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Clean up Joint lists further;

This commit is contained in:
bjorn 2024-04-08 11:11:28 -07:00
parent 5df8405af3
commit f1ba4d1a1e
6 changed files with 111 additions and 146 deletions
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3
src/api/l_physics_collider.c
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@ -86,9 +86,8 @@ static int l_lovrColliderGetJoints(lua_State* L) {
Collider* collider = luax_checktype(L, 1, Collider);
lua_newtable(L);
int index = 1;
void* private;
Joint* joint = NULL;
while ((joint = lovrColliderEnumerateJoints(collider, joint, &private)) != NULL) {
while ((joint = lovrColliderGetJoints(collider, joint)) != NULL) {
luax_pushjoint(L, joint);
lua_rawseti(L, -2, index++);
}

5
src/api/l_physics_joints.c
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@ -56,9 +56,8 @@ static int l_lovrJointGetType(lua_State* L) {
static int l_lovrJointGetColliders(lua_State* L) {
Joint* joint = luax_checkjoint(L, 1);
Collider* a;
Collider* b;
lovrJointGetColliders(joint, &a, &b);
Collider* a = lovrJointGetColliderA(joint);
Collider* b = lovrJointGetColliderB(joint);
luax_pushtype(L, Collider, a);
luax_pushtype(L, Collider, b);
return 2;

40
src/api/l_physics_world.c
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@ -206,18 +206,6 @@ static int l_lovrWorldGetTags(lua_State* L) {
return 1;
}
static int l_lovrWorldGetColliders(lua_State* L) {
World* world = luax_checktype(L, 1, World);
lua_createtable(L, (int) lovrWorldGetColliderCount(world), 0);
Collider* collider = NULL;
int index = 1;
while ((collider = lovrWorldEnumerateColliders(world, collider)) != NULL) {
luax_pushtype(L, Collider, collider);
lua_rawseti(L, -2, index++);
}
return 1;
}
static int l_lovrWorldGetColliderCount(lua_State* L) {
World* world = luax_checktype(L, 1, World);
uint32_t count = lovrWorldGetColliderCount(world);
@ -225,22 +213,34 @@ static int l_lovrWorldGetColliderCount(lua_State* L) {
return 1;
}
static int l_lovrWorldGetJoints(lua_State* L) {
static int l_lovrWorldGetJointCount(lua_State* L) {
World* world = luax_checktype(L, 1, World);
uint32_t count = lovrWorldGetJointCount(world);
lua_pushinteger(L, count);
return 1;
}
static int l_lovrWorldGetColliders(lua_State* L) {
World* world = luax_checktype(L, 1, World);
lua_createtable(L, (int) lovrWorldGetJointCount(world), 0);
Joint* joint = NULL;
int index = 1;
while ((joint = lovrWorldEnumerateJoints(world, joint)) != NULL) {
luax_pushjoint(L, joint);
Collider* collider = NULL;
lua_createtable(L, (int) lovrWorldGetColliderCount(world), 0);
while ((collider = lovrWorldGetColliders(world, collider)) != NULL) {
luax_pushtype(L, Collider, collider);
lua_rawseti(L, -2, index++);
}
return 1;
}
static int l_lovrWorldGetJointCount(lua_State* L) {
static int l_lovrWorldGetJoints(lua_State* L) {
World* world = luax_checktype(L, 1, World);
uint32_t count = lovrWorldGetJointCount(world);
lua_pushinteger(L, count);
int index = 1;
Joint* joint = NULL;
lua_createtable(L, (int) lovrWorldGetJointCount(world), 0);
while ((joint = lovrWorldGetJoints(world, joint)) != NULL) {
luax_pushjoint(L, joint);
lua_rawseti(L, -2, index++);
}
return 1;
}

