updates

10 files changed, 520 insertions, 193 deletions

diff --git a/src/shared/lua_api/phys/bcharactercontroller.cpp b/src/shared/lua_api/phys/bcharactercontroller.cpp
index 8030846..0f3096c 100644
--- a/src/shared/lua_api/phys/bcharactercontroller.cpp
+++ b/src/shared/lua_api/phys/bcharactercontroller.cpp
@@ -9,11 +9,14 @@ extern "C" {
   #include <lualib.h>
 }
 #include <btBulletDynamicsCommon.h>
+#include <BulletDynamics/Character/btKinematicCharacterController.h>
+#include <BulletCollision/CollisionDispatch/btGhostObject.h>
 #include "bcharactercontroller.hpp"
 #include <shared/lua_api/common.hpp>
 
 extern btDiscreteDynamicsWorld* World;
 extern std::list<btRigidBody*> Objects;
+extern std::list<btKinematicCharacterController*> Chars;
 /*
 static LBPhysNode* checkisbphysbox(lua_State* L, int index){
   void* ud = luaL_checkudata(L,index,"phys.physbox");
@@ -27,14 +30,16 @@ static LISceneNode* checkismesh(lua_State* L){
   return checkismesh(L,1);
 }
 */
-// ud_btRigidBody :: ({v3 size}, {v3 origin}, double mass)
-void makenewbphysbox(lua_State* L){
+// ud_character :: ({v3 size}, {v3 origin})
+void makenewbcharactercontroller(lua_State* L){
+	lua_pushstring(L,"Character controller is totally fucking broken for now\n");
+	lua_error(L);
 	double px,py,pz; //position
 	double sx,sy,sz; //size
-	double mass;
+	//double mass;
 	
-	mass = lua_tonumber(L,-1);//{v3_size},{v3_origin},mass
-	lua_pop(L,1);//{v3_size},{v3_origin}
+	//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}
@@ -44,132 +49,100 @@ void makenewbphysbox(lua_State* L){
 	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");
-	}
+	btConvexShape* cshape = new btBoxShape(vshape);
+
+
 
 	// Add mass
-	btVector3 localinertia = btVector3(0,0,0);
-	shape->calculateLocalInertia(mass, localinertia);
+	//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));
+	//btRigidBody::btRigidBodyConstructionInfo cinfo = btRigidBody::btRigidBodyConstructionInfo(
+		//mass,
+		//motionstate,
+		//shape,
+		//localinertia
+	//);
+	btPairCachingGhostObject *ghost = new btPairCachingGhostObject();
+	ghost->setWorldTransform(transform);
+	ghost->setCollisionShape(cshape);
+	ghost->setCollisionFlags(btCollisionObject::CF_CHARACTER_OBJECT);
+	btKinematicCharacterController *cc = new btKinematicCharacterController(ghost, cshape, 1, 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);
+	World->addAction(cc);
+	//World->addVehicle(cc);
 	//printf("Added rigid body to world: %p\n",World);
-	Objects.push_back(cc);
+	Chars.push_back(cc);
 
-	lua_pushlightuserdata(L,rigidbody);//ud_rigidbody
+	lua_pushlightuserdata(L,cc);//ud_cc
 }
 
 // phys.newphysbox(vector3 size, vector3 origin, double mass)
-int newbphysbox(lua_State* L){
+int newbcharactercontroller(lua_State* L){
 	//printf("Createing bphysbox!\n");
 	//Create it's lua representation
-	makenewbphysbox(L);//ud_btRigidBody
-	btRigidBody* r = (btRigidBody*)lua_touserdata(L,-1);
+	makenewbcharactercontroller(L);//ud_cc
+	btKinematicCharacterController* r = (btKinematicCharacterController*)lua_touserdata(L,-1);
 	lua_pop(L,1);
 	lua_newtable(L);//{}
-	lua_pushlightuserdata(L,r);//ud_btRigidBody
-	lua_setfield(L,-2,"rigidbody");//{}
+	lua_pushlightuserdata(L,r);//ud_cc
+	lua_setfield(L,-2,"character");//{}
 
