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Colliders can only have 1 shape; rm shape pose;

This commit is contained in:
bjorn 2024-04-03 14:18:28 -07:00
parent 9b6f58ac1e
commit ce58619094
5 changed files with 61 additions and 191 deletions
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43
src/api/l_physics_collider.c
View File

@ -24,32 +24,28 @@ 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);
Shape* shape = lovrColliderGetShape(collider);
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);
if (lua_isnoneornil(L, 2)) {
lovrColliderSetShape(collider, NULL);
} else {
Shape* shape = luax_checkshape(L, 2);
lovrColliderSetShape(collider, shape);
}
return 0;
}
static int l_lovrColliderGetJoints(lua_State* L) {
Collider* collider = luax_checktype(L, 1, Collider);
size_t count;
@ -563,9 +559,8 @@ const luaL_Reg lovrCollider[] = {
{ "destroy", l_lovrColliderDestroy },
{ "isDestroyed", l_lovrColliderIsDestroyed },
{ "getWorld", l_lovrColliderGetWorld },
{ "addShape", l_lovrColliderAddShape },
{ "removeShape", l_lovrColliderRemoveShape },
{ "getShapes", l_lovrColliderGetShapes },
{ "getShape", l_lovrColliderGetShape },
{ "setShape", l_lovrColliderSetShape },
{ "getJoints", l_lovrColliderGetJoints },
{ "getUserData", l_lovrColliderGetUserData },
{ "setUserData", l_lovrColliderSetUserData },

81
src/api/l_physics_shapes.c
View File

@ -147,12 +147,6 @@ 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));
@ -214,74 +208,6 @@ 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);
@ -313,19 +239,12 @@ 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 }

16
src/api/l_physics_world.c
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@ -55,7 +55,7 @@ typedef struct {
static bool raycastAnyCallback(Shape* shape, float x, float y, float z, float nx, float ny, float nz, void* userdata) {
RaycastData* data = userdata;
if (data->tag) {
const char* tag = lovrColliderGetTag(lovrShapeGetCollider(shape));
const char* tag = NULL; // TODO
if (!tag || strcmp(tag, data->tag)) {
return false;
}
@ -70,7 +70,7 @@ static bool raycastAnyCallback(Shape* shape, float x, float y, float z, float nx
static bool raycastClosestCallback(Shape* shape, float x, float y, float z, float nx, float ny, float nz, void* userdata) {
RaycastData* data = userdata;
if (data->tag) {
const char* tag = lovrColliderGetTag(lovrShapeGetCollider(shape));
const char* tag = NULL; // TODO
if (!tag || strcmp(tag, data->tag)) {
return false;
}
@ -113,7 +113,7 @@ static int l_lovrWorldNewBoxCollider(lua_State* L) {
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);
lovrColliderSetShape(collider, shape);
lovrColliderInitInertia(collider, shape);
luax_pushtype(L, Collider, collider);
lovrRelease(collider, lovrColliderDestroy);
@ -127,7 +127,7 @@ static int l_lovrWorldNewCapsuleCollider(lua_State* L) {
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);
lovrColliderSetShape(collider, shape);
lovrColliderInitInertia(collider, shape);
luax_pushtype(L, Collider, collider);
lovrRelease(collider, lovrColliderDestroy);
@ -141,7 +141,7 @@ static int l_lovrWorldNewCylinderCollider(lua_State* L) {
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);
lovrColliderSetShape(collider, shape);
lovrColliderInitInertia(collider, shape);
luax_pushtype(L, Collider, collider);
lovrRelease(collider, lovrColliderDestroy);
@ -155,7 +155,7 @@ static int l_lovrWorldNewSphereCollider(lua_State* L) {
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);
lovrColliderSetShape(collider, shape);
lovrColliderInitInertia(collider, shape);
luax_pushtype(L, Collider, collider);
lovrRelease(collider, lovrColliderDestroy);
@ -167,7 +167,7 @@ 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);
lovrColliderSetShape(collider, shape);
lovrColliderInitInertia(collider, shape);
luax_pushtype(L, Collider, collider);
lovrRelease(collider, lovrColliderDestroy);
@ -179,7 +179,7 @@ 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);
lovrColliderSetShape(collider, shape);
lovrColliderSetKinematic(collider, true);
luax_pushtype(L, Collider, collider);
lovrRelease(collider, lovrColliderDestroy);

6
src/modules/physics/physics.h
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@ -92,9 +92,8 @@ bool lovrColliderIsDestroyed(Collider* collider);
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);
void lovrColliderSetShape(Collider* collider, Shape* shape);
Joint** lovrColliderGetJoints(Collider* collider, size_t* count);
const char* lovrColliderGetTag(Collider* collider);
bool lovrColliderSetTag(Collider* collider, const char* tag);
@ -157,7 +156,6 @@ typedef enum {
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);

106
src/modules/physics/physics_jolt.c
View File

@ -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;
};
@ -184,13 +183,13 @@ void lovrWorldRaycast(World* world, float x1, float y1, float z1, float x2, floa
world->bodies,
hit_array[i].bodyID);
size_t count;
Shape** shape = lovrColliderGetShapes(collider, &count);
Shape* shape = lovrColliderGetShape(collider);
const JPH_RVec3 position = { x, y, z };
JPH_Vec3 normal;
JPH_Body_GetWorldSpaceSurfaceNormal(collider->body, hit_array[i].subShapeID2, &position, &normal);
bool shouldStop = callback(
shape[0], // assumes one shape per collider; todo: compound shapes
shape, // assumes one shape per collider; todo: compound shapes
x, y, z,
normal.x, normal.y, normal.z,
userdata);
@ -222,8 +221,8 @@ static bool lovrWorldQueryShape(World* world, JPH_Shape* shape, float position[3
world->bodies,
id);
size_t count;
Shape** shape = lovrColliderGetShapes(collider, &count);
bool shouldStop = callback(shape[0], userdata);
Shape* shape = lovrColliderGetShape(collider);
bool shouldStop = callback(shape, userdata);
if (shouldStop) {
break;
}
@ -341,7 +340,6 @@ Collider* lovrColliderCreate(World* world, float x, float y, float z) {
lovrColliderSetAngularDamping(collider, world->defaultAngularDamping, 0.f);
lovrColliderSetSleepingAllowed(collider, world->defaultIsSleepingAllowed);
arr_init(&collider->shapes);
arr_init(&collider->joints);
// Adjust the world's collider list
@ -361,7 +359,6 @@ 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);
}
@ -371,13 +368,9 @@ 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);
@ -411,29 +404,24 @@ Collider* lovrColliderGetNext(Collider* collider) {
return collider->next;
}
void lovrColliderAddShape(Collider* 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);
Shape* lovrColliderGetShape(Collider* collider) {
return collider->shape;
}
void lovrColliderRemoveShape(Collider* collider, Shape* shape) {
if (shape->collider == collider) {
// todo: actions necessary for compound shapes
shape->collider = NULL;
lovrRelease(shape, lovrShapeDestroy);
}
}
void lovrColliderSetShape(Collider* collider, Shape* shape) {
if (shape != collider->shape) {
lovrRelease(collider->shape, lovrShapeDestroy);
collider->shape = shape;
lovrRetain(shape);
Shape** lovrColliderGetShapes(Collider* collider, size_t* count) {
*count = collider->shapes.length;
return collider->shapes.data;
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);
}
}
Joint** lovrColliderGetJoints(Collider* collider, size_t* count) {
@ -538,17 +526,15 @@ 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;
if (!collider->shape) 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) {
if (collider->shape) {
JPH_MotionProperties* motionProperties = JPH_Body_GetMotionProperties(collider->body);
Shape* shape = collider->shapes.data[0];
Shape* shape = collider->shape;
JPH_MassProperties* massProperties;
JPH_Shape_GetMassProperties(shape->shape, massProperties);
JPH_MassProperties_ScaleToMass(massProperties, mass);
@ -782,10 +768,6 @@ ShapeType lovrShapeGetType(Shape* shape) {
return shape->type;
}
Collider* lovrShapeGetCollider(Shape* shape) {
return shape->collider;
}
bool lovrShapeIsEnabled(Shape* shape) {
return true;
}
@ -797,43 +779,19 @@ void lovrShapeSetEnabled(Shape* shape, bool enabled) {
}
bool lovrShapeIsSensor(Shape* shape) {
lovrLog(LOG_WARN, "PHY", "Jolt sensor property fetched from collider, not shape");
return JPH_Body_IsSensor(shape->collider->body);
lovrThrow("NYI");
}
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);
lovrThrow("NYI");
}
void lovrShapeGetPosition(Shape* shape, float* x, float* y, float* z) {
// todo: compound shapes
*x = 0.f;
*y = 0.f;
*z = 0.f;
void lovrShapeGetMass(Shape* shape, float density, float* cx, float* cy, float* cz, float* mass, float inertia[6]) {
//
}
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);
// TODO
}
SphereShape* lovrSphereShapeCreate(float radius) {