mirror of https://github.com/bjornbytes/lovr.git
508 lines
13 KiB
C
508 lines
13 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 quaternion[4];
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float axis[3] = { x, y, z };
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dBodySetQuaternion(body->id, quat_fromAngleAxis(quaternion, angle, axis));
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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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void lovrBodyGetAngularDamping(Body* body, float* damping, float* threshold) {
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*damping = dBodyGetAngularDamping(body->id);
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*threshold = dBodyGetAngularDampingThreshold(body->id);
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}
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void lovrBodySetAngularDamping(Body* body, float damping, float threshold) {
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dBodySetAngularDamping(body->id, damping);
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dBodySetAngularDampingThreshold(body->id, threshold);
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}
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void lovrBodyApplyForce(Body* body, float x, float y, float z) {
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dBodyAddForce(body->id, x, y, z);
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}
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void lovrBodyApplyForceAtPosition(Body* body, float x, float y, float z, float cx, float cy, float cz) {
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dBodyAddForceAtPos(body->id, x, y, z, cx, cy, cz);
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}
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void lovrBodyApplyTorque(Body* body, float x, float y, float z) {
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dBodyAddTorque(body->id, x, y, z);
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}
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int lovrBodyIsKinematic(Body* body) {
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return dBodyIsKinematic(body->id);
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}
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void lovrBodySetKinematic(Body* body, int kinematic) {
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if (kinematic) {
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dBodySetKinematic(body->id);
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} else {
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dBodySetDynamic(body->id);
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}
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}
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void lovrBodyGetLocalPoint(Body* body, float wx, float wy, float wz, float* x, float* y, float* z) {
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dReal local[3];
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dBodyGetPosRelPoint(body->id, wx, wy, wz, local);
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*x = local[0];
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*y = local[1];
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*z = local[2];
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}
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void lovrBodyGetWorldPoint(Body* body, float x, float y, float z, float* wx, float* wy, float* wz) {
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dReal world[3];
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dBodyGetRelPointPos(body->id, x, y, z, world);
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*wx = world[0];
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*wy = world[1];
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*wz = world[2];
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}
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void lovrBodyGetLocalVector(Body* body, float wx, float wy, float wz, float* x, float* y, float* z) {
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dReal local[3];
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dBodyVectorFromWorld(body->id, wx, wy, wz, local);
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*x = local[0];
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*y = local[1];
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*z = local[2];
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}
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void lovrBodyGetWorldVector(Body* body, float x, float y, float z, float* wx, float* wy, float* wz) {
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dReal world[3];
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dBodyVectorToWorld(body->id, x, y, z, world);
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*wx = world[0];
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*wy = world[1];
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*wz = world[2];
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}
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void lovrBodyGetLinearVelocityFromLocalPoint(Body* body, float x, float y, float z, float* vx, float* vy, float* vz) {
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dReal velocity[3];
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dBodyGetRelPointVel(body->id, x, y, z, velocity);
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*vx = velocity[0];
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*vy = velocity[1];
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*vz = velocity[2];
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}
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void lovrBodyGetLinearVelocityFromWorldPoint(Body* body, float wx, float wy, float wz, float* vx, float* vy, float* vz) {
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dReal velocity[3];
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dBodyGetPointVel(body->id, wx, wy, wz, velocity);
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*vx = velocity[0];
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*vy = velocity[1];
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*vz = velocity[2];
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}
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int lovrBodyIsSleepingAllowed(Body* body) {
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return dBodyGetAutoDisableFlag(body->id);
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}
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void lovrBodySetSleepingAllowed(Body* body, int allowed) {
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dBodySetAutoDisableFlag(body->id, allowed);
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}
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int lovrBodyIsAwake(Body* body) {
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return dBodyIsEnabled(body->id);
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}
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void lovrBodySetAwake(Body* body, int awake) {
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if (awake) {
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dBodyEnable(body->id);
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} else {
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dBodyDisable(body->id);
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}
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}
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void* lovrBodyGetUserData(Body* body) {
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return dBodyGetData(body->id);
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}
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void lovrBodySetUserData(Body* body, void* data) {
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dBodySetData(body->id, data);
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}
