mirror of https://github.com/bjornbytes/lovr.git
552 lines
17 KiB
C
552 lines
17 KiB
C
#include "api.h"
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#include "physics/physics.h"
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#include "core/maf.h"
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#include "util.h"
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#include <float.h>
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#include <stdbool.h>
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#include <string.h>
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static void collisionResolver(World* world, void* userdata) {
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lua_State* L = userdata;
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luaL_checktype(L, -1, LUA_TFUNCTION);
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luax_pushtype(L, World, world);
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lua_call(L, 1, 0);
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}
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static int nextOverlap(lua_State* L) {
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World* world = luax_checktype(L, lua_upvalueindex(1), World);
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Shape* a;
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Shape* b;
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if (lovrWorldGetNextOverlap(world, &a, &b)) {
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luax_pushshape(L, a);
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luax_pushshape(L, b);
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return 2;
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} else {
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lua_pushnil(L);
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return 1;
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}
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}
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static bool raycastCallback(Collider* collider, float position[3], float normal[3], uint32_t shape, void* userdata) {
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lua_State* L = userdata;
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lua_pushvalue(L, -1);
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luax_pushtype(L, Collider, collider);
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lua_pushnumber(L, position[0]);
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lua_pushnumber(L, position[1]);
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lua_pushnumber(L, position[2]);
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lua_pushnumber(L, normal[0]);
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lua_pushnumber(L, normal[1]);
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lua_pushnumber(L, normal[2]);
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lua_pushinteger(L, shape + 1);
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lua_call(L, 8, 1);
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bool shouldStop = lua_type(L, -1) == LUA_TBOOLEAN && !lua_toboolean(L, -1);
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lua_pop(L, 1);
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return shouldStop;
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}
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typedef struct {
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const char* tag;
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Collider* collider;
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uint32_t shape;
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float distance;
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float origin[3];
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float position[3];
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float normal[3];
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} RaycastData;
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static bool raycastAnyCallback(Collider* collider, float position[3], float normal[3], uint32_t shape, void* userdata) {
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RaycastData* data = userdata;
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if (data->tag) {
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const char* tag = lovrColliderGetTag(collider);
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if (!tag || strcmp(tag, data->tag)) {
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return false;
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}
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}
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data->collider = collider;
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data->shape = shape;
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vec3_init(data->position, position);
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vec3_init(data->normal, normal);
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data->distance = vec3_distance(data->origin, data->position);
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return true;
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}
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static bool raycastClosestCallback(Collider* collider, float position[3], float normal[3], uint32_t shape, void* userdata) {
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RaycastData* data = userdata;
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if (data->tag) {
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const char* tag = lovrColliderGetTag(collider);
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if (!tag || strcmp(tag, data->tag)) {
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return false;
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}
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}
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float distance = vec3_distance(data->origin, position);
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if (distance < data->distance) {
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vec3_init(data->position, position);
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vec3_init(data->normal, normal);
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data->distance = distance;
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data->collider = collider;
