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lovr
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Joint colliders are optional; 

One of the colliders can be nil to fix the joint to the world.

This currently crashes JoltC.
This commit is contained in:
bjorn 2024-04-27 14:23:39 -07:00
parent 1865cf8591
commit a0bbc68be5
2 changed files with 75 additions and 44 deletions
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20
src/api/l_physics.c
View File

@ -113,8 +113,8 @@ static int l_lovrPhysicsNewWorld(lua_State* L) {
}
static int l_lovrPhysicsNewWeldJoint(lua_State* L) {
Collider* a = luax_checktype(L, 1, Collider);
Collider* b = luax_checktype(L, 2, Collider);
Collider* a = luax_totype(L, 1, Collider);
Collider* b = luax_totype(L, 2, Collider);
float anchor[3];
luax_readvec3(L, 3, anchor, NULL);
WeldJoint* joint = lovrWeldJointCreate(a, b, anchor);
@ -124,8 +124,8 @@ static int l_lovrPhysicsNewWeldJoint(lua_State* L) {
}
static int l_lovrPhysicsNewBallJoint(lua_State* L) {
Collider* a = luax_checktype(L, 1, Collider);
Collider* b = luax_checktype(L, 2, Collider);
Collider* a = luax_totype(L, 1, Collider);
Collider* b = luax_totype(L, 2, Collider);
float anchor[3];
luax_readvec3(L, 3, anchor, NULL);
BallJoint* joint = lovrBallJointCreate(a, b, anchor);
@ -163,8 +163,8 @@ static int l_lovrPhysicsNewCylinderShape(lua_State* L) {
}
static int l_lovrPhysicsNewDistanceJoint(lua_State* L) {
Collider* a = luax_checktype(L, 1, Collider);
Collider* b = luax_checktype(L, 2, Collider);
Collider* a = luax_totype(L, 1, Collider);
Collider* b = luax_totype(L, 2, Collider);
float anchor1[3], anchor2[3];
int index = luax_readvec3(L, 3, anchor1, NULL);
luax_readvec3(L, index, anchor2, NULL);
@ -175,8 +175,8 @@ static int l_lovrPhysicsNewDistanceJoint(lua_State* L) {
}
static int l_lovrPhysicsNewHingeJoint(lua_State* L) {
Collider* a = luax_checktype(L, 1, Collider);
Collider* b = luax_checktype(L, 2, Collider);
Collider* a = luax_totype(L, 1, Collider);
Collider* b = luax_totype(L, 2, Collider);
float anchor[3], axis[3];
int index = luax_readvec3(L, 3, anchor, NULL);
luax_readvec3(L, index, axis, NULL);
@ -194,8 +194,8 @@ static int l_lovrPhysicsNewMeshShape(lua_State* L) {
}
static int l_lovrPhysicsNewSliderJoint(lua_State* L) {
Collider* a = luax_checktype(L, 1, Collider);
Collider* b = luax_checktype(L, 2, Collider);
Collider* a = luax_totype(L, 1, Collider);
Collider* b = luax_totype(L, 2, Collider);
float axis[3];
luax_readvec3(L, 3, axis, NULL);
SliderJoint* joint = lovrSliderJointCreate(a, b, axis);