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World* lovrBodyGetWorld(Body* body) {
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return body->world;
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}
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float lovrBodyGetMass(Body* body) {
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dMass m;
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dBodyGetMass(body->id, &m);
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return m.mass;
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}
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void lovrBodySetMass(Body* body, float mass) {
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dMass m;
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dBodyGetMass(body->id, &m);
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dMassAdjust(&m, mass);
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dBodySetMass(body->id, &m);
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}
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void lovrShapeDestroy(const Ref* ref) {
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Shape* shape = containerof(ref, Shape);
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dGeomDestroy(shape->id);
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free(shape);
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}
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ShapeType lovrShapeGetType(Shape* shape) {
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return shape->type;
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}
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Body* lovrShapeGetBody(Shape* shape) {
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return shape->body;
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}
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void lovrShapeSetBody(Shape* shape, Body* body) {
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shape->body = body;
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dGeomSetBody(shape->id, body ? body->id : 0);
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}
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int lovrShapeIsEnabled(Shape* shape) {
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return dGeomIsEnabled(shape->id);
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}
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void lovrShapeSetEnabled(Shape* shape, int enabled) {
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if (enabled) {
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dGeomEnable(shape->id);
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} else {
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dGeomDisable(shape->id);
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}
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}
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void* lovrShapeGetUserData(Shape* shape) {
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return dGeomGetData(shape->id);
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}
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void lovrShapeSetUserData(Shape* shape, void* data) {
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dGeomSetData(shape->id, data);
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}
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void lovrShapeGetPosition(Shape* shape, float* x, float* y, float* z) {
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const dReal* position = dGeomGetOffsetPosition(shape->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 lovrShapeSetPosition(Shape* shape, float x, float y, float z) {
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dGeomSetOffsetPosition(shape->id, x, y, z);
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}
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void lovrShapeGetOrientation(Shape* shape, float* angle, float* x, float* y, float* z) {
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float quaternion[4];
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dGeomGetOffsetQuaternion(shape->id, quaternion);
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quat_getAngleAxis(quaternion, angle, x, y, z);
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}
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void lovrShapeSetOrientation(Shape* shape, float angle, float x, float y, float z) {
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float quaternion[4];
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float axis[3] = { x, y, z };
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dGeomSetOffsetQuaternion(shape->id, quat_fromAngleAxis(quaternion, angle, axis));
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}
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uint32_t lovrShapeGetCategory(Shape* shape) {
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return dGeomGetCategoryBits(shape->id);
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}
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void lovrShapeSetCategory(Shape* shape, uint32_t category) {
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dGeomSetCategoryBits(shape->id, category);
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}
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uint32_t lovrShapeGetMask(Shape* shape) {
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return dGeomGetCollideBits(shape->id);
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}
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void lovrShapeSetMask(Shape* shape, uint32_t mask) {
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dGeomSetCollideBits(shape->id, mask);
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}
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void lovrShapeComputeMass(Shape* shape, float density, float* cx, float* cy, float* cz, float* mass, float inertia[9]) {
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dMass m;
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dMassSetZero(&m);
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switch (shape->type) {
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case SHAPE_SPHERE: {
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dMassSetSphere(&m, density, dGeomSphereGetRadius(shape->id));
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break;
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}
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case SHAPE_BOX: {
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dReal lengths[3];
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dGeomBoxGetLengths(shape->id, lengths);
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dMassSetBox(&m, density, lengths[0], lengths[1], lengths[2]);
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break;
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}
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case SHAPE_CAPSULE: {
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dReal radius, length;
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dGeomCapsuleGetParams(shape->id, &radius, &length);
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dMassSetCapsule(&m, density, 3, radius, length);
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break;
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}
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case SHAPE_CYLINDER: {
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dReal radius, length;
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dGeomCylinderGetParams(shape->id, &radius, &length);
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dMassSetCylinder(&m, density, 3, radius, length);
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break;
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}
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}
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const dReal* position = dGeomGetOffsetPosition(shape->id);