 	//Set it's metatable
-	luaL_getmetatable(L, "phys.physbox");//{},{phys.physbox}
+	luaL_getmetatable(L, "phys.charactercontroller");//{},{phys.charactercontroller}
 	lua_setmetatable(L, -2);//{}
 
   	return 1;
 }
 
 //{phys.physbox}:delete()
-static int delbphysbox(lua_State* L){//self
+static int delbcharactercontroller(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();
+	lua_getfield(L,-1,"character");//self,ud_rigidbody
+	btKinematicCharacterController* r = (btKinematicCharacterController*)lua_touserdata(L,-1);//self,ud_rigidbody
+	lua_pop(L,2);
+	delete r->getGhostObject();
 	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);//
+//{char},{v3_dir} ::
+int bcharsetwalkdirection(lua_State *L){
+	double x,y,z;
+	popvector3d(L,&x,&y,&z);//{char}
+	lua_getfield(L,-1,"character");//{char},ud_cc
+	btKinematicCharacterController* cc = (btKinematicCharacterController*)lua_touserdata(L,-1);
+	lua_pop(L,2);
+	cc->setWalkDirection(btVector3(x,y,z));
 	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},
+static const luaL_reg bcharactercontroller_m[] = {
+	{"setwalkdir",          bcharsetwalkdirection},
+	{"remove",              delbcharactercontroller},
+	{0, 0},
 };
 
-void bphysbox_register(lua_State* L){//
+void bcharactercontroller_register(lua_State* L){//
 	//printf("Registered bphysbox\n");
 
-	luaL_newmetatable(L, "phys.physbox");//{phys.physbox}
+	luaL_newmetatable(L, "phys.charactercontroller");//{phys.physbox}
 	lua_newtable(L);//{phys.physbox},{}
-	luaL_register(L,NULL,bphysbox_m);//{phys.physbox},{}
+	luaL_register(L,NULL,bcharactercontroller_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_pushcfunction(L,newbcharactercontroller);//{},newbcharactercontroller()
+	lua_setfield(L,-2,"newcharactercontroller");//{}
 
 	lua_pop(L,1);
 }
diff --git a/src/shared/lua_api/phys/bcharactercontroller.hpp b/src/shared/lua_api/phys/bcharactercontroller.hpp
index 10d71df..d6048a5 100644
--- a/src/shared/lua_api/phys/bcharactercontroller.hpp
+++ b/src/shared/lua_api/phys/bcharactercontroller.hpp
@@ -8,3 +8,4 @@ extern "C" {
 #include <irrlicht.h>
 
