Various progress for 1klutz

Added convext shape casts, still a little broken, but it might be
just broken bullet side.

1 files changed, 236 insertions, 185 deletions

diff --git a/src/shared/lua_api/phys/bghostobject.cpp b/src/shared/lua_api/phys/bghostobject.cpp
index 8174b21..63f790c 100644
--- a/src/shared/lua_api/phys/bghostobject.cpp
+++ b/src/shared/lua_api/phys/bghostobject.cpp
@@ -1,185 +1,236 @@
-#include <stdio.h>
-#include <stdlib.h>
-#include <list>
-extern "C" {
-  #include <lua.h>
-  #include <lauxlib.h>
-  #include <lualib.h>
-}
-#include <btBulletDynamicsCommon.h>
-#include "bghostobject.hpp"
-#include <shared/lua_api/common.hpp>
-
-extern btDiscreteDynamicsWorld* World;
-extern std::list<btCollisionObject*> Objects;
-//extern std::list<btGhostObject*> Ghosts;
-
-/*
-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_btGhostObject :: ({v3 size}, {v3 origin})
-void makeghostobject(lua_State* L){
-	double px,py,pz; //position
-	double sx,sy,sz; //size
-	
-	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);
-    
-	// Create the shape
-	btCollisionShape* shape = new btBoxShape(vshape);
-	if(!shape){
-		//printf("no shape\n");
-	}
-
-	// Add mass
-	btVector3 localinertia = btVector3(0,0,0);
-	shape->calculateLocalInertia(1, localinertia);
-
-	//cinfo.m_friction = 0;
-	btGhostObject *ghost = new btGhostObject();
-	ghost->setCollisionShape(shape);
-	ghost->setWorldTransform(transform);
-	//ghost->setCollisionFlags(
-			//btCollisionObject::CollisionFlags::CF_NO_CONTACT_RESPONSE | 
-			//btCollisionObject::CollisionFlags::CF_KINEMATIC_OBJECT
-			//);
-	World->addCollisionObject(ghost, btBroadphaseProxy::SensorTrigger, btBroadphaseProxy::AllFilter & ~btBroadphaseProxy::SensorTrigger);
-    
-	//printf("Added rigid body to world: %p\n",World);
-	//Objects.push_back(ghost);
-
-	lua_pushlightuserdata(L,ghost);//ud_ghost
-}
-
-// phys.newghostobject(vector3 size, vector3 origin)
-int newghostobject(lua_State* L){
-	//printf("Createing bphysbox!\n");
-	//Create it's lua representation
-	makeghostobject(L);//ud_btGhostObject
-	btGhostObject* ghost = (btGhostObject*)lua_touserdata(L,-1);
-	lua_pop(L,1);
-	lua_newtable(L);//{}
-	lua_pushlightuserdata(L,ghost);//ud_btGhostObject
-	lua_setfield(L,-2,"collider");//{}
-
-	//Set it's metatable
-	luaL_getmetatable(L, "phys.ghost");//{},{phys.ghost}
-	lua_setmetatable(L, -2);//{}
-
-  	return 1;
-}
-
-//{phys.physbox}:delete()
-static int delbghostobject(lua_State* L){//self
-	//printf("Attempting to delete physbox\n");
-	lua_getfield(L,-1,"collider");//self,ud_rigidbody
-	btGhostObject* r = (btGhostObject*)lua_touserdata(L,-1);//self,ud_rigidbody
-	delete r->getCollisionShape();
-	delete r;
-
-	return 0;
-}
