Added Kinematic Character Controllers

12 files changed, 280 insertions, 23 deletions

diff --git a/src/client/lua_api/load_cphys.cpp b/src/client/lua_api/load_cphys.cpp
index b38b84d..ed81408 100644
--- a/src/client/lua_api/load_cphys.cpp
+++ b/src/client/lua_api/load_cphys.cpp
@@ -40,9 +40,7 @@ int raytest(lua_State *L){
 	return 1;
 }
 
-void load_physfuncs(lua_State* L){
-	lua_newtable(L);//{}
-	lua_setglobal(L,"phys");//
+void load_cphysfuncs(lua_State* L){
 	//phys things	
 	cbphysbox_register(L);
 	
diff --git a/src/client/lua_api/load_cphys.hpp b/src/client/lua_api/load_cphys.hpp
index 7ee07fe..5afd102 100644
--- a/src/client/lua_api/load_cphys.hpp
+++ b/src/client/lua_api/load_cphys.hpp
@@ -10,5 +10,5 @@ extern "C" {
 }
 #include <irrlicht.h>
 
-void load_physfuncs(lua_State* L);
+void load_cphysfuncs(lua_State* L);
 #endif
diff --git a/src/client/main.cpp b/src/client/main.cpp
index bc509c7..e8533d8 100644
--- a/src/client/main.cpp
+++ b/src/client/main.cpp
@@ -10,6 +10,7 @@ extern "C" {
 #include <chrono>
 
 #include <btBulletDynamicsCommon.h>
+#include <btBulletCollisionCommon.h>
 #include <cstdlib>
 
 #include "initdevice.hpp"
@@ -20,6 +21,7 @@ extern "C" {
 #include "lua_api/load_cphys.hpp"
 #include "lua_api/load_video.hpp"
 #include "lua_api/load_io.hpp"
+#include <shared/lua_api/load_phys.hpp>
 #include "callbackhandeler.hpp"
 
 #include <shared/lua_api/common.hpp>
@@ -49,6 +51,7 @@ void loadIrrLibs(lua_State* L, IrrlichtDevice* device){
 	printf("[OK]\n");
 	printf("Loading physfuncs...");
 	load_physfuncs(L);
+	load_cphysfuncs(L);
 	printf("[OK]\n");
 	printf("Loading videofuncs...");
 	load_videofuncs(L);
@@ -56,12 +59,18 @@ void loadIrrLibs(lua_State* L, IrrlichtDevice* device){
 	load_iofuncs(L);
 }
 
-void RemoveISceneNode(btRigidBody* rb){
+void dropRigidBody(btRigidBody* rb){
 	ISceneNode *Node = static_cast<ISceneNode*>(rb->getUserPointer());
 	if(Node)
 		Node->remove();
 }
 
+void dropChar(btKinematicCharacterController *a){
+	ISceneNode *node = (ISceneNode*)a->getGhostObject()->getUserPointer();
+	if(node)
+		node->remove();
+}
+
 // Converts a quaternion to an euler angle
 void QuaternionToEuler(const btQuaternion &TQuat, btVector3 &TEuler) {
 	btScalar W = TQuat.getW();
@@ -202,7 +211,8 @@ int main(int argc, char *argv[]){
 			lua_pop(state,2);
 		}
 	}
-	phys_shutdown(RemoveISceneNode);
+	//phys_shutdown(RemoveISceneNode);
+	phys_shutdown();
 
 	device->drop();
 	printf("Goodbye\n");
diff --git a/src/server/main.cpp b/src/server/main.cpp
index 9fb28c8..2464899 100644
--- a/src/server/main.cpp
+++ b/src/server/main.cpp
@@ -26,6 +26,12 @@ extern "C" {
 using namespace std;
 using namespace chrono;
 