14
src/modules/physics/physics.h
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@ -55,8 +55,8 @@ void lovrWorldDestroy(void* ref);
void lovrWorldDestroyData(World* world);
uint32_t lovrWorldGetColliderCount(World* world);
uint32_t lovrWorldGetJointCount(World* world);
Collider* lovrWorldEnumerateColliders(World* world, Collider* collider);
Joint* lovrWorldEnumerateJoints(World* world, Joint* joint);
Collider* lovrWorldGetColliders(World* world, Collider* collider);
Joint* lovrWorldGetJoints(World* world, Joint* joint);
void lovrWorldUpdate(World* world, float dt, CollisionResolver resolver, void* userdata);
void lovrWorldComputeOverlaps(World* world);
int lovrWorldGetNextOverlap(World* world, Shape** a, Shape** b);
@ -96,11 +96,11 @@ bool lovrColliderIsEnabled(Collider* collider);
void lovrColliderSetEnabled(Collider* collider, bool enable);
void lovrColliderInitInertia(Collider* collider, Shape* shape);
World* lovrColliderGetWorld(Collider* collider);
Joint* lovrColliderGetJoints(Collider* collider, Joint* joint);
Shape* lovrColliderGetShape(Collider* collider, uint32_t child);
void lovrColliderSetShape(Collider* collider, Shape* shape);
void lovrColliderGetShapeOffset(Collider* collider, float position[3], float orientation[4]);
void lovrColliderSetShapeOffset(Collider* collider, float position[3], float orientation[4]);
Joint* lovrColliderEnumerateJoints(Collider* collider, Joint* joint, void** private);
const char* lovrColliderGetTag(Collider* collider);
bool lovrColliderSetTag(Collider* collider, const char* tag);
float lovrColliderGetFriction(Collider* collider);
@ -218,11 +218,9 @@ void lovrJointDestroy(void* ref);
void lovrJointDestroyData(Joint* joint);
bool lovrJointIsDestroyed(Joint* joint);
JointType lovrJointGetType(Joint* joint);
float lovrJointGetCFM(Joint* joint);
void lovrJointSetCFM(Joint* joint, float cfm);
float lovrJointGetERP(Joint* joint);
void lovrJointSetERP(Joint* joint, float erp);
void lovrJointGetColliders(Joint* joint, Collider** a, Collider** b);
Collider* lovrJointGetColliderA(Joint* joint);
Collider* lovrJointGetColliderB(Joint* joint);
Joint* lovrJointGetNext(Joint* joint, Collider* collider);
bool lovrJointIsEnabled(Joint* joint);
void lovrJointSetEnabled(Joint* joint, bool enable);