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data->shape = shape;
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}
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return false;
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}
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static bool queryCallback(Collider* collider, uint32_t shape, void* userdata) {
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lua_State* L = userdata;
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lua_pushvalue(L, -1);
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luax_pushtype(L, Collider, collider);
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lua_pushinteger(L, shape + 1);
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lua_call(L, 2, 1);
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bool shouldStop = lua_type(L, -1) == LUA_TBOOLEAN && !lua_toboolean(L, -1);
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lua_pop(L, 1);
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return shouldStop;
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}
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static int l_lovrWorldNewCollider(lua_State* L) {
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World* world = luax_checktype(L, 1, World);
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Shape* shape = luax_totype(L, 2, Shape);
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float position[3];
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luax_readvec3(L, 2 + !!shape, position, NULL);
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Collider* collider = lovrColliderCreate(world, shape, position[0], position[1], position[2]);
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luax_pushtype(L, Collider, collider);
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lovrRelease(collider, lovrColliderDestroy);
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return 1;
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}
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static int l_lovrWorldNewBoxCollider(lua_State* L) {
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World* world = luax_checktype(L, 1, World);
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float position[3];
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int index = luax_readvec3(L, 2, position, NULL);
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BoxShape* shape = luax_newboxshape(L, index);
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Collider* collider = lovrColliderCreate(world, shape, position[0], position[1], position[2]);
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lovrColliderInitInertia(collider, shape);
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luax_pushtype(L, Collider, collider);
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lovrRelease(collider, lovrColliderDestroy);
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lovrRelease(shape, lovrShapeDestroy);
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return 1;
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}
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static int l_lovrWorldNewCapsuleCollider(lua_State* L) {
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World* world = luax_checktype(L, 1, World);
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float position[3];
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int index = luax_readvec3(L, 2, position, NULL);
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CapsuleShape* shape = luax_newcapsuleshape(L, index);
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Collider* collider = lovrColliderCreate(world, shape, position[0], position[1], position[2]);
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lovrColliderInitInertia(collider, shape);
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luax_pushtype(L, Collider, collider);
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lovrRelease(collider, lovrColliderDestroy);
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lovrRelease(shape, lovrShapeDestroy);
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return 1;
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}
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static int l_lovrWorldNewCylinderCollider(lua_State* L) {
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World* world = luax_checktype(L, 1, World);
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float position[3];
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int index = luax_readvec3(L, 2, position, NULL);
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CylinderShape* shape = luax_newcylindershape(L, index);
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Collider* collider = lovrColliderCreate(world, shape, position[0], position[1], position[2]);
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lovrColliderInitInertia(collider, shape);
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luax_pushtype(L, Collider, collider);
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lovrRelease(collider, lovrColliderDestroy);
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lovrRelease(shape, lovrShapeDestroy);
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return 1;
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}
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static int l_lovrWorldNewSphereCollider(lua_State* L) {
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World* world = luax_checktype(L, 1, World);
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float position[3];
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int index = luax_readvec3(L, 2, position, NULL);
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SphereShape* shape = luax_newsphereshape(L, index);
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Collider* collider = lovrColliderCreate(world, shape, position[0], position[1], position[2]);
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lovrColliderInitInertia(collider, shape);
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luax_pushtype(L, Collider, collider);
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lovrRelease(collider, lovrColliderDestroy);
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lovrRelease(shape, lovrShapeDestroy);
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return 1;
