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-rw-r--r--src/shared/lua_api/load_phys.cpp64
-rw-r--r--src/shared/lua_api/phys/bcharactercontroller.cpp15
-rw-r--r--src/shared/lua_api/phys/bphysmodel.cpp36
-rw-r--r--src/shared/lua_api/phys/bshape.cpp52
-rw-r--r--src/shared/lua_api/phys/bshape.hpp11
-rw-r--r--src/shared/lua_api/phys/btaction.cpp62
-rw-r--r--src/shared/lua_api/phys/btaction.hpp11
7 files changed, 226 insertions, 25 deletions
diff --git a/src/shared/lua_api/load_phys.cpp b/src/shared/lua_api/load_phys.cpp
index 7002a09..33a59fe 100644
--- a/src/shared/lua_api/load_phys.cpp
+++ b/src/shared/lua_api/load_phys.cpp
@@ -2,14 +2,74 @@
#include "phys/bphysbox.hpp"
#include "phys/bhingeconstraint.hpp"
#include "phys/bcharactercontroller.hpp"
+#include "phys/btaction.hpp"
+#include "phys/bshape.hpp"
#include <btBulletDynamicsCommon.h>
+#include <btBulletCollisionCommon.h>
+#include <BulletCollision/CollisionDispatch/btCollisionWorld.h>
#include <shared/lua_api/common.hpp>
+extern btDiscreteDynamicsWorld* World;
+
+//phys.shapecast(shape,{fromx,fromy,fromz},{tox,toy,toz})
+//returns {
+// hit :: boolean
+// pos :: v3
+// normal :: v3
+//}
+int shapecast(lua_State *L){
+ double fx,fy,fz,tx,ty,tz;
+ popvector3d(L,&fx,&fy,&fz);
+ popvector3d(L,&tx,&ty,&tz);
+ lua_getfield(L,-1,"shape");
+ btBoxShape *cs = (btBoxShape*)lua_touserdata(L,-1);
+ //printf("shape:%p\n",(void*)cs);
+ btTransform ft = btTransform(btQuaternion(0,0,0),btVector3(fx,fy,fz));
+ btTransform tt = btTransform(btQuaternion(0,0,0),btVector3(tx,ty,tz));
+ btCollisionWorld::ClosestConvexResultCallback *cb = new btCollisionWorld::ClosestConvexResultCallback(ft.getOrigin(),tt.getOrigin());
+ btVector3 hw, hn;
+ //hw = cb->m_hitPointWorld;
+ //hn = cb->m_hitNormalWorld;
+ //printf("before getting results\n\tHasHit:%d\n\tHit:%f,%f,%f\n\tNor:%f,%f,%f\n",cb->hasHit() ? 1 : 0,hw.x(),hw.y(),hw.z(),hn.x(),hn.y(),hn.z());
+ World->convexSweepTest(cs,ft,tt,*cb,0.f);
+ hw = cb->m_hitPointWorld;
+ hn = cb->m_hitNormalWorld;
+ //printf("Got sweep results\n\tHasHit:%d\n\tHit:%f,%f,%f\n\tNor:%f,%f,%f\n",cb->hasHit() ? 1 : 0,hw.x(),hw.y(),hw.z(),hn.x(),hn.y(),hn.z());
+ 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");
+
+ return 1;
+}
+
+//phys.aabbcast(v3 from, v3 to, v3 mins, v3 maxs)
+int aabbcast(lua_State *L){
+ double sx,sy,sz,ex,ey,ez,minx,miny,minz,maxx,maxy,maxz;
+ popvector3d(L,&maxx,&maxy,&maxz);
+ popvector3d(L,&minx,&miny,&minz);
+ popvector3d(L,&ex,&ey,&ez);
+ popvector3d(L,&sx,&sy,&sz);
+ btVector3 normal;
+ btScalar param = btScalar(1.);
+ bool out = btRayAabb(btVector3(sx,sy,sz),btVector3(ex,ey,ez),btVector3(minx,miny,minz),btVector3(maxx,maxy,maxz),param,normal);
+ printf("aabbcast:\n\thashit:%d\n\tparam:%f\n\tnormal:%f,%f,%f\n",out ? 1 : 0, param, normal.x(),normal.y(),normal.z());
+ lua_pushboolean(L,out?1:0);
+ return 1;
+}
+
void load_physfuncs(lua_State* L){
printf("Loading phys things\n");
lua_newtable(L);//{}
lua_setglobal(L,"phys");//
lua_getglobal(L,"phys");//{phys}
+ lua_pushcfunction(L,shapecast);
+ lua_setfield(L,-2,"shapecast");
+ lua_pushcfunction(L,aabbcast);
+ lua_setfield(L,-2,"aabbcast");
lua_newtable(L);//{phys},{}
lua_setfield(L,-2,"colliders");//{phys}
set_const(L,BT_DISABLE_WORLD_GRAVITY);
@@ -19,4 +79,8 @@ void load_physfuncs(lua_State* L){