146
src/modules/physics/physics_jolt.c
View File

@ -4,12 +4,6 @@
#include <stdlib.h>
#include <joltc.h>
typedef struct JointNode {
struct JointNode* prev;
struct JointNode* next;
Joint* joint;
} JointNode;
struct World {
uint32_t ref;
JPH_PhysicsSystem* system;
@ -30,10 +24,10 @@ struct Collider {
JPH_BodyID id;
JPH_Body* body;
World* world;
Joint* joints;
Shape* shape;
Collider* prev;
Collider* next;
JointNode* joints;
uint32_t tag;
};
@ -43,14 +37,16 @@ struct Shape {
JPH_Shape* shape;
};
typedef struct {
Joint* prev;
Joint* next;
} JointNode;
struct Joint {
uint32_t ref;
JointType type;
JPH_Constraint* constraint;
JointNode a;
JointNode b;
Joint* prev;
Joint* next;
JointNode a, b, world;
};
static struct {
@ -168,12 +164,12 @@ uint32_t lovrWorldGetJointCount(World* world) {
return world->jointCount; // Jolt doesn't expose this
}
Collider* lovrWorldEnumerateColliders(World* world, Collider* collider) {
Collider* lovrWorldGetColliders(World* world, Collider* collider) {
return collider ? collider->next : world->colliders;
}
Joint* lovrWorldEnumerateJoints(World* world, Joint* joint) {
return joint ? joint->next : world->joints;
Joint* lovrWorldGetJoints(World* world, Joint* joint) {
return joint ? joint->world.next : world->joints;
}
void lovrWorldUpdate(World* world, float dt, CollisionResolver resolver, void* userdata) {
@ -394,11 +390,12 @@ void lovrColliderDestroyData(Collider* collider) {
lovrRelease(collider->shape, lovrShapeDestroy);
JointNode* node = collider->joints;
while (node) {
JointNode* next = node->next;
lovrJointDestroyData(node->joint);
node = next;
Joint* joint = collider->joints;
while (joint) {
Joint* next = lovrJointGetNext(joint, collider);
lovrJointDestroyData(joint);
joint = next;
}
World* world = collider->world;
@ -439,8 +436,8 @@ World* lovrColliderGetWorld(Collider* collider) {
return collider->world;
}
Collider* lovrColliderGetNext(Collider* collider) {
return collider->next;
Joint* lovrColliderGetJoints(Collider* collider, Joint* joint) {
return joint ? lovrJointGetNext(joint, collider) : collider->joints;
}
Shape* lovrColliderGetShape(Collider* collider, uint32_t child) {
@ -514,19 +511,6 @@ void lovrColliderSetShapeOffset(Collider* collider, float position[3], float ori
JPH_BodyInterface_SetShape(collider->world->bodies, collider->id, shape, updateMass, JPH_Activation_Activate);
}
Joint* lovrColliderEnumerateJoints(Collider* collider, Joint* joint, void** private) {
if (!joint) {
JointNode* node = collider->joints;
*private = collider->joints;
return node ? node->joint : NULL;
} else {
JointNode* node = *private;
node = node ? node->next : NULL;
*private = node;
return node ? node->joint : NULL;
}
}
const char* lovrColliderGetTag(Collider* collider) {
return lovrWorldGetTagName(collider->world, collider->tag);
}
@ -1098,32 +1082,30 @@ static void lovrJointGetAnchors(Joint* joint, float anchor1[3], float anchor2[3]
anchor2[2] = constraintToBody2.m43;
}
static JointNode* lovrJointGetNode(Joint* joint, Collider* collider) {
return collider == lovrJointGetColliderA(joint) ? &joint->a : &joint->b;
}
void lovrJointInit(Joint* joint, Collider* a, Collider* b) {
JointNode* nodeA = &joint->a;
JointNode* nodeB = &joint->b;
nodeA->joint = joint;
nodeB->joint = joint;
if (a->joints) {
nodeA->next = a->joints;
a->joints->prev = nodeA;
}
a->joints = nodeA;
if (b->joints) {
nodeB->next = b->joints;
b->joints->prev = nodeB;
}
b->joints = nodeB;
World* world = a->world;
if (a->joints) {
joint->a.next = a->joints;
lovrJointGetNode(a->joints, a)->prev = joint;
}
a->joints = joint;
if (b->joints) {
joint->b.next = b->joints;
lovrJointGetNode(b->joints, b)->prev = joint;
}
b->joints = joint;
if (world->joints) {
joint->next = world->joints;
joint->next->prev = joint;
joint->world.next = world->joints;
world->joints->world.prev = joint;
}
world->joints = joint;
@ -1144,27 +1126,28 @@ 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));
JointNode* nodeA = &joint->a;
if (nodeA->next) nodeA->next->prev = nodeA->prev;
if (nodeA->prev) nodeA->prev->next = nodeA->next;
if (nodeA == a->joints) a->joints = nodeA->next;
JointNode* nodeB = &joint->b;
if (nodeB->next) nodeB->next->prev = nodeB->prev;
if (nodeB->prev) nodeB->prev->next = nodeB->next;
if (nodeB == b->joints) b->joints = nodeB->next;
World* world = a->world;
if (joint->next) joint->next->prev = joint->prev;
if (joint->prev) joint->prev->next = joint->next;
if (world->joints == joint) world->joints = joint->next;
joint->next = joint->prev = NULL;
world->jointCount--;
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;
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;
if (node->prev) node->prev->world.next = node->next;
else world->joints = joint->world.next;
JPH_PhysicsSystem_RemoveConstraint(world->system, joint->constraint);
JPH_Constraint_Destroy(joint->constraint);
joint->constraint = NULL;
world->jointCount--;
lovrRelease(joint, lovrJointDestroy);
}
@ -1177,17 +1160,18 @@ JointType lovrJointGetType(Joint* joint) {
return joint->type;
}
void lovrJointGetColliders(Joint* joint, Collider** a, Collider** b) {
JPH_Body* bodyA = JPH_TwoBodyConstraint_GetBody1((JPH_TwoBodyConstraint*) joint->constraint);
JPH_Body* bodyB = JPH_TwoBodyConstraint_GetBody2((JPH_TwoBodyConstraint*) joint->constraint);
Collider* lovrJointGetColliderA(Joint* joint) {
JPH_TwoBodyConstraint* constraint = (JPH_TwoBodyConstraint*) joint->constraint;
return (Collider*) (uintptr_t) JPH_Body_GetUserData(JPH_TwoBodyConstraint_GetBody1(constraint));
}
if (bodyA) {
*a = (Collider*) JPH_Body_GetUserData(bodyA);
}
Collider* lovrJointGetColliderB(Joint* joint) {
JPH_TwoBodyConstraint* constraint = (JPH_TwoBodyConstraint*) joint->constraint;
return (Collider*) (uintptr_t) JPH_Body_GetUserData(JPH_TwoBodyConstraint_GetBody2(constraint));
}
if (bodyB) {
*b = (Collider*) JPH_Body_GetUserData(bodyB);
}
Joint* lovrJointGetNext(Joint* joint, Collider* collider) {
return lovrJointGetNode(joint, collider)->next;
}
bool lovrJointIsEnabled(Joint* joint) {

