mirror of https://github.com/bjornbytes/lovr.git
153 lines
4.0 KiB
C
153 lines
4.0 KiB
C
#include "physics.h"
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#include "math/quat.h"
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#include <stdlib.h>
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void lovrPhysicsInit() {
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dInitODE();
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if (!dCheckConfiguration("ODE_single_precision")) {
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error("lovr.physics must use single precision");
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}
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atexit(lovrPhysicsDestroy);
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}
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void lovrPhysicsDestroy() {
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dCloseODE();
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}
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World* lovrWorldCreate() {
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World* world = lovrAlloc(sizeof(World), lovrWorldDestroy);
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if (!world) return NULL;
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world->id = dWorldCreate();
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return world;
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}
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void lovrWorldDestroy(const Ref* ref) {
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World* world = containerof(ref, World);
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dWorldDestroy(world->id);
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free(world);
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}
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void lovrWorldGetGravity(World* world, float* x, float* y, float* z) {
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dReal gravity[3];
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dWorldGetGravity(world->id, gravity);
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*x = gravity[0];
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*y = gravity[1];
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*z = gravity[2];
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}
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void lovrWorldSetGravity(World* world, float x, float y, float z) {
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dWorldSetGravity(world->id, x, y, z);
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}
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void lovrWorldGetLinearDamping(World* world, float* damping, float* threshold) {
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*damping = dWorldGetLinearDamping(world->id);
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*threshold = dWorldGetLinearDampingThreshold(world->id);
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}
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void lovrWorldSetLinearDamping(World* world, float damping, float threshold) {
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dWorldSetLinearDamping(world->id, damping);
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dWorldSetLinearDampingThreshold(world->id, threshold);
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}
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void lovrWorldGetAngularDamping(World* world, float* damping, float* threshold) {
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*damping = dWorldGetAngularDamping(world->id);
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*threshold = dWorldGetAngularDampingThreshold(world->id);
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}
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void lovrWorldSetAngularDamping(World* world, float damping, float threshold) {
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dWorldSetAngularDamping(world->id, damping);
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dWorldSetAngularDampingThreshold(world->id, threshold);
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}
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int lovrWorldIsSleepingAllowed(World* world) {
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return dWorldGetAutoDisableFlag(world->id);
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}
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void lovrWorldSetSleepingAllowed(World* world, int allowed) {
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dWorldSetAutoDisableFlag(world->id, allowed);
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}
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void lovrWorldUpdate(World* world, float dt) {
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dWorldQuickStep(world->id, dt);
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}
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Body* lovrBodyCreate(World* world) {
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if (!world) {
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error("No world specified");
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}
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Body* body = lovrAlloc(sizeof(Body), lovrBodyDestroy);
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if (!body) return NULL;
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body->id = dBodyCreate(world->id);
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body->world = world;
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return body;
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}
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void lovrBodyDestroy(const Ref* ref) {
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Body* body = containerof(ref, Body);
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dBodyDestroy(body->id);
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free(body);
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}
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void lovrBodyGetPosition(Body* body, float* x, float* y, float* z) {
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const dReal* position = dBodyGetPosition(body->id);
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*x = position[0];
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*y = position[1];
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*z = position[2];
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}
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void lovrBodySetPosition(Body* body, float x, float y, float z) {
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dBodySetPosition(body->id, x, y, z);
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}
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void lovrBodyGetOrientation(Body* body, float* angle, float* x, float* y, float* z) {
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const dReal* q = dBodyGetQuaternion(body->id);
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float quaternion[4] = { q[0], q[1], q[2], q[3] };
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quat_getAngleAxis(quaternion, angle, x, y, z);
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}
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void lovrBodySetOrientation(Body* body, float angle, float x, float y, float z) {
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float axis[3] = { x, y, z };
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float quaternion[4];
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quat_fromAngleAxis(quaternion, angle, axis);
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dBodySetQuaternion(body->id, quaternion);
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}
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void lovrBodyGetLinearVelocity(Body* body, float* x, float* y, float* z) {
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const dReal* velocity = dBodyGetLinearVel(body->id);
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*x = velocity[0];
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*y = velocity[1];
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*z = velocity[2];
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}
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void lovrBodySetLinearVelocity(Body* body, float x, float y, float z) {
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dBodySetLinearVel(body->id, x, y, z);
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}
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void lovrBodyGetAngularVelocity(Body* body, float* x, float* y, float* z) {
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const dReal* velocity = dBodyGetAngularVel(body->id);
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*x = velocity[0];
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*y = velocity[1];
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*z = velocity[2];
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}
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void lovrBodySetAngularVelocity(Body* body, float x, float y, float z) {
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dBodySetAngularVel(body->id, x, y, z);
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}
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void lovrBodyGetLinearDamping(Body* body, float* damping, float* threshold) {
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*damping = dBodyGetLinearDamping(body->id);
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*threshold = dBodyGetLinearDampingThreshold(body->id);
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}
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void lovrBodySetLinearDamping(Body* body, float damping, float threshold) {
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dBodySetLinearDamping(body->id, damping);
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dBodySetLinearDampingThreshold(body->id, threshold);
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}
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