HingeJoint;

src/api/physics.c

@@ -16,7 +16,8 @@ int l_lovrPhysicsInit(lua_State* L) {
   luax_extendtype(L, "Shape", "CylinderShape", lovrShape, lovrCylinderShape);
 
   map_init(&JointTypes);
-  map_set(&ShapeTypes, "ball", JOINT_BALL);
+  map_set(&JointTypes, "ball", JOINT_BALL);
+  map_set(&JointTypes, "hinge", JOINT_HINGE);
 
   map_init(&ShapeTypes);
   map_set(&ShapeTypes, "sphere", SHAPE_SPHERE);
@@ -70,6 +71,20 @@ int l_lovrPhysicsNewCylinderShape(lua_State* L) {
   return 1;
 }
 
+int l_lovrPhysicsNewHingeJoint(lua_State* L) {
+  Collider* a = luax_checktype(L, 1, Collider);
+  Collider* b = luax_checktype(L, 2, Collider);
+  float x = luaL_optnumber(L, 3, 0.f);
+  float y = luaL_optnumber(L, 4, 0.f);
+  float z = luaL_optnumber(L, 5, 0.f);
+  float ax = luaL_optnumber(L, 6, 0.f);
+  float ay = luaL_optnumber(L, 7, 0.f);
+  float az = luaL_optnumber(L, 8, 0.f);
+  Joint* joint = lovrHingeJointCreate(a, b, x, y, z, ax, ay, az);
+  luax_pushtype(L, HingeJoint, joint);
+  return 1;
+}
+
 int l_lovrPhysicsNewSphereShape(lua_State* L) {
   float radius = luaL_optnumber(L, 1, 1.f);
   SphereShape* sphere = lovrSphereShapeCreate(radius);
@@ -83,6 +98,7 @@ const luaL_Reg lovrPhysics[] = {
   { "newBoxShape", l_lovrPhysicsNewBoxShape },
   { "newCapsuleShape", l_lovrPhysicsNewCapsuleShape },
   { "newCylinderShape", l_lovrPhysicsNewCylinderShape },
+  { "newHingeJoint", l_lovrPhysicsNewHingeJoint },
   { "newSphereShape", l_lovrPhysicsNewSphereShape },
   { NULL, NULL }
 };

src/api/types/joints.c

@@ -90,3 +90,59 @@ const luaL_Reg lovrBallJoint[] = {
   { "setAnchor", l_lovrBallJointSetAnchor },
   { NULL, NULL }
 };
+
+int l_lovrHingeJointGetAnchors(lua_State* L) {
+  HingeJoint* hinge = luax_checktype(L, 1, HingeJoint);
+  float x1, y1, z1, x2, y2, z2;
+  lovrHingeJointGetAnchors(hinge, &x1, &y1, &z1, &x2, &y2, &z2);
+  lua_pushnumber(L, x1);
+  lua_pushnumber(L, y1);
+  lua_pushnumber(L, z1);
+  lua_pushnumber(L, x2);
+  lua_pushnumber(L, y2);
+  lua_pushnumber(L, z2);
+  return 6;
+}
+
+int l_lovrHingeJointSetAnchor(lua_State* L) {
+  HingeJoint* hinge = luax_checktype(L, 1, HingeJoint);
+  float x = luaL_checknumber(L, 2);
+  float y = luaL_checknumber(L, 3);
+  float z = luaL_checknumber(L, 4);
+  lovrHingeJointSetAnchor(hinge, x, y, z);
+  return 0;
+}
+
+int l_lovrHingeJointGetAxis(lua_State* L) {
+  HingeJoint* hinge = luax_checktype(L, 1, HingeJoint);
+  float x, y, z;
+  lovrHingeJointGetAxis(hinge, &x, &y, &z);
+  lua_pushnumber(L, x);
+  lua_pushnumber(L, y);
+  lua_pushnumber(L, z);
+  return 3;
+}
+
+int l_lovrHingeJointSetAxis(lua_State* L) {
+  HingeJoint* hinge = luax_checktype(L, 1, HingeJoint);
+  float x = luaL_checknumber(L, 2);
+  float y = luaL_checknumber(L, 3);
+  float z = luaL_checknumber(L, 4);
+  lovrHingeJointSetAxis(hinge, x, y, z);
+  return 0;
+}
+
+int l_lovrHingeJointGetAngle(lua_State* L) {
+  HingeJoint* hinge = luax_checktype(L, 1, HingeJoint);
+  lua_pushnumber(L, lovrHingeJointGetAngle(hinge));
+  return 1;
+}
+
+const luaL_Reg lovrHingeJoint[] = {
+  { "getAnchors", l_lovrHingeJointGetAnchors },
+  { "setAnchor", l_lovrHingeJointSetAnchor },
+  { "getAxis", l_lovrHingeJointGetAxis },
+  { "setAxis", l_lovrHingeJointSetAxis },
+  { "getAngle", l_lovrHingeJointGetAngle },
+  { NULL, NULL }
+};

