Move Shape:is/setSensor and Shape:is/setEnabled to Collider;

- Collider always has Shape now.  When left off or set to null, it's a
  tiny sphere (representing a point).
- Preserve shape offset when changing shape.

deps/jolt-physics-sharp

@@ -1 +1 @@
-Subproject commit 29fe07e8088279c47d7108107856ec3c826d1817
+Subproject commit 22a062b3729f72eaaa24148195368e8b564ecfd1

src/api/api.h

@@ -203,4 +203,5 @@ struct Shape* luax_newcapsuleshape(lua_State* L, int index);
 struct Shape* luax_newcylindershape(lua_State* L, int index);
 struct Shape* luax_newmeshshape(lua_State* L, int index);
 struct Shape* luax_newterrainshape(lua_State* L, int index);
+struct Shape* luax_newcompoundshape(lua_State* L, int index);
 #endif

src/api/l_physics.c

@@ -9,6 +9,7 @@ StringEntry lovrShapeType[] = {
   [SHAPE_CYLINDER] = ENTRY("cylinder"),
   [SHAPE_MESH] = ENTRY("mesh"),
   [SHAPE_TERRAIN] = ENTRY("terrain"),
+  [SHAPE_COMPOUND] = ENTRY("compound"),
   { 0 }
 };
 
@@ -178,6 +179,13 @@ static int l_lovrPhysicsNewTerrainShape(lua_State* L) {
   return 1;
 }
 
+static int l_lovrPhysicsNewCompoundShape(lua_State* L) {
+  CompoundShape* shape = luax_newcompoundshape(L, 1);
+  luax_pushtype(L, CompoundShape, shape);
+  lovrRelease(shape, lovrShapeDestroy);
+  return 1;
+}
+
 static const luaL_Reg lovrPhysics[] = {
   { "newWorld", l_lovrPhysicsNewWorld },
   { "newBallJoint", l_lovrPhysicsNewBallJoint },
@@ -190,6 +198,7 @@ static const luaL_Reg lovrPhysics[] = {
   { "newSliderJoint", l_lovrPhysicsNewSliderJoint },
   { "newSphereShape", l_lovrPhysicsNewSphereShape },
   { "newTerrainShape", l_lovrPhysicsNewTerrainShape },
+  { "newCompoundShape", l_lovrPhysicsNewCompoundShape },
   { NULL, NULL }
 };
 
@@ -205,6 +214,7 @@ extern const luaL_Reg lovrCapsuleShape[];
 extern const luaL_Reg lovrCylinderShape[];
 extern const luaL_Reg lovrMeshShape[];
 extern const luaL_Reg lovrTerrainShape[];
+extern const luaL_Reg lovrCompoundShape[];
 
 int luaopen_lovr_physics(lua_State* L) {
   lua_newtable(L);
@@ -221,6 +231,7 @@ int luaopen_lovr_physics(lua_State* L) {
   luax_registertype(L, CylinderShape);
   luax_registertype(L, MeshShape);
   luax_registertype(L, TerrainShape);
+  luax_registertype(L, CompoundShape);
   lovrPhysicsInit();
   luax_atexit(L, lovrPhysicsDestroy);
   return 1;

src/api/l_physics_collider.c

@@ -17,6 +17,20 @@ static int l_lovrColliderIsDestroyed(lua_State* L) {
   return 1;
 }
 
+static int l_lovrColliderIsEnabled(lua_State* L) {
+  Collider* collider = luax_checktype(L, 1, Collider);
+  bool enabled = lovrColliderIsEnabled(collider);
+  lua_pushboolean(L, enabled);
+  return 1;
+}
+
+static int l_lovrColliderSetEnabled(lua_State* L) {
+  Collider* collider = luax_checktype(L, 1, Collider);
+  bool enable = lua_toboolean(L, 2);
+  lovrColliderSetEnabled(collider, enable);
+  return 1;
+}
+
 static int l_lovrColliderGetWorld(lua_State* L) {
   Collider* collider = luax_checktype(L, 1, Collider);
   World* world = lovrColliderGetWorld(collider);
@@ -24,32 +38,45 @@ 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);
+  luax_pushshape(L, shape);
   return 1;
 }
 
+static int l_lovrColliderSetShape(lua_State* L) {
+  Collider* collider = luax_checktype(L, 1, Collider);
+  Shape* shape = luax_checkshape(L, 2);
+  lovrColliderSetShape(collider, shape);
+  return 0;
+}
+
+static int l_lovrColliderGetShapeOffset(lua_State* L) {
+  Collider* collider = luax_checktype(L, 1, Collider);
+  float position[3], orientation[4], angle, ax, ay, az;
+  lovrColliderGetShapeOffset(collider, position, orientation);
+  quat_getAngleAxis(orientation, &angle, &ax, &ay, &az);
+  lua_pushnumber(L, position[0]);
+  lua_pushnumber(L, position[1]);
+  lua_pushnumber(L, position[2]);
+  lua_pushnumber(L, angle);
+  lua_pushnumber(L, ax);
+  lua_pushnumber(L, ay);
+  lua_pushnumber(L, az);
+  return 7;
+}
+
+static int l_lovrColliderSetShapeOffset(lua_State* L) {
+  Collider* collider = luax_checktype(L, 1, Collider);
+  int index = 2;
+  float position[3], orientation[4];
+  index = luax_readvec3(L, index, position, NULL);
+  index = luax_readquat(L, index, orientation, NULL);
+  lovrColliderSetShapeOffset(collider, position, orientation);
+  return 0;
+}
+
 static int l_lovrColliderGetJoints(lua_State* L) {
   Collider* collider = luax_checktype(L, 1, Collider);
   size_t count;
@@ -110,6 +137,33 @@ static int l_lovrColliderSetKinematic(lua_State* L) {
   return 0;
 }
 
+static int l_lovrColliderIsSensor(lua_State* L) {
+  Collider* collider = luax_checktype(L, 1, Collider);
+  lua_pushboolean(L, lovrColliderIsSensor(collider));
+  return 1;
+}
+
+static int l_lovrColliderSetSensor(lua_State* L) {
+  Collider* collider = luax_checktype(L, 1, Collider);
+  bool sensor = lua_toboolean(L, 2);
+  lovrColliderSetSensor(collider, sensor);
+  return 0;
+}
+
+static int l_lovrColliderIsContinuous(lua_State* L) {
+  Collider* collider = luax_checktype(L, 1, Collider);
+  bool continuous = lovrColliderIsContinuous(collider);
+  lua_pushboolean(L, continuous);
+  return 1;
+}
+
+static int l_lovrColliderSetContinuous(lua_State* L) {
+  Collider* collider = luax_checktype(L, 1, Collider);
+  bool continuous = lua_toboolean(L, 2);
+  lovrColliderSetContinuous(collider, continuous);
+  return 0;
+}
+
 static int l_lovrColliderGetGravityScale(lua_State* L) {
   Collider* collider = luax_checktype(L, 1, Collider);
   float scale = lovrColliderGetGravityScale(collider);
@@ -369,6 +423,28 @@ static int l_lovrColliderApplyTorque(lua_State* L) {
   return 0;
 }
 
+static int l_lovrColliderApplyLinearImpulse(lua_State* L) {
+  Collider* collider = luax_checktype(L, 1, Collider);
+  float impulse[3];
+  int index = luax_readvec3(L, 2, impulse, NULL);
+  if (lua_gettop(L) >= index) {
+    float position[3];
+    luax_readvec3(L, index, position, NULL);
+    lovrColliderApplyLinearImpulseAtPosition(collider, impulse, position);
+  } else {
+    lovrColliderApplyLinearImpulse(collider, impulse);
+  }
+  return 0;
+}
+
+static int l_lovrColliderApplyAngularImpulse(lua_State* L) {
+  Collider* collider = luax_checktype(L, 1, Collider);
+  float impulse[3];
+  luax_readvec3(L, 2, impulse, NULL);
+  lovrColliderApplyAngularImpulse(collider, impulse);
+  return 0;
+}
+
 static int l_lovrColliderGetLocalCenter(lua_State* L) {
   Collider* collider = luax_checktype(L, 1, Collider);
   float x, y, z;
@@ -508,6 +584,16 @@ static int l_lovrColliderSetTag(lua_State* L) {
   return 0;
 }
 
+// Deprecated
+static int l_lovrColliderGetShapes(lua_State* L) {
+  Collider* collider = luax_checktype(L, 1, Collider);
+  Shape* shape = lovrColliderGetShape(collider);
+  lua_createtable(L, 1, 0);
+  luax_pushshape(L, shape);
+  lua_rawseti(L, -2, 1);
+  return 1;
+}
+
 // Deprecated
 static int l_lovrColliderIsGravityIgnored(lua_State* L) {
   Collider* collider = luax_checktype(L, 1, Collider);
@@ -526,15 +612,22 @@ static int l_lovrColliderSetGravityIgnored(lua_State* L) {
 const luaL_Reg lovrCollider[] = {
   { "destroy", l_lovrColliderDestroy },
   { "isDestroyed", l_lovrColliderIsDestroyed },
+  { "isEnabled", l_lovrColliderIsEnabled },
+  { "setEnabled", l_lovrColliderSetEnabled },
   { "getWorld", l_lovrColliderGetWorld },
-  { "addShape", l_lovrColliderAddShape },
-  { "removeShape", l_lovrColliderRemoveShape },
-  { "getShapes", l_lovrColliderGetShapes },
+  { "getShape", l_lovrColliderGetShape },
+  { "setShape", l_lovrColliderSetShape },
+  { "getShapeOffset", l_lovrColliderGetShapeOffset },
+  { "setShapeOffset", l_lovrColliderSetShapeOffset },
   { "getJoints", l_lovrColliderGetJoints },
   { "getUserData", l_lovrColliderGetUserData },
   { "setUserData", l_lovrColliderSetUserData },
   { "isKinematic", l_lovrColliderIsKinematic },
   { "setKinematic", l_lovrColliderSetKinematic },
+  { "isSensor", l_lovrColliderIsSensor },
+  { "setSensor", l_lovrColliderSetSensor },
+  { "isContinuous", l_lovrColliderIsContinuous },
+  { "setContinuous", l_lovrColliderSetContinuous },
   { "getGravityScale", l_lovrColliderGetGravityScale },
   { "setGravityScale", l_lovrColliderSetGravityScale },
   { "isSleepingAllowed", l_lovrColliderIsSleepingAllowed },
@@ -561,6 +654,8 @@ const luaL_Reg lovrCollider[] = {
   { "setAngularDamping", l_lovrColliderSetAngularDamping },
   { "applyForce", l_lovrColliderApplyForce },
   { "applyTorque", l_lovrColliderApplyTorque },
+  { "applyLinearImpulse", l_lovrColliderApplyLinearImpulse },
+  { "applyAngularImpulse", l_lovrColliderApplyAngularImpulse },
   { "getLocalCenter", l_lovrColliderGetLocalCenter },
   { "getLocalPoint", l_lovrColliderGetLocalPoint },
   { "getWorldPoint", l_lovrColliderGetWorldPoint },
@@ -577,6 +672,7 @@ const luaL_Reg lovrCollider[] = {
   { "setTag", l_lovrColliderSetTag },
 