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}
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static int l_lovrWorldNewMeshCollider(lua_State* L) {
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World* world = luax_checktype(L, 1, World);
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MeshShape* shape = luax_newmeshshape(L, 2);
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Collider* collider = lovrColliderCreate(world, shape, 0.f, 0.f, 0.f);
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lovrColliderInitInertia(collider, shape);
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luax_pushtype(L, Collider, collider);
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lovrRelease(collider, lovrColliderDestroy);
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lovrRelease(shape, lovrShapeDestroy);
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return 1;
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}
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static int l_lovrWorldNewTerrainCollider(lua_State* L) {
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World* world = luax_checktype(L, 1, World);
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TerrainShape* shape = luax_newterrainshape(L, 2);
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Collider* collider = lovrColliderCreate(world, shape, 0.f, 0.f, 0.f);
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lovrColliderSetKinematic(collider, true);
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luax_pushtype(L, Collider, collider);
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lovrRelease(collider, lovrColliderDestroy);
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lovrRelease(shape, lovrShapeDestroy);
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return 1;
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}
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static int l_lovrWorldGetColliders(lua_State* L) {
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World* world = luax_checktype(L, 1, World);
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if (lua_istable(L, 2)) {
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lua_settop(L, 2);
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} else {
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lua_newtable(L);
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}
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Collider* collider = lovrWorldGetFirstCollider(world);
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int index = 1;
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while (collider) {
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luax_pushtype(L, Collider, collider);
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lua_rawseti(L, -2, index++);
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collider = lovrColliderGetNext(collider);
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}
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return 1;
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}
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static int l_lovrWorldGetTags(lua_State* L) {
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World* world = luax_checktype(L, 1, World);
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lua_newtable(L);
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for (uint32_t i = 0; i < MAX_TAGS; i++) {
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const char* tag = lovrWorldGetTagName(world, i);
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if (tag == NULL)
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break;
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lua_pushstring(L, tag);
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lua_rawseti(L, -2, i + 1);
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}
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return 1;
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}
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static int l_lovrWorldDestroy(lua_State* L) {
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World* world = luax_checktype(L, 1, World);
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lovrWorldDestroyData(world);
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return 0;
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}
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static int l_lovrWorldUpdate(lua_State* L) {
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lua_settop(L, 3);
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World* world = luax_checktype(L, 1, World);
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float dt = luax_checkfloat(L, 2);
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CollisionResolver resolver = lua_type(L, 3) == LUA_TFUNCTION ? collisionResolver : NULL;
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lovrWorldUpdate(world, dt, resolver, L);
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return 0;
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}
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static int l_lovrWorldComputeOverlaps(lua_State* L) {
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World* world = luax_checktype(L, 1, World);
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lovrWorldComputeOverlaps(world);
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return 0;
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}
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static int l_lovrWorldOverlaps(lua_State* L) {
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luax_checktype(L, 1, World);
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lua_settop(L, 1);
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lua_pushcclosure(L, nextOverlap, 1);
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return 1;
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}
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static int l_lovrWorldCollide(lua_State* L) {
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World* world = luax_checktype(L, 1, World);
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Shape* a = luax_checkshape(L, 2);
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Shape* b = luax_checkshape(L, 3);
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float friction = luax_optfloat(L, 4, -1.f);