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dMassTranslate(&m, position[0], position[1], position[2]);
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const dReal* rotation = dGeomGetOffsetRotation(shape->id);
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dMassRotate(&m, rotation);
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*cx = m.c[0];
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*cy = m.c[1];
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*cz = m.c[2];
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*mass = m.mass;
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inertia[0] = m.I[0];
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inertia[1] = m.I[4];
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inertia[2] = m.I[8];
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inertia[3] = m.I[1];
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inertia[4] = m.I[5];
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inertia[5] = m.I[9];
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inertia[6] = m.I[2];
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inertia[7] = m.I[6];
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inertia[8] = m.I[10];
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}
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SphereShape* lovrSphereShapeCreate(float radius) {
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SphereShape* sphere = lovrAlloc(sizeof(SphereShape), lovrShapeDestroy);
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if (!sphere) return NULL;
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sphere->type = SHAPE_SPHERE;
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sphere->id = dCreateSphere(0, radius);
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return sphere;
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}
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float lovrSphereShapeGetRadius(SphereShape* sphere) {
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return dGeomSphereGetRadius(sphere->id);
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}
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void lovrSphereShapeSetRadius(SphereShape* sphere, float radius) {
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dGeomSphereSetRadius(sphere->id, radius);
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}
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BoxShape* lovrBoxShapeCreate(float x, float y, float z) {
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BoxShape* box = lovrAlloc(sizeof(BoxShape), lovrShapeDestroy);
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if (!box) return NULL;
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box->type = SHAPE_BOX;
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box->id = dCreateBox(0, x, y, z);
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return box;
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}
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void lovrBoxShapeGetDimensions(BoxShape* box, float* x, float* y, float* z) {
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float dimensions[3];
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dGeomBoxGetLengths(box->id, dimensions);
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*x = dimensions[0];
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*y = dimensions[1];
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*z = dimensions[2];
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}
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void lovrBoxShapeSetDimensions(BoxShape* box, float x, float y, float z) {
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dGeomBoxSetLengths(box->id, x, y, z);
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}
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CapsuleShape* lovrCapsuleShapeCreate(float radius, float length) {
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CapsuleShape* capsule = lovrAlloc(sizeof(CapsuleShape), lovrShapeDestroy);
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if (!capsule) return NULL;
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capsule->type = SHAPE_CAPSULE;
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capsule->id = dCreateCapsule(0, radius, length);
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return capsule;
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}
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float lovrCapsuleShapeGetRadius(CapsuleShape* capsule) {
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float radius, length;
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dGeomCapsuleGetParams(capsule->id, &radius, &length);
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return radius;
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}
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void lovrCapsuleShapeSetRadius(CapsuleShape* capsule, float radius) {
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dGeomCapsuleSetParams(capsule->id, radius, lovrCapsuleShapeGetLength(capsule));
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}
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float lovrCapsuleShapeGetLength(CapsuleShape* capsule) {
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float radius, length;
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dGeomCapsuleGetParams(capsule->id, &radius, &length);
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return length;
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}
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void lovrCapsuleShapeSetLength(CapsuleShape* capsule, float length) {
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dGeomCapsuleSetParams(capsule->id, lovrCapsuleShapeGetRadius(capsule), length);
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}
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CylinderShape* lovrCylinderShapeCreate(float radius, float length) {
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CylinderShape* cylinder = lovrAlloc(sizeof(CylinderShape), lovrShapeDestroy);
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if (!cylinder) return NULL;
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cylinder->type = SHAPE_CYLINDER;
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cylinder->id = dCreateCylinder(0, radius, length);
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return cylinder;
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}
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float lovrCylinderShapeGetRadius(CylinderShape* cylinder) {
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float radius, length;
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dGeomCylinderGetParams(cylinder->id, &radius, &length);
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return radius;
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}
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void lovrCylinderShapeSetRadius(CylinderShape* cylinder, float radius) {
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dGeomCylinderSetParams(cylinder->id, radius, lovrCylinderShapeGetLength(cylinder));
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}
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float lovrCylinderShapeGetLength(CylinderShape* cylinder) {
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float radius, length;
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dGeomCylinderGetParams(cylinder->id, &radius, &length);
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return length;
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}
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void lovrCylinderShapeSetLength(CylinderShape* cylinder, float length) {
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dGeomCylinderSetParams(cylinder->id, lovrCylinderShapeGetRadius(cylinder), length);
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}
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