+void dropRigidBody(btRigidBody* rb){
+}
+
+void dropChar(btKinematicCharacterController *a){
+}
+
 lua_State* L;
 void gameloop(){
 	gameloop_phys(NULL);
@@ -47,7 +53,7 @@ int main (){
 	luaL_openlibs(L);
 	loadLLibs(L);
 	loadNetLibs(L);
-	loadPhysLibs(L);
+	load_physfuncs(L);
 	int iErr = luaL_dofile(L,"../data/init.lua");
 	if(iErr != 0){
 		printf("Failed to open lua file:../data/init.lua\n");
@@ -70,7 +76,7 @@ int main (){
 		}
 		printf("End of server gameloop\n");
 	}while(true);
-	phys_shutdown(NULL);
+	phys_shutdown();
 
 	return 0;
 }
diff --git a/src/shared/lua_api/load_phys.cpp b/src/shared/lua_api/load_phys.cpp
index a846945..6875970 100644
--- a/src/shared/lua_api/load_phys.cpp
+++ b/src/shared/lua_api/load_phys.cpp
@@ -2,7 +2,7 @@
 #include "phys/bphysbox.hpp"
 #include "phys/bhingeconstraint.hpp"
 
-void loadPhysLibs(lua_State* L){
+void load_physfuncs(lua_State* L){
 	lua_newtable(L);//{}
 	lua_setglobal(L,"phys");
 	bphysbox_register(L);
diff --git a/src/shared/lua_api/load_phys.hpp b/src/shared/lua_api/load_phys.hpp
index 6f9e9a9..fefa86b 100644
--- a/src/shared/lua_api/load_phys.hpp
+++ b/src/shared/lua_api/load_phys.hpp
@@ -4,4 +4,4 @@ extern "C" {
   #include <lualib.h>
 }
 