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float restitution = luax_optfloat(L, 5, -1.f);
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lua_pushboolean(L, lovrWorldCollide(world, a, b, friction, restitution));
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return 1;
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}
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static int l_lovrWorldGetContacts(lua_State* L) {
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World* world = luax_checktype(L, 1, World);
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Shape* a = luax_checkshape(L, 2);
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Shape* b = luax_checkshape(L, 3);
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uint32_t count;
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Contact contacts[MAX_CONTACTS];
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lovrWorldGetContacts(world, a, b, contacts, &count);
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lua_createtable(L, count, 0);
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for (uint32_t i = 0; i < count; i++) {
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lua_createtable(L, 7, 0);
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lua_pushnumber(L, contacts[i].x);
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lua_rawseti(L, -2, 1);
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lua_pushnumber(L, contacts[i].y);
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lua_rawseti(L, -2, 2);
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lua_pushnumber(L, contacts[i].z);
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lua_rawseti(L, -2, 3);
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lua_pushnumber(L, contacts[i].nx);
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lua_rawseti(L, -2, 4);
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lua_pushnumber(L, contacts[i].ny);
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lua_rawseti(L, -2, 5);
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lua_pushnumber(L, contacts[i].nz);
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lua_rawseti(L, -2, 6);
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lua_pushnumber(L, contacts[i].depth);
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lua_rawseti(L, -2, 7);
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lua_rawseti(L, -2, i + 1);
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}
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return 1;
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}
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static int l_lovrWorldRaycast(lua_State* L) {
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World* world = luax_checktype(L, 1, World);
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float start[3], end[3];
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int index = 2;
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index = luax_readvec3(L, index, start, NULL);
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index = luax_readvec3(L, index, end, NULL);
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luaL_checktype(L, index, LUA_TFUNCTION);
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lua_settop(L, index);
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lovrWorldRaycast(world, start[0], start[1], start[2], end[0], end[1], end[2], raycastCallback, L);
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return 0;
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}
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static int l_lovrWorldRaycastAny(lua_State* L) {
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World* world = luax_checktype(L, 1, World);
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float start[3], end[3];
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int index = 2;
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index = luax_readvec3(L, index, start, NULL);
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index = luax_readvec3(L, index, end, NULL);
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RaycastData data = { 0 };
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data.tag = lua_tostring(L, index);
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lovrWorldRaycast(world, start[0], start[1], start[2], end[0], end[1], end[2], raycastAnyCallback, &data);
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if (data.collider) {
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luax_pushtype(L, Collider, data.collider);
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lua_pushnumber(L, data.position[0]);
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lua_pushnumber(L, data.position[1]);
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lua_pushnumber(L, data.position[2]);
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lua_pushnumber(L, data.normal[0]);
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lua_pushnumber(L, data.normal[1]);
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lua_pushnumber(L, data.normal[2]);
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lua_pushinteger(L, data.shape + 1);
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return 8;
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} else {
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lua_pushnil(L);
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return 1;
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}
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}
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static int l_lovrWorldRaycastClosest(lua_State* L) {
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World* world = luax_checktype(L, 1, World);
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float start[3], end[3];
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int index = 2;
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index = luax_readvec3(L, index, start, NULL);
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index = luax_readvec3(L, index, end, NULL);
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RaycastData data = { .distance = FLT_MAX };
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data.tag = lua_tostring(L, index);
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lovrWorldRaycast(world, start[0], start[1], start[2], end[0], end[1], end[2], raycastClosestCallback, &data);
