Joint limits;

src/api/physics.c

@@ -64,7 +64,7 @@ int l_lovrPhysicsNewBallJoint(lua_State* L) {
   float x = luaL_checknumber(L, 3);
   float y = luaL_checknumber(L, 4);
   float z = luaL_checknumber(L, 5);
-  Joint* joint = lovrBallJointCreate(a, b, x, y, z);
+  BallJoint* joint = lovrBallJointCreate(a, b, x, y, z);
   luax_pushtype(L, BallJoint, joint);
   return 1;
 }
@@ -103,7 +103,7 @@ int l_lovrPhysicsNewHingeJoint(lua_State* L) {
   float ax = luaL_checknumber(L, 6);
   float ay = luaL_checknumber(L, 7);
   float az = luaL_checknumber(L, 8);
-  Joint* joint = lovrHingeJointCreate(a, b, x, y, z, ax, ay, az);
+  HingeJoint* joint = lovrHingeJointCreate(a, b, x, y, z, ax, ay, az);
   luax_pushtype(L, HingeJoint, joint);
   return 1;
 }
@@ -114,7 +114,7 @@ int l_lovrPhysicsNewSliderJoint(lua_State* L) {
   float ax = luaL_checknumber(L, 3);
   float ay = luaL_checknumber(L, 4);
   float az = luaL_checknumber(L, 5);
-  Joint* joint = lovrSliderJointCreate(a, b, ax, ay, az);
+  SliderJoint* joint = lovrSliderJointCreate(a, b, ax, ay, az);
   luax_pushtype(L, SliderJoint, joint);
   return 1;
 }

src/api/types/joints.c

@@ -138,12 +138,60 @@ int l_lovrHingeJointGetAngle(lua_State* L) {
   return 1;
 }
 
+int l_lovrHingeJointGetLowerLimit(lua_State* L) {
+  HingeJoint* hinge = luax_checktype(L, 1, HingeJoint);
+  lua_pushnumber(L, lovrHingeJointGetLowerLimit(hinge));
+  return 1;
+}
+
+int l_lovrHingeJointSetLowerLimit(lua_State* L) {
+  HingeJoint* hinge = luax_checktype(L, 1, HingeJoint);
+  float limit = luaL_checknumber(L, 2);
+  lovrHingeJointSetLowerLimit(hinge, limit);
+  return 0;
+}
+
+int l_lovrHingeJointGetUpperLimit(lua_State* L) {
+  HingeJoint* hinge = luax_checktype(L, 1, HingeJoint);
+  lua_pushnumber(L, lovrHingeJointGetUpperLimit(hinge));
+  return 1;
+}
+
+int l_lovrHingeJointSetUpperLimit(lua_State* L) {
+  HingeJoint* hinge = luax_checktype(L, 1, HingeJoint);
+  float limit = luaL_checknumber(L, 2);
+  lovrHingeJointSetUpperLimit(hinge, limit);
+  return 0;
+}
+
+int l_lovrHingeJointGetLimits(lua_State* L) {
+  HingeJoint* hinge = luax_checktype(L, 1, HingeJoint);
+  lua_pushnumber(L, lovrHingeJointGetLowerLimit(hinge));
+  lua_pushnumber(L, lovrHingeJointGetUpperLimit(hinge));
+  return 2;
+}
+
+int l_lovrHingeJointSetLimits(lua_State* L) {
+  HingeJoint* hinge = luax_checktype(L, 1, HingeJoint);
+  float lower = luaL_checknumber(L, 2);
+  float upper = luaL_checknumber(L, 3);
+  lovrHingeJointSetLowerLimit(hinge, lower);
+  lovrHingeJointSetUpperLimit(hinge, upper);
+  return 0;
+}
+
 const luaL_Reg lovrHingeJoint[] = {
   { "getAnchors", l_lovrHingeJointGetAnchors },
   { "setAnchor", l_lovrHingeJointSetAnchor },
   { "getAxis", l_lovrHingeJointGetAxis },
   { "setAxis", l_lovrHingeJointSetAxis },
   { "getAngle", l_lovrHingeJointGetAngle },
+  { "getLowerLimit", l_lovrHingeJointGetLowerLimit },
+  { "setLowerLimit", l_lovrHingeJointSetLowerLimit },
+  { "getUpperLimit", l_lovrHingeJointGetUpperLimit },
+  { "setUpperLimit", l_lovrHingeJointSetUpperLimit },
+  { "getLimits", l_lovrHingeJointGetLimits },
+  { "setLimits", l_lovrHingeJointSetLimits },
   { NULL, NULL }
 };
 
@@ -172,9 +220,57 @@ int l_lovrSliderJointGetPosition(lua_State* L) {
   return 1;
 }
 
