Major refactor of physics code

Move all the physics code into the shared directory,
and fix the ghost objects (aabb only)

6 files changed, 93 insertions, 46 deletions

diff --git a/src/shared/lua_api/phys/bcollider.cpp b/src/shared/lua_api/phys/bcollider.cpp
index 356c504..0a87af3 100644
--- a/src/shared/lua_api/phys/bcollider.cpp
+++ b/src/shared/lua_api/phys/bcollider.cpp
@@ -33,12 +33,57 @@ to move.
 int activate(lua_State *L){
 	btCollisionObject *r = popCollider(L);
 
-	r->activate();
+	r->activate(true);
 
 	return 0;
 }
 
+//collider:getfriction()
+int getfriction(lua_State *L){
+	btCollisionObject *r = popCollider(L);
+	double fric = r->getFriction();
+	lua_pushnumber(L, fric);
+	return 1;
+}
+
+//collider:setfriction(number)
+int setfriction(lua_State *L){
+	double friction = lua_tonumber(L,-1);
+	lua_pop(L,1);
+	btCollisionObject *r = popCollider(L);
+	r->setFriction(friction);
+	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;
+}
+
 extern const luaL_reg bcollider_m[] = {
 	{"activate",         activate},
+	{"getpos",           getpos},
+	{"setpos",           setpos},
+	{"getfriction",	     getfriction},
+	{"setfriction",      setfriction},
 	{NULL, NULL}
 };
diff --git a/src/shared/lua_api/phys/bghostobject.cpp b/src/shared/lua_api/phys/bghostobject.cpp
index da9406d..8174b21 100644
--- a/src/shared/lua_api/phys/bghostobject.cpp
+++ b/src/shared/lua_api/phys/bghostobject.cpp
@@ -59,14 +59,14 @@ void makeghostobject(lua_State* L){
 	btGhostObject *ghost = new btGhostObject();
 	ghost->setCollisionShape(shape);
 	ghost->setWorldTransform(transform);
-	ghost->setCollisionFlags(
-			btCollisionObject::CollisionFlags::CF_NO_CONTACT_RESPONSE | 
-			btCollisionObject::CollisionFlags::CF_KINEMATIC_OBJECT
-			);
+	//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);
+	//Objects.push_back(ghost);
 
 	lua_pushlightuserdata(L,ghost);//ud_ghost
 }
@@ -148,7 +148,7 @@ int bghostoverlapping(lua_State *L){
 		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");
+			printf("Failed to find object of collider %p\n", (void*)co);
 			lua_pushstring(L,"Failed to find collider we are overlapping");
 			lua_error(L);
 		}
diff --git a/src/shared/lua_api/phys/bhingeconstraint.cpp b/src/shared/lua_api/phys/bhingeconstraint.cpp
index ab6fb50..a8c6567 100644
--- a/src/shared/lua_api/phys/bhingeconstraint.cpp
+++ b/src/shared/lua_api/phys/bhingeconstraint.cpp
@@ -8,15 +8,9 @@ extern "C" {
   #include <lualib.h>
 }
 #include <shared/lua_api/common.hpp>
-#include <Irrlicht.h>
 #include <btBulletDynamicsCommon.h>
 #include <shared/lua_api/phys/bhingeconstraint.hpp>
 
-using namespace irr;
-using namespace scene;
-using namespace core;
-using namespace video;
-
 extern btDiscreteDynamicsWorld* World;
 extern std::list<btRigidBody*> Objects;
 
diff --git a/src/shared/lua_api/phys/bphysbox.cpp b/src/shared/lua_api/phys/bphysbox.cpp
index a0ad15a..4564c6e 100644
--- a/src/shared/lua_api/phys/bphysbox.cpp
+++ b/src/shared/lua_api/phys/bphysbox.cpp
@@ -79,7 +79,6 @@ void makenewbphysbox(lua_State* L){
     
 	// Add it to the world
 	World->addRigidBody(rigidbody);
-	//printf("Added rigid body to world: %p\n",World);
 	Objects.push_back(rigidbody);
 
 	lua_pushlightuserdata(L,rigidbody);//ud_rigidbody
diff --git a/src/shared/lua_api/phys/bphysgeneric.cpp b/src/shared/lua_api/phys/bphysgeneric.cpp
index 56320dd..718ffed 100644
--- a/src/shared/lua_api/phys/bphysgeneric.cpp
+++ b/src/shared/lua_api/phys/bphysgeneric.cpp
@@ -205,6 +205,7 @@ int setdamping(lua_State *L){
 	return 0;
 }
 
+
 /***
 Sets flags on this rigidbody
 @function rigidbody:setflags(flags)
@@ -223,41 +224,29 @@ int setflags(lua_State *L){
 
