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#include <stdio.h>
#include <stdlib.h>
#include <vector>
#include <memory>
#include <map>
#include <functional>
#include <list>
extern "C" {
#include <lua.h>
#include <lauxlib.h>
#include <lualib.h>
}
#include <btBulletDynamicsCommon.h>
#include <btBulletCollisionCommon.h>
#include <BulletCollision/Gimpact/btGImpactShape.h>
#include "bphysmodel.hpp"
#include <shared/lua_api/common.hpp>
#include <shared/util/tinyobj.hpp>
#include <shared/lua_api/phys/bcollider.hpp>
#include <shared/lua_api/phys/bphysgeneric.hpp>
extern btDiscreteDynamicsWorld* World;
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");
int nargs = lua_gettop(L);
double lx,ly,lz;
double x,y,z;
if(nargs > 3){
//"physicsfile",{position},{lookat}
popvector3d(L,&lx,&ly,&lz);
}
if(nargs > 2){
//"physicsfile",{position}
popvector3d(L,&x,&y,&z);
}
//printf("got arguments for bphysmodel\n");
//"physicsfile"
double mass = lua_tonumber(L,-1);
const char *ppath = lua_tostring(L,-2);
lua_pop(L,2);
tinyobj_attrib_t attrib;
tinyobj_shape_t *shapