mirror of https://github.com/bjornbytes/lovr.git
parent
bcbe6c47d4
commit
e18f3e3f9d
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@ -81,9 +81,9 @@ int l_lovrShapeGetPosition(lua_State* L) {
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int l_lovrShapeSetPosition(lua_State* L) {
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Shape* shape = luax_checktypeof(L, 1, Shape);
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float x = luaL_checknumber(L, 1);
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float y = luaL_checknumber(L, 2);
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float z = luaL_checknumber(L, 3);
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float x = luaL_checknumber(L, 2);
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float y = luaL_checknumber(L, 3);
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float z = luaL_checknumber(L, 4);
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lovrShapeSetPosition(shape, x, y, z);
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return 0;
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}
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@ -101,10 +101,10 @@ int l_lovrShapeGetOrientation(lua_State* L) {
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int l_lovrShapeSetOrientation(lua_State* L) {
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Shape* shape = luax_checktypeof(L, 1, Shape);
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float angle = luaL_checknumber(L, 1);
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float x = luaL_checknumber(L, 2);
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float y = luaL_checknumber(L, 3);
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float z = luaL_checknumber(L, 4);
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float angle = luaL_checknumber(L, 2);
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float x = luaL_checknumber(L, 3);
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float y = luaL_checknumber(L, 4);
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float z = luaL_checknumber(L, 5);
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lovrShapeSetOrientation(shape, angle, x, y, z);
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return 0;
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}
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@ -163,6 +163,24 @@ int l_lovrShapeSetMask(lua_State* L) {
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return 0;
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}
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int l_lovrShapeComputeMass(lua_State* L) {
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Shape* shape = luax_checktypeof(L, 1, Shape);
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float density = luaL_checknumber(L, 2);
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float cx, cy, cz, mass;
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float inertia[9];
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lovrShapeComputeMass(shape, density, &cx, &cy, &cz, &mass, inertia);
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lua_pushnumber(L, cx);
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lua_pushnumber(L, cy);
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lua_pushnumber(L, cz);
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lua_pushnumber(L, mass);
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lua_newtable(L);
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for (int i = 0; i < 9; i++) {
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lua_pushnumber(L, inertia[i]);
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lua_rawseti(L, -2, i + 1);
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}
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return 5;
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}
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const luaL_Reg lovrShape[] = {
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{ "getType", l_lovrShapeGetType },
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{ "getBody", l_lovrShapeGetBody },
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@ -179,6 +197,7 @@ const luaL_Reg lovrShape[] = {
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{ "setCategory", l_lovrShapeSetCategory },
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{ "getMask", l_lovrShapeGetMask },
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{ "setMask", l_lovrShapeSetMask },
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{ "computeMass", l_lovrShapeComputeMass },
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{ NULL, NULL }
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};
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@ -342,6 +342,57 @@ void lovrShapeSetMask(Shape* shape, uint32_t mask) {
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dGeomSetCollideBits(shape->id, mask);
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}
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void lovrShapeComputeMass(Shape* shape, float density, float* cx, float* cy, float* cz, float* mass, float inertia[9]) {
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dMass m;
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dMassSetZero(&m);
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switch (shape->type) {
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case SHAPE_SPHERE: {
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dMassSetSphere(&m, density, dGeomSphereGetRadius(shape->id));
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break;
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}
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case SHAPE_BOX: {
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dReal lengths[3];
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dGeomBoxGetLengths(shape->id, lengths);
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dMassSetBox(&m, density, lengths[0], lengths[1], lengths[2]);
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break;
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}
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case SHAPE_CAPSULE: {
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dReal radius, length;
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dGeomCapsuleGetParams(shape->id, &radius, &length);
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dMassSetCapsule(&m, density, 3, radius, length);
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break;
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}
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case SHAPE_CYLINDER: {
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dReal radius, length;
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dGeomCylinderGetParams(shape->id, &radius, &length);
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dMassSetCylinder(&m, density, 3, radius, length);
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break;
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}
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}
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const dReal* position = dGeomGetOffsetPosition(shape->id);
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dMassTranslate(&m, position[0], position[1], position[2]);
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const dReal* rotation = dGeomGetOffsetRotation(shape->id);
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dMassRotate(&m, rotation);
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*cx = m.c[0];
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*cy = m.c[1];
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*cz = m.c[2];
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*mass = m.mass;
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inertia[0] = m.I[0];
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inertia[1] = m.I[4];
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inertia[2] = m.I[8];
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inertia[3] = m.I[1];
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inertia[4] = m.I[5];
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inertia[5] = m.I[9];
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inertia[6] = m.I[2];
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inertia[7] = m.I[6];
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inertia[8] = m.I[10];
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}
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SphereShape* lovrSphereShapeCreate(float radius) {
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SphereShape* sphere = lovrAlloc(sizeof(SphereShape), lovrShapeDestroy);
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if (!sphere) return NULL;
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@ -96,6 +96,7 @@ uint32_t lovrShapeGetCategory(Shape* shape);
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void lovrShapeSetCategory(Shape* shape, uint32_t category);
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uint32_t lovrShapeGetMask(Shape* shape);
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void lovrShapeSetMask(Shape* shape, uint32_t mask);
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void lovrShapeComputeMass(Shape* shape, float density, float* cx, float* cy, float* cz, float* mass, float inertia[9]);
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SphereShape* lovrSphereShapeCreate(float radius);
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float lovrSphereShapeGetRadius(SphereShape* sphere);
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