lovr/src/api/l_physics_world.c

#include "api.h"
#include "physics/physics.h"
#include "core/maf.h"
#include "util.h"
#include <float.h>
#include <stdbool.h>
#include <string.h>

static void collisionResolver(World* world, void* userdata) {
  lua_State* L = userdata;
  luaL_checktype(L, -1, LUA_TFUNCTION);
  luax_pushtype(L, World, world);
  lua_call(L, 1, 0);
}

static int nextOverlap(lua_State* L) {
  World* world = luax_checktype(L, lua_upvalueindex(1), World);
  Shape* a;
  Shape* b;
  if (lovrWorldGetNextOverlap(world, &a, &b)) {
    luax_pushshape(L, a);
    luax_pushshape(L, b);
    return 2;
  } else {
    lua_pushnil(L);
    return 1;
  }
}

static bool raycastCallback(Collider* collider, float position[3], float normal[3], uint32_t shape, void* userdata) {
  lua_State* L = userdata;
  lua_pushvalue(L, -1);
  luax_pushtype(L, Collider, collider);
  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_pushinteger(L, shape + 1);
  lua_call(L, 8, 1);
  bool shouldStop = lua_type(L, -1) == LUA_TBOOLEAN && !lua_toboolean(L, -1);
  lua_pop(L, 1);
  return shouldStop;
}

typedef struct {
  const char* tag;
  Collider* collider;
  uint32_t shape;
  float distance;
  float origin[3];
  float position[3];
  float normal[3];
} RaycastData;

static bool raycastAnyCallback(Collider* collider, float position[3], float normal[3], uint32_t shape, void* userdata) {
  RaycastData* data = userdata;
  if (data->tag) {
    const char* tag = lovrColliderGetTag(collider);
    if (!tag || strcmp(tag, data->tag)) {
      return false;
    }
  }
  data->collider = collider;
  data->shape = shape;
  vec3_init(data->position, position);
  vec3_init(data->normal, normal);
  data->distance = vec3_distance(data->origin, data->position);
  return true;
}

static bool raycastClosestCallback(Collider* collider, float position[3], float normal[3], uint32_t shape, void* userdata) {
  RaycastData* data = userdata;
  if (data->tag) {
    const char* tag = lovrColliderGetTag(collider);
    if (!tag || strcmp(tag, data->tag)) {
      return false;
    }
  }
  float distance = vec3_distance(data->origin, position);
  if (distance < data->distance) {
    vec3_init(data->position, position);
    vec3_init(data->normal, normal);
    data->distance = distance;
    data->collider = collider;
    data->shape = shape;
  }
  return false;
}

static bool queryCallback(Collider* collider, uint32_t shape, void* userdata) {
  lua_State* L = userdata;
  lua_pushvalue(L, -1);
  luax_pushtype(L, Collider, collider);
  lua_pushinteger(L, shape + 1);
  lua_call(L, 2, 1);
  bool shouldStop = lua_type(L, -1) == LUA_TBOOLEAN && !lua_toboolean(L, -1);
  lua_pop(L, 1);
  return shouldStop;
}

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 + !!shape, position, NULL);
  Collider* collider = lovrColliderCreate(world, shape, position);
  luax_pushtype(L, Collider, collider);
  lovrRelease(collider, lovrColliderDestroy);
  return 1;
}

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);
  BoxShape* shape = luax_newboxshape(L, index);
  Collider* collider = lovrColliderCreate(world, shape, position);
  lovrColliderInitInertia(collider, shape);
  luax_pushtype(L, Collider, collider);
  lovrRelease(collider, lovrColliderDestroy);
  lovrRelease(shape, lovrShapeDestroy);
  return 1;
}

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);
  CapsuleShape* shape = luax_newcapsuleshape(L, index);
  Collider* collider = lovrColliderCreate(world, shape, position);
  lovrColliderInitInertia(collider, shape);
  luax_pushtype(L, Collider, collider);
  lovrRelease(collider, lovrColliderDestroy);
  lovrRelease(shape, lovrShapeDestroy);
  return 1;
}