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if (data.shape) {
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luax_pushtype(L, Collider, data.collider);
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lua_pushnumber(L, data.position[0]);
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lua_pushnumber(L, data.position[1]);
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lua_pushnumber(L, data.position[2]);
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lua_pushnumber(L, data.normal[0]);
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lua_pushnumber(L, data.normal[1]);
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lua_pushnumber(L, data.normal[2]);
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lua_pushinteger(L, data.shape + 1);
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return 8;
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} else {
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lua_pushnil(L);
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return 1;
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}
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}
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static int l_lovrWorldQueryBox(lua_State* L) {
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World* world = luax_checktype(L, 1, World);
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float position[3], size[3];
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int index = 2;
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index = luax_readvec3(L, index, position, NULL);
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index = luax_readvec3(L, index, size, NULL);
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bool function = lua_type(L, index) == LUA_TFUNCTION;
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lua_settop(L, index);
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bool any = lovrWorldQueryBox(world, position, size, function ? queryCallback : NULL, L);
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lua_pushboolean(L, any);
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return 1;
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}
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static int l_lovrWorldQuerySphere(lua_State* L) {
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World* world = luax_checktype(L, 1, World);
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float position[3];
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int index = luax_readvec3(L, 2, position, NULL);
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float radius = luax_checkfloat(L, index++);
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bool function = lua_type(L, index) == LUA_TFUNCTION;
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lua_settop(L, index);
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bool any = lovrWorldQuerySphere(world, position, radius, function ? queryCallback : NULL, L);
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lua_pushboolean(L, any);
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return 1;
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}
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static int l_lovrWorldGetGravity(lua_State* L) {
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World* world = luax_checktype(L, 1, World);
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float gravity[3];
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lovrWorldGetGravity(world, gravity);
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lua_pushnumber(L, gravity[0]);
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lua_pushnumber(L, gravity[1]);
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lua_pushnumber(L, gravity[2]);
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return 3;
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}
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static int l_lovrWorldSetGravity(lua_State* L) {
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World* world = luax_checktype(L, 1, World);
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float gravity[3];
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luax_readvec3(L, 2, gravity, NULL);
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lovrWorldSetGravity(world, gravity);
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return 0;
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}
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static int l_lovrWorldGetTightness(lua_State* L) {
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World* world = luax_checktype(L, 1, World);
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float tightness = lovrWorldGetTightness(world);
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lovrCheck(tightness >= 0, "Negative tightness factor causes simulation instability");
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lua_pushnumber(L, tightness);
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return 1;
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}
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static int l_lovrWorldSetTightness(lua_State* L) {
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World* world = luax_checktype(L, 1, World);
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float tightness = luax_checkfloat(L, 2);
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lovrWorldSetTightness(world, tightness);
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return 0;
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}
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static int l_lovrWorldGetResponseTime(lua_State* L) {
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World* world = luax_checktype(L, 1, World);
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float responseTime = lovrWorldGetResponseTime(world);
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lua_pushnumber(L, responseTime);
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return 1;
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}
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static int l_lovrWorldSetResponseTime(lua_State* L) {
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World* world = luax_checktype(L, 1, World);