-
-// physbox:setpos({v3 pos})
-static int bghostsetpos(lua_State *L){//self,{v3 pos}
-	double nx,ny,nz;
-	popvector3d(L,&nx,&ny,&nz);//self
-
-	lua_getfield(L,-1,"collider");//self,ud_ghost
-	btGhostObject *ghost = (btGhostObject*)lua_touserdata(L,-1);//self
-	btTransform bt = ghost->getWorldTransform();
-
-	btVector3 to = btVector3(nx,ny,nz);
-	bt.setOrigin(to);
-	ghost->setWorldTransform(bt);
-	ghost->activate();
-
-	lua_pop(L,1);//
-	return 0;
-}
-
-// {v3 pos} :: physbox:getpos()
-static int bghostgetpos(lua_State *L){//self
-	//printf("Physics box set pos called\n");
-	lua_getfield(L,-1,"collider");//self,ud_ghost
-	btGhostObject* i = (btGhostObject*)lua_touserdata(L,-1);//self,ud_ghost
-	btTransform bt = i->getWorldTransform();
-	btVector3 bv = bt.getOrigin();
-	lua_pop(L,2);//
-	pushvector3d(L,bv.x(),bv.y(),bv.z());//{}
-
-	return 1;
-}
-
-//ghost:getoverlapping()
-int bghostoverlapping(lua_State *L){
-	lua_getfield(L,-1,"collider");//{ghost}
-	btGhostObject *ghost = (btGhostObject*)lua_touserdata(L,-1);//{ghost},ud_ghost
-	lua_pop(L,2);//
-	lua_newtable(L);//{}
-	btAlignedObjectArray<btCollisionObject *> ob = ghost->getOverlappingPairs();
-	printf("Getting %d overlapping object\n",ob.size());
-	for(int i = 0; i < ob.size(); i++){
-		printf("Looking at object %d\n",i);
-		btCollisionObject *co = ob[i];
-		lua_getglobal(L,"phys");//{},{phys}
-		lua_getfield(L,-1,"colliders");//{},{phys},{phys.colliders}
-		lua_pushnumber(L,i+1);//}{},{phys},{phys.colliders},i
-		lua_pushlightuserdata(L,co);//{},{phys},{phys.colliders},i,ud_co
-		lua_gettable(L,-3);//{},{phys},{phys.colliders},i,{collider=ud_co}
-		if(lua_isnil(L,-1)){
-			printf("Failed to find object of collider %p\n", (void*)co);
-			lua_pushstring(L,"Failed to find collider we are overlapping");
-			lua_error(L);
-		}
-		lua_settable(L,-5);//{i={collider=co}},{phys},{phys.colliders}
-		lua_pop(L,2);//{i={...}}
-	}
-	printf("Finished adding %d overlapping objects to array...\n",(int)lua_objlen(L,-1));
-	return 1;
-}
-
-static const luaL_reg bghost_m[] = {
-  {"getpos",               bghostgetpos},
-  {"setpos",               bghostsetpos},
-  {"getoverlapping",       bghostoverlapping},
-  {"delete", 		   delbghostobject},
-  {0, 0},
-};
-
-void bghostobject_register(lua_State* L){//
-	//printf("Registered bphysbox\n");
-
-	luaL_newmetatable(L, "phys.ghost");//{phys.physbox}
-	lua_newtable(L);//{phys.physbox},{}
-	luaL_register(L,NULL,bghost_m);//{phys.physbox},{}
-	lua_setfield(L,-2,"__index");//{phys.physbox}
-
-	lua_pop(L,1);//
-
-	lua_getglobal(L,"phys");//{}
-	lua_pushcfunction(L,newghostobject);//{},newghostobject()
-	lua_setfield(L,-2,"newghostbox");//{}
-
-	lua_pop(L,1);
-}
+#include <stdio.h>