   // Deprecated
+  { "getShapes", l_lovrColliderGetShapes },
   { "isGravityIgnored", l_lovrColliderIsGravityIgnored },
   { "setGravityIgnored", l_lovrColliderSetGravityIgnored },
 

src/api/l_physics_shapes.c

@@ -14,6 +14,7 @@ void luax_pushshape(lua_State* L, Shape* shape) {
     case SHAPE_CYLINDER: luax_pushtype(L, CylinderShape, shape); break;
     case SHAPE_MESH: luax_pushtype(L, MeshShape, shape); break;
     case SHAPE_TERRAIN: luax_pushtype(L, TerrainShape, shape); break;
+    case SHAPE_COMPOUND: luax_pushtype(L, CompoundShape, shape); break;
     default: lovrUnreachable();
   }
 }
@@ -28,7 +29,8 @@ Shape* luax_checkshape(lua_State* L, int index) {
       hash64("CapsuleShape", strlen("CapsuleShape")),
       hash64("CylinderShape", strlen("CylinderShape")),
       hash64("MeshShape", strlen("MeshShape")),
-      hash64("TerrainShape", strlen("TerrainShape"))
+      hash64("TerrainShape", strlen("TerrainShape")),
+      hash64("CompoundShape", strlen("CompoundShape"))
     };
 
     for (size_t i = 0; i < COUNTOF(hashes); i++) {
@@ -91,17 +93,17 @@ Shape* luax_newmeshshape(lua_State* L, int index) {
 }
 
 Shape* luax_newterrainshape(lua_State* L, int index) {
-  float horizontalScale = luax_checkfloat(L, index++);
+  float scaleXZ = luax_checkfloat(L, index++);
   int type = lua_type(L, index);
   if (type == LUA_TNIL || type == LUA_TNONE) {
     float vertices[4] = { 0.f };
-    return lovrTerrainShapeCreate(vertices, 2, 2, horizontalScale, 1.f);
+    return lovrTerrainShapeCreate(vertices, 2, scaleXZ, 1.f);
   } else if (type == LUA_TFUNCTION) {
-    uint32_t samples = luax_optu32(L, index + 1, 100);
-    float* vertices = lovrMalloc(sizeof(float) * samples * samples);
-    for (uint32_t i = 0; i < samples * samples; i++) {
-      float x = horizontalScale * (-.5f + ((float) (i % samples)) / samples);
-      float z = horizontalScale * (-.5f + ((float) (i / samples)) / samples);
+    uint32_t n = luax_optu32(L, index + 1, 100);
+    float* vertices = lovrMalloc(sizeof(float) * n * n);
+    for (uint32_t i = 0; i < n * n; i++) {
+      float x = scaleXZ * (-.5f + ((float) (i % n)) / n);
+      float z = scaleXZ * (-.5f + ((float) (i / n)) / n);
       lua_pushvalue(L, index);
       lua_pushnumber(L, x);
       lua_pushnumber(L, z);
@@ -110,23 +112,23 @@ Shape* luax_newterrainshape(lua_State* L, int index) {
       vertices[i] = luax_tofloat(L, -1);
       lua_pop(L, 1);
     }
-    TerrainShape* shape = lovrTerrainShapeCreate(vertices, samples, samples, horizontalScale, 1.f);
+    TerrainShape* shape = lovrTerrainShapeCreate(vertices, n, scaleXZ, 1.f);
     lovrFree(vertices);
     return shape;
   } else if (type == LUA_TUSERDATA) {
     Image* image = luax_checktype(L, index, Image);
-    uint32_t imageWidth = lovrImageGetWidth(image, 0);
-    uint32_t imageHeight = lovrImageGetHeight(image, 0);
-    float verticalScale = luax_optfloat(L, index + 1, 1.f);
-    float* vertices = lovrMalloc(sizeof(float) * imageWidth * imageHeight);
-    for (uint32_t y = 0; y < imageHeight; y++) {
-      for (uint32_t x = 0; x < imageWidth; x++) {
+    uint32_t n = lovrImageGetWidth(image, 0);
+    lovrCheck(lovrImageGetHeight(image, 0) == n, "TerrainShape images must be square");
+    float scaleY = luax_optfloat(L, index + 1, 1.f);
+    float* vertices = lovrMalloc(sizeof(float) * n * n);
+    for (uint32_t y = 0; y < n; y++) {
+      for (uint32_t x = 0; x < n; x++) {
         float pixel[4];
         lovrImageGetPixel(image, x, y, pixel);
-        vertices[x + y * imageWidth] = pixel[0];
+        vertices[x + y * n] = pixel[0];
       }
     }
-    TerrainShape* shape = lovrTerrainShapeCreate(vertices, imageWidth, imageHeight, horizontalScale, verticalScale);
+    TerrainShape* shape = lovrTerrainShapeCreate(vertices, n, scaleXZ, scaleY);
     lovrFree(vertices);
     return shape;
   } else {
@@ -135,6 +137,86 @@ Shape* luax_newterrainshape(lua_State* L, int index) {
   }
 }
 
+Shape* luax_newcompoundshape(lua_State* L, int index) {
+  if (lua_isnoneornil(L, index)) {
+    return lovrCompoundShapeCreate(NULL, NULL, NULL, 0, false);
+  }
+
+  luaL_checktype(L, index, LUA_TTABLE);
+  int length = luax_len(L, index);
+
+  uint32_t defer = lovrDeferPush();
+  Shape** shapes = lovrMalloc(length * sizeof(Shape*));
+  float* positions = lovrMalloc(length * 3 * sizeof(float));
+  float* orientations = lovrMalloc(length * 4 * sizeof(float));
+  lovrDefer(lovrFree, shapes);
+  lovrDefer(lovrFree, positions);
+  lovrDefer(lovrFree, orientations);
+
+  for (int i = 0; i < length; i++) {
+    lua_rawgeti(L, index, i + 1);
+    lovrCheck(lua_istable(L, -1), "Expected table of tables for compound shape");
+
+    lua_rawgeti(L, -1, 1);
+    shapes[i] = luax_checkshape(L, -1);
+    lovrCheck(shapes[i], "Expected a Shape for CompoundShape entry #%d", i + 1);
+    lua_pop(L, 1);
+
+    int index = 2;
+    lua_rawgeti(L, -1, index);
+    switch (lua_type(L, -1)) {
+      case LUA_TNIL:
+        vec3_set(&positions[3 * i], 0.f, 0.f, 0.f);
+        lua_pop(L, 1);
+        break;
+      case LUA_TNUMBER:
+        lua_rawgeti(L, -2, index + 1);
+        lua_rawgeti(L, -3, index + 2);
+        vec3_set(&positions[3 * i], luax_tofloat(L, -3), luax_tofloat(L, -2), luax_tofloat(L, -1));
+        lua_pop(L, 3);
+        index += 3;
+        break;
+      default: {
+        float* v = luax_checkvector(L, -1, V_VEC3, "nil, number, or vec3");
+        vec3_init(&positions[3 * i], v);
+        lua_pop(L, 1);
+        break;
+      }
+    }
+
+    lua_rawgeti(L, -1, index);
+    switch (lua_type(L, -1)) {
+      case LUA_TNIL:
+        quat_identity(&orientations[4 * i]);
+        lua_pop(L, 1);
+        break;
+      case LUA_TNUMBER:
+        lua_rawgeti(L, -2, index);
+        lua_rawgeti(L, -3, index);
+        lua_rawgeti(L, -4, index);
+        quat_set(&orientations[4 * i], luax_tofloat(L, -4), luax_tofloat(L, -3), luax_tofloat(L, -2), luax_tofloat(L, -1));
+        lua_pop(L, 4);
+        break;
+      default: {
+        float* q = luax_checkvector(L, -1, V_QUAT, "nil, number, or quat");
+        quat_init(&positions[4 * i], q);
+        lua_pop(L, 1);
+        break;
+      }
+    }
+
+    lua_pop(L, 1);
+  }
+
+  lua_getfield(L, index, "freeze");
+  bool freeze = lua_toboolean(L, -1);
+  lua_pop(L, 1);
+
+  CompoundShape* shape = lovrCompoundShapeCreate(shapes, positions, orientations, length, freeze);
+  lovrDeferPop(defer);
+  return shape;
+}
+
 static int l_lovrShapeDestroy(lua_State* L) {
   Shape* shape = luax_checkshape(L, 1);
   lovrShapeDestroyData(shape);
@@ -147,38 +229,6 @@ 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));
-  return 1;
-}
-
-static int l_lovrShapeSetEnabled(lua_State* L) {
-  Shape* shape = luax_checkshape(L, 1);
-  bool enabled = lua_toboolean(L, 2);
-  lovrShapeSetEnabled(shape, enabled);
-  return 0;
-}
-
-static int l_lovrShapeIsSensor(lua_State* L) {
-  Shape* shape = luax_checkshape(L, 1);
-  lua_pushboolean(L, lovrShapeIsSensor(shape));
-  return 1;
-}
-
-static int l_lovrShapeSetSensor(lua_State* L) {
-  Shape* shape = luax_checkshape(L, 1);
-  bool sensor = lua_toboolean(L, 2);
-  lovrShapeSetSensor(shape, sensor);
-  return 0;
-}
-
 static void luax_pushshapestash(lua_State* L) {
   lua_getfield(L, LUA_REGISTRYINDEX, "_lovrshapestash");
 
@@ -214,74 +264,6 @@ 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 +295,8 @@ 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 }
 
@@ -335,17 +306,9 @@ static int l_lovrSphereShapeGetRadius(lua_State* L) {
   return 1;
 }
 
-static int l_lovrSphereShapeSetRadius(lua_State* L) {
-  SphereShape* sphere = luax_checktype(L, 1, SphereShape);
-  float radius = luax_checkfloat(L, 2);
-  lovrSphereShapeSetRadius(sphere, radius);
-  return 0;
-}
-
 const luaL_Reg lovrSphereShape[] = {
   lovrShape,
   { "getRadius", l_lovrSphereShapeGetRadius },
-  { "setRadius", l_lovrSphereShapeSetRadius },
   { NULL, NULL }
 };
 
@@ -359,18 +322,9 @@ static int l_lovrBoxShapeGetDimensions(lua_State* L) {
   return 3;
 }
 
-static int l_lovrBoxShapeSetDimensions(lua_State* L) {
-  BoxShape* box = luax_checktype(L, 1, BoxShape);
-  float size[3];
-  luax_readscale(L, 2, size, 3, NULL);
-  lovrBoxShapeSetDimensions(box, size[0], size[1], size[2]);
-  return 0;
-}
-
 const luaL_Reg lovrBoxShape[] = {
   lovrShape,
   { "getDimensions", l_lovrBoxShapeGetDimensions },
-  { "setDimensions", l_lovrBoxShapeSetDimensions },
   { NULL, NULL }
 };
 
@@ -380,32 +334,16 @@ static int l_lovrCapsuleShapeGetRadius(lua_State* L) {
   return 1;
 }
 
-static int l_lovrCapsuleShapeSetRadius(lua_State* L) {
-  CapsuleShape* capsule = luax_checktype(L, 1, CapsuleShape);
-  float radius = luax_checkfloat(L, 2);
-  lovrCapsuleShapeSetRadius(capsule, radius);
-  return 0;
-}
-
 static int l_lovrCapsuleShapeGetLength(lua_State* L) {
   CapsuleShape* capsule = luax_checktype(L, 1, CapsuleShape);
   lua_pushnumber(L, lovrCapsuleShapeGetLength(capsule));
   return 1;
 }
 
-static int l_lovrCapsuleShapeSetLength(lua_State* L) {
-  CapsuleShape* capsule = luax_checktype(L, 1, CapsuleShape);
-  float length = luax_checkfloat(L, 2);
-  lovrCapsuleShapeSetLength(capsule, length);
-  return 0;
-}
-
 const luaL_Reg lovrCapsuleShape[] = {
   lovrShape,
   { "getRadius", l_lovrCapsuleShapeGetRadius },
-  { "setRadius", l_lovrCapsuleShapeSetRadius },
   { "getLength", l_lovrCapsuleShapeGetLength },
-  { "setLength", l_lovrCapsuleShapeSetLength },
   { NULL, NULL }
 };
 
@@ -415,32 +353,16 @@ static int l_lovrCylinderShapeGetRadius(lua_State* L) {
   return 1;
 }
 