bphysbox_register(L);
bhingeconstraint_register(L);
bcharactercontroller_register(L);
+ printf("About to allow makeaction\n");
+ baction_register(L);
+ bshape_register(L);
+ printf("Done registering makeaction\n");
}
diff --git a/src/shared/lua_api/phys/bcharactercontroller.cpp b/src/shared/lua_api/phys/bcharactercontroller.cpp
index 4dfe791..f61aca5 100644
--- a/src/shared/lua_api/phys/bcharactercontroller.cpp
+++ b/src/shared/lua_api/phys/bcharactercontroller.cpp
@@ -101,7 +101,7 @@ void makenewbcharactercontroller(lua_State* L){
World->addCollisionObject(ghost,btBroadphaseProxy::CharacterFilter, btBroadphaseProxy::StaticFilter|btBroadphaseProxy::DefaultFilter);
//ghost->setCollisionFlags(btCollisionObject::CF_CHARACTER_OBJECT);
printf("Character controller created\n");
- btKinematicCharacterController *cc = new btKinematicCharacterController(ghost, cshape, 8, btVector3(0,1,0));
+ btKinematicCharacterController *cc = new btKinematicCharacterController(ghost, cshape, 1, btVector3(0,1,0));
//cc->setMaxSlope(3.14 / 4.0);
//cinfo.m_friction = 0;
@@ -177,9 +177,10 @@ int bcharactersetpos(lua_State *L){
double x,y,z;
popvector3d(L,&x,&y,&z);
btKinematicCharacterController *c = popCharacter(L);
- btTransform t = c->getGhostObject()->getWorldTransform();
- t.setOrigin(btVector3(x,y,z));
- c->getGhostObject()->setWorldTransform(t);
+ c->warp(btVector3(x,y,z));
+ //btTransform t = c->getGhostObject()->getWorldTransform();
+ //t.setOrigin(btVector3(x,y,z));
+ //c->getGhostObject()->setWorldTransform(t);
return 0;
}
@@ -192,13 +193,13 @@ int bcharacteronground(lua_State *L){
// char:jump(v3 jump)
int bcharacterjump(lua_State *L){
- printf("Jump called\n");
+ //printf("Jump called\n");
double x,y,z;
popvector3d(L,&x,&y,&z);
btKinematicCharacterController *c = popCharacter(L);
- printf("About to jump\n");
+ //printf("About to jump\n");
c->jump(btVector3(x,y,z));
- printf("Done jumping\n");
+ //printf("Done jumping\n");
return 0;
}
diff --git a/src/shared/lua_api/phys/bphysmodel.cpp b/src/shared/lua_api/phys/bphysmodel.cpp
index 0515922..d56adb5 100644
--- a/src/shared/lua_api/phys/bphysmodel.cpp
+++ b/src/shared/lua_api/phys/bphysmodel.cpp
@@ -27,7 +27,7 @@ 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");
+ //printf("making bphysmodel\n");
int nargs = lua_gettop(L);
double lx,ly,lz;
double x,y,z;
@@ -39,7 +39,7 @@ void makebphysmodel(lua_State *L){
//"physicsfile",{position}
popvector3d(L,&x,&y,&z);
}
- printf("got arguments for bphysmodel\n");
+ //printf("got arguments for bphysmodel\n");
//"physicsfile"
double mass = lua_tonumber(L,-1);
@@ -56,14 +56,14 @@ void makebphysmodel(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);
+ //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);
- printf("About to tinyobj_parse_obj\n");
+ //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");
+ //printf("Finished parsing tinyobj\n");
if(err != TINYOBJ_SUCCESS){
printf("Tinyobj failed to load model:%s\n",ppath);
}
@@ -82,7 +82,7 @@ void makebphysmodel(lua_State *L){
float v3 = vs[2];
vertexes[i] = btVector3(v1,v2,v3);
}
- printf("Finished finding or adding vertexes\n");
+ //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];
@@ -93,30 +93,30 @@ void makebphysmodel(lua_State *L){
v2 = vertexes[i2.v_idx];