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float responseTime = luax_checkfloat(L, 2);
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lovrCheck(responseTime >= 0, "Negative response time causes simulation instability");
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lovrWorldSetResponseTime(world, responseTime);
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return 0;
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}
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static int l_lovrWorldGetLinearDamping(lua_State* L) {
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World* world = luax_checktype(L, 1, World);
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float damping, threshold;
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lovrWorldGetLinearDamping(world, &damping, &threshold);
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lua_pushnumber(L, damping);
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lua_pushnumber(L, threshold);
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return 2;
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}
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static int l_lovrWorldSetLinearDamping(lua_State* L) {
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World* world = luax_checktype(L, 1, World);
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float damping = luax_checkfloat(L, 2);
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float threshold = luax_optfloat(L, 3, 0.0f);
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lovrWorldSetLinearDamping(world, damping, threshold);
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return 0;
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}
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static int l_lovrWorldGetAngularDamping(lua_State* L) {
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World* world = luax_checktype(L, 1, World);
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float damping, threshold;
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lovrWorldGetAngularDamping(world, &damping, &threshold);
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lua_pushnumber(L, damping);
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lua_pushnumber(L, threshold);
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return 2;
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}
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static int l_lovrWorldSetAngularDamping(lua_State* L) {
|
|
World* world = luax_checktype(L, 1, World);
|
|
float damping = luax_checkfloat(L, 2);
|
|
float threshold = luax_optfloat(L, 3, 0.0f);
|
|
lovrWorldSetAngularDamping(world, damping, threshold);
|
|
return 0;
|
|
}
|
|
|
|
static int l_lovrWorldIsSleepingAllowed(lua_State* L) {
|
|
World* world = luax_checktype(L, 1, World);
|
|
lua_pushboolean(L, lovrWorldIsSleepingAllowed(world));
|
|
return 1;
|
|
}
|
|
|
|
static int l_lovrWorldSetSleepingAllowed(lua_State* L) {
|
|
World* world = luax_checktype(L, 1, World);
|
|
bool allowed = lua_toboolean(L, 2);
|
|
lovrWorldSetSleepingAllowed(world, allowed);
|
|
return 0;
|
|
}
|
|
|
|
static int l_lovrWorldDisableCollisionBetween(lua_State* L) {
|
|
World* world = luax_checktype(L, 1, World);
|
|
const char* tag1 = luaL_checkstring(L, 2);
|
|
const char* tag2 = luaL_checkstring(L, 3);
|
|
lovrWorldDisableCollisionBetween(world, tag1, tag2);
|
|
return 0;
|
|
}
|
|
|
|
static int l_lovrWorldEnableCollisionBetween(lua_State* L) {
|
|
World* world = luax_checktype(L, 1, World);
|
|
const char* tag1 = luaL_checkstring(L, 2);
|
|
const char* tag2 = luaL_checkstring(L, 3);
|
|
lovrWorldEnableCollisionBetween(world, tag1, tag2);
|
|
return 0;
|
|
}
|
|
|
|
static int l_lovrWorldIsCollisionEnabledBetween(lua_State* L) {
|
|
World* world = luax_checktype(L, 1, World);
|
|
const char* tag1 = lua_tostring(L, 2);
|
|
const char* tag2 = lua_tostring(L, 3);
|
|
lua_pushboolean(L, lovrWorldIsCollisionEnabledBetween(world, tag1, tag2));
|
|
return 1;
|
|
}
|
|
|
|
static int l_lovrWorldGetStepCount(lua_State* L) {
|
|
World* world = luax_checktype(L, 1, World);
|
|
int iterations = lovrWorldGetStepCount(world);
|
|
lua_pushnumber(L, iterations);
|
|
return 1;
|
|
}
|
|
|
|
static int l_lovrWorldSetStepCount(lua_State* L) {
|
|
World* world = luax_checktype(L, 1, World);
|
|
int iterations = luaL_checkinteger(L, 2);
|
|
lovrWorldSetStepCount(world, iterations);
|
|
return 0;
|
|
}
|
|
|
|
const luaL_Reg lovrWorld[] = {
|
|
{ "newCollider", l_lovrWorldNewCollider },
|
|
{ "newBoxCollider", l_lovrWorldNewBoxCollider },
|
|
{ "newCapsuleCollider", l_lovrWorldNewCapsuleCollider },
|
|
{ "newCylinderCollider", l_lovrWorldNewCylinderCollider },
|
|
{ "newSphereCollider", l_lovrWorldNewSphereCollider },
|
|
{ "newMeshCollider", l_lovrWorldNewMeshCollider },
|
|
{ "newTerrainCollider", l_lovrWorldNewTerrainCollider },
|
|
{ "getColliders", l_lovrWorldGetColliders },
|
|
{ "getTags", l_lovrWorldGetTags },
|
|
{ "destroy", l_lovrWorldDestroy },
|
|
{ "update", l_lovrWorldUpdate },
|
|
{ "computeOverlaps", l_lovrWorldComputeOverlaps },
|
|
{ "overlaps", l_lovrWorldOverlaps },
|
|
{ "collide", l_lovrWorldCollide },
|
|
{ "getContacts", l_lovrWorldGetContacts },
|
|
{ "raycast", l_lovrWorldRaycast },
|
|
{ "raycastAny", l_lovrWorldRaycastAny },
|
|
{ "raycastClosest", l_lovrWorldRaycastClosest },
|
|
{ "queryBox", l_lovrWorldQueryBox },
|
|
{ "querySphere", l_lovrWorldQuerySphere },
|
|
{ "getGravity", l_lovrWorldGetGravity },
|
|
{ "setGravity", l_lovrWorldSetGravity },
|
|
{ "disableCollisionBetween", l_lovrWorldDisableCollisionBetween },
|
|
{ "enableCollisionBetween", l_lovrWorldEnableCollisionBetween },
|
|
{ "isCollisionEnabledBetween", l_lovrWorldIsCollisionEnabledBetween },
|
|
|
|
// Deprecated
|
|
{ "getTightness", l_lovrWorldGetTightness },
|
|
{ "setTightness", l_lovrWorldSetTightness },
|
|
{ "getResponseTime", l_lovrWorldGetResponseTime },
|
|
{ "setResponseTime", l_lovrWorldSetResponseTime },
|
|
{ "getLinearDamping", l_lovrWorldGetLinearDamping },
|
|
{ "setLinearDamping", l_lovrWorldSetLinearDamping },
|
|
{ "getAngularDamping", l_lovrWorldGetAngularDamping },
|
|
{ "setAngularDamping", l_lovrWorldSetAngularDamping },
|
|
{ "isSleepingAllowed", l_lovrWorldIsSleepingAllowed },
|
|
{ "setSleepingAllowed", l_lovrWorldSetSleepingAllowed },
|
|
{ "getStepCount", l_lovrWorldGetStepCount },
|
|
{ "setStepCount", l_lovrWorldSetStepCount },
|
|
|
|
{ NULL, NULL }
|
|
};
|