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-rw-r--r--src/shared/lua_api/phys/bcharactercontroller.cpp145
-rw-r--r--src/shared/lua_api/phys/bcharactercontroller.hpp1
-rw-r--r--src/shared/lua_api/phys/bcollider.cpp44
-rw-r--r--src/shared/lua_api/phys/bcollider.hpp7
-rw-r--r--src/shared/lua_api/phys/bghostobject.cpp185
-rw-r--r--src/shared/lua_api/phys/bghostobject.hpp13
-rw-r--r--src/shared/lua_api/phys/bphysbox.cpp10
-rw-r--r--src/shared/lua_api/phys/bphysgeneric.cpp146
-rw-r--r--src/shared/lua_api/phys/bphysmodel.cpp161
-rw-r--r--src/shared/lua_api/phys/bphysmodel.hpp1
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
generated by cgit v1.2.3-70-g09d2 (git 2.46.0) at 2026-01-18 12:15:15 +0000