 void bcharactercontroller_register(lua_State* L);
+void makenewbcharactercontroller(lua_State* L);
diff --git a/src/shared/lua_api/phys/bcollider.cpp b/src/shared/lua_api/phys/bcollider.cpp
new file mode 100644
index 0000000..356c504
--- /dev/null
+++ b/src/shared/lua_api/phys/bcollider.cpp
@@ -0,0 +1,44 @@
+extern "C" {
+  #include <lua.h>
+  #include <lauxlib.h>
+  #include <lualib.h>
+}
+#include <btBulletDynamicsCommon.h>
+#include <shared/lua_api/common.hpp>
+#include "bcollider.hpp"
+
+
+/*Collider things from lua have the form of:
+{
+	type = "ghost" | "multi" | "rigidbody" | "softbody"
+	collider = ud_btCollisionObject,
+	node = ud_ISceneNode, --Optional, on client
+}
+*/
+btCollisionObject* popCollider(lua_State *L){
+	lua_getfield(L,-1,"collider");
+	btCollisionObject *r = (btCollisionObject*)lua_touserdata(L,-1);
+	lua_pop(L,2);
+	return r;
+}
+
+/***
+Activates this object.
+If this object was sleeping, it will move again. If you are using
+applyforce or setvelocity, you will need to activate() the rigidbody for it
+to move.
+@function collider:activate()
+*/
+//collider:activate()
+int activate(lua_State *L){
+	btCollisionObject *r = popCollider(L);
+
+	r->activate();
+
+	return 0;
+}
+
+extern const luaL_reg bcollider_m[] = {
+	{"activate",         activate},
+	{NULL, NULL}
+};
diff --git a/src/shared/lua_api/phys/bcollider.hpp b/src/shared/lua_api/phys/bcollider.hpp
new file mode 100644
index 0000000..3882df6
--- /dev/null
+++ b/src/shared/lua_api/phys/bcollider.hpp
@@ -0,0 +1,7 @@
+extern "C" {
+  #include <lua.h>
+  #include <lauxlib.h>
+  #include <lualib.h>
+}
+
+extern const luaL_reg bcollider_m[];
diff --git a/src/shared/lua_api/phys/bghostobject.cpp b/src/shared/lua_api/phys/bghostobject.cpp
new file mode 100644
index 0000000..da9406d
--- /dev/null
+++ b/src/shared/lua_api/phys/bghostobject.cpp
@@ -0,0 +1,185 @@
+#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 collider, failing...\n");
+			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);
+}
diff --git a/src/shared/lua_api/phys/bghostobject.hpp b/src/shared/lua_api/phys/bghostobject.hpp
new file mode 100644
index 0000000..5c96f7e
--- /dev/null
+++ b/src/shared/lua_api/phys/bghostobject.hpp
@@ -0,0 +1,13 @@
+
+#include <stdio.h>
+#include <stdlib.h>
+extern "C" {
+  #include <lua.h>
+  #include <lauxlib.h>
+  #include <lualib.h>
+}
+#include <irrlicht.h>
+#include <BulletCollision/CollisionDispatch/btGhostObject.h>
+
+void bghostobject_register(lua_State* L);
+void makeghostobject(lua_State* L);
diff --git a/src/shared/lua_api/phys/bphysbox.cpp b/src/shared/lua_api/phys/bphysbox.cpp
index 94b025e..a0ad15a 100644
--- a/src/shared/lua_api/phys/bphysbox.cpp
+++ b/src/shared/lua_api/phys/bphysbox.cpp
@@ -94,7 +94,15 @@ int newbphysbox(lua_State* L){
 	lua_pop(L,1);
 	lua_newtable(L);//{}
 	lua_pushlightuserdata(L,r);//ud_btRigidBody
-	lua_setfield(L,-2,"rigidbody");//{}
+	lua_setfield(L,-2,"collider");//{}
+
+	//Add it to the global list of colliders
+	lua_getglobal(L,"phys");//{rb},{phys}
+	lua_getfield(L,-1,"colliders");//{rb},{phys},{phys.colliders}
+	lua_pushlightuserdata(L,r);//{rb},{phys},{phys.colliders},ud_collider
+	lua_pushvalue(L,-4);//{rb},{phys},{phys.colliders},ud_collider,{rb}
+	lua_settable(L,-3);//{rb},{phys},{phys.colliders}
+	lua_pop(L,2);//{rb}
 
 	//Set it's metatable
 	luaL_getmetatable(L, "phys.physbox");//{},{phys.physbox}
diff --git a/src/shared/lua_api/phys/bphysgeneric.cpp b/src/shared/lua_api/phys/bphysgeneric.cpp
index 5faef2d..56320dd 100644
--- a/src/shared/lua_api/phys/bphysgeneric.cpp
+++ b/src/shared/lua_api/phys/bphysgeneric.cpp
@@ -6,6 +6,7 @@ extern "C" {
 }
 #include <btBulletDynamicsCommon.h>
 #include <shared/lua_api/common.hpp>
+#include <shared/phys/physcommon.hpp>
 
 /***
 @module phys
@@ -14,14 +15,34 @@ extern "C" {
 
 /*Physics things from lua have the form of:
 {
-	rigidbody = btRigidBody,
-	node = ISceneNode,
+	type = "rigidbody"
+	collider = btRigidBody,
+	node = ISceneNode, --optional, on client
 }
 */
 btRigidBody* popRigidBody(lua_State *L){
-	lua_getfield(L,-1,"rigidbody");
+	lua_getfield(L,-1,"type");//{rigidbody},"rigidbody"
+	if(lua_isnil(L,-1)){
+		printf("Could not get type\n");
+		lua_pushstring(L,"Tried to call a rigidbody method with something that did not have a \"type\"");
+		lua_error(L);
+	}
+	const char *s = lua_tostring(L,-1);
+	if(strcmp(s,"rigidbody") != 0){
+		printf("Tried to pop rigidbody when it was not a rigidbody!\n");
+		lua_pushstring(L,"Tried to call a rigidbody method on a ");
+		lua_pushstring(L,s);
+		lua_concat(L,2);
+		lua_error(L);
+	}
+	lua_getfield(L,-2,"collider");//{rigidbody},"rigidbody",ud_rigidbody
+	if(lua_isnil(L,-1)){
+		printf("Failed to get a \"collider\" field\n");
+		lua_pushstring(L,"Rigid body object was not set up correctly\n");
+		lua_error(L);
+	}
 	btRigidBody *r = (btRigidBody*)lua_touserdata(L,-1);
-	lua_pop(L,2);
+	lua_pop(L,3);
 	return r;
 }
 /***
@@ -34,12 +55,8 @@ int setgravity(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);
-
+	btRigidBody *r = popRigidBody(L);
 	btVector3 v = btVector3(x,y,z);
-
 	r->setGravity(v);
 
 	return 0;
@@ -52,9 +69,7 @@ Gets the direction of gravity on this object.
 */
 //rigidbody:getgravity()
 int getgravity(lua_State *L){
-	lua_getfield(L,-1,"rigidbody");//{rigidbody},ud_rigidbody
-	btRigidBody *r = (btRigidBody*)lua_touserdata(L,-1);
-	lua_pop(L,2);//
+	btRigidBody *r = popRigidBody(L);
 
 	btVector3 v = r->getGravity();
 	pushvector3d(L,v.x(),v.y(),v.z());
@@ -81,9 +96,7 @@ int applyforce(lua_State *L){
 	double x,y,z;
 	popvector3d(L,&x,&y,&z);//{phys}
 
-	lua_getfield(L,-1,"rigidbody");
-	btRigidBody *r = (btRigidBody*)lua_touserdata(L,-1);
-	lua_pop(L,2);
+	btRigidBody *r = popRigidBody(L);
 
 	btVector3 v = btVector3(x,y,z);
 	btVector3 o = btVector3(rx,ry,rz);
@@ -100,9 +113,7 @@ Gets the damping applied to this rigidbody
 */
 //rigidbody:getldamping()
 int getlineardamping(lua_State *L){
-	lua_getfield(L,-1,"rigidbody");
-	btRigidBody *r = (btRigidBody*)lua_touserdata(L,-1);
-	lua_pop(L,2);
+	btRigidBody *r = popRigidBody(L);
 
 	double damp = r->getLinearDamping();
 	lua_pushnumber(L,damp);
@@ -119,9 +130,7 @@ TODO:What does this actually do?
 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);
+	btRigidBody *r = popRigidBody(L);
 	r->setAngularFactor(btVector3(x,y,z));
 	return 0;
 }
@@ -133,9 +142,7 @@ Gets the angular damping applied to this rigidbody
 */
 //rigidbody:getadamping()
 int getangulardamping(lua_State *L){
-	lua_getfield(L,-1,"rigidbody");
-	btRigidBody *r = (btRigidBody*)lua_touserdata(L,-1);
-	lua_pop(L,2);
+	btRigidBody *r = popRigidBody(L);
 
 	double damp = r->getAngularDamping();
 	lua_pushnumber(L,damp);
@@ -151,8 +158,7 @@ Gets the velocity of this object
 //rigidbody:getvelocity()
 int getvelocity(lua_State *L){
 	btVector3 vel;
-	lua_getfield(L,-1,"rigidbody");
-	btRigidBody *r = (btRigidBody*)lua_touserdata(L,-1);
+	btRigidBody *r = popRigidBody(L);
 
 	vel = r->getLinearVelocity();
 	pushvector3d(L,(double)vel.x(),(double)vel.y(),(double)vel.z());
@@ -171,32 +177,13 @@ int setvelocity(lua_State *L){
 	popvector3d(L,&x,&y,&z);
 	btVector3 newvel = btVector3(x,y,z);
 