v3 = vertexes[i3.v_idx];
trimesh->addTriangle(vertexes[i1.v_idx],vertexes[i2.v_idx],vertexes[i3.v_idx],true);//Some triangles are "the wrong way round",
- trimesh->addTriangle(vertexes[i3.v_idx],vertexes[i2.v_idx],vertexes[i1.v_idx],true);//double-side all triangles
+ //trimesh->addTriangle(vertexes[i3.v_idx],vertexes[i2.v_idx],vertexes[i1.v_idx],true);//double-side all triangles
}
- printf("Finished adding triangle indicies\n");
- printf("Done building trimesh\n");
+ //printf("Finished adding triangle indicies\n");
+ //printf("Done building trimesh\n");
btGImpactShapeInterface *shape = new btGImpactMeshShape(trimesh);
shape->updateBound();
//btCollisionShape *shape = new btBvhTriangleMeshShape(trimesh,true);
btTransform tr;
tr.setIdentity();
tr.setOrigin(btVector3(x,y,z));
- printf("Created default motion shape\n");
+ //printf("Created default motion shape\n");
btDefaultMotionState *ms = new btDefaultMotionState(tr);
btVector3 li;
shape->calculateLocalInertia(mass, li);
btRigidBody *rb = new btRigidBody(mass,ms,shape,li);
World->addRigidBody(rb);
Objects.push_back(rb);
- printf("Rigid body finished\n");
+ //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");
+ //printf("Creating bphysmodel\n");
int nargs = lua_gettop(L);
double lx,ly,lz;
double x,y,z;
@@ -143,11 +143,11 @@ static int newbphysmodel(lua_State* L){
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");
+ //printf("Starting makeing bphysmodel\n");
makebphysmodel(L);//ud_rigidbody
- printf("Done making bphysmodel\n");
+ //printf("Done making bphysmodel\n");
btRigidBody *rb = (btRigidBody*)lua_touserdata(L,-1);
- printf("bphysnode, createing the physics body\n");
+ //printf("bphysnode, createing the physics body\n");
//Create the lua representation
lua_newtable(L);//{}
@@ -156,7 +156,7 @@ static int newbphysmodel(lua_State* L){
lua_pushstring(L,"rigidbody");//{collider=ud_rigidbody},"rigidbody"
lua_setfield(L,-2,"type");//{rb}
- printf("Added collider to lua rep.\n");
+ //printf("Added collider to lua rep.\n");
//Add it to the global list of colliders
lua_getglobal(L,"phys");//{rb},{phys}
@@ -166,13 +166,13 @@ static int newbphysmodel(lua_State* L){
lua_settable(L,-3);//{rb},{phys},{phys.colliders}
lua_pop(L,2);//{rb}
- printf("Added collider to phys.colliders\n");
+ //printf("Added collider to phys.colliders\n");
//lua_pushlightuserdata(L,node);
//lua_setfield(L,-2,"node");
luaL_getmetatable(L,"phys.physmodel");
lua_setmetatable(L,-2);
- printf("finished creating the lua representation\n");
+ //printf("finished creating the lua representation\n");
return 1;
}
diff --git a/src/shared/lua_api/phys/bshape.cpp b/src/shared/lua_api/phys/bshape.cpp
new file mode 100644
index 0000000..5533b42
--- /dev/null
+++ b/src/shared/lua_api/phys/bshape.cpp
@@ -0,0 +1,52 @@
+extern "C" {
+ #include <lua.h>
+ #include <lauxlib.h>
+ #include <lualib.h>
+}
+#include <btBulletDynamicsCommon.h>
+#include <btBulletCollisionCommon.h>
+#include <shared/lua_api/common.hpp>
+
+extern btDiscreteDynamicsWorld* World;
+
+//phys.newboxshape({ax,ay,az})
+static int newboxshape(lua_State* L){
+ double ax,ay,az;
+ popvector3d(L,&ax,&ay,&az);
+ ax *= 0.5;
+ ay *= 0.5;
+ az *= 0.5;
+ btBoxShape *bs = new btBoxShape(btVector3(ax,ay,az));
+ printf("Created shape: %p\n",(void*)bs);
+ lua_newtable(L);//{}