-void loadPhysLibs(lua_State* L);
+void load_physfuncs(lua_State* L);
diff --git a/src/shared/lua_api/phys/bcharactercontroller.cpp b/src/shared/lua_api/phys/bcharactercontroller.cpp
new file mode 100644
index 0000000..8030846
--- /dev/null
+++ b/src/shared/lua_api/phys/bcharactercontroller.cpp
@@ -0,0 +1,175 @@
+
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <list>
+extern "C" {
+  #include <lua.h>
+  #include <lauxlib.h>
+  #include <lualib.h>
+}
+#include <btBulletDynamicsCommon.h>
+#include "bcharactercontroller.hpp"
+#include <shared/lua_api/common.hpp>
+
+extern btDiscreteDynamicsWorld* World;
+extern std::list<btRigidBody*> Objects;
+/*
+static LBPhysNode* checkisbphysbox(lua_State* L, int index){
+  void* ud = luaL_checkudata(L,index,"phys.physbox");
+  luaL_argcheck(L,ud != NULL, index, "'phys.physbox' expected");
+  return (LBPhysNode*) ud;
+}
+*/
+
+/*
+static LISceneNode* checkismesh(lua_State* L){
+  return checkismesh(L,1);
+}
+*/
+// ud_btRigidBody :: ({v3 size}, {v3 origin}, double mass)
+void makenewbphysbox(lua_State* L){
+	double px,py,pz; //position
+	double sx,sy,sz; //size
+	double mass;
+	
+	mass = lua_tonumber(L,-1);//{v3_size},{v3_origin},mass
+	lua_pop(L,1);//{v3_size},{v3_origin}
+	//printf("Got mass: %f\n",mass);
+	
+	popvector3d(L,&px,&py,&pz);//{v3_size}
+	//printf("Got position: (%f,%f,%f)\n",px,py,pz);
+	popvector3d(L,&sx,&sy,&sz);//
+
+	btVector3 vshape = btVector3(sx * 0.5f, sy * 0.5f, sz * 0.5f);
+	//printf("Got size: (%f,%f,%f)\n",sx,sy,sz);
+	btVector3 pos = btVector3(px,py,pz);
+
+	// Set the initial position of the object
+	btTransform transform = btTransform(btQuaternion(0,0,0,1),pos);
+	//transform.setIdentity();
+	//transform.setOrigin(pos);
+    
+	// Give it a default MotionState
+	btDefaultMotionState* motionstate = new btDefaultMotionState(transform);
+	if(!motionstate){
+		//printf("No motionstate\n");
+	}
+	// Create the shape
+	btCollisionShape* shape = new btBoxShape(vshape);
+	if(!shape){
+		//printf("no shape\n");
+	}
+
+	// Add mass
+	btVector3 localinertia = btVector3(0,0,0);
+	shape->calculateLocalInertia(mass, localinertia);
+
+	// Create the rigid body object
+	btRigidBody::btRigidBodyConstructionInfo cinfo = btRigidBody::btRigidBodyConstructionInfo(
+		mass,
+		motionstate,
+		shape,
+		localinertia
+	);
+	btKinematicCharacterController cc = btKinematicCharacterController(btPairCacheingGhostObject(), shape, 0.8, btVector3(0,1,0));
+	//cinfo.m_friction = 0;
+	//btRigidBody *rigidbody = new btRigidBody(cinfo);
+	if(!rigidbody){
+		//printf("No rigidbody\n");
+	}
+    
+	// Add it to the world
+	World->addVehicle(cc);
+	//printf("Added rigid body to world: %p\n",World);
+	Objects.push_back(cc);
+
+	lua_pushlightuserdata(L,rigidbody);//ud_rigidbody
+}
+
+// phys.newphysbox(vector3 size, vector3 origin, double mass)
+int newbphysbox(lua_State* L){
+	//printf("Createing bphysbox!\n");
+	//Create it's lua representation
+	makenewbphysbox(L);//ud_btRigidBody
+	btRigidBody* r = (btRigidBody*)lua_touserdata(L,-1);
+	lua_pop(L,1);
+	lua_newtable(L);//{}