-static int l_lovrCylinderShapeSetRadius(lua_State* L) {
-  CylinderShape* cylinder = luax_checktype(L, 1, CylinderShape);
-  float radius = luax_checkfloat(L, 2);
-  lovrCylinderShapeSetRadius(cylinder, radius);
-  return 0;
-}
-
 static int l_lovrCylinderShapeGetLength(lua_State* L) {
   CylinderShape* cylinder = luax_checktype(L, 1, CylinderShape);
   lua_pushnumber(L, lovrCylinderShapeGetLength(cylinder));
   return 1;
 }
 
-static int l_lovrCylinderShapeSetLength(lua_State* L) {
-  CylinderShape* cylinder = luax_checktype(L, 1, CylinderShape);
-  float length = luax_checkfloat(L, 2);
-  lovrCylinderShapeSetLength(cylinder, length);
-  return 0;
-}
-
 const luaL_Reg lovrCylinderShape[] = {
   lovrShape,
   { "getRadius", l_lovrCylinderShapeGetRadius },
-  { "setRadius", l_lovrCylinderShapeSetRadius },
   { "getLength", l_lovrCylinderShapeGetLength },
-  { "setLength", l_lovrCylinderShapeSetLength },
   { NULL, NULL }
 };
 
@@ -453,3 +375,109 @@ const luaL_Reg lovrTerrainShape[] = {
   lovrShape,
   { NULL, NULL }
 };
+
+static int l_lovrCompoundShapeIsFrozen(lua_State* L) {
+  CompoundShape* shape = luax_checktype(L, 1, CompoundShape);
+  bool frozen = lovrCompoundShapeIsFrozen(shape);
+  lua_pushboolean(L, frozen);
+  return 1;
+}
+
+static int l_lovrCompoundShapeAddShape(lua_State* L) {
+  CompoundShape* shape = luax_checktype(L, 1, CompoundShape);
+  Shape* child = luax_checkshape(L, 2);
+  float position[3], orientation[4];
+  int index = 3;
+  index = luax_readvec3(L, index, position, NULL);
+  index = luax_readquat(L, index, orientation, NULL);
+  lovrCompoundShapeAddShape(shape, child, position, orientation);
+  return 0;
+}
+
+static int l_lovrCompoundShapeReplaceShape(lua_State* L) {
+  CompoundShape* shape = luax_checktype(L, 1, CompoundShape);
+  uint32_t index = luax_checku32(L, 2);
+  Shape* child = luax_checkshape(L, 3);
+  float position[3], orientation[4];
+  int i = 4;
+  i = luax_readvec3(L, i, position, NULL);
+  i = luax_readquat(L, i, orientation, NULL);
+  lovrCompoundShapeReplaceShape(shape, index, child, position, orientation);
+  return 0;
+}
+
+static int l_lovrCompoundShapeRemoveShape(lua_State* L) {
+  CompoundShape* shape = luax_checktype(L, 1, CompoundShape);
+  uint32_t index = luax_checku32(L, 2) - 1;
+  lovrCompoundShapeRemoveShape(shape, index);
+  return 0;
+}
+
+static int l_lovrCompoundShapeGetShape(lua_State* L) {
+  CompoundShape* shape = luax_checktype(L, 1, CompoundShape);
+  uint32_t index = luax_checku32(L, 2) - 1;
+  Shape* child = lovrCompoundShapeGetShape(shape, index);
+  luax_pushshape(L, child);
+  return 1;
+}
+
+static int l_lovrCompoundShapeGetShapes(lua_State* L) {
+  CompoundShape* shape = luax_checktype(L, 1, CompoundShape);
+  int count = (int) lovrCompoundShapeGetShapeCount(shape);
+  lua_createtable(L, count, 0);
+  for (int i = 0; i < count; i++) {
+    Shape* child = lovrCompoundShapeGetShape(shape, (uint32_t) i);
+    luax_pushshape(L, child);
+    lua_rawseti(L, -2, i + 1);
+  }
+  return 1;
+}
+
+static int l_lovrCompoundShapeGetShapeCount(lua_State* L) {
+  CompoundShape* shape = luax_checktype(L, 1, CompoundShape);
+  uint32_t count = lovrCompoundShapeGetShapeCount(shape);
+  lua_pushinteger(L, count);
+  return 1;
+}
+
+static int l_lovrCompoundShapeGetShapeOffset(lua_State* L) {
+  CompoundShape* shape = luax_checktype(L, 1, CompoundShape);
+  uint32_t index = luax_checku32(L, 2) - 1;
+  float position[3], orientation[4], angle, ax, ay, az;
+  lovrCompoundShapeGetShapeOffset(shape, index, position, orientation);
+  quat_getAngleAxis(orientation, &angle, &ax, &ay, &az);
+  lua_pushnumber(L, position[0]);
+  lua_pushnumber(L, position[1]);
+  lua_pushnumber(L, position[2]);
+  lua_pushnumber(L, angle);
+  lua_pushnumber(L, ax);
+  lua_pushnumber(L, ay);
+  lua_pushnumber(L, az);
+  return 7;
+}
+
+static int l_lovrCompoundShapeSetShapeOffset(lua_State* L) {
+  CompoundShape* shape = luax_checktype(L, 1, CompoundShape);
+  uint32_t index = luax_checku32(L, 2) - 1;
+  float position[3], orientation[4];
+  int i = 3;
+  i = luax_readvec3(L, i, position, NULL);
+  i = luax_readquat(L, i, orientation, NULL);
+  lovrCompoundShapeSetShapeOffset(shape, index, position, orientation);
+  return 0;
+}
+
+const luaL_Reg lovrCompoundShape[] = {
+  lovrShape,
+  { "isFrozen", l_lovrCompoundShapeIsFrozen },
+  { "addShape", l_lovrCompoundShapeAddShape },
+  { "replaceShape", l_lovrCompoundShapeReplaceShape },
+  { "removeShape", l_lovrCompoundShapeRemoveShape },
+  { "getShape", l_lovrCompoundShapeGetShape },
+  { "getShapes", l_lovrCompoundShapeGetShapes },
+  { "getShapeCount", l_lovrCompoundShapeGetShapeCount },
+  { "getShapeOffset", l_lovrCompoundShapeGetShapeOffset },
+  { "setShapeOffset", l_lovrCompoundShapeSetShapeOffset },
+  { "__len", l_lovrCompoundShapeGetShapeCount }, // :)
+  { NULL, NULL }
+};

src/api/l_physics_world.c

@@ -27,17 +27,18 @@ static int nextOverlap(lua_State* L) {
   }
 }
 
-static bool raycastCallback(Shape* shape, float x, float y, float z, float nx, float ny, float nz, void* userdata) {
+static bool raycastCallback(Collider* collider, uint32_t shape, float position[3], float normal[3], void* userdata) {
   lua_State* L = userdata;
   lua_pushvalue(L, -1);
-  luax_pushshape(L, shape);
-  lua_pushnumber(L, x);
-  lua_pushnumber(L, y);
-  lua_pushnumber(L, z);
-  lua_pushnumber(L, nx);
-  lua_pushnumber(L, ny);
-  lua_pushnumber(L, nz);
-  lua_call(L, 7, 1);
+  luax_pushtype(L, Collider, collider);
+  lua_pushinteger(L, shape);
+  lua_pushnumber(L, position[0]);
+  lua_pushnumber(L, position[1]);
+  lua_pushnumber(L, position[2]);
+  lua_pushnumber(L, normal[0]);
+  lua_pushnumber(L, normal[1]);
+  lua_pushnumber(L, normal[2]);
+  lua_call(L, 8, 1);
   bool shouldStop = lua_type(L, -1) == LUA_TBOOLEAN && !lua_toboolean(L, -1);
   lua_pop(L, 1);
   return shouldStop;
@@ -45,53 +46,55 @@ static bool raycastCallback(Shape* shape, float x, float y, float z, float nx, f
 
 typedef struct {
   const char* tag;
-  Shape* shape;
+  Collider* collider;
+  uint32_t shape;
   float distance;
   float origin[3];
   float position[3];
   float normal[3];
 } RaycastData;
 
-static bool raycastAnyCallback(Shape* shape, float x, float y, float z, float nx, float ny, float nz, void* userdata) {
+static bool raycastAnyCallback(Collider* collider, uint32_t shape, float position[3], float normal[3], void* userdata) {
   RaycastData* data = userdata;
   if (data->tag) {
-    const char* tag = lovrColliderGetTag(lovrShapeGetCollider(shape));
+    const char* tag = lovrColliderGetTag(collider);
     if (!tag || strcmp(tag, data->tag)) {
       return false;
     }
   }
+  data->collider = collider;
   data->shape = shape;
-  vec3_set(data->position, x, y, z);
-  vec3_set(data->normal, nx, ny, nz);
+  vec3_init(data->position, position);
+  vec3_init(data->normal, normal);
   data->distance = vec3_distance(data->origin, data->position);
   return true;
 }
 
-static bool raycastClosestCallback(Shape* shape, float x, float y, float z, float nx, float ny, float nz, void* userdata) {
+static bool raycastClosestCallback(Collider* collider, uint32_t shape, float position[3], float normal[3], void* userdata) {
   RaycastData* data = userdata;
   if (data->tag) {
-    const char* tag = lovrColliderGetTag(lovrShapeGetCollider(shape));
+    const char* tag = lovrColliderGetTag(collider);
     if (!tag || strcmp(tag, data->tag)) {
       return false;
     }
   }
-  float position[3];
-  vec3_set(position, x, y, z);
   float distance = vec3_distance(data->origin, position);
   if (distance < data->distance) {
     vec3_init(data->position, position);
-    vec3_set(data->normal, nx, ny, nz);
+    vec3_init(data->normal, normal);
     data->distance = distance;
+    data->collider = collider;
     data->shape = shape;
   }
   return false;
 }
 
-static bool queryCallback(Shape* shape, void* userdata) {
+static bool queryCallback(Collider* collider, uint32_t shape, void* userdata) {
   lua_State* L = userdata;
   lua_pushvalue(L, -1);
-  luax_pushshape(L, shape);
-  lua_call(L, 1, 1);
+  luax_pushtype(L, Collider, collider);
+  lua_pushinteger(L, shape);
+  lua_call(L, 2, 1);
   bool shouldStop = lua_type(L, -1) == LUA_TBOOLEAN && !lua_toboolean(L, -1);
   lua_pop(L, 1);
   return shouldStop;
@@ -99,9 +102,10 @@ static bool queryCallback(Shape* shape, void* userdata) {
 
 static int l_lovrWorldNewCollider(lua_State* L) {
   World* world = luax_checktype(L, 1, World);
+  Shape* shape = luax_totype(L, 2, Shape);
   float position[3];
-  luax_readvec3(L, 2, position, NULL);
-  Collider* collider = lovrColliderCreate(world, position[0], position[1], position[2]);
+  luax_readvec3(L, 2 + !!shape, position, NULL);
+  Collider* collider = lovrColliderCreate(world, shape, position[0], position[1], position[2]);
   luax_pushtype(L, Collider, collider);
   lovrRelease(collider, lovrColliderDestroy);
   return 1;
@@ -111,9 +115,8 @@ static int l_lovrWorldNewBoxCollider(lua_State* L) {
   World* world = luax_checktype(L, 1, World);
   float position[3];
   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);
+  Collider* collider = lovrColliderCreate(world, shape, position[0], position[1], position[2]);
   lovrColliderInitInertia(collider, shape);
   luax_pushtype(L, Collider, collider);
   lovrRelease(collider, lovrColliderDestroy);
@@ -125,9 +128,8 @@ static int l_lovrWorldNewCapsuleCollider(lua_State* L) {
   World* world = luax_checktype(L, 1, World);
   float position[3];
   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);
+  Collider* collider = lovrColliderCreate(world, shape, position[0], position[1], position[2]);
   lovrColliderInitInertia(collider, shape);
   luax_pushtype(L, Collider, collider);
   lovrRelease(collider, lovrColliderDestroy);
@@ -139,9 +141,8 @@ static int l_lovrWorldNewCylinderCollider(lua_State* L) {
   World* world = luax_checktype(L, 1, World);
   float position[3];
   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);
+  Collider* collider = lovrColliderCreate(world, shape, position[0], position[1], position[2]);
   lovrColliderInitInertia(collider, shape);
   luax_pushtype(L, Collider, collider);
   lovrRelease(collider, lovrColliderDestroy);
@@ -153,9 +154,8 @@ static int l_lovrWorldNewSphereCollider(lua_State* L) {
   World* world = luax_checktype(L, 1, World);
   float position[3];
   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);
+  Collider* collider = lovrColliderCreate(world, shape, position[0], position[1], position[2]);
   lovrColliderInitInertia(collider, shape);
   luax_pushtype(L, Collider, collider);
   lovrRelease(collider, lovrColliderDestroy);
@@ -165,9 +165,8 @@ static int l_lovrWorldNewSphereCollider(lua_State* L) {
 
