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#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 object of collider %p\n", (void*)co);
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);
}
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