From ececf2c8624f4d95d9413686839f7fa6e5bb5044 Mon Sep 17 00:00:00 2001
From: Alexander <alex@cogarr.net>
Date: Tue, 2 Jun 2020 08:54:14 -0400
Subject: Add a shape cast

Add a raycast like function, which can cast shapes. phys.shapecast(),
along with a shape structure needed to call this function.
---
 src/shared/lua_api/load_phys.cpp | 64 ++++++++++++++++++++++++++++++++++++++++
 1 file changed, 64 insertions(+)

(limited to 'src/shared/lua_api/load_phys.cpp')

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");
 }
-- 
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