 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);
+  Collider* collider = lovrColliderCreate(world, shape, 0.f, 0.f, 0.f);
   lovrColliderInitInertia(collider, shape);
   luax_pushtype(L, Collider, collider);
   lovrRelease(collider, lovrColliderDestroy);
@@ -177,9 +176,8 @@ static int l_lovrWorldNewMeshCollider(lua_State* L) {
 
 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);
+  Collider* collider = lovrColliderCreate(world, shape, 0.f, 0.f, 0.f);
   lovrColliderSetKinematic(collider, true);
   luax_pushtype(L, Collider, collider);
   lovrRelease(collider, lovrColliderDestroy);
@@ -309,15 +307,16 @@ static int l_lovrWorldRaycastAny(lua_State* L) {
   RaycastData data = { 0 };
   data.tag = lua_tostring(L, index);
   lovrWorldRaycast(world, start[0], start[1], start[2], end[0], end[1], end[2], raycastAnyCallback, &data);
-  if (data.shape) {
-    luax_pushshape(L, data.shape);
+  if (data.collider) {
+    luax_pushtype(L, Collider, data.collider);
+    lua_pushinteger(L, data.shape);
     lua_pushnumber(L, data.position[0]);
     lua_pushnumber(L, data.position[1]);
     lua_pushnumber(L, data.position[2]);
     lua_pushnumber(L, data.normal[0]);
     lua_pushnumber(L, data.normal[1]);
     lua_pushnumber(L, data.normal[2]);
-    return 7;
+    return 8;
   } else {
     lua_pushnil(L);
     return 1;
@@ -334,14 +333,15 @@ static int l_lovrWorldRaycastClosest(lua_State* L) {
   data.tag = lua_tostring(L, index);
   lovrWorldRaycast(world, start[0], start[1], start[2], end[0], end[1], end[2], raycastClosestCallback, &data);
   if (data.shape) {
-    luax_pushshape(L, data.shape);
+    luax_pushtype(L, Collider, data.collider);
+    lua_pushinteger(L, data.shape);
     lua_pushnumber(L, data.position[0]);
     lua_pushnumber(L, data.position[1]);
     lua_pushnumber(L, data.position[2]);
     lua_pushnumber(L, data.normal[0]);
     lua_pushnumber(L, data.normal[1]);
     lua_pushnumber(L, data.normal[2]);
-    return 7;
+    return 8;
   } else {
     lua_pushnil(L);
     return 1;

src/modules/physics/physics.h

@@ -19,6 +19,7 @@ typedef Shape CapsuleShape;
 typedef Shape CylinderShape;
 typedef Shape MeshShape;
 typedef Shape TerrainShape;
+typedef Shape CompoundShape;
 
 typedef Joint BallJoint;
 typedef Joint DistanceJoint;
@@ -26,8 +27,8 @@ typedef Joint HingeJoint;
 typedef Joint SliderJoint;
 
 typedef void (*CollisionResolver)(World* world, void* userdata);
-typedef bool (*RaycastCallback)(Shape* shape, float x, float y, float z, float nx, float ny, float nz, void* userdata);
-typedef bool (*QueryCallback)(Shape* shape, void* userdata);
+typedef bool (*RaycastCallback)(Collider* collider, uint32_t shape, float position[3], float normal[3], void* userdata);
+typedef bool (*QueryCallback)(Collider* collider, uint32_t shape, void* userdata);
 
 bool lovrPhysicsInit(void);
 void lovrPhysicsDestroy(void);
@@ -85,16 +86,19 @@ void lovrWorldSetSleepingAllowed(World* world, bool allowed);
 
 // Collider
 
-Collider* lovrColliderCreate(World* world, float x, float y, float z);
+Collider* lovrColliderCreate(World* world, Shape* shape, float x, float y, float z);
 void lovrColliderDestroy(void* ref);
 void lovrColliderDestroyData(Collider* collider);
 bool lovrColliderIsDestroyed(Collider* collider);
+bool lovrColliderIsEnabled(Collider* collider);
+void lovrColliderSetEnabled(Collider* collider, bool enable);
 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);
+void lovrColliderGetShapeOffset(Collider* collider, float* position, float* orientation);
+void lovrColliderSetShapeOffset(Collider* collider, float* position, float* orientation);
 Joint** lovrColliderGetJoints(Collider* collider, size_t* count);
 const char* lovrColliderGetTag(Collider* collider);
 bool lovrColliderSetTag(Collider* collider, const char* tag);
@@ -104,6 +108,10 @@ float lovrColliderGetRestitution(Collider* collider);
 void lovrColliderSetRestitution(Collider* collider, float restitution);
 bool lovrColliderIsKinematic(Collider* collider);
 void lovrColliderSetKinematic(Collider* collider, bool kinematic);
+bool lovrColliderIsSensor(Collider* collider);
+void lovrColliderSetSensor(Collider* collider, bool sensor);
+bool lovrColliderIsContinuous(Collider* collider);
+void lovrColliderSetContinuous(Collider* collider, bool continuous);
 float lovrColliderGetGravityScale(Collider* collider);
 void lovrColliderSetGravityScale(Collider* collider, float scale);
 bool lovrColliderIsSleepingAllowed(Collider* collider);
@@ -129,6 +137,9 @@ void lovrColliderSetAngularDamping(Collider* collider, float damping, float thre
 void lovrColliderApplyForce(Collider* collider, float x, float y, float z);
 void lovrColliderApplyForceAtPosition(Collider* collider, float x, float y, float z, float cx, float cy, float cz);
 void lovrColliderApplyTorque(Collider* collider, float x, float y, float z);
+void lovrColliderApplyLinearImpulse(Collider* collider, float impulse[3]);
+void lovrColliderApplyLinearImpulseAtPosition(Collider* collider, float impulse[3], float position[3]);
+void lovrColliderApplyAngularImpulse(Collider* collider, float impulse[3]);
 void lovrColliderGetLocalCenter(Collider* collider, float* x, float* y, float* z);
 void lovrColliderGetLocalPoint(Collider* collider, float wx, float wy, float wz, float* x, float* y, float* z);
 void lovrColliderGetWorldPoint(Collider* collider, float x, float y, float z, float* wx, float* wy, float* wz);
@@ -146,47 +157,43 @@ typedef enum {
   SHAPE_CAPSULE,
   SHAPE_CYLINDER,
   SHAPE_MESH,
-  SHAPE_TERRAIN
+  SHAPE_TERRAIN,
+  SHAPE_COMPOUND
 } ShapeType;
 
 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);
-void lovrShapeSetSensor(Shape* shape, bool sensor);
-void lovrShapeGetPosition(Shape* shape, float* x, float* y, float* z);
-void lovrShapeSetPosition(Shape* shape, float x, float y, float z);
-void lovrShapeGetOrientation(Shape* shape, float* orientation);
-void lovrShapeSetOrientation(Shape* shape, float* orientation);
 void lovrShapeGetMass(Shape* shape, float density, float* cx, float* cy, float* cz, float* mass, float inertia[6]);
 void lovrShapeGetAABB(Shape* shape, float aabb[6]);
 
 SphereShape* lovrSphereShapeCreate(float radius);
 float lovrSphereShapeGetRadius(SphereShape* sphere);
-void lovrSphereShapeSetRadius(SphereShape* sphere, float radius);
 
 BoxShape* lovrBoxShapeCreate(float w, float h, float d);
 void lovrBoxShapeGetDimensions(BoxShape* box, float* w, float* h, float* d);
-void lovrBoxShapeSetDimensions(BoxShape* box, float w, float h, float d);
 
 CapsuleShape* lovrCapsuleShapeCreate(float radius, float length);
 float lovrCapsuleShapeGetRadius(CapsuleShape* capsule);
-void lovrCapsuleShapeSetRadius(CapsuleShape* capsule, float radius);
 float lovrCapsuleShapeGetLength(CapsuleShape* capsule);
-void lovrCapsuleShapeSetLength(CapsuleShape* capsule, float length);
 
 CylinderShape* lovrCylinderShapeCreate(float radius, float length);
 float lovrCylinderShapeGetRadius(CylinderShape* cylinder);
-void lovrCylinderShapeSetRadius(CylinderShape* cylinder, float radius);
 float lovrCylinderShapeGetLength(CylinderShape* cylinder);
-void lovrCylinderShapeSetLength(CylinderShape* cylinder, float length);
 
 MeshShape* lovrMeshShapeCreate(int vertexCount, float vertices[], int indexCount, uint32_t indices[]);
 
-TerrainShape* lovrTerrainShapeCreate(float* vertices, uint32_t widthSamples, uint32_t depthSamples, float horizontalScale, float verticalScale);
+TerrainShape* lovrTerrainShapeCreate(float* vertices, uint32_t n, float scaleXZ, float scaleY);
+
+CompoundShape* lovrCompoundShapeCreate(Shape** shapes, float* positions, float* orientations, uint32_t count, bool freeze);
+bool lovrCompoundShapeIsFrozen(CompoundShape* shape);
+void lovrCompoundShapeAddShape(CompoundShape* shape, Shape* child, float* position, float* orientation);
+void lovrCompoundShapeReplaceShape(CompoundShape* shape, uint32_t index, Shape* child, float* position, float* orientation);
+void lovrCompoundShapeRemoveShape(CompoundShape* shape, uint32_t index);
+Shape* lovrCompoundShapeGetShape(CompoundShape* shape, uint32_t index);
+uint32_t lovrCompoundShapeGetShapeCount(CompoundShape* shape);
+void lovrCompoundShapeGetShapeOffset(CompoundShape* shape, uint32_t index, float* position, float* orientation);
+void lovrCompoundShapeSetShapeOffset(CompoundShape* shape, uint32_t index, float* position, float* orientation);
 
 // These tokens need to exist for Lua bindings
 #define lovrSphereShapeDestroy lovrShapeDestroy
@@ -195,6 +202,7 @@ TerrainShape* lovrTerrainShapeCreate(float* vertices, uint32_t widthSamples, uin
 #define lovrCylinderShapeDestroy lovrShapeDestroy
 #define lovrMeshShapeDestroy lovrShapeDestroy
 #define lovrTerrainShapeDestroy lovrShapeDestroy
+#define lovrCompoundShapeDestroy lovrShapeDestroy
 
 // Joints
 

src/modules/physics/physics_jolt.c

@@ -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;
 };
 