+ lua_pushlightuserdata(L,bs);//{},ud_bs
+ lua_setfield(L,-2,"shape");//{}
+ luaL_getmetatable(L,"phys.shape");//{},{m_shape}
+ lua_setmetatable(L,-2);//{}
+
+ return 1;
+}
+
+static const luaL_reg bshape_f[] = {
+ {"newboxshape", newboxshape},
+ {0,0},
+};
+
+static const luaL_reg bshape_m[] = {
+ {0,0},
+};
+
+int bshape_register(lua_State* L){
+
+ luaL_newmetatable(L, "phys.shape");//{m_physshape}
+ lua_newtable(L);//{m_physshape},{}
+ luaL_register(L,NULL,bshape_m);
+ lua_setfield(L,-2,"__index");//{m_physshape}
+ lua_pop(L,1);//
+
+ lua_getglobal(L,"phys");//{}
+ luaL_register(L,NULL,bshape_f);//{}
+ lua_pop(L,1);//
+
+ return 0;
+}
diff --git a/src/shared/lua_api/phys/bshape.hpp b/src/shared/lua_api/phys/bshape.hpp
new file mode 100644
index 0000000..ef3c48a
--- /dev/null
+++ b/src/shared/lua_api/phys/bshape.hpp
@@ -0,0 +1,11 @@
+#ifndef _BSHAPE_HPP_
+#include <stdio.h>
+#include <stdlib.h>
+extern "C" {
+ #include <lua.h>
+ #include <lauxlib.h>
+ #include <lualib.h>
+}
+
+int bshape_register(lua_State* L);
+#endif
diff --git a/src/shared/lua_api/phys/btaction.cpp b/src/shared/lua_api/phys/btaction.cpp
new file mode 100644
index 0000000..afd2371
--- /dev/null
+++ b/src/shared/lua_api/phys/btaction.cpp
@@ -0,0 +1,62 @@
+extern "C" {
+ #include <lua.h>
+ #include <lauxlib.h>
+ #include <lualib.h>
+}
+#include <btBulletDynamicsCommon.h>
+#include <btBulletCollisionCommon.h>
+
+#include <shared/lua_api/common.hpp>
+
+extern btDiscreteDynamicsWorld* World;
+
+struct BActionItem: public btActionInterface{
+ int ref;
+ lua_State *L;
+ void updateAction(btCollisionWorld *world, btScalar delta){
+ lua_rawgeti(this->L,LUA_REGISTRYINDEX,this->ref);//{}
+ pusherrorfunc(this->L);//{},errfunc()
+ lua_getfield(this->L,-2,"action");//{},errfunc(),action()
+ if(lua_isnil(this->L,-1)){//no .action method
+ lua_pop(this->L,3);
+ return;
+ }
+ lua_pushvalue(this->L,-3);//{},errfunc(),action(),{}
+ lua_pushlightuserdata(this->L,world);//{},errfunc(),action(),{},ud_world
+ lua_pushnumber(this->L,delta);//{},errfunc(),action(),{},ud_world,delta
+ lua_pcall(this->L,3,0,-4);//{},errfunc()
+ //printf("error:%d\n",err);
+ lua_pop(this->L,2);
+ return;
+ }
+ void debugDraw(btIDebugDraw *d){
+ //no debug draw I guess
+ }
+};
+
+int makeaction(lua_State *L){
+ lua_newtable(L);//{}
+ int r = luaL_ref(L,LUA_REGISTRYINDEX);
+ lua_rawgeti(L,LUA_REGISTRYINDEX,r);
+ BActionItem *a = new BActionItem();
+ a->ref = r;
+ a->L = L;
+ World->addAction(a);
+ lua_pushlightuserdata(L,a);//{},ud_action
+ lua_setfield(L,-2,"action");//{}
+ return 1;
+}
+
+int newaction(lua_State *L){
+ lua_newtable(L);//{}
+ return 0;
+}
+
+int baction_register(lua_State *L){
+ lua_getglobal(L,"phys");
+ lua_pushcfunction(L,makeaction);
+ lua_setfield(L,-2,"makeaction");
+
+ lua_pop(L,1);
+ return 0;
+}
diff --git a/src/shared/lua_api/phys/btaction.hpp b/src/shared/lua_api/phys/btaction.hpp
new file mode 100644
index 0000000..e295b77
--- /dev/null
+++ b/src/shared/lua_api/phys/btaction.hpp
@@ -0,0 +1,11 @@
+#ifndef _BTACTION_HPP_
+#include <stdio.h>
+#include <stdlib.h>
+extern "C" {
+ #include <lua.h>
+ #include <lauxlib.h>
+ #include <lualib.h>
+}
+int baction_register(lua_State* L);
+void makeaction(lua_State *L);
+#endif
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