+	lua_pushlightuserdata(L,r);//ud_btRigidBody
+	lua_setfield(L,-2,"rigidbody");//{}
+
+	//Set it's metatable
+	luaL_getmetatable(L, "phys.physbox");//{},{phys.physbox}
+	lua_setmetatable(L, -2);//{}
+
+  	return 1;
+}
+
+//{phys.physbox}:delete()
+static int delbphysbox(lua_State* L){//self
+	//printf("Attempting to delete physbox\n");
+	lua_getfield(L,-1,"rigidbody");//self,ud_rigidbody
+	btRigidBody* r = (btRigidBody*)lua_touserdata(L,-1);//self,ud_rigidbody
+	delete r->getCollisionShape();
+	delete r->getMotionState();
+	delete r;
+
+	return 0;
+}
+
+// physbox:setpos({v3 pos})
+static int bphyssetpos(lua_State *L){//self,{v3 pos}
+	double nx,ny,nz;
+	popvector3d(L,&nx,&ny,&nz);//self
+
+	lua_getfield(L,-1,"rigidbody");//self,ud_rigidbody
+	btRigidBody* i = (btRigidBody*)lua_touserdata(L,-1);//self
+	btMotionState* ms = i->getMotionState();
+	btTransform bt;
+	ms->getWorldTransform(bt);
+
+	btVector3 to = btVector3(nx,ny,nz);
+	bt.setOrigin(to);
+	ms->setWorldTransform(bt);
+	i->activate();
+
+	lua_pop(L,1);//
+	return 0;
+}
+
+// {v3 pos} :: physbox:getpos()
+static int bphysgetpos(lua_State *L){//self
+	//printf("Physics box set pos called\n");
+	lua_getfield(L,-1,"rigidbody");//self,ud_rigidbody
+	btRigidBody* i = (btRigidBody*)lua_touserdata(L,-1);//self,ud_rigidbody
+	btTransform bt = i->getWorldTransform();
+	btVector3 bv = bt.getOrigin();
+	lua_pop(L,2);//
+	pushvector3d(L,bv.x(),bv.y(),bv.z());//{}
+
+	return 1;
+}
+
+static const luaL_reg bphysbox_m[] = {
+  {"getpos",               bphysgetpos},
+  {"setpos",               bphyssetpos},
+  {"delete", 		   delbphysbox},
+  {0, 0},
+};
+
+void bphysbox_register(lua_State* L){//
+	//printf("Registered bphysbox\n");
+
+	luaL_newmetatable(L, "phys.physbox");//{phys.physbox}
+	lua_newtable(L);//{phys.physbox},{}
+	luaL_register(L,NULL,bphysbox_m);//{phys.physbox},{}
+	lua_setfield(L,-2,"__index");//{phys.physbox}
+
+	lua_pop(L,1);//
+
+	lua_getglobal(L,"phys");//{}
+	lua_pushcfunction(L,newbphysbox);//{},newbphysbox()
+	lua_setfield(L,-2,"newphysbox");//{}
+
+	lua_pop(L,1);
+}
diff --git a/src/shared/lua_api/phys/bcharactercontroller.hpp b/src/shared/lua_api/phys/bcharactercontroller.hpp
new file mode 100644
index 0000000..10d71df
--- /dev/null
+++ b/src/shared/lua_api/phys/bcharactercontroller.hpp
@@ -0,0 +1,10 @@
+#include <stdio.h>
+#include <stdlib.h>
+extern "C" {
+  #include <lua.h>
+  #include <lauxlib.h>
+  #include <lualib.h>
+}
+#include <irrlicht.h>
+
+void bcharactercontroller_register(lua_State* L);
diff --git a/src/shared/lua_api/phys/bhingeconstraint.cpp b/src/shared/lua_api/phys/bhingeconstraint.cpp
index 168d1b6..ab6fb50 100644
--- a/src/shared/lua_api/phys/bhingeconstraint.cpp
+++ b/src/shared/lua_api/phys/bhingeconstraint.cpp
@@ -7,6 +7,7 @@ extern "C" {
   #include <lauxlib.h>
   #include <lualib.h>
 }
+#include <shared/lua_api/common.hpp>
 #include <Irrlicht.h>
 #include <btBulletDynamicsCommon.h>
 #include <shared/lua_api/phys/bhingeconstraint.hpp>
@@ -19,7 +20,23 @@ using namespace video;
 extern btDiscreteDynamicsWorld* World;
 extern std::list<btRigidBody*> Objects;
 