+#include <stdlib.h>

+#include <list>

+extern "C" {

+  #include <lua.h>

+  #include <lauxlib.h>

+  #include <lualib.h>

+}

+#include <btBulletDynamicsCommon.h>

+#include "bghostobject.hpp"

+#include <shared/lua_api/common.hpp>

+

+extern btDiscreteDynamicsWorld* World;

+extern std::list<btCollisionObject*> Objects;

+//extern std::list<btGhostObject*> Ghosts;

+

+/*

+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_btGhostObject :: ({v3 size}, {v3 origin})

+void makeghostobject(lua_State* L){

+	double px,py,pz; //position

+	double sx,sy,sz; //size

+	

+	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);

+    

+	// Create the shape

+	btCollisionShape* shape = new btBoxShape(vshape);

+	if(!shape){

+		//printf("no shape\n");

+	}

+

+	// Add mass

+	btVector3 localinertia = btVector3(0,0,0);

+	shape->calculateLocalInertia(1, localinertia);

+

+	//cinfo.m_friction = 0;

+	btGhostObject *ghost = new btGhostObject();

+	ghost->setCollisionShape(shape);

+	ghost->setWorldTransform(transform);

+	//ghost->setCollisionFlags(

+			//btCollisionObject::CollisionFlags::CF_NO_CONTACT_RESPONSE | 

+			//btCollisionObject::CollisionFlags::CF_KINEMATIC_OBJECT

+			//);

+	World->addCollisionObject(ghost, btBroadphaseProxy::SensorTrigger, btBroadphaseProxy::AllFilter & ~btBroadphaseProxy::SensorTrigger);

+    

+	//printf("Added rigid body to world: %p\n",World);

+	//Objects.push_back(ghost);

+

+	lua_pushlightuserdata(L,ghost);//ud_ghost

+}

+

+// phys.newghostbox(vector3 size, vector3 origin)

+int newghostobject(lua_State* L){

+	//printf("Createing bphysbox!\n");

+	//Create it's lua representation

+	makeghostobject(L);//ud_btGhostObject

+	btGhostObject* ghost = (btGhostObject*)lua_touserdata(L,-1);

+	lua_pop(L,1);

+	lua_newtable(L);//{}

+	lua_pushlightuserdata(L,ghost);//ud_btGhostObject

+	lua_setfield(L,-2,"collider");//{}

+

+	//Set it's metatable

+	luaL_getmetatable(L, "phys.ghost");//{},{phys.ghost}

+	lua_setmetatable(L, -2);//{}

+

+  	return 1;

+}

+

+//ghost:sweep(shape, v3 start, v3 end)

+int bghostconvexsweep(lua_State *L){

+	double sx,sy,sz,ex,ey,ez;

+	popvector3d(L,&ex,&ey,&ez);//self,shape,v3start

+	popvector3d(L,&sx,&sy,&sz);//self,shape

+	lua_getfield(L,-1,"shape");//self,shape,ud_shape

+	btBoxShape *cs = (btBoxShape*)lua_touserdata(L,-1);//self,shape,ud_shape

+	lua_pop(L,2);//self

+	lua_getfield(L,-1,"collider");

+	btGhostObject* r = (btGhostObject*)lua_touserdata(L,-1);//self,ud_rigidbody

+	lua_pop(L,2);//

+	//btCollisionShape *cs = r->getCollisionShape();

+	btTransform ft,tt;

+	ft = btTransform(btQuaternion(0,0,0),btVector3(sx,sy,sz));

+	tt = btTransform(btQuaternion(0,0,0),btVector3(ex,ey,ez));

+	btCollisionWorld::ClosestConvexResultCallback *cb = new btCollisionWorld::ClosestConvexResultCallback(ft.getOrigin(),tt.getOrigin());

+	r->convexSweepTest(cs,ft,tt,*cb,0.f);

+	btVector3 hw, hn;

+	hw = cb->m_hitPointWorld;

+	hn = cb->m_hitNormalWorld;

+	btCollisionObject *co = cb->m_hitCollisionObject;

+

+	lua_newtable(L);//{}

+	lua_pushboolean(L,cb->hasHit() ? 1 : 0);

+	lua_setfield(L,-2,"hit");

+	pushvector3d(L,hw.x(),hw.y(),hw.z());

+	lua_setfield(L,-2,"pos");

+	pushvector3d(L,hn.x(),hn.y(),hn.z());

+	lua_setfield(L,-2,"normal");

+	lua_getglobal(L,"phys");//{},{phys}

+	lua_getfield(L,-1,"colliders");//{},{phys},{phys.colliders}

+	lua_pushlightuserdata(L,co);//{},{phys},{phys.colliders},ud_collisionobject

+	lua_gettable(L,-2);//{},{phys},{phys.colliders},ud_collisionobject,{rb} or nil

+	lua_setfield(L,-5,"what");//{},{phys},{phys.colliders},ud_collisionobject

+	lua_pop(L,3);//{}

+

+	delete cb;

+	return 1;

+}

+

+//{phys.physbox}:delete()

+static int delbghostobject(lua_State* L){//self

+	//printf("Attempting to delete physbox\n");

+	lua_getfield(L,-1,"collider");//self,ud_rigidbody

+	btGhostObject* r = (btGhostObject*)lua_touserdata(L,-1);//self,ud_rigidbody

+	delete r->getCollisionShape();

+	delete r;

+

+	return 0;

+}

+

+// physbox:setpos({v3 pos})