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);
  CylinderShape* shape = luax_newcylindershape(L, index);
  Collider* collider = lovrColliderCreate(world, shape, position);
  lovrColliderInitInertia(collider, shape);
  luax_pushtype(L, Collider, collider);
  lovrRelease(collider, lovrColliderDestroy);
  lovrRelease(shape, lovrShapeDestroy);
  return 1;
}

static int l_lovrWorldNewConvexCollider(lua_State* L) {
  World* world = luax_checktype(L, 1, World);
  float position[3];
  int index = luax_readvec3(L, 2, position, NULL);
  ConvexShape* shape = luax_newconvexshape(L, index);
  Collider* collider = lovrColliderCreate(world, shape, position);
  lovrColliderInitInertia(collider, shape);
  luax_pushtype(L, Collider, collider);
  lovrRelease(collider, lovrColliderDestroy);
  lovrRelease(shape, lovrShapeDestroy);
  return 1;
}

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);
  SphereShape* shape = luax_newsphereshape(L, index);
  Collider* collider = lovrColliderCreate(world, shape, position);
  lovrColliderInitInertia(collider, shape);
  luax_pushtype(L, Collider, collider);
  lovrRelease(collider, lovrColliderDestroy);
  lovrRelease(shape, lovrShapeDestroy);
  return 1;
}

static int l_lovrWorldNewMeshCollider(lua_State* L) {
  World* world = luax_checktype(L, 1, World);
  MeshShape* shape = luax_newmeshshape(L, 2);
  float position[3] = { 0.f, 0.f, 0.f };
  Collider* collider = lovrColliderCreate(world, shape, position);
  lovrColliderInitInertia(collider, shape);
  luax_pushtype(L, Collider, collider);
  lovrRelease(collider, lovrColliderDestroy);
  lovrRelease(shape, lovrShapeDestroy);
  return 1;
}

static int l_lovrWorldNewTerrainCollider(lua_State* L) {
  World* world = luax_checktype(L, 1, World);
  TerrainShape* shape = luax_newterrainshape(L, 2);
  float position[3] = { 0.f, 0.f, 0.f };
  Collider* collider = lovrColliderCreate(world, shape, position);
  lovrColliderSetKinematic(collider, true);
  luax_pushtype(L, Collider, collider);
  lovrRelease(collider, lovrColliderDestroy);
  lovrRelease(shape, lovrShapeDestroy);
  return 1;
}

static int l_lovrWorldDestroy(lua_State* L) {
  World* world = luax_checktype(L, 1, World);
  lovrWorldDestroyData(world);
  return 0;
}

static int l_lovrWorldGetTags(lua_State* L) {
  World* world = luax_checktype(L, 1, World);
  lua_newtable(L);
  for (uint32_t i = 0; i < MAX_TAGS; i++) {
    const char* tag = lovrWorldGetTagName(world, i);
    if (tag == NULL)
      break;
    lua_pushstring(L, tag);
    lua_rawseti(L, -2, i + 1);
  }
  return 1;
}

static int l_lovrWorldGetColliderCount(lua_State* L) {
  World* world = luax_checktype(L, 1, World);
  uint32_t count = lovrWorldGetColliderCount(world);
  lua_pushinteger(L, count);
  return 1;
}

static int l_lovrWorldGetJointCount(lua_State* L) {
  World* world = luax_checktype(L, 1, World);
  uint32_t count = lovrWorldGetJointCount(world);
  lua_pushinteger(L, count);
  return 1;
}

static int l_lovrWorldGetColliders(lua_State* L) {
  World* world = luax_checktype(L, 1, World);
  int index = 1;
  Collider* collider = NULL;
  lua_createtable(L, (int) lovrWorldGetColliderCount(world), 0);
  while ((collider = lovrWorldGetColliders(world, collider)) != NULL) {
    luax_pushtype(L, Collider, collider);
    lua_rawseti(L, -2, index++);
  }
  return 1;
}

static int l_lovrWorldGetJoints(lua_State* L) {
  World* world = luax_checktype(L, 1, World);
  int index = 1;
  Joint* joint = NULL;
  lua_createtable(L, (int) lovrWorldGetJointCount(world), 0);
  while ((joint = lovrWorldGetJoints(world, joint)) != NULL) {
    luax_pushjoint(L, joint);
    lua_rawseti(L, -2, index++);
  }
  return 1;
}