@@ -44,6 +43,7 @@ struct Joint {
 
 static struct {
   bool initialized;
+  Shape* pointShape;
   JPH_Shape* queryBox;
   JPH_Shape* querySphere;
   JPH_AllHit_CastShapeCollector* castShapeCollector;
@@ -70,14 +70,16 @@ static uint32_t findTag(World* world, const char* name) {
 bool lovrPhysicsInit(void) {
   if (state.initialized) return false;
   JPH_Init(32 * 1024 * 1024);
-  state.castShapeCollector = JPH_AllHit_CastShapeCollector_Create();
+  state.pointShape = lovrSphereShapeCreate(FLT_EPSILON);
   state.querySphere = (JPH_Shape*) JPH_SphereShape_Create(1.f);
   state.queryBox = (JPH_Shape*) JPH_BoxShape_Create(&(const JPH_Vec3) { .5, .5f, .5f }, 0.f);
+  state.castShapeCollector = JPH_AllHit_CastShapeCollector_Create();
   return state.initialized = true;
 }
 
 void lovrPhysicsDestroy(void) {
   if (!state.initialized) return;
+  lovrRelease(state.pointShape, lovrShapeDestroy);
   JPH_Shutdown();
   state.initialized = false;
 }
@@ -173,32 +175,34 @@ void lovrWorldRaycast(World* world, float x1, float y1, float z1, float x2, floa
   const JPH_Vec3 direction = { x2 - x1, y2 - y1, z2 - z1 };
   JPH_AllHit_CastRayCollector* collector = JPH_AllHit_CastRayCollector_Create();
   JPH_NarrowPhaseQuery_CastRayAll(query, &origin, &direction, collector, NULL, NULL, NULL);
-  size_t hit_count;
-  JPH_RayCastResult* hit_array = JPH_AllHit_CastRayCollector_GetHits(collector, &hit_count);
-  for (int i = 0; i < hit_count; i++) {
-    float x = x1 + hit_array[i].fraction * (x2 - x1);
-    float y = y1 + hit_array[i].fraction * (y2 - y1);
-    float z = z1 + hit_array[i].fraction * (z2 - z1);
-    // todo: assuming one shape per collider; doesn't support compound shape
-    Collider* collider = (Collider*) JPH_BodyInterface_GetUserData(
-      world->bodies,
-      hit_array[i].bodyID);
-    size_t count;
-    Shape** shape = lovrColliderGetShapes(collider, &count);
-    const JPH_RVec3 position = { x, y, z };
+
+  size_t count;
+  JPH_RayCastResult* hits = JPH_AllHit_CastRayCollector_GetHits(collector, &count);
+
+  for (size_t i = 0; i < count; i++) {
+    Collider* collider = (Collider*) (uintptr_t) JPH_BodyInterface_GetUserData(world->bodies, hits[i].bodyID);
+
+    uint32_t shape = 0;
+    if (collider->shape->type == SHAPE_COMPOUND) {
+      JPH_SubShapeID id = hits[i].subShapeID2;
+      JPH_SubShapeID remainder;
+      shape = JPH_CompoundShape_GetSubShapeIndexFromID((JPH_CompoundShape*) collider->shape, id, &remainder);
+    }
+
+    JPH_RVec3 position = {
+      x1 + hits[i].fraction * (x2 - x1),
+      y1 + hits[i].fraction * (y2 - y1),
+      z1 + hits[i].fraction * (z2 - z1)
+    };
+
     JPH_Vec3 normal;
-    JPH_Body_GetWorldSpaceSurfaceNormal(collider->body, hit_array[i].subShapeID2, &position, &normal);
+    JPH_Body_GetWorldSpaceSurfaceNormal(collider->body, hits[i].subShapeID2, &position, &normal);
 
-    bool shouldStop = callback(
-      shape[0], // assumes one shape per collider; todo: compound shapes
-      x, y, z,
-      normal.x, normal.y, normal.z,
-      userdata);
-
-    if (shouldStop) {
+    if (callback(collider, shape, &position.x, &normal.x, userdata)) {
       break;
     }
   }
+
   JPH_AllHit_CastRayCollector_Destroy(collector);
 }
 
@@ -209,26 +213,25 @@ static bool lovrWorldQueryShape(World* world, JPH_Shape* shape, float position[3
   mat4_translate(m, position[0], position[1], position[2]);
   mat4_scale(m, scale[0], scale[1], scale[2]);
 
-  JPH_Vec3 direction = { 0.f };
-  JPH_RVec3 base_offset = { 0.f };
+  JPH_Vec3 direction = { 0.f, 0.f, 0.f };
+  JPH_RVec3 base_offset = { 0.f, 0.f, 0.f };
   const JPH_NarrowPhaseQuery* query = JPC_PhysicsSystem_GetNarrowPhaseQueryNoLock(world->system);
   JPH_AllHit_CastShapeCollector_Reset(state.castShapeCollector);
   JPH_NarrowPhaseQuery_CastShape(query, shape, &transform, &direction, &base_offset, state.castShapeCollector);
-  size_t hit_count;
-  JPH_ShapeCastResult* hit_array = JPH_AllHit_CastShapeCollector_GetHits(state.castShapeCollector, &hit_count);
-  for (int i = 0; i < hit_count; i++) {
+
+  size_t count;
+  JPH_AllHit_CastShapeCollector_GetHits(state.castShapeCollector, &count);
+
+  for (size_t i = 0; i < count; i++) {
     JPH_BodyID id = JPH_AllHit_CastShapeCollector_GetBodyID2(state.castShapeCollector, i);
-    Collider* collider = (Collider*) JPH_BodyInterface_GetUserData(
-      world->bodies,
-      id);
-    size_t count;
-    Shape** shape = lovrColliderGetShapes(collider, &count);
-    bool shouldStop = callback(shape[0], userdata);
-    if (shouldStop) {
+    Collider* collider = (Collider*) (uintptr_t) JPH_BodyInterface_GetUserData(world->bodies, id);
+
+    if (callback(collider, 0, userdata)) {
       break;
     }
   }
-  return hit_count > 0;
+
+  return count > 0;
 }
 
 bool lovrWorldQueryBox(World* world, float position[3], float size[3], QueryCallback callback, void* userdata) {
@@ -315,30 +318,35 @@ void lovrWorldSetAngularDamping(World* world, float damping, float threshold) {
 
 // Collider
 
-Collider* lovrColliderCreate(World* world, float x, float y, float z) {
-  // todo: crashes when too many are added
+Collider* lovrColliderCreate(World* world, Shape* shape, float x, float y, float z) {
+  uint32_t count = JPH_PhysicsSystem_GetNumBodies(world->system);
+  uint32_t limit = JPH_PhysicsSystem_GetMaxBodies(world->system);
+  lovrCheck(count < limit, "Too many colliders!");
+
+  if (!shape) shape = state.pointShape;
+
   Collider* collider = lovrCalloc(sizeof(Collider));
   collider->ref = 1;
   collider->world = world;
+  collider->shape = shape;
   collider->tag = UNTAGGED;
-  JPH_MotionType motionType = JPH_MotionType_Dynamic;
-  JPH_ObjectLayer objectLayer = UNTAGGED * 2 + 1;
 
   const JPH_RVec3 position = { x, y, z };
   const JPH_Quat rotation = { 0.f, 0.f, 0.f, 1.f };
-  // todo: a placeholder querySphere shape is used in collider, then replaced in lovrColliderAddShape
-  JPH_BodyCreationSettings* settings = JPH_BodyCreationSettings_Create3(
-    state.querySphere, &position, &rotation, motionType, objectLayer);
+  JPH_MotionType type = JPH_MotionType_Dynamic;
+  JPH_ObjectLayer objectLayer = UNTAGGED * 2 + 1;
+  JPH_BodyCreationSettings* settings = JPH_BodyCreationSettings_Create3(shape->shape, &position, &rotation, type, objectLayer);
   collider->body = JPH_BodyInterface_CreateBody(world->bodies, settings);
-  JPH_BodyCreationSettings_Destroy(settings);
   collider->id = JPH_Body_GetID(collider->body);
+  JPH_BodyCreationSettings_Destroy(settings);
+
   JPH_BodyInterface_AddBody(world->bodies, collider->id, JPH_Activation_Activate);
   JPH_BodyInterface_SetUserData(world->bodies, collider->id, (uint64_t) collider);
+
   lovrColliderSetLinearDamping(collider, world->defaultLinearDamping, 0.f);
   lovrColliderSetAngularDamping(collider, world->defaultAngularDamping, 0.f);
   lovrColliderSetSleepingAllowed(collider, world->defaultIsSleepingAllowed);
 
-  arr_init(&collider->shapes);
   arr_init(&collider->joints);
 
   // Adjust the world's collider list
@@ -350,15 +358,14 @@ Collider* lovrColliderCreate(World* world, float x, float y, float z) {
     world->head = collider;
   }
 
-  // The world owns a reference to the collider
-  lovrRetain(collider);
+  lovrRetain(collider->shape);
+  lovrRetain(collider); // The world owns a reference to the collider
   return collider;
 }
 
 void lovrColliderDestroy(void* ref) {
   Collider* collider = ref;
   lovrColliderDestroyData(collider);
-  arr_free(&collider->shapes);
   arr_free(&collider->joints);
   lovrFree(collider);
 }
@@ -368,13 +375,9 @@ 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);
@@ -396,6 +399,18 @@ bool lovrColliderIsDestroyed(Collider* collider) {
   return !collider->body;
 }
 
+bool lovrColliderIsEnabled(Collider* collider) {
+  return JPH_BodyInterface_IsAdded(collider->world->bodies, collider->id);
+}
+
+void lovrColliderSetEnabled(Collider* collider, bool enable) {
+  if (enable && !lovrColliderIsEnabled(collider)) {
+    JPH_BodyInterface_AddBody(collider->world->bodies, collider->id, JPH_Activation_DontActivate);
+  } else if (!enable && lovrColliderIsEnabled(collider)) {
+    JPH_BodyInterface_RemoveBody(collider->world->bodies, collider->id);
+  }
+}
+
 void lovrColliderInitInertia(Collider* collider, Shape* shape) {
   //
 }
@@ -408,29 +423,67 @@ Collider* lovrColliderGetNext(Collider* collider) {
   return collider->next;
 }
 
-void lovrColliderAddShape(Collider* collider, Shape* shape) {
+Shape* lovrColliderGetShape(Collider* collider) {
+  return collider->shape == state.pointShape ? NULL : collider->shape;
+}
+
+void lovrColliderSetShape(Collider* collider, Shape* shape) {
+  shape = shape ? shape : state.pointShape;
+
+  if (shape == collider->shape) {
+    return;
+  }
+
+  float position[3], orientation[4];
+  const JPH_Shape* parent = JPH_BodyInterface_GetShape(collider->world->bodies, collider->id);
+  bool hasOffset = JPH_Shape_GetSubType(parent) == JPH_ShapeSubType_RotatedTranslated;
+  if (hasOffset) lovrColliderGetShapeOffset(collider, position, orientation);
+
+  lovrRelease(collider->shape, lovrShapeDestroy);
+  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);
-}
 
-void lovrColliderRemoveShape(Collider* collider, Shape* shape) {
-  if (shape->collider == collider) {
-    // todo: actions necessary for compound shapes
-    shape->collider = NULL;
-    lovrRelease(shape, lovrShapeDestroy);
+  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);
+
+  if (hasOffset) {
+    lovrColliderSetShapeOffset(collider, position, orientation);
   }
 }
 