49
src/modules/physics/physics_ode.c
View File

@ -220,11 +220,11 @@ uint32_t lovrWorldGetJointCount(World* world) {
return 0;
}
Collider* lovrWorldEnumerateColliders(World* world, Collider* collider) {
Collider* lovrWorldGetColliders(World* world, Collider* collider) {
return collider ? collider->next : world->head;
}
Joint* lovrWorldEnumerateJoints(World* world, Joint* joint) {
Joint* lovrWorldGetJoints(World* world, Joint* joint) {
return NULL;
}
@ -538,10 +538,6 @@ World* lovrColliderGetWorld(Collider* collider) {
return collider->world;
}
Collider* lovrColliderGetNext(Collider* collider) {
return collider->next;
}
Shape* lovrColliderGetShape(Collider* collider, uint32_t child) {
return collider->shape;
}
@ -588,26 +584,18 @@ void lovrColliderSetShapeOffset(Collider* collider, float position[3], float ori
dGeomSetOffsetQuaternion(collider->shape->id, q);
}
Joint** lovrColliderGetJoints(Collider* collider, size_t* count) {
arr_clear(&collider->joints);
int jointCount = dBodyGetNumJoints(collider->body);
for (int i = 0; i < jointCount; i++) {
Joint* joint = dJointGetData(dBodyGetJoint(collider->body, i));
if (joint) {
arr_push(&collider->joints, joint);
Joint* lovrColliderGetJoints(Collider* collider, Joint* joint) {
if (joint == NULL) {
return collider->joints.length ? NULL : collider->joints.data[0];
}
for (size_t i = 0; i < collider->joints.length; i++) {
if (collider->joints.data[i] == joint) {
return i == collider->joints.length - 1 ? NULL : collider->joints.data[i + 1];
}
}
*count = collider->joints.length;
return collider->joints.data;
}
Joint* lovrColliderEnumerateJoints(Collider* collider, Joint* joint, void** private) {
if (!joint) {
*private = NULL;
}
uintptr_t index = (uintptr_t) *private;
return index < collider->joints.length ? collider->joints.data[index] : NULL;
return NULL;
}
const char* lovrColliderGetTag(Collider* collider) {
@ -1143,17 +1131,14 @@ JointType lovrJointGetType(Joint* joint) {
return joint->type;
}
void lovrJointGetColliders(Joint* joint, Collider** a, Collider** b) {
Collider* lovrJointGetColliderA(Joint* joint) {
dBodyID bodyA = dJointGetBody(joint->id, 0);
return bodyA ? dBodyGetData(bodyA) : NULL;
}
Collider* lovrJointGetColliderB(Joint* joint) {
dBodyID bodyB = dJointGetBody(joint->id, 1);
if (bodyA) {
*a = dBodyGetData(bodyA);
}
if (bodyB) {
*b = dBodyGetData(bodyB);
}
return bodyB ? dBodyGetData(bodyB) : NULL;
}
bool lovrJointIsEnabled(Joint* joint) {