static int l_lovrWorldUpdate(lua_State* L) {
  lua_settop(L, 3);
  World* world = luax_checktype(L, 1, World);
  float dt = luax_checkfloat(L, 2);
  CollisionResolver resolver = lua_type(L, 3) == LUA_TFUNCTION ? collisionResolver : NULL;
  lovrWorldUpdate(world, dt, resolver, L);
  return 0;
}

static int l_lovrWorldComputeOverlaps(lua_State* L) {
  World* world = luax_checktype(L, 1, World);
  lovrWorldComputeOverlaps(world);
  return 0;
}

static int l_lovrWorldOverlaps(lua_State* L) {
  luax_checktype(L, 1, World);
  lua_settop(L, 1);
  lua_pushcclosure(L, nextOverlap, 1);
  return 1;
}

static int l_lovrWorldCollide(lua_State* L) {
  World* world = luax_checktype(L, 1, World);
  Shape* a = luax_checkshape(L, 2);
  Shape* b = luax_checkshape(L, 3);
  float friction = luax_optfloat(L, 4, -1.f);
  float restitution = luax_optfloat(L, 5, -1.f);
  lua_pushboolean(L, lovrWorldCollide(world, a, b, friction, restitution));
  return 1;
}

static int l_lovrWorldGetContacts(lua_State* L) {
  World* world = luax_checktype(L, 1, World);
  Shape* a = luax_checkshape(L, 2);
  Shape* b = luax_checkshape(L, 3);
  uint32_t count;
  Contact contacts[MAX_CONTACTS];
  lovrWorldGetContacts(world, a, b, contacts, &count);
  lua_createtable(L, count, 0);
  for (uint32_t i = 0; i < count; i++) {
    lua_createtable(L, 7, 0);
    lua_pushnumber(L, contacts[i].x);
    lua_rawseti(L, -2, 1);
    lua_pushnumber(L, contacts[i].y);
    lua_rawseti(L, -2, 2);
    lua_pushnumber(L, contacts[i].z);
    lua_rawseti(L, -2, 3);
    lua_pushnumber(L, contacts[i].nx);
    lua_rawseti(L, -2, 4);
    lua_pushnumber(L, contacts[i].ny);
    lua_rawseti(L, -2, 5);
    lua_pushnumber(L, contacts[i].nz);
    lua_rawseti(L, -2, 6);
    lua_pushnumber(L, contacts[i].depth);
    lua_rawseti(L, -2, 7);
    lua_rawseti(L, -2, i + 1);
  }
  return 1;
}

static int l_lovrWorldRaycast(lua_State* L) {
  World* world = luax_checktype(L, 1, World);
  float start[3], end[3];
  int index = 2;
  index = luax_readvec3(L, index, start, NULL);
  index = luax_readvec3(L, index, end, NULL);
  luaL_checktype(L, index, LUA_TFUNCTION);
  lua_settop(L, index);
  lovrWorldRaycast(world, start, end, raycastCallback, L);
  return 0;
}

static int l_lovrWorldRaycastAny(lua_State* L) {
  World* world = luax_checktype(L, 1, World);
  float start[3], end[3];
  int index = 2;
  index = luax_readvec3(L, index, start, NULL);
  index = luax_readvec3(L, index, end, NULL);
  RaycastData data = { 0 };
  data.tag = lua_tostring(L, index);
  lovrWorldRaycast(world, start, end, raycastAnyCallback, &data);
  if (data.collider) {
    luax_pushtype(L, Collider, data.collider);
    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]);
    lua_pushinteger(L, data.shape + 1);
    return 8;
  } else {
    lua_pushnil(L);
    return 1;
  }
}

static int l_lovrWorldRaycastClosest(lua_State* L) {
  World* world = luax_checktype(L, 1, World);
  float start[3], end[3];
  int index = 2;
  index = luax_readvec3(L, index, start, NULL);
  index = luax_readvec3(L, index, end, NULL);
  RaycastData data = { .distance = FLT_MAX };
  data.tag = lua_tostring(L, index);
  lovrWorldRaycast(world, start, end, raycastClosestCallback, &data);
  if (data.shape) {
    luax_pushtype(L, Collider, data.collider);
    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]);
    lua_pushinteger(L, data.shape + 1);
    return 8;
  } else {
    lua_pushnil(L);
    return 1;
  }
}