-Shape** lovrColliderGetShapes(Collider* collider, size_t* count) {
-  *count = collider->shapes.length;
-  return collider->shapes.data;
+void lovrColliderGetShapeOffset(Collider* collider, float* position, float* orientation) {
+  const JPH_Shape* shape = JPH_BodyInterface_GetShape(collider->world->bodies, collider->id);
+
+  if (JPH_Shape_GetSubType(shape) == JPH_ShapeSubType_RotatedTranslated) {
+    JPH_Vec3 jposition;
+    JPH_Quat jrotation;
+    JPH_RotatedTranslatedShape_GetPosition((JPH_RotatedTranslatedShape*) shape, &jposition);
+    JPH_RotatedTranslatedShape_GetRotation((JPH_RotatedTranslatedShape*) shape, &jrotation);
+    vec3_init(position, &jposition.x);
+    quat_init(orientation, &jrotation.x);
+  } else {
+    vec3_set(position, 0.f, 0.f, 0.f);
+    quat_identity(orientation);
+  }
+}
+
+void lovrColliderSetShapeOffset(Collider* collider, float* position, float* orientation) {
+  const JPH_Shape* shape = JPH_BodyInterface_GetShape(collider->world->bodies, collider->id);
+
+  if (JPH_Shape_GetSubType(shape) == JPH_ShapeSubType_RotatedTranslated) {
+    JPH_Shape_Destroy((JPH_Shape*) shape);
+  }
+
+  JPH_Vec3 jposition = { position[0], position[1], position[2] };
+  JPH_Quat jrotation = { orientation[0], orientation[1], orientation[2], orientation[3] };
+  shape = (JPH_Shape*) JPH_RotatedTranslatedShape_Create(&jposition, &jrotation, collider->shape->shape);
+  bool updateMass = collider->shape && (collider->shape->type == SHAPE_MESH || collider->shape->type == SHAPE_TERRAIN);
+  JPH_BodyInterface_SetShape(collider->world->bodies, collider->id, shape, updateMass, JPH_Activation_Activate);
 }
 
 Joint** lovrColliderGetJoints(Collider* collider, size_t* count) {
@@ -497,6 +550,23 @@ void lovrColliderSetKinematic(Collider* collider, bool kinematic) {
   }
 }
 
+bool lovrColliderIsSensor(Collider* collider) {
+  return JPH_Body_IsSensor(collider->body);
+}
+
+void lovrColliderSetSensor(Collider* collider, bool sensor) {
+  JPH_Body_SetIsSensor(collider->body, sensor);
+}
+
+bool lovrColliderIsContinuous(Collider* collider) {
+  return JPH_BodyInterface_GetMotionQuality(collider->world->bodies, collider->id) == JPH_MotionQuality_LinearCast;
+}
+
+void lovrColliderSetContinuous(Collider* collider, bool continuous) {
+  JPH_MotionQuality quality = continuous ? JPH_MotionQuality_LinearCast : JPH_MotionQuality_Discrete;
+  return JPH_BodyInterface_SetMotionQuality(collider->world->bodies, collider->id, quality);
+}
+
 float lovrColliderGetGravityScale(Collider* collider) {
   return JPH_BodyInterface_GetGravityFactor(collider->world->bodies, collider->id);
 }
@@ -526,22 +596,17 @@ 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;
+  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) {
-    JPH_MotionProperties* motionProperties = JPH_Body_GetMotionProperties(collider->body);
-    Shape* shape = collider->shapes.data[0];
-    JPH_MassProperties* massProperties;
-    JPH_Shape_GetMassProperties(shape->shape, massProperties);
-    JPH_MassProperties_ScaleToMass(massProperties, mass);
-    JPH_MotionProperties_SetMassProperties(motionProperties, JPH_AllowedDOFs_All, massProperties);
-  }
+  JPH_MotionProperties* motionProperties = JPH_Body_GetMotionProperties(collider->body);
+  Shape* shape = collider->shape;
+  JPH_MassProperties* massProperties;
+  JPH_Shape_GetMassProperties(shape->shape, massProperties);
+  JPH_MassProperties_ScaleToMass(massProperties, mass);
+  JPH_MotionProperties_SetMassProperties(motionProperties, JPH_AllowedDOFs_All, massProperties);
 }
 
 void lovrColliderGetMassData(Collider* collider, float* cx, float* cy, float* cz, float* mass, float inertia[6]) {
@@ -658,6 +723,22 @@ void lovrColliderApplyTorque(Collider* collider, float x, float y, float z) {
   JPH_BodyInterface_AddTorque(collider->world->bodies, collider->id, &torque);
 }
 
+void lovrColliderApplyLinearImpulse(Collider* collider, float impulse[3]) {
+  JPH_Vec3 vector = { impulse[0], impulse[1], impulse[2] };
+  JPH_BodyInterface_AddImpulse(collider->world->bodies, collider->id, &vector);
+}
+
+void lovrColliderApplyLinearImpulseAtPosition(Collider* collider, float impulse[3], float position[3]) {
+  JPH_Vec3 vector = { impulse[0], impulse[1], impulse[2] };
+  JPH_Vec3 point = { position[0], position[1], position[2] };
+  JPH_BodyInterface_AddImpulse2(collider->world->bodies, collider->id, &vector, &point);
+}
+
+void lovrColliderApplyAngularImpulse(Collider* collider, float impulse[3]) {
+  JPH_Vec3 vector = { impulse[0], impulse[1], impulse[2] };
+  JPH_BodyInterface_AddAngularImpulse(collider->world->bodies, collider->id, &vector);
+}
+
 void lovrColliderGetLocalCenter(Collider* collider, float* x, float* y, float* z) {
   // todo: applicable for CompoundShape and OffsetCenterOfMassShape
   *x = 0.f;
@@ -737,6 +818,8 @@ void lovrColliderGetAABB(Collider* collider, float aabb[6]) {
   aabb[5] = box.max.z;
 }
 
+// Shapes
+
 void lovrShapeDestroy(void* ref) {
   Shape* shape = ref;
   lovrShapeDestroyData(shape);
@@ -745,6 +828,14 @@ void lovrShapeDestroy(void* ref) {
 
 void lovrShapeDestroyData(Shape* shape) {
   if (shape->shape) {
+    if (shape->type == SHAPE_COMPOUND) {
+      uint32_t count = lovrCompoundShapeGetShapeCount(shape);
+      for (uint32_t i = 0; i < count; i++) {
+        Shape* child = lovrCompoundShapeGetShape(shape, i);
+        lovrRelease(child, lovrShapeDestroy);
+      }
+    }
+
     JPH_Shape_Destroy(shape->shape);
     shape->shape = NULL;
   }
@@ -754,58 +845,12 @@ ShapeType lovrShapeGetType(Shape* shape) {
   return shape->type;
 }
 
-Collider* lovrShapeGetCollider(Shape* shape) {
-  return shape->collider;
+void lovrShapeGetMass(Shape* shape, float density, float* cx, float* cy, float* cz, float* mass, float inertia[6]) {
+  //
 }
 
-bool lovrShapeIsEnabled(Shape* shape) {
-  return true;
-}
-
-void lovrShapeSetEnabled(Shape* shape, bool enabled) {
-  if (!enabled) {
-    lovrLog(LOG_WARN, "PHY", "Jolt doesn't support disabling shapes");
-  }
-}
-
-bool lovrShapeIsSensor(Shape* shape) {
-  lovrLog(LOG_WARN, "PHY", "Jolt sensor property fetched from collider, not shape");
-  return JPH_Body_IsSensor(shape->collider->body);
-}
-
-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);
-}
-
-void lovrShapeGetPosition(Shape* shape, float* x, float* y, float* z) {
-  // todo: compound shapes
-  *x = 0.f;
-  *y = 0.f;
-  *z = 0.f;
-}
-
-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) {
@@ -814,6 +859,7 @@ SphereShape* lovrSphereShapeCreate(float radius) {
   sphere->ref = 1;
   sphere->type = SHAPE_SPHERE;
   sphere->shape = (JPH_Shape*) JPH_SphereShape_Create(radius);
+  JPH_Shape_SetUserData(sphere->shape, (uint64_t) (uintptr_t) sphere);
   return sphere;
 }
 
@@ -821,17 +867,13 @@ float lovrSphereShapeGetRadius(SphereShape* sphere) {
   return JPH_SphereShape_GetRadius((JPH_SphereShape*) sphere->shape);
 }
 
-void lovrSphereShapeSetRadius(SphereShape* sphere, float radius) {
-  lovrLog(LOG_WARN, "PHY", "Jolt SphereShape radius is read-only");
-  // todo: no setter available, but the shape could be removed and re-added
-}
-
 BoxShape* lovrBoxShapeCreate(float w, float h, float d) {
   BoxShape* box = lovrCalloc(sizeof(BoxShape));
   box->ref = 1;
   box->type = SHAPE_BOX;
   const JPH_Vec3 halfExtent = { w / 2.f, h / 2.f, d / 2.f };
   box->shape = (JPH_Shape*) JPH_BoxShape_Create(&halfExtent, 0.f);
+  JPH_Shape_SetUserData(box->shape, (uint64_t) (uintptr_t) box);
   return box;
 }
 
@@ -843,17 +885,13 @@ void lovrBoxShapeGetDimensions(BoxShape* box, float* w, float* h, float* d) {
   *d = halfExtent.z * 2.f;
 }
 
-void lovrBoxShapeSetDimensions(BoxShape* box, float w, float h, float d) {
-  lovrLog(LOG_WARN, "PHY", "Jolt BoxShape dimensions are read-only");
-  // todo: no setter available, but the shape could be removed and re-added
-}
-
 CapsuleShape* lovrCapsuleShapeCreate(float radius, float length) {
   lovrCheck(radius > 0.f && length > 0.f, "CapsuleShape dimensions must be positive");
   CapsuleShape* capsule = lovrCalloc(sizeof(CapsuleShape));
   capsule->ref = 1;
   capsule->type = SHAPE_CAPSULE;
   capsule->shape = (JPH_Shape*) JPH_CapsuleShape_Create(length / 2, radius);
+  JPH_Shape_SetUserData(capsule->shape, (uint64_t) (uintptr_t) capsule);
   return capsule;
 }
 
@@ -861,45 +899,26 @@ float lovrCapsuleShapeGetRadius(CapsuleShape* capsule) {
   return JPH_CapsuleShape_GetRadius((JPH_CapsuleShape*) capsule->shape);
 }
 
-void lovrCapsuleShapeSetRadius(CapsuleShape* capsule, float radius) {
-  lovrLog(LOG_WARN, "PHY", "Jolt CapsuleShape radius is read-only");
-  // todo: no setter available, but the shape could be removed and re-added
-}
-
 float lovrCapsuleShapeGetLength(CapsuleShape* capsule) {
   return 2.f * JPH_CapsuleShape_GetHalfHeightOfCylinder((JPH_CapsuleShape*) capsule->shape);
 }
 
-void lovrCapsuleShapeSetLength(CapsuleShape* capsule, float length) {
-  lovrLog(LOG_WARN, "PHY", "Jolt CapsuleShape length is read-only");
-  // todo: no setter available, but the shape could be removed and re-added
-}
-
 CylinderShape* lovrCylinderShapeCreate(float radius, float length) {
   lovrCheck(radius > 0.f && length > 0.f, "CylinderShape dimensions must be positive");
-  CylinderShape* Cylinder = lovrCalloc(sizeof(CylinderShape));
-  Cylinder->ref = 1;
-  Cylinder->type = SHAPE_CYLINDER;
-  Cylinder->shape = (JPH_Shape*) JPH_CylinderShape_Create(length / 2.f, radius);
-  return Cylinder;
+  CylinderShape* cylinder = lovrCalloc(sizeof(CylinderShape));
+  cylinder->ref = 1;
+  cylinder->type = SHAPE_CYLINDER;
+  cylinder->shape = (JPH_Shape*) JPH_CylinderShape_Create(length / 2.f, radius);
+  JPH_Shape_SetUserData(cylinder->shape, (uint64_t) (uintptr_t) cylinder);
+  return cylinder;
 }
 