99
src/modules/physics/physics_jolt.c
View File

@ -1122,20 +1122,24 @@ static JointNode* lovrJointGetNode(Joint* joint, Collider* collider) {
void lovrJointInit(Joint* joint, Collider* a, Collider* b) {
World* world = a->world;
if (a->joints) {
joint->a.next = a->joints;
lovrJointGetNode(a->joints, a)->prev = joint;
if (a) {
if (a->joints) {
joint->a.next = a->joints;
lovrJointGetNode(a->joints, a)->prev = joint;
}
a->joints = joint;
}
a->joints = joint;
if (b) {
if (b->joints) {
joint->b.next = b->joints;
lovrJointGetNode(b->joints, b)->prev = joint;
}
if (b->joints) {
joint->b.next = b->joints;
lovrJointGetNode(b->joints, b)->prev = joint;
b->joints = joint;
}
b->joints = joint;
if (world->joints) {
joint->world.next = world->joints;
world->joints->world.prev = joint;
@ -1159,18 +1163,22 @@ void lovrJointDestroyData(Joint* joint) {
JPH_TwoBodyConstraint* constraint = (JPH_TwoBodyConstraint*) joint->constraint;
Collider* a = (Collider*) (uintptr_t) JPH_Body_GetUserData(JPH_TwoBodyConstraint_GetBody1(constraint));
Collider* b = (Collider*) (uintptr_t) JPH_Body_GetUserData(JPH_TwoBodyConstraint_GetBody2(constraint));
World* world = a->world;
World* world = a ? a->world : b->world;
JointNode* node;
node = &joint->a;
if (node->next) lovrJointGetNode(node->next, a)->prev = node->prev;
if (node->prev) lovrJointGetNode(node->prev, a)->next = node->next;
else a->joints = node->next;
if (a) {
node = &joint->a;
if (node->next) lovrJointGetNode(node->next, a)->prev = node->prev;
if (node->prev) lovrJointGetNode(node->prev, a)->next = node->next;
else a->joints = node->next;
}
node = &joint->b;
if (node->next) lovrJointGetNode(node->next, b)->prev = node->prev;
if (node->prev) lovrJointGetNode(node->prev, b)->next = node->next;
else b->joints = node->next;
if (b) {
node = &joint->b;
if (node->next) lovrJointGetNode(node->next, b)->prev = node->prev;
if (node->prev) lovrJointGetNode(node->prev, b)->next = node->next;
else b->joints = node->next;
}
node = &joint->world;
if (node->next) node->next->world.prev = node->prev;
@ -1269,16 +1277,22 @@ float lovrJointGetTorque(Joint* joint) {
// WeldJoint
WeldJoint* lovrWeldJointCreate(Collider* a, Collider* b, float anchor[3]) {
lovrCheck(a->world == b->world, "Joint bodies must exist in same World");
lovrCheck(a || b, "Joint requires at least one Collider");
lovrCheck(!a || !b || a->world == b->world, "Joint bodies must exist in same World");
JPH_Body* bodyA = a ? a->body : NULL;
JPH_Body* bodyB = b ? b->body : NULL;
World* world = (a ? a : b)->world;
WeldJoint* joint = lovrCalloc(sizeof(WeldJoint));
joint->ref = 1;
joint->type = JOINT_WELD;
JPH_FixedConstraintSettings settings;
JPH_FixedConstraintSettings_InitDefault(&settings);
settings.point1 = (JPH_Vec3) { anchor[0], anchor[1], anchor[2] };
settings.point2 = (JPH_Vec3) { anchor[0], anchor[1], anchor[2] };
joint->constraint = (JPH_Constraint*) JPH_FixedConstraintSettings_CreateConstraint(&settings, a->body, b->body);
JPH_PhysicsSystem_AddConstraint(a->world->system, joint->constraint);
joint->constraint = (JPH_Constraint*) JPH_FixedConstraintSettings_CreateConstraint(&settings, bodyA, bodyB);
JPH_PhysicsSystem_AddConstraint(world->system, joint->constraint);
lovrJointInit(joint, a, b);
lovrRetain(joint);
return joint;
@ -1291,7 +1305,12 @@ void lovrWeldJointGetAnchors(WeldJoint* joint, float anchor1[3], float anchor2[3
// BallJoint
BallJoint* lovrBallJointCreate(Collider* a, Collider* b, float anchor[3]) {
lovrCheck(a->world == b->world, "Joint bodies must exist in same World");
lovrCheck(a || b, "Joint requires at least one Collider");
lovrCheck(!a || !b || a->world == b->world, "Joint bodies must exist in same World");
JPH_Body* bodyA = a ? a->body : NULL;
JPH_Body* bodyB = b ? b->body : NULL;
World* world = (a ? a : b)->world;
BallJoint* joint = lovrCalloc(sizeof(BallJoint));
joint->ref = 1;
joint->type = JOINT_BALL;
@ -1299,9 +1318,9 @@ BallJoint* lovrBallJointCreate(Collider* a, Collider* b, float anchor[3]) {
JPH_PointConstraintSettings* settings = JPH_PointConstraintSettings_Create();
JPH_PointConstraintSettings_SetPoint1(settings, vec3_toJolt(anchor));
JPH_PointConstraintSettings_SetPoint2(settings, vec3_toJolt(anchor));
joint->constraint = (JPH_Constraint*) JPH_PointConstraintSettings_CreateConstraint(settings, a->body, b->body);
joint->constraint = (JPH_Constraint*) JPH_PointConstraintSettings_CreateConstraint(settings, bodyA, bodyB);
JPH_ConstraintSettings_Destroy((JPH_ConstraintSettings*) settings);