-	lua_getfield(L,-1,"rigidbody");
-	btRigidBody *r = (btRigidBody*)lua_touserdata(L,-1);
-	lua_pop(L,2);
+	btRigidBody *r = popRigidBody(L);
 
 	r->setLinearVelocity(newvel);
 
 	return 0;
 }
 
-/***
-Activates this object.
-If this object was sleeping, it will move again. If you are using
-applyforce or setvelocity, you will need to activate() the rigidbody for it
-to move.
-@function rigidbody:activate()
-*/
-//rigidbody:activate()
-int activate(lua_State *L){
-	lua_getfield(L,-1,"rigidbody");
-	btRigidBody *r = (btRigidBody*)lua_touserdata(L,-1);
-	lua_pop(L,2);
-
-	r->activate();
-
-	return 0;
-}
 
 /***
 Sets the damping of this object.
@@ -211,9 +198,7 @@ int setdamping(lua_State *L){
 	ldamp = lua_tonumber(L,-2);
 	lua_pop(L,2);
 
-	lua_getfield(L,-1,"rigidbody");
-	btRigidBody *r = (btRigidBody*)lua_touserdata(L,-1);
-	lua_pop(L,2);
+	btRigidBody *r = popRigidBody(L);
 
 	r->setDamping(adamp,ldamp);
 
@@ -229,9 +214,7 @@ int setflags(lua_State *L){
 	int flags = lua_tonumber(L,-1);
 	lua_pop(L,1);
 
-	lua_getfield(L,-1,"rigidbody");
-	btRigidBody *r = (btRigidBody*)lua_touserdata(L,-1);
-	lua_pop(L,2);
+	btRigidBody *r = popRigidBody(L);
 
 	r->setFlags(flags);
 
@@ -252,6 +235,60 @@ int applyimpulse(lua_State *L){
 	return 0;
 }
 
+//collider:setpos({x,y,z})
+int setpos(lua_State *L){
+	double x,y,z;
+	popvector3d(L,&x,&y,&z);
+	lua_getfield(L,-1,"collider");
+	btCollisionObject *c = (btCollisionObject*)lua_touserdata(L,-1);
+	lua_pop(L,1);
+	btTransform t = c->getWorldTransform();
+	t.setOrigin(btVector3(x,y,z));
+	c->setWorldTransform(t);
+	c->activate();
+	return 0;
+}
+
+//collider:getpos() :: {x,y,z}
+int getpos(lua_State *L){
+	lua_getfield(L,-1,"collider");
+	btCollisionObject *c = (btCollisionObject*)lua_touserdata(L,-1);
+	btTransform t = c->getWorldTransform();
+	btVector3 o = t.getOrigin();
+	pushvector3d(L,o.x(), o.y(), o.z());
+	return 1;
+}
+
+/*
+A callback used to detect collisions
+*/
+//class BContactResult : public ContactResultCallback
+//{
+	//public:
+		//~BContactResult(){
+			//printf("Contact result being destroyed\n");
+		//}
+		//bool needsCollision(){
+			//return true;
+		//}
+		//btScalar addSingleResult(btManifoldPoint point,
+					 //btCollisionObjectWrapper *wrap1, int part1, int index1,
+					 //btCollisionObjectWrapper *wrap2, int part2, int index2
+					//){
+			//printf("Got single result\n");
+			//return 1;
+		//}
+//};
+
+//rigidbody:contacttest()
+//int testcontact(lua_State *L){//{rigibody}
+	//printf("Testing contact\n");
+	//btRigidBody *r = popRigidBody(L);//
+	//ContactResultCallback *cr = new BContactResult();
+	//World->contactTest(r,cr);
+	//return 0;
+//}
+
 extern const luaL_reg brigidbody_m[] = {
 	{"setgravity",       setgravity},
 	{"applyforce",       applyforce},
@@ -259,10 +296,13 @@ extern const luaL_reg brigidbody_m[] = {
 	{"getldamping",      getlineardamping},
 	{"getadamping",      getangulardamping},
 	{"setdamping",       setdamping},
-	{"activate",         activate},
+	{"getpos",           getpos},
+	{"setpos",           setpos},
+	//{"activate",         activate},
 	{"getvelocity",      getvelocity},
 	{"setvelocity",      setvelocity},
 	{"setangfactor",     setangfactor},
 	{"setflags",         setflags},
+	//{"testcontact",      testcontact},
 	{NULL, NULL}
 };
diff --git a/src/shared/lua_api/phys/bphysmodel.cpp b/src/shared/lua_api/phys/bphysmodel.cpp
index e9fecbf..55039ba 100644
--- a/src/shared/lua_api/phys/bphysmodel.cpp
+++ b/src/shared/lua_api/phys/bphysmodel.cpp
@@ -19,39 +19,27 @@ extern "C" {
 extern btDiscreteDynamicsWorld* World;
 extern std::list<btRigidBody*> Objects;
 
-//newbphysmodel("graphicfile","physicfile",mass,[,{position}][,{lookat}])
-static int newbphysmodel(lua_State* L){
-	printf("Creating bphysmodel\n");
+//"physicfile",mass[,position][,lookat] :: ud_rigidbody
+void makebphysmodel(lua_State *L){
+	printf("making bphysmodel\n");
 	int nargs = lua_gettop(L);
 	double lx,ly,lz;
 	double x,y,z;
-	if(nargs > 4){
-		//"graphicsfile","physicsfile",{position},{lookat}
+	if(nargs > 3){
+		//"physicsfile",{position},{lookat}
 		popvector3d(L,&lx,&ly,&lz);
 	}
-	if(nargs > 3){
-		//"graphicsfile","physicsfile",{position}
+	if(nargs > 2){
+		//"physicsfile",{position}
 		popvector3d(L,&x,&y,&z);
 	}
-	//"graphicsfile","physicsfile"
+	printf("got arguments for bphysmodel\n");
+	//"physicsfile"
 
 	double mass = lua_tonumber(L,-1);
 	const char *ppath = lua_tostring(L,-2);
-	//const char *gpath = lua_tostring(L,-3);
-	lua_pop(L,3);
-
-	//ISceneManager *smgr = device->getSceneManager();
+	lua_pop(L,2);
 	
-	//printf("bphysnode, creating the scene node\n");
-
-	////Create the scene node
-	//IMesh *gmesh = smgr->getMesh(gpath);
-	//ISceneNode *node = smgr->addMeshSceneNode(gmesh,0,-1,vector3df(x,y,z));
-
-	printf("bphysnode, createing the physics body\n");
-	//Create the physics body
-	//IMesh *pmesh = smgr->getMesh(ppath);
-	//printf("We have %d mesh buffers\n",pmesh->getMeshBufferCount());
 	tinyobj_attrib_t attrib;
 	tinyobj_shape_t *shapes = NULL;
 	size_t meshcount;
@@ -62,43 +50,59 @@ static int newbphysmodel(lua_State* L){
 	FILE *objfile = fopen(ppath,"rb");
 	fseek(objfile,0,SEEK_END);
 	data_len = ftell(objfile);
+	printf("model data is %d long\n",(int)data_len);
 	fseek(objfile,0,SEEK_SET);
 	char *objdata = (char*)malloc(sizeof(char)*data_len);
 	fread(objdata, sizeof(char), data_len, objfile);
 	fclose(objfile);
-	int err = tinyobj_parse_obj(&attrib, &shapes, &meshcount, &materials, &num_materials, objdata, data_len, 0);
+	printf("About to tinyobj_parse_obj\n");
+	int err = tinyobj_parse_obj(&attrib, &shapes, &meshcount, &materials, &num_materials, objdata, data_len, TINYOBJ_FLAG_TRIANGULATE);
 	if(err != TINYOBJ_SUCCESS){
 		printf("Tinyobj failed to load model:%s\n",ppath);
 	}
 	//u32 meshcount = pmesh->getMeshBufferCount();
 	btTriangleMesh* trimesh = new btTriangleMesh();
-	size_t numverts = attrib.num_face_num_verts;
-	//size_t stride = 9; //9 = 3 position floats + 3 normal floats + 3 color floats
-	size_t face_offset = 0;
-	for(size_t i = 0; i < numverts; i++){
-		for(size_t j = 0; j < (size_t)attrib.face_num_verts[i] / 3; j++){
-			float v[3][3]; //this tri
-			tinyobj_vertex_index_t idx0, idx1, idx2;
-			idx0 = attrib.faces[face_offset + 3 * j + 0];
-			idx1 = attrib.faces[face_offset + 3 * j + 1];
-			idx2 = attrib.faces[face_offset + 3 * j + 2];
-			for(short k = 0; k < 3; k++){
-				int f0, f1, f2;
-				f0 = idx0.v_idx;
-				f1 = idx1.v_idx;
-				f2 = idx2.v_idx;
-				v[0][k] = attrib.vertices[3 * (size_t)f0 + k];
-				v[1][k] = attrib.vertices[3 * (size_t)f1 + k];
-				v[2][k] = attrib.vertices[3 * (size_t)f2 + k];
-			}
-			btVector3 b1,b2,b3;
-			b1 = btVector3(v[0][0],v[0][1],v[0][2]);
-			b2 = btVector3(v[1][0],v[1][1],v[1][2]);
-			b3 = btVector3(v[2][0],v[2][1],v[2][2]);
-			trimesh->addTriangle(b1,b2,b3);
-		}
-		face_offset += (size_t)attrib.face_num_verts[i];
+	for(size_t i = 0; i < attrib.num_vertices; i++){
+		float *vs =  attrib.vertices + (sizeof(float)*3*i);//3 floats per vertex
+		float v1 = vs[0];
+		float v2 = vs[1];
+		float v3 = vs[2];
+		trimesh->findOrAddVertex(btVector3(v1,v2,v3),true);
 	}
+	for(size_t i = 0; i < attrib.num_faces; i+= 3){
+		tinyobj_vertex_index_t i1,i2,i3;
+		i1 = attrib.faces[i];
+		i2 = attrib.faces[i+1];
+		i3 = attrib.faces[i+2];
+		trimesh->addTriangleIndices(i1.v_idx,i2.v_idx,i3.v_idx);
+	}
+	//size_t numverts = attrib.num_face_num_verts;
+	////size_t stride = 9; //9 = 3 position floats + 3 normal floats + 3 color floats
+	//size_t face_offset = 0;
+	//for(size_t i = 0; i < numverts; i++){
+		//for(size_t j = 0; j < (size_t)attrib.face_num_verts[i] / 3; j++){
+			//float v[3][3]; //this tri
+			//tinyobj_vertex_index_t idx0, idx1, idx2;
+			//idx0 = attrib.faces[face_offset + 3 * j + 0];
+			//idx1 = attrib.faces[face_offset + 3 * j + 1];
+			//idx2 = attrib.faces[face_offset + 3 * j + 2];
+			//for(short k = 0; k < 3; k++){
+				//int f0, f1, f2;
+				//f0 = idx0.v_idx;
+				//f1 = idx1.v_idx;
+				//f2 = idx2.v_idx;
+				//v[0][k] = attrib.vertices[3 * (size_t)f0 + k];
+				//v[1][k] = attrib.vertices[3 * (size_t)f1 + k];
+				//v[2][k] = attrib.vertices[3 * (size_t)f2 + k];
+			//}
+			//btVector3 b1,b2,b3;
+			//b1 = btVector3(v[0][0],v[0][1],v[0][2]);
+			//b2 = btVector3(v[1][0],v[1][1],v[1][2]);
+			//b3 = btVector3(v[2][0],v[2][1],v[2][2]);
+			//trimesh->addTriangle(b1,b2,b3);
+		//}
+		//face_offset += (size_t)attrib.face_num_verts[i];
+	//}
 	printf("Done building trimesh\n");
 	btCollisionShape *shape = new btBvhTriangleMeshShape(trimesh,true);
 	btTransform tr;
@@ -109,15 +113,66 @@ static int newbphysmodel(lua_State* L){
 	btVector3 li;
 	shape->calculateLocalInertia(mass, li);
 	btRigidBody *rb = new btRigidBody(mass,ms,shape,li);
-	//rb->setUserPointer((void*) node);
 	World->addRigidBody(rb);
 	Objects.push_back(rb);
 	printf("Rigid body finished\n");
+	lua_pushlightuserdata(L,rb);//ud_rigidbody
+}
+
+//newbphysmodel("graphicfile","physicfile",mass[,position][,lookat]) :: ud_rigidbody
+static int newbphysmodel(lua_State* L){
+	printf("Creating bphysmodel\n");
+	int nargs = lua_gettop(L);
+	double lx,ly,lz;
+	double x,y,z;
+	if(nargs > 4){
+		//"graphicsfile","physicsfile",{position},{lookat}
+		popvector3d(L,&lx,&ly,&lz);
+	}else{
+		lx = 1; ly = 1; lz = 1;
+	}
+	if(nargs > 3){
+		//"graphicsfile","physicsfile",{position}
+		popvector3d(L,&x,&y,&z);
+	}else{
+		x = 0; y = 0; z = 0;
+	}
+	//"graphicsfile","physicsfile"
+
+	double mass = lua_tonumber(L,-1);
+	const char *ppath = lua_tostring(L,-2);
+	//const char *gpath = lua_tostring(L,-3);
+	lua_pop(L,3);//
+
+	lua_pushstring(L,ppath);//"phys_path"
+	lua_pushnumber(L,mass);//"phys_path",double_mass
+	pushvector3d(L,x,y,z);//"phys_path",double_mass,{position}
+	pushvector3d(L,lx,ly,lz);//"phys_path",double_mass,{position},{lookat}
+	printf("Starting makeing bphysmodel\n");
+	makebphysmodel(L);//ud_rigidbody
+	printf("Done making bphysmodel\n");
+	btRigidBody *rb = (btRigidBody*)lua_touserdata(L,-1);
+	printf("bphysnode, createing the physics body\n");
 
 	//Create the lua representation
-	lua_newtable(L);
-	lua_pushlightuserdata(L,rb);
-	lua_setfield(L,-2,"rigidbody");
+	lua_newtable(L);//{}
+	lua_pushlightuserdata(L,rb);//{},ud_rigidbody
+	lua_setfield(L,-2,"collider");//{collider=ud_rigidbody}
+	lua_pushstring(L,"rigidbody");//{collider=ud_rigidbody},"rigidbody"
+	lua_setfield(L,-2,"type");//{rb}
+	
+	printf("Added collider to lua rep.\n");
+
+	//Add it to the global list of colliders
+	lua_getglobal(L,"phys");//{rb},{phys}
+	lua_getfield(L,-1,"colliders");//{rb},{phys},{phys.colliders}
+	lua_pushlightuserdata(L,rb);//{rb},{phys},{phys.colliders},ud_collider
+	lua_pushvalue(L,-4);//{rb},{phys},{phys.colliders},ud_collider,{rb}
+	lua_settable(L,-3);//{rb},{phys},{phys.colliders}
+	lua_pop(L,2);//{rb}
+
+	printf("Added collider to phys.colliders\n");
+
 	//lua_pushlightuserdata(L,node);
 	//lua_setfield(L,-2,"node");
 	luaL_getmetatable(L,"phys.physmodel");
diff --git a/src/shared/lua_api/phys/bphysmodel.hpp b/src/shared/lua_api/phys/bphysmodel.hpp
index 50645cc..1d1cd77 100644
--- a/src/shared/lua_api/phys/bphysmodel.hpp
+++ b/src/shared/lua_api/phys/bphysmodel.hpp
@@ -8,4 +8,5 @@ extern "C" {
 }
 
 int bphysmodel_register(lua_State* L);
+void makebphysmodel(lua_State *L);
 #endif