+int l_lovrSliderJointGetLowerLimit(lua_State* L) {
+  SliderJoint* slider = luax_checktype(L, 1, SliderJoint);
+  lua_pushnumber(L, lovrSliderJointGetLowerLimit(slider));
+  return 1;
+}
+
+int l_lovrSliderJointSetLowerLimit(lua_State* L) {
+  SliderJoint* slider = luax_checktype(L, 1, SliderJoint);
+  float limit = luaL_checknumber(L, 2);
+  lovrSliderJointSetLowerLimit(slider, limit);
+  return 0;
+}
+
+int l_lovrSliderJointGetUpperLimit(lua_State* L) {
+  SliderJoint* slider = luax_checktype(L, 1, SliderJoint);
+  lua_pushnumber(L, lovrSliderJointGetUpperLimit(slider));
+  return 1;
+}
+
+int l_lovrSliderJointSetUpperLimit(lua_State* L) {
+  SliderJoint* slider = luax_checktype(L, 1, SliderJoint);
+  float limit = luaL_checknumber(L, 2);
+  lovrSliderJointSetUpperLimit(slider, limit);
+  return 0;
+}
+
+int l_lovrSliderJointGetLimits(lua_State* L) {
+  SliderJoint* slider = luax_checktype(L, 1, SliderJoint);
+  lua_pushnumber(L, lovrSliderJointGetLowerLimit(slider));
+  lua_pushnumber(L, lovrSliderJointGetUpperLimit(slider));
+  return 2;
+}
+
+int l_lovrSliderJointSetLimits(lua_State* L) {
+  SliderJoint* slider = luax_checktype(L, 1, SliderJoint);
+  float lower = luaL_checknumber(L, 2);
+  float upper = luaL_checknumber(L, 3);
+  lovrSliderJointSetLowerLimit(slider, lower);
+  lovrSliderJointSetUpperLimit(slider, upper);
+  return 0;
+}
+
 const luaL_Reg lovrSliderJoint[] = {
   { "getAxis", l_lovrSliderJointGetAxis },
   { "setAxis", l_lovrSliderJointSetAxis },
-  { "getPosition", l_lovrHingeJointGetAngle },
+  { "getPosition", l_lovrSliderJointGetPosition },
+  { "getLowerLimit", l_lovrSliderJointGetLowerLimit },
+  { "setLowerLimit", l_lovrSliderJointSetLowerLimit },
+  { "getUpperLimit", l_lovrSliderJointGetUpperLimit },
+  { "setUpperLimit", l_lovrSliderJointSetUpperLimit },
+  { "getLimits", l_lovrSliderJointGetLimits },
+  { "setLimits", l_lovrSliderJointSetLimits },
   { NULL, NULL }
 };

src/physics/physics.c

@@ -973,6 +973,22 @@ float lovrHingeJointGetAngle(HingeJoint* hinge) {
   return dJointGetHingeAngle(hinge->id);
 }
 
+float lovrHingeJointGetLowerLimit(HingeJoint* hinge) {
+  return dJointGetHingeParam(hinge->id, dParamLoStop);
+}
+
+void lovrHingeJointSetLowerLimit(HingeJoint* hinge, float limit) {
+  dJointSetHingeParam(hinge->id, dParamLoStop, limit);
+}
+
+float lovrHingeJointGetUpperLimit(HingeJoint* hinge) {
+  return dJointGetHingeParam(hinge->id, dParamHiStop);
+}
+
+void lovrHingeJointSetUpperLimit(HingeJoint* hinge, float limit) {
+  dJointSetHingeParam(hinge->id, dParamHiStop, limit);
+}
+
 SliderJoint* lovrSliderJointCreate(Collider* a, Collider* b, float ax, float ay, float az) {
   if (a->world != b->world) {
     error("Joint bodies must exist in same World");
@@ -1005,3 +1021,19 @@ void lovrSliderJointSetAxis(SliderJoint* slider, float x, float y, float z) {
 float lovrSliderJointGetPosition(SliderJoint* slider) {
   return dJointGetSliderPosition(slider->id);
 }
+
+float lovrSliderJointGetLowerLimit(SliderJoint* slider) {
+  return dJointGetSliderParam(slider->id, dParamLoStop);
+}
+
+void lovrSliderJointSetLowerLimit(SliderJoint* slider, float limit) {
+  dJointSetSliderParam(slider->id, dParamLoStop, limit);
+}
+
+float lovrSliderJointGetUpperLimit(SliderJoint* slider) {
+  return dJointGetSliderParam(slider->id, dParamHiStop);
+}
+
+void lovrSliderJointSetUpperLimit(SliderJoint* slider, float limit) {
+  dJointSetSliderParam(slider->id, dParamHiStop, limit);
+}

src/physics/physics.h

@@ -205,8 +205,16 @@ void lovrHingeJointSetAnchor(HingeJoint* hinge, float x, float y, float z);
 void lovrHingeJointGetAxis(HingeJoint* hinge, float* x, float* y, float* z);
 void lovrHingeJointSetAxis(HingeJoint* hinge, float x, float y, float z);
 float lovrHingeJointGetAngle(HingeJoint* hinge);
+float lovrHingeJointGetLowerLimit(HingeJoint* hinge);
+void lovrHingeJointSetLowerLimit(HingeJoint* hinge, float limit);
+float lovrHingeJointGetUpperLimit(HingeJoint* hinge);
+void lovrHingeJointSetUpperLimit(HingeJoint* hinge, float limit);
 
 SliderJoint* lovrSliderJointCreate(Collider* a, Collider* b, float ax, float ay, float az);
 void lovrSliderJointGetAxis(SliderJoint* slider, float* x, float* y, float* z);
 void lovrSliderJointSetAxis(SliderJoint* slider, float x, float y, float z);
 float lovrSliderJointGetPosition(SliderJoint* slider);
+float lovrSliderJointGetLowerLimit(SliderJoint* slider);
+void lovrSliderJointSetLowerLimit(SliderJoint* slider, float limit);
+float lovrSliderJointGetUpperLimit(SliderJoint* slider);
+void lovrSliderJointSetUpperLimit(SliderJoint* slider, float limit);