src/physics/physics.c

@@ -814,3 +814,53 @@ void lovrBallJointGetAnchors(BallJoint* ball, float* x1, float* y1, float* z1, f
 void lovrBallJointSetAnchor(BallJoint* ball, float x, float y, float z) {
   dJointSetBallAnchor(ball->id, x, y, z);
 }
+
+HingeJoint* lovrHingeJointCreate(Collider* a, Collider* b, float x, float y, float z, float ax, float ay, float az) {
+  if (a->world != b->world) {
+    error("Joint bodies must exist in same World");
+  }
+
+  HingeJoint* joint = lovrAlloc(sizeof(HingeJoint), lovrJointDestroy);
+  if (!joint) return NULL;
+
+  joint->type = JOINT_HINGE;
+  joint->id = dJointCreateHinge(a->world->id, 0);
+  dJointSetData(joint->id, joint);
+  dJointAttach(joint->id, a->body, b->body);
+  dJointSetHingeAnchor(joint->id, x, y, z);
+  dJointSetHingeAxis(joint->id, ax, ay, az);
+
+  return joint;
+}
+
+void lovrHingeJointGetAnchors(HingeJoint* hinge, float* x1, float* y1, float* z1, float* x2, float* y2, float* z2) {
+  float anchor[3];
+  dJointGetHingeAnchor(hinge->id, anchor);
+  *x1 = anchor[0];
+  *y1 = anchor[1];
+  *z1 = anchor[2];
+  dJointGetHingeAnchor2(hinge->id, anchor);
+  *x2 = anchor[0];
+  *y2 = anchor[1];
+  *z2 = anchor[2];
+}
+
+void lovrHingeJointSetAnchor(HingeJoint* hinge, float x, float y, float z) {
+  dJointSetHingeAnchor(hinge->id, x, y, z);
+}
+
+void lovrHingeJointGetAxis(HingeJoint* hinge, float* x, float* y, float* z) {
+  float anchor[3];
+  dJointGetHingeAxis(hinge->id, anchor);
+  *x = anchor[0];
+  *y = anchor[1];
+  *z = anchor[2];
+}
+
+void lovrHingeJointSetAxis(HingeJoint* hinge, float x, float y, float z) {
+  dJointSetHingeAxis(hinge->id, x, y, z);
+}
+
+float lovrHingeJointGetAngle(HingeJoint* hinge) {
+  return dJointGetHingeAngle(hinge->id);
+}

src/physics/physics.h

@@ -16,6 +16,7 @@ typedef enum {
 
 typedef enum {
   JOINT_BALL,
+  JOINT_HINGE
 } JointType;
 
 typedef struct {
@@ -58,6 +59,7 @@ typedef struct {
 } Joint;
 
 typedef Joint BallJoint;
+typedef Joint HingeJoint;
 
 typedef void (*CollisionResolver)(World* world, void* userdata);
 typedef void (*RaycastCallback)(Shape* shape, float x, float y, float z, float nx, float ny, float nz, void* userdata);
@@ -182,3 +184,10 @@ void lovrJointSetUserData(Joint* joint, void* data);
 BallJoint* lovrBallJointCreate(Collider* a, Collider* b, float x, float y, float z);
 void lovrBallJointGetAnchors(BallJoint* ball, float* x1, float* y1, float* z1, float* x2, float* y2, float* z2);
 void lovrBallJointSetAnchor(BallJoint* ball, float x, float y, float z);
+
+HingeJoint* lovrHingeJointCreate(Collider* a, Collider* b, float x, float y, float z, float ax, float ay, float az);
+void lovrHingeJointGetAnchors(HingeJoint* hinge, float* x1, float* y1, float* z1, float* x2, float* y2, float* z2);
+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);