static int l_lovrWorldQueryBox(lua_State* L) {
  World* world = luax_checktype(L, 1, World);
  float position[3], size[3];
  int index = 2;
  index = luax_readvec3(L, index, position, NULL);
  index = luax_readvec3(L, index, size, NULL);
  bool function = lua_type(L, index) == LUA_TFUNCTION;
  lua_settop(L, index);
  bool any = lovrWorldQueryBox(world, position, size, function ? queryCallback : NULL, L);
  lua_pushboolean(L, any);
  return 1;
}

static int l_lovrWorldQuerySphere(lua_State* L) {
  World* world = luax_checktype(L, 1, World);
  float position[3];
  int index = luax_readvec3(L, 2, position, NULL);
  float radius = luax_checkfloat(L, index++);
  bool function = lua_type(L, index) == LUA_TFUNCTION;
  lua_settop(L, index);
  bool any = lovrWorldQuerySphere(world, position, radius, function ? queryCallback : NULL, L);
  lua_pushboolean(L, any);
  return 1;
}

static int l_lovrWorldGetGravity(lua_State* L) {
  World* world = luax_checktype(L, 1, World);
  float gravity[3];
  lovrWorldGetGravity(world, gravity);
  lua_pushnumber(L, gravity[0]);
  lua_pushnumber(L, gravity[1]);
  lua_pushnumber(L, gravity[2]);
  return 3;
}

static int l_lovrWorldSetGravity(lua_State* L) {
  World* world = luax_checktype(L, 1, World);
  float gravity[3];
  luax_readvec3(L, 2, gravity, NULL);
  lovrWorldSetGravity(world, gravity);
  return 0;
}

static int l_lovrWorldGetTightness(lua_State* L) {
  World* world = luax_checktype(L, 1, World);
  float tightness = lovrWorldGetTightness(world);
  lovrCheck(tightness >= 0, "Negative tightness factor causes simulation instability");
  lua_pushnumber(L, tightness);
  return 1;
}

static int l_lovrWorldSetTightness(lua_State* L) {
  World* world = luax_checktype(L, 1, World);
  float tightness = luax_checkfloat(L, 2);
  lovrWorldSetTightness(world, tightness);
  return 0;
}

static int l_lovrWorldGetResponseTime(lua_State* L) {
  World* world = luax_checktype(L, 1, World);
  float responseTime = lovrWorldGetResponseTime(world);
  lua_pushnumber(L, responseTime);
  return 1;
}

static int l_lovrWorldSetResponseTime(lua_State* L) {
  World* world = luax_checktype(L, 1, World);
  float responseTime = luax_checkfloat(L, 2);
  lovrCheck(responseTime >= 0, "Negative response time causes simulation instability");
  lovrWorldSetResponseTime(world, responseTime);
  return 0;
}

static int l_lovrWorldGetLinearDamping(lua_State* L) {
  World* world = luax_checktype(L, 1, World);
  float damping, threshold;
  lovrWorldGetLinearDamping(world, &damping, &threshold);
  lua_pushnumber(L, damping);
  lua_pushnumber(L, threshold);
  return 2;
}

static int l_lovrWorldSetLinearDamping(lua_State* L) {
  World* world = luax_checktype(L, 1, World);
  float damping = luax_checkfloat(L, 2);
  float threshold = luax_optfloat(L, 3, 0.0f);
  lovrWorldSetLinearDamping(world, damping, threshold);
  return 0;
}

static int l_lovrWorldGetAngularDamping(lua_State* L) {
  World* world = luax_checktype(L, 1, World);
  float damping, threshold;
  lovrWorldGetAngularDamping(world, &damping, &threshold);
  lua_pushnumber(L, damping);
  lua_pushnumber(L, threshold);
  return 2;
}

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 },
  { "newConvexCollider", l_lovrWorldNewConvexCollider },
  { "newSphereCollider", l_lovrWorldNewSphereCollider },
  { "newMeshCollider", l_lovrWorldNewMeshCollider },
  { "newTerrainCollider", l_lovrWorldNewTerrainCollider },
  { "destroy", l_lovrWorldDestroy },
  { "getTags", l_lovrWorldGetTags },
  { "getColliderCount", l_lovrWorldGetColliderCount },
  { "getJointCount", l_lovrWorldGetJointCount },
  { "getColliders", l_lovrWorldGetColliders },
  { "getJoints", l_lovrWorldGetJoints },
  { "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 }
};