-float lovrCylinderShapeGetRadius(CylinderShape* Cylinder) {
-  return JPH_CylinderShape_GetRadius((JPH_CylinderShape*) Cylinder->shape);
+float lovrCylinderShapeGetRadius(CylinderShape* cylinder) {
+  return JPH_CylinderShape_GetRadius((JPH_CylinderShape*) cylinder->shape);
 }
 
-void lovrCylinderShapeSetRadius(CylinderShape* Cylinder, float radius) {
-  lovrLog(LOG_WARN, "PHY", "Jolt CylinderShape radius is read-only");
-  // todo: no setter available, but the shape could be removed and re-added
-}
-
-float lovrCylinderShapeGetLength(CylinderShape* Cylinder) {
-  return JPH_CylinderShape_GetHalfHeight((JPH_CylinderShape*) Cylinder->shape) * 2.f;
-}
-
-void lovrCylinderShapeSetLength(CylinderShape* cylinder, float length) {
-  lovrLog(LOG_WARN, "PHY", "Jolt CylinderShape length is read-only");
-  // todo: no setter available, but the shape could be removed and re-added
+float lovrCylinderShapeGetLength(CylinderShape* cylinder) {
+  return JPH_CylinderShape_GetHalfHeight((JPH_CylinderShape*) cylinder->shape) * 2.f;
 }
 
 MeshShape* lovrMeshShapeCreate(int vertexCount, float vertices[], int indexCount, uint32_t indices[]) {
@@ -931,29 +950,124 @@ MeshShape* lovrMeshShapeCreate(int vertexCount, float vertices[], int indexCount
   return mesh;
 }
 
-TerrainShape* lovrTerrainShapeCreate(float* vertices, uint32_t widthSamples, uint32_t depthSamples, float horizontalScale, float verticalScale) {
-  lovrCheck(widthSamples == depthSamples, "Jolt needs terrain width and depth to be the same");
+TerrainShape* lovrTerrainShapeCreate(float* vertices, uint32_t n, float scaleXZ, float scaleY) {
   TerrainShape* terrain = lovrCalloc(sizeof(TerrainShape));
   terrain->ref = 1;
   terrain->type = SHAPE_TERRAIN;
   const JPH_Vec3 offset = {
-    .x = -.5f * horizontalScale,
+    .x = -.5f * scaleXZ,
     .y = 0.f,
-    .z = -.5f * horizontalScale
+    .z = -.5f * scaleXZ
   };
   const JPH_Vec3 scale = {
-    .x = horizontalScale / widthSamples,
-    .y = verticalScale,
-    .z = horizontalScale / depthSamples
+    .x = scaleXZ / n,
+    .y = scaleY,
+    .z = scaleXZ / n
   };
 
-  JPH_HeightFieldShapeSettings* shape_settings = JPH_HeightFieldShapeSettings_Create(
-    vertices, &offset, &scale, widthSamples);
+  JPH_HeightFieldShapeSettings* shape_settings = JPH_HeightFieldShapeSettings_Create(vertices, &offset, &scale, n);
   terrain->shape = (JPH_Shape*) JPH_HeightFieldShapeSettings_CreateShape(shape_settings);
   JPH_ShapeSettings_Destroy((JPH_ShapeSettings*) shape_settings);
   return terrain;
 }
 
+CompoundShape* lovrCompoundShapeCreate(Shape** shapes, vec3 positions, quat orientations, uint32_t count, bool freeze) {
+  lovrCheck(!freeze || count >= 2, "A frozen CompoundShape must contain at least two shapes");
+
+  CompoundShape* parent = lovrCalloc(sizeof(CompoundShape));
+  parent->ref = 1;
+  parent->type = SHAPE_COMPOUND;
+
+  JPH_CompoundShapeSettings* settings = freeze ?
+    (JPH_CompoundShapeSettings*) JPH_StaticCompoundShapeSettings_Create() :
+    (JPH_CompoundShapeSettings*) JPH_MutableCompoundShapeSettings_Create();
+
+  for (uint32_t i = 0; i < count; i++) {
+    lovrCheck(shapes[i]->type != SHAPE_COMPOUND, "Currently, nesting compound shapes is not supported");
+    JPH_Vec3 position = { positions[3 * i + 0], positions[3 * i + 1], positions[3 * i + 2] };
+    JPH_Quat rotation = { orientations[4 * i + 0], orientations[4 * i + 1], orientations[4 * i + 2], orientations[4 * i + 3] };
+    JPH_CompoundShapeSettings_AddShape2(settings, &position, &rotation, shapes[i]->shape, 0);
+    lovrRetain(shapes[i]);
+  }
+
+  if (freeze) {
+    parent->shape = (JPH_Shape*) JPH_StaticCompoundShape_Create((JPH_StaticCompoundShapeSettings*) settings);
+  } else {
+    parent->shape = (JPH_Shape*) JPH_MutableCompoundShape_Create((JPH_MutableCompoundShapeSettings*) settings);
+  }
+
+  JPH_ShapeSettings_Destroy((JPH_ShapeSettings*) settings);
+  return parent;
+}
+
+bool lovrCompoundShapeIsFrozen(CompoundShape* shape) {
+  return JPH_Shape_GetSubType(shape->shape) == JPH_ShapeSubType_StaticCompound;
+}
+
+void lovrCompoundShapeAddShape(CompoundShape* shape, Shape* child, float* position, float* orientation) {
+  lovrCheck(!lovrCompoundShapeIsFrozen(shape), "CompoundShape is frozen and can not be changed");
+  lovrCheck(child->type != SHAPE_COMPOUND, "Currently, nesting compound shapes is not supported");
+  lovrCheck(child != shape, "Don't put a CompoundShape inside itself!  lol");
+  JPH_Vec3 pos = { position[0], position[1], position[2] };
+  JPH_Quat rot = { orientation[0], orientation[1], orientation[2], orientation[3] };
+  JPH_MutableCompoundShape_AddShape((JPH_MutableCompoundShape*) shape->shape, &pos, &rot, child->shape, 0);
+  lovrRetain(child);
+}
+
+void lovrCompoundShapeReplaceShape(CompoundShape* shape, uint32_t index, Shape* child, float* position, float* orientation) {
+  lovrCheck(!lovrCompoundShapeIsFrozen(shape), "CompoundShape is frozen and can not be changed");
+  lovrCheck(child->type != SHAPE_COMPOUND, "Currently, nesting compound shapes is not supported");
+  lovrCheck(index < lovrCompoundShapeGetShapeCount(shape), "CompoundShape has no shape at index %d", index + 1);
+  lovrCheck(child != shape, "Don't put a CompoundShape inside itself!  lol");
+  JPH_Vec3 pos = { position[0], position[1], position[2] };
+  JPH_Quat rot = { orientation[0], orientation[1], orientation[2], orientation[3] };
+  JPH_MutableCompoundShape_ModifyShape2((JPH_MutableCompoundShape*) shape->shape, index, &pos, &rot, child->shape);
+  lovrRetain(child);
+}
+
+void lovrCompoundShapeRemoveShape(CompoundShape* shape, uint32_t index) {
+  lovrCheck(!lovrCompoundShapeIsFrozen(shape), "CompoundShape is frozen and can not be changed");
+  lovrCheck(index < lovrCompoundShapeGetShapeCount(shape), "CompoundShape has no shape at index %d", index + 1);
+  Shape* child = lovrCompoundShapeGetShape(shape, index);
+  JPH_MutableCompoundShape_RemoveShape((JPH_MutableCompoundShape*) shape->shape, index);
+  lovrRelease(child, lovrShapeDestroy);
+}
+
+Shape* lovrCompoundShapeGetShape(CompoundShape* shape, uint32_t index) {
+  if (index < lovrCompoundShapeGetShapeCount(shape)) {
+    const JPH_Shape* child;
+    JPH_CompoundShape_GetSubShape((JPH_CompoundShape*) shape->shape, index, &child, NULL, NULL, NULL);
+    return (Shape*) (uintptr_t) JPH_Shape_GetUserData(child);
+  } else {
+    return NULL;
+  }
+}
+
+uint32_t lovrCompoundShapeGetShapeCount(CompoundShape* shape) {
+  return JPH_CompoundShape_GetNumSubShapes((JPH_CompoundShape*) shape->shape);
+}
+
+void lovrCompoundShapeGetShapeOffset(CompoundShape* shape, uint32_t index, float* position, float* orientation) {
+  lovrCheck(index < lovrCompoundShapeGetShapeCount(shape), "CompoundShape has no shape at index %d", index + 1);
+  const JPH_Shape* child;
+  JPH_Vec3 pos;
+  JPH_Quat rot;
+  uint32_t userData;
+  JPH_CompoundShape_GetSubShape((JPH_CompoundShape*) shape->shape, index, &child, &pos, &rot, &userData);
+  vec3_init(position, &pos.x);
+  quat_init(orientation, &rot.x);
+}
+
+void lovrCompoundShapeSetShapeOffset(CompoundShape* shape, uint32_t index, float* position, float* orientation) {
+  lovrCheck(!lovrCompoundShapeIsFrozen(shape), "CompoundShape is frozen and can not be changed");
+  lovrCheck(index < lovrCompoundShapeGetShapeCount(shape), "CompoundShape has no shape at index %d", index + 1);
+  JPH_Vec3 pos = { position[0], position[1], position[2] };
+  JPH_Quat rot = { orientation[0], orientation[1], orientation[2], orientation[3] };
+  JPH_MutableCompoundShape_ModifyShape((JPH_MutableCompoundShape*) shape->shape, index, &pos, &rot);
+}
+
+// Joints
+
 void lovrJointGetAnchors(Joint* joint, float anchor1[3], float anchor2[3]) {
   JPH_Body* body1 = JPH_TwoBodyConstraint_GetBody1((JPH_TwoBodyConstraint*) joint->constraint);
   JPH_Body* body2 = JPH_TwoBodyConstraint_GetBody2((JPH_TwoBodyConstraint*) joint->constraint);

src/modules/physics/physics_ode.c

@@ -22,10 +22,11 @@ struct Collider {
   Collider* prev;
   Collider* next;
   uint32_t tag;
-  arr_t(Shape*) shapes;
+  Shape* shape;
   arr_t(Joint*) joints;
   float friction;
   float restitution;
+  bool sensor;
 };
 
 struct Shape {
@@ -35,7 +36,6 @@ struct Shape {
   Collider* collider;
   void* vertices;
   void* indices;
-  bool sensor;
 };
 
 struct Joint {
@@ -66,8 +66,9 @@ static void raycastCallback(void* d, dGeomID a, dGeomID b) {
   RaycastCallback callback = data->callback;
   void* userdata = data->userdata;
   Shape* shape = dGeomGetData(b);
+  Collider* collider = dBodyGetData(dGeomGetBody(b));
 
-  if (!shape) {
+  if (!shape || !collider) {
     return;
   }
 
@@ -75,9 +76,7 @@ static void raycastCallback(void* d, dGeomID a, dGeomID b) {
   int count = dCollide(a, b, MAX_CONTACTS, &contact->geom, sizeof(dContact));
   for (int i = 0; i < count; i++) {
     dContactGeom g = contact[i].geom;
-    data->shouldStop = callback(
-      shape, g.pos[0], g.pos[1], g.pos[2], g.normal[0], g.normal[1], g.normal[2], userdata
-    );
+    data->shouldStop = callback(collider, 0, g.pos, g.normal, userdata);
   }
 }
 
@@ -93,14 +92,15 @@ static void queryCallback(void* d, dGeomID a, dGeomID b) {
   if (data->shouldStop) return;
 
