Added Kinematic Character Controllers

1 files changed, 175 insertions, 0 deletions

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);
+}