+static int bghostsetpos(lua_State *L){//self,{v3 pos}

+	double nx,ny,nz;

+	popvector3d(L,&nx,&ny,&nz);//self

+

+	lua_getfield(L,-1,"collider");//self,ud_ghost

+	btGhostObject *ghost = (btGhostObject*)lua_touserdata(L,-1);//self

+	btTransform bt = ghost->getWorldTransform();

+

+	btVector3 to = btVector3(nx,ny,nz);

+	bt.setOrigin(to);

+	ghost->setWorldTransform(bt);

+	ghost->activate();

+

+	lua_pop(L,1);//

+	return 0;

+}

+

+// {v3 pos} :: physbox:getpos()

+static int bghostgetpos(lua_State *L){//self

+	//printf("Physics box set pos called\n");

+	lua_getfield(L,-1,"collider");//self,ud_ghost

+	btGhostObject* i = (btGhostObject*)lua_touserdata(L,-1);//self,ud_ghost

+	btTransform bt = i->getWorldTransform();

+	btVector3 bv = bt.getOrigin();

+	lua_pop(L,2);//

+	pushvector3d(L,bv.x(),bv.y(),bv.z());//{}

+

+	return 1;

+}

+

+//ghost:getoverlapping()

+int bghostoverlapping(lua_State *L){

+	lua_getfield(L,-1,"collider");//{ghost}

+	btGhostObject *ghost = (btGhostObject*)lua_touserdata(L,-1);//{ghost},ud_ghost

+	lua_pop(L,2);//

+	lua_newtable(L);//{}

+	btAlignedObjectArray<btCollisionObject *> ob = ghost->getOverlappingPairs();

+	//printf("Getting %d overlapping object\n",ob.size());

+	for(int i = 0; i < ob.size(); i++){

+		//printf("Looking at object %d\n",i);

+		btCollisionObject *co = ob[i];

+		lua_getglobal(L,"phys");//{},{phys}

+		lua_getfield(L,-1,"colliders");//{},{phys},{phys.colliders}

+		lua_pushnumber(L,i+1);//}{},{phys},{phys.colliders},i

+		lua_pushlightuserdata(L,co);//{},{phys},{phys.colliders},i,ud_co

+		lua_gettable(L,-3);//{},{phys},{phys.colliders},i,{collider=ud_co}

+		if(lua_isnil(L,-1)){

+			printf("Failed to find object of collider %p\n", (void*)co);

+			lua_pushstring(L,"Failed to find collider we are overlapping");

+			lua_error(L);

+		}

+		lua_settable(L,-5);//{i={collider=co}},{phys},{phys.colliders}

+		lua_pop(L,2);//{i={...}}

+	}

+	//printf("Finished adding %d overlapping objects to array...\n",(int)lua_objlen(L,-1));

+	return 1;

+}

+

+int bghostnumoverlapping(lua_State *L){

+	lua_getfield(L,-1,"collider");//{ghost}

+	btGhostObject *ghost = (btGhostObject*)lua_touserdata(L,-1);//{ghost},ud_ghost

+	lua_pop(L,2);//

+	btAlignedObjectArray<btCollisionObject *> ob = ghost->getOverlappingPairs();

+	lua_pushnumber(L,ob.size());

+	return 1;

+}

+

+static const luaL_reg bghost_m[] = {

+  {"getpos",               bghostgetpos},

+  {"setpos",               bghostsetpos},

+  {"getoverlapping",       bghostoverlapping},

+  {"getnumoverlapping",    bghostnumoverlapping},

+  {"shapecast",            bghostconvexsweep},

+  {"delete", 		   delbghostobject},

+  {0, 0},

+};

+

+void bghostobject_register(lua_State* L){//

+	//printf("Registered bphysbox\n");

+

+	luaL_newmetatable(L, "phys.ghost");//{phys.physbox}

+	lua_newtable(L);//{phys.physbox},{}

+	luaL_register(L,NULL,bghost_m);//{phys.physbox},{}

+	lua_setfield(L,-2,"__index");//{phys.physbox}

+

+	lua_pop(L,1);//

+

+	lua_getglobal(L,"phys");//{}

+	lua_pushcfunction(L,newghostobject);//{},newghostobject()

+	lua_setfield(L,-2,"newghostbox");//{}

+

+	lua_pop(L,1);

+}