   Shape* shape = dGeomGetData(b);
-  if (!shape) {
+  Collider* collider = dBodyGetData(dGeomGetBody(b));
+  if (!shape || !collider) {
     return;
   }
 
   dContactGeom contact;
   if (dCollide(a, b, 1 | CONTACTS_UNIMPORTANT, &contact, sizeof(contact))) {
     if (data->callback) {
-      data->shouldStop = data->callback(shape, data->userdata);
+      data->shouldStop = data->callback(collider, 0, data->userdata);
     } else {
       data->shouldStop = true;
     }
@@ -279,7 +279,7 @@ int lovrWorldCollide(World* world, Shape* a, Shape* b, float friction, float res
 
   int contactCount = dCollide(a->id, b->id, MAX_CONTACTS, &contacts[0].geom, sizeof(dContact));
 
-  if (!a->sensor && !b->sensor) {
+  if (!colliderA->sensor && !colliderB->sensor) {
     for (int c = 0; c < contactCount; c++) {
       dJointID joint = dJointCreateContact(world->id, world->contactGroup, &contacts[c]);
       dJointAttach(joint, colliderA->body, colliderB->body);
@@ -436,7 +436,7 @@ bool lovrWorldIsCollisionEnabledBetween(World* world, const char* tag1, const ch
   return (world->masks[i] & (1 << j)) && (world->masks[j] & (1 << i));
 }
 
-Collider* lovrColliderCreate(World* world, float x, float y, float z) {
+Collider* lovrColliderCreate(World* world, Shape* shape, float x, float y, float z) {
   Collider* collider = lovrCalloc(sizeof(Collider));
   collider->ref = 1;
   collider->body = dBodyCreate(world->id);
@@ -445,9 +445,9 @@ Collider* lovrColliderCreate(World* world, float x, float y, float z) {
   collider->restitution = 0;
   collider->tag = NO_TAG;
   dBodySetData(collider->body, collider);
-  arr_init(&collider->shapes);
   arr_init(&collider->joints);
 
+  lovrColliderSetShape(collider, shape);
   lovrColliderSetPosition(collider, x, y, z);
 
   // Adjust the world's collider list
@@ -467,7 +467,6 @@ 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);
 }
@@ -477,13 +476,9 @@ void lovrColliderDestroyData(Collider* collider) {
     return;
   }
 
+  lovrColliderSetShape(collider, NULL);
+
   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);
@@ -505,6 +500,14 @@ bool lovrColliderIsDestroyed(Collider* collider) {
   return !collider->body;
 }
 
+bool lovrColliderIsEnabled(Collider* collider) {
+  return true;
+}
+
+void lovrColliderSetEnabled(Collider* collider, bool enable) {
+  //
+}
+
 void lovrColliderInitInertia(Collider* collider, Shape* shape) {
   // compute inertia matrix for default density
   const float density = 1.0f;
@@ -521,38 +524,50 @@ Collider* lovrColliderGetNext(Collider* collider) {
   return collider->next;
 }
 
-void lovrColliderAddShape(Collider* collider, Shape* shape) {
-  lovrRetain(shape);
-
-  if (shape->collider) {
-    lovrColliderRemoveShape(shape->collider, shape);
-  }
-
-  shape->collider = collider;
-  dGeomSetBody(shape->id, collider->body);
-  dSpaceID newSpace = collider->world->space;
-  dSpaceAdd(newSpace, shape->id);
+Shape* lovrColliderGetShape(Collider* collider) {
+  return collider->shape;
 }
 
-void lovrColliderRemoveShape(Collider* collider, Shape* shape) {
-  if (shape->collider == collider) {
-    dSpaceRemove(collider->world->space, shape->id);
-    dGeomSetBody(shape->id, 0);
-    shape->collider = NULL;
-    lovrRelease(shape, lovrShapeDestroy);
+void lovrColliderSetShape(Collider* collider, Shape* shape) {
+  if (collider->shape) {
+    dSpaceRemove(collider->world->space, collider->shape->id);
+    dGeomSetBody(collider->shape->id, 0);
+    collider->shape->collider = NULL;
+    lovrRelease(collider->shape, lovrShapeDestroy);
   }
-}
 
-Shape** lovrColliderGetShapes(Collider* collider, size_t* count) {
-  arr_clear(&collider->shapes);
-  for (dGeomID geom = dBodyGetFirstGeom(collider->body); geom; geom = dBodyGetNextGeom(geom)) {
-    Shape* shape = dGeomGetData(geom);
-    if (shape) {
-      arr_push(&collider->shapes, shape);
+  collider->shape = shape;
+
+  if (shape) {
+    if (shape->collider) {
+      lovrColliderSetShape(shape->collider, NULL);
     }
+
+    shape->collider = collider;
+    dGeomSetBody(shape->id, collider->body);
+    dSpaceID newSpace = collider->world->space;
+    dSpaceAdd(newSpace, shape->id);
+    lovrRetain(shape);
   }
-  *count = collider->shapes.length;
-  return collider->shapes.data;
+}
+
+void lovrColliderGetShapeOffset(Collider* collider, float* position, float* orientation) {
+  const dReal* p = dGeomGetOffsetPosition(collider->shape->id);
+  position[0] = p[0];
+  position[1] = p[1];
+  position[2] = p[2];
+  dReal q[4];
+  dGeomGetOffsetQuaternion(collider->shape->id, q);
+  orientation[0] = q[1];
+  orientation[1] = q[2];
+  orientation[2] = q[3];
+  orientation[3] = q[0];
+}
+
+void lovrColliderSetShapeOffset(Collider* collider, float* position, float* orientation) {
+  dGeomSetOffsetPosition(collider->shape->id, position[0], position[1], position[2]);
+  dReal q[4] = { orientation[3], orientation[0], orientation[1], orientation[2] };
+  dGeomSetOffsetQuaternion(collider->shape->id, q);
 }
 
 Joint** lovrColliderGetJoints(Collider* collider, size_t* count) {
@@ -610,6 +625,22 @@ void lovrColliderSetKinematic(Collider* collider, bool kinematic) {
   }
 }
 
+bool lovrColliderIsSensor(Collider* collider) {
+  return collider->sensor;
+}
+
+void lovrColliderSetSensor(Collider* collider, bool sensor) {
+  collider->sensor = sensor;
+}
+
+bool lovrColliderIsContinuous(Collider* collider) {
+  return false;
+}
+
+void lovrColliderSetContinuous(Collider* collider, bool continuous) {
+  //
+}
+
 float lovrColliderGetGravityScale(Collider* collider) {
   return dBodyGetGravityMode(collider->body) ? 1.f : 0.f;
 }
@@ -760,6 +791,18 @@ void lovrColliderApplyTorque(Collider* collider, float x, float y, float z) {
   dBodyAddTorque(collider->body, x, y, z);
 }
 
+void lovrColliderApplyLinearImpulse(Collider* collider, float impulse[3]) {
+  //
+}
+
+void lovrColliderApplyLinearImpulseAtPosition(Collider* collider, float impulse[3], float position[3]) {
+  //
+}
+
+void lovrColliderApplyAngularImpulse(Collider* collider, float impulse[3]) {
+  //
+}
+
 void lovrColliderGetLocalCenter(Collider* collider, float* x, float* y, float* z) {
   dMass m;
   dBodyGetMass(collider->body, &m);
@@ -868,51 +911,6 @@ Collider* lovrShapeGetCollider(Shape* shape) {
   return shape->collider;
 }
 
-bool lovrShapeIsEnabled(Shape* shape) {
-  return dGeomIsEnabled(shape->id);
-}
-
-void lovrShapeSetEnabled(Shape* shape, bool enabled) {
-  if (enabled) {
-    dGeomEnable(shape->id);
-  } else {
-    dGeomDisable(shape->id);
-  }
-}
-
-bool lovrShapeIsSensor(Shape* shape) {
-  return shape->sensor;
-}
-
-void lovrShapeSetSensor(Shape* shape, bool sensor) {
-  shape->sensor = sensor;
-}
-
-void lovrShapeGetPosition(Shape* shape, float* x, float* y, float* z) {
-  const dReal* position = dGeomGetOffsetPosition(shape->id);
-  *x = position[0];
-  *y = position[1];
-  *z = position[2];
-}
-
-void lovrShapeSetPosition(Shape* shape, float x, float y, float z) {
-  dGeomSetOffsetPosition(shape->id, x, y, z);
-}
-
-void lovrShapeGetOrientation(Shape* shape, float* orientation) {
-  dReal q[4];
-  dGeomGetOffsetQuaternion(shape->id, q);
-  orientation[0] = q[1];
-  orientation[1] = q[2];
-  orientation[2] = q[3];
-  orientation[3] = q[0];
-}
-
-void lovrShapeSetOrientation(Shape* shape, float* orientation) {
-  dReal q[4] = { orientation[3], orientation[0], orientation[1], orientation[2] };
-  dGeomSetOffsetQuaternion(shape->id, q);
-}
-
 void lovrShapeGetMass(Shape* shape, float density, float* cx, float* cy, float* cz, float* mass, float inertia[6]) {
   dMass m;
   dMassSetZero(&m);
@@ -953,6 +951,8 @@ void lovrShapeGetMass(Shape* shape, float density, float* cx, float* cy, float*
     case SHAPE_TERRAIN: {
       break;
     }
+
+    default: break;
   }
 
   const dReal* position = dGeomGetOffsetPosition(shape->id);
@@ -1099,19 +1099,54 @@ MeshShape* lovrMeshShapeCreate(int vertexCount, float* vertices, int indexCount,
   return mesh;
 }
 
-TerrainShape* lovrTerrainShapeCreate(float* vertices, uint32_t widthSamples, uint32_t depthSamples, float horizontalScale, float verticalScale) {
+TerrainShape* lovrTerrainShapeCreate(float* vertices, uint32_t n, float scaleXZ, float scaleY) {
   const float thickness = 10.f;
   TerrainShape* terrain = lovrCalloc(sizeof(TerrainShape));
   terrain->ref = 1;
   dHeightfieldDataID dataID = dGeomHeightfieldDataCreate();
-  dGeomHeightfieldDataBuildSingle(dataID, vertices, 1, horizontalScale, horizontalScale,
-                                  widthSamples, depthSamples, verticalScale, 0.f, thickness, 0);
+  dGeomHeightfieldDataBuildSingle(dataID, vertices, 1, scaleXZ, scaleXZ, n, n, scaleY, 0.f, thickness, 0);
   terrain->id = dCreateHeightfield(0, dataID, 1);
   terrain->type = SHAPE_TERRAIN;
   dGeomSetData(terrain->id, terrain);
   return terrain;
 }
 
+CompoundShape* lovrCompoundShapeCreate(Shape** shapes, float* positions, float* orientations, uint32_t count, bool freeze) {
+  lovrThrow("ODE does not support compound shape");
+}
+
+bool lovrCompoundShapeIsFrozen(CompoundShape* shape) {
+  return false;
+}
+
+void lovrCompoundShapeAddShape(CompoundShape* shape, Shape* child, float* position, float* orientation) {
+  //
+}
+
+void lovrCompoundShapeReplaceShape(CompoundShape* shape, uint32_t index, Shape* child, float* position, float* orientation) {
+  //
+}
+
+void lovrCompoundShapeRemoveShape(CompoundShape* shape, uint32_t index) {
+  //
+}
+
+Shape* lovrCompoundShapeGetShape(CompoundShape* shape, uint32_t index) {
+  return NULL;
+}
+
+uint32_t lovrCompoundShapeGetShapeCount(CompoundShape* shape) {
+  return 0;
+}
+
+void lovrCompoundShapeGetShapeOffset(CompoundShape* shape, uint32_t index, float* position, float* orientation) {
+  //
+}
+
+void lovrCompoundShapeSetShapeOffset(CompoundShape* shape, uint32_t index, float* position, float* orientation) {
+  //
+}
+
 void lovrJointDestroy(void* ref) {
   Joint* joint = ref;
   lovrJointDestroyData(joint);