JPH_PhysicsSystem_AddConstraint(a->world->system, joint->constraint);
JPH_PhysicsSystem_AddConstraint(world->system, joint->constraint);
lovrJointInit(joint, a, b);
lovrRetain(joint);
return joint;
@ -1314,7 +1333,12 @@ void lovrBallJointGetAnchors(BallJoint* joint, float anchor1[3], float anchor2[3
// DistanceJoint
DistanceJoint* lovrDistanceJointCreate(Collider* a, Collider* b, float anchor1[3], float anchor2[3]) {
lovrCheck(a->world == b->world, "Joint bodies must exist in same World");
lovrCheck(a || b, "Joint requires at least one Collider");
lovrCheck(!a || !b || a->world == b->world, "Joint bodies must exist in same World");
JPH_Body* bodyA = a ? a->body : NULL;
JPH_Body* bodyB = b ? b->body : NULL;
World* world = (a ? a : b)->world;
DistanceJoint* joint = lovrCalloc(sizeof(DistanceJoint));
joint->ref = 1;
joint->type = JOINT_DISTANCE;
@ -1322,9 +1346,9 @@ DistanceJoint* lovrDistanceJointCreate(Collider* a, Collider* b, float anchor1[3
JPH_DistanceConstraintSettings* settings = JPH_DistanceConstraintSettings_Create();
JPH_DistanceConstraintSettings_SetPoint1(settings, vec3_toJolt(anchor1));
JPH_DistanceConstraintSettings_SetPoint2(settings, vec3_toJolt(anchor2));
joint->constraint = (JPH_Constraint*) JPH_DistanceConstraintSettings_CreateConstraint(settings, a->body, b->body);
joint->constraint = (JPH_Constraint*) JPH_DistanceConstraintSettings_CreateConstraint(settings, bodyA, bodyB);
JPH_ConstraintSettings_Destroy((JPH_ConstraintSettings*) settings);
JPH_PhysicsSystem_AddConstraint(a->world->system, joint->constraint);
JPH_PhysicsSystem_AddConstraint(world->system, joint->constraint);
lovrJointInit(joint, a, b);
lovrRetain(joint);
return joint;
@ -1360,21 +1384,24 @@ void lovrDistanceJointSetSpring(DistanceJoint* joint, float frequency, float dam
// HingeJoint
HingeJoint* lovrHingeJointCreate(Collider* a, Collider* b, float anchor[3], float axis[3]) {
lovrCheck(a->world == b->world, "Joint bodies must exist in the same World");
lovrCheck(a || b, "Joint requires at least one Collider");
lovrCheck(!a || !b || a->world == b->world, "Joint bodies must exist in same World");
JPH_Body* bodyA = a ? a->body : NULL;
JPH_Body* bodyB = b ? b->body : NULL;
World* world = (a ? a : b)->world;
HingeJoint* joint = lovrCalloc(sizeof(HingeJoint));
joint->ref = 1;
joint->type = JOINT_HINGE;
JPH_HingeConstraintSettings* settings = JPH_HingeConstraintSettings_Create();
JPH_HingeConstraintSettings_SetPoint1(settings, vec3_toJolt(anchor));
JPH_HingeConstraintSettings_SetPoint2(settings, vec3_toJolt(anchor));
JPH_HingeConstraintSettings_SetHingeAxis1(settings, vec3_toJolt(axis));
JPH_HingeConstraintSettings_SetHingeAxis2(settings, vec3_toJolt(axis));
joint->constraint = (JPH_Constraint*) JPH_HingeConstraintSettings_CreateConstraint(settings, a->body, b->body);
joint->constraint = (JPH_Constraint*) JPH_HingeConstraintSettings_CreateConstraint(settings, bodyA, bodyB);
JPH_ConstraintSettings_Destroy((JPH_ConstraintSettings*) settings);
JPH_PhysicsSystem_AddConstraint(a->world->system, joint->constraint);
JPH_PhysicsSystem_AddConstraint(world->system, joint->constraint);
lovrJointInit(joint, a, b);
lovrRetain(joint);
return joint;
@ -1505,7 +1532,11 @@ void lovrHingeJointSetSpring(HingeJoint* joint, float frequency, float damping)
// SliderJoint
SliderJoint* lovrSliderJointCreate(Collider* a, Collider* b, float axis[3]) {
lovrCheck(a->world == b->world, "Joint bodies must exist in the same World");
lovrCheck(a || b, "Joint requires at least one Collider");
lovrCheck(!a || !b || a->world == b->world, "Joint bodies must exist in same World");
JPH_Body* bodyA = a ? a->body : NULL;
JPH_Body* bodyB = b ? b->body : NULL;
World* world = (a ? a : b)->world;
SliderJoint* joint = lovrCalloc(sizeof(SliderJoint));
joint->ref = 1;
@ -1513,9 +1544,9 @@ SliderJoint* lovrSliderJointCreate(Collider* a, Collider* b, float axis[3]) {
JPH_SliderConstraintSettings* settings = JPH_SliderConstraintSettings_Create();
JPH_SliderConstraintSettings_SetSliderAxis(settings, vec3_toJolt(axis));
joint->constraint = (JPH_Constraint*) JPH_SliderConstraintSettings_CreateConstraint(settings, a->body, b->body);
joint->constraint = (JPH_Constraint*) JPH_SliderConstraintSettings_CreateConstraint(settings, bodyA, bodyB);
JPH_ConstraintSettings_Destroy((JPH_ConstraintSettings*) settings);
JPH_PhysicsSystem_AddConstraint(a->world->system, joint->constraint);
JPH_PhysicsSystem_AddConstraint(world->system, joint->constraint);
lovrJointInit(joint, a, b);
lovrRetain(joint);
return joint;