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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 "bphysbox.hpp"
#include "../common.h"
extern btDiscreteDynamicsWorld* World;
extern std::list<btRigidBody*> Objects;
/*
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_btRigidBody :: ({v3 size}, {v3 origin}, double mass)
void makenewbphysbox(lua_State* L){
double px,py,pz; //position
double sx,sy,sz; //size
double mass;
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}
//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);
// 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");
}
// Add mass
btVector3 localinertia = btVector3(0,0,0);
shape->calculateLocalInertia(mass, localinertia);
// Create the rigid body object
btRigidBody* rigidbody = new btRigidBody(mass, motionstate, shape, localinertia);
if(!rigidbody){
//printf("No rigidbody\n");
}
// 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
}
// phys.newphysbox(vector3 size, vector3 origin, double mass)
int newbphysbox(lua_State* L){
//printf("Createing bphysbox!\n");
//Create it's lua representation
makenewbphysbox(L);//ud_btRigidBody
btRigidBody* r = (btRigidBody*)lua_touserdata(L,-1);
lua_pop(L,1);
lua_newtable(L);//{}
lua_pushlightuserdata(L,r);//ud_btRigidBody
lua_setfield(L,-2,"rigidbody");//{}
//Set it's metatable
luaL_getmetatable(L, "phys.physbox");//{},{phys.physbox}
lua_setmetatable(L, -2);//{}
return 1;
}
//{phys.physbox}:delete()
static int delbphysbox(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();
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);//
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},
};
void bphysbox_register(lua_State* L){//
//printf("Registered bphysbox\n");
luaL_newmetatable(L, "phys.physbox");//{phys.physbox}
lua_newtable(L);//{phys.physbox},{}
luaL_register(L,NULL,bphysbox_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_pop(L,1);
}
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