 /***
 Apply an impulse to the rigidboy
-@function rigidbody:centralimpulse(vec3 impulse)
+@function rigidbody:applyimpulse(vec3 impulse[, vec3 offset])
 @tparam vector3 impulse The direction to apply the impulse in
+@tparam? vector3 offset The offset from the center to apply the impulse, default = {0, 0, 0}
 */
+//applyimpuse(self,{pos},{off})
 int applyimpulse(lua_State *L){
+	printf("Apply impulse called...\n");
+	int nargs = lua_gettop(L);
 	double x,y,z,ox,oy,oz;
+	if(nargs > 2){
+		popvector3d(L,&ox,&oy,&oz);
+	}else{
+		ox = 0;
+		oy = 0;
+		oz = 0;
+	}
 	popvector3d(L,&x,&y,&z);
-	popvector3d(L,&ox,&oy,&oz);
 	btRigidBody *r = popRigidBody(L);
 	r->applyImpulse(btVector3(x,y,z),btVector3(ox,oy,oz));
 	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
@@ -296,9 +285,7 @@ extern const luaL_reg brigidbody_m[] = {
 	{"getldamping",      getlineardamping},
 	{"getadamping",      getangulardamping},
 	{"setdamping",       setdamping},
-	{"getpos",           getpos},
-	{"setpos",           setpos},
-	//{"activate",         activate},
+	//{"activate",         activate}, --moved to bcollider_m
 	{"getvelocity",      getvelocity},
 	{"setvelocity",      setvelocity},
 	{"setangfactor",     setangfactor},
diff --git a/src/shared/lua_api/phys/bphysmodel.cpp b/src/shared/lua_api/phys/bphysmodel.cpp
index 55039ba..a89a28f 100644
--- a/src/shared/lua_api/phys/bphysmodel.cpp
+++ b/src/shared/lua_api/phys/bphysmodel.cpp
@@ -16,9 +16,13 @@ extern "C" {
 #include <shared/lua_api/common.hpp>
 #include <shared/util/tinyobj.hpp>
 
+#include <shared/lua_api/phys/bcollider.hpp>
+#include <shared/lua_api/phys/bphysgeneric.hpp>
+
 extern btDiscreteDynamicsWorld* World;
 extern std::list<btRigidBody*> Objects;
 
+//TODO: This will break in the future, see github.com/syoyo/tinyobjloader-c/issues/16
 //"physicfile",mass[,position][,lookat] :: ud_rigidbody
 void makebphysmodel(lua_State *L){
 	printf("making bphysmodel\n");
@@ -57,25 +61,37 @@ void makebphysmodel(lua_State *L){
 	fclose(objfile);
 	printf("About to tinyobj_parse_obj\n");
 	int err = tinyobj_parse_obj(&attrib, &shapes, &meshcount, &materials, &num_materials, objdata, data_len, TINYOBJ_FLAG_TRIANGULATE);
+	printf("Finished parsing tinyobj\n");
 	if(err != TINYOBJ_SUCCESS){
 		printf("Tinyobj failed to load model:%s\n",ppath);
 	}
 	//u32 meshcount = pmesh->getMeshBufferCount();
+	__mingw_printf("attrib.num_vertices: %u\n",attrib.num_vertices);
+	__mingw_printf("attrib.num_faces: %u\n",attrib.num_faces);
 	btTriangleMesh* trimesh = new btTriangleMesh();
-	for(size_t i = 0; i < attrib.num_vertices; i++){
-		float *vs =  attrib.vertices + (sizeof(float)*3*i);//3 floats per vertex
+	for(size_t i = 0; i < attrib.num_vertices; i++){ //0 - x, so num_vertices - 1
+		//__mingw_printf("Looking at vertice %llu/%u\n",i,attrib.num_vertices);
+		//DO NOT MULTIPLY THIS BY SIEZEOF(FLOAT)
+		float *vs =  attrib.vertices + (3*i);//3 floats per vertex 
+		//printf("Got start\n");
 		float v1 = vs[0];
+		//printf("Got 1\n");
 		float v2 = vs[1];
+		//printf("Got 2\n");
 		float v3 = vs[2];
+		//printf("Got all 3 vertexees\n");
+		//printf("Adding vertex: (%f %f %f)\n",v1, v2, v3);
 		trimesh->findOrAddVertex(btVector3(v1,v2,v3),true);
 	}
-	for(size_t i = 0; i < attrib.num_faces; i+= 3){
+	printf("Finished finding or adding vertexes\n");
+	for(size_t i = 0; i < attrib.num_faces - 1; i+= 3){ //0 - y to num_faces - 1
 		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);
 	}
+	printf("Finished adding triangle indicies\n");
 	//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;
@@ -197,12 +213,18 @@ int bphysmodel_register(lua_State* L){
 
 	//printf("bphysmodel registered\n");
 
-	luaL_newmetatable(L, "phys.physmodel");//{}
+	luaL_newmetatable(L, "phys.physmodel");//{m_physmodel}
+	lua_newtable(L);//{m_physmodel},{}
+	luaL_register(L,NULL,bcollider_m);
 	luaL_register(L,NULL,bphysmodel_m);
+	luaL_register(L,NULL,brigidbody_m);
+	lua_setfield(L,-2,"__index");//{m_physmodel}
+	lua_pop(L,1);//
 	//luaL_register(L,NULL,igeneric_m); //Inherit all the things to do with scene nodes
 	
 	lua_getglobal(L,"phys");
 	luaL_register(L,NULL,bphysmodel_f);
+	lua_pop(L,1);
 
-	return 1;
+	return 0;
 }