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extern "C" {
#include <lua.h>
#include <lauxlib.h>
#include <lualib.h>
}
#include <btBulletDynamicsCommon.h>
#include <shared/lua_api/common.hpp>
/***
@module phys
*/
/*Physics things from lua have the form of:
{
rigidbody = btRigidBody,
node = ISceneNode,
}
*/
btRigidBody* popRigidBody(lua_State *L){
lua_getfield(L,-1,"rigidbody");
btRigidBody *r = (btRigidBody*)lua_touserdata(L,-1);
lua_pop(L,2);
return r;
}
/***
Sets the direction of gravity on this object.
@function rigidbody:setgravity({x,y,z})
@tparam vector3d direction The direction to make gravity point
*/
//rigidbody:setgravity({x,y,z})
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);
btVector3 v = btVector3(x,y,z);
r->setGravity(v);
return 0;
}
/***
Gets the direction of gravity on this object.
@function rigidbody:getgravity()
@treturn vector3d 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);//
btVector3 v = r->getGravity();
pushvector3d(L,v.x(),v.y(),v.z());
return 0;
}
/***
Apply force at a reletive offset.
@function rigidbody:applyforce(direction, offset = {0,0,0})
@tparam vector3d direction The direction of the force to apply
@tparam vector3d offset The offset from the center of gravity to apply the force
*/
//rigidbody:applyforce({x,y,z}[,{rx,ry,rz}])
int applyforce(lua_State *L){
double rx,ry,rz;
rx = 0;
ry = 0;
rz = 0;
if(lua_gettop(L) > 2){
popvector3d(L,&rx,&ry,&rz);//{phys},{x,y,z}
}
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);
btVector3 v = btVector3(x,y,z);
btVector3 o = btVector3(rx,ry,rz);
r->applyForce(v,o);
return 0;
}
/***
Gets the damping applied to this rigidbody
@function rigidbody:getldamping()
@treturn number damping The ammount of damping applied to the object's momentum
*/
//rigidbody:getldamping()
int getlineardamping(lua_State *L){
lua_getfield(L,-1,"rigidbody");
btRigidBody *r = (btRigidBody*)lua_touserdata(L,-1);
lua_pop(L,2);
double damp = r->getLinearDamping();
lua_pushnumber(L,damp);
return 1;
}
/***
Sets the angular factor of the rigidbody
TODO:What does this actually do?
@function rigidbody:setangfactor(vec3 dir)
@tparam vector3 dir The direction to set the angular factor
*/
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);
r->setAngularFactor(btVector3(x,y,z));
return 0;
}
/***
Gets the angular damping applied to this rigidbody
@function rigidbody:getadamping()
@treturn number damping The ammount of damping applied to angular momentum
*/
//rigidbody:getadamping()
int getangulardamping(lua_State *L){
lua_getfield(L,-1,"rigidbody");
btRigidBody *r = (btRigidBody*)lua_touserdata(L,-1);
lua_pop(L,2);
double damp = r->getAngularDamping();
lua_pushnumber(L,damp);
return 1;
}
/***
Gets the velocity of this object
@function rigidbody:getvelocity()
@treturn vector3 The velocity in each direction
*/
//rigidbody:getvelocity()
int getvelocity(lua_State *L){
btVector3 vel;
lua_getfield(L,-1,"rigidbody");
btRigidBody *r = (btRigidBody*)lua_touserdata(L,-1);
vel = r->getLinearVelocity();
pushvector3d(L,(double)vel.x(),(double)vel.y(),(double)vel.z());
return 1;
}
/***
Sets the velocity of this object
@function rigidbody:setvelocity()
@tparam vector3d direction The ammount on each axis to set the velocity of this object.
*/
//rigidbody:setvelocity({x,y,z})
int setvelocity(lua_State *L){
double x,y,z;
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);
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.
@function rigidbody:setdamping(damping,angular_damping)
@tparam number damping The ammount of damping the object should put on it's movement.
@tparam number angular_damping The ammount of damping the object should put on it's angular momentum
*/
//rigidbody:setdamping(lineardamping, angulardamping)
int setdamping(lua_State *L){
double adamp,ldamp;
adamp = lua_tonumber(L,-1);
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);
r->setDamping(adamp,ldamp);
return 0;
}
/***
Sets flags on this rigidbody
@function rigidbody:setflags(flags)
@tparam number flags
*/
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);
r->setFlags(flags);
return 0;
}
/***
Apply an impulse to the rigidboy
@function rigidbody:centralimpulse(vec3 impulse)
@tparam vector3 impulse The direction to apply the impulse in
*/
int applyimpulse(lua_State *L){
double x,y,z,ox,oy,oz;
popvector3d(L,&x,&y,&z);
popvector3d(L,&ox,&oy,&oz);
btRigidBody *r = popRigidBody(L);
r->applyImpulse(btVector3(x,y,z),btVector3(ox,oy,oz));
return 0;
}
extern const luaL_reg brigidbody_m[] = {
{"setgravity", setgravity},
{"applyforce", applyforce},
{"applyimpulse", applyimpulse},
{"getldamping", getlineardamping},
{"getadamping", getangulardamping},
{"setdamping", setdamping},
{"activate", activate},
{"getvelocity", getvelocity},
{"setvelocity", setvelocity},
{"setangfactor", setangfactor},
{"setflags", setflags},
{NULL, NULL}
};
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