+//newhingeconstraint(phys1,v3 axis, refrencephys1)
 int newbhingeconstraint(lua_State *L){
+	bool phys1 = lua_toboolean(L,-1) == 1;
+	lua_pop(L,1);
+
+	double x,y,z;
+	popvector3d(L,&x,&y,&z);
+
+	lua_getfield(L,-1,"rigidbody");
+	btRigidBody *p1 = (btRigidBody*)lua_touserdata(L,-1);
+	btTransform frame = p1->getCenterOfMassTransform();
+	frame.setRotation(btQuaternion(x,y,z,0));
+	lua_pop(L,2);
+
+	btHingeConstraint(*p1,frame,phys1);
+	printf("Done makeing new hinge constraint\n");
+
 	return 0;
 }
 
diff --git a/src/shared/lua_api/phys/bphysgeneric.cpp b/src/shared/lua_api/phys/bphysgeneric.cpp
index e8ef2b5..44c789d 100644
--- a/src/shared/lua_api/phys/bphysgeneric.cpp
+++ b/src/shared/lua_api/phys/bphysgeneric.cpp
@@ -106,6 +106,22 @@ int getlineardamping(lua_State *L){
 }
 
 /***
+Sets the angular factor of the rigidbody
+TODO:What does this actually do?
+@function rigidbody:setangfactor(vec3 dir)
+@tparam vector3 dir The direction to set the angular factor
+*/
+int setangfactor(lua_State *L){
+	double x,y,z;
+	popvector3d(L,&x,&y,&z);
+	lua_getfield(L,-1,"rigidbody");
+	btRigidBody *r = (btRigidBody*)lua_touserdata(L,-1);
+	lua_pop(L,2);
+	r->setAngularFactor(btVector3(x,y,z));
+	return 0;
+}
+
+/***
 Gets the angular damping applied to this rigidbody
 @function rigidbody:getadamping()
 @treturn number damping The ammount of damping applied to angular momentum
@@ -208,5 +224,6 @@ extern const luaL_reg brigidbody_m[] = {
 	{"activate",         activate},
 	{"getvelocity",      getvelocity},
 	{"setvelocity",      setvelocity},
+	{"setangfactor",     setangfactor},
 	{NULL, NULL}
 };
diff --git a/src/shared/phys/physcommon.cpp b/src/shared/phys/physcommon.cpp
index 11f18c9..783f282 100644
--- a/src/shared/phys/physcommon.cpp
+++ b/src/shared/phys/physcommon.cpp
@@ -10,22 +10,43 @@ using namespace std::chrono;
 
 btDiscreteDynamicsWorld* World;
 std::list<btRigidBody*> Objects;
+std::list<btKinematicCharacterController*> Chars;
+
+extern void dropRigidBody(btRigidBody* b);
+extern void dropChar(btKinematicCharacterController* a);
 
 // Removes all objects from the world
-void ClearObjects(btDiscreteDynamicsWorld* wr, std::list<btRigidBody*> objs, void(*f)(btRigidBody*)) {
+//void ClearObjects(btDiscreteDynamicsWorld* wr, std::list<btRigidBody*> objs, void(*f)(btRigidBody*)) {
 
-	for(std::list<btRigidBody *>::iterator Iterator = objs.begin(); Iterator != objs.end(); ++Iterator) {
-		btRigidBody *Object = *Iterator;
+	//for(std::list<btRigidBody *>::iterator Iterator = objs.begin(); Iterator != objs.end(); ++Iterator) {
+		//btRigidBody *Object = *Iterator;
 
-		if(f){
-			(*f)(Object);
-		}
+		//if(f){
+			//(*f)(Object);
+		//}
+
+		//// Remove the object from the world
+		//wr->removeRigidBody(Object);
+		//delete Object;
+	//}
+	//objs.clear();
+//}
+void ClearObjects(){
+	for(std::list<btRigidBody *>::iterator itr = Objects.begin(); itr != Objects.end(); ++itr){
+		dropRigidBody(*itr);
+		World->removeRigidBody(*itr);
+		delete *itr;
+	}
+	Objects.clear();
+}
 
-		// Remove the object from the world
-		wr->removeRigidBody(Object);
-		delete Object;
+void ClearChars(){
+	for(std::list<btKinematicCharacterController *>::iterator itr = Chars.begin(); itr != Chars.end(); ++itr){
+		dropChar(*itr);
+		World->removeVehicle(*itr);
+		delete *itr;
 	}
-	objs.clear();
+	Chars.clear();
 }
 
 btBroadphaseInterface* BroadPhase;
@@ -48,8 +69,9 @@ void phys_genesis(){
 	//printf("Created physics world: %p\n",World);
 }
 
-void phys_shutdown(void(*f)(btRigidBody*)){
-	ClearObjects(World,Objects,f);
+void phys_shutdown(){
+	ClearObjects();
+	ClearChars();
 	printf("cleared objects\n");
 	delete BroadPhase;
 	printf("deleted broadphase\n");
diff --git a/src/shared/phys/physcommon.hpp b/src/shared/phys/physcommon.hpp
index 00061ec..dd5fe14 100644
--- a/src/shared/phys/physcommon.hpp
+++ b/src/shared/phys/physcommon.hpp
@@ -1,5 +1,7 @@
 #ifndef _shared_physcommon_
+#include <BulletDynamics/Character/btKinematicCharacterController.h>
+#include <BulletCollision/CollisionDispatch/btGhostObject.h>
 void gameloop_phys(void(*f)(btRigidBody*));
 void phys_genesis();
-void phys_shutdown(void(*f)(btRigidBody*));
+void phys_shutdown();
 #endif