
}
|
||||
|
||||
void lovrShapeGetAABB(Shape* shape, float aabb[6]) {
|
||||
void lovrShapeGetAABB(Shape* shape, float position[3], float orientation[4], float aabb[6]) {
|
||||
dGeomGetAABB(shape->id, aabb);
|
||||
}
|
||||
|
||||
|
@ -1131,6 +1111,42 @@ TerrainShape* lovrTerrainShapeCreate(float* vertices, uint32_t n, float scaleXZ,
|
|||
return terrain;
|
||||
}
|
||||
|
||||
CompoundShape* lovrCompoundShapeCreate(Shape** shapes, float* positions, float* orientations, uint32_t count, bool freeze) {
|
||||
lovrThrow("ODE does not support compound shape");
|
||||
}
|
||||
|
||||
bool lovrCompoundShapeIsFrozen(CompoundShape* shape) {
|
||||
return false;
|
||||
}
|
||||
|
||||
void lovrCompoundShapeAddChild(CompoundShape* shape, Shape* child, float* position, float* orientation) {
|
||||
//
|
||||
}
|
||||
|
||||
void lovrCompoundShapeReplaceChild(CompoundShape* shape, uint32_t index, Shape* child, float* position, float* orientation) {
|
||||
//
|
||||
}
|
||||
|
||||
void lovrCompoundShapeRemoveChild(CompoundShape* shape, uint32_t index) {
|
||||
//
|
||||
}
|
||||
|
||||
Shape* lovrCompoundShapeGetChild(CompoundShape* shape, uint32_t index) {
|
||||
return NULL;
|
||||
}
|
||||
|
||||
uint32_t lovrCompoundShapeGetChildCount(CompoundShape* shape) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
void lovrCompoundShapeGetChildOffset(CompoundShape* shape, uint32_t index, float* position, float* orientation) {
|
||||
//
|
||||
}
|
||||
|
||||
void lovrCompoundShapeSetChildOffset(CompoundShape* shape, uint32_t index, float* position, float* orientation) {
|
||||
//
|
||||
}
|
||||
|
||||
void lovrJointDestroy(void* ref) {
|
||||
Joint* joint = ref;
|
||||
lovrJointDestroyData(joint);
|
||||
|
|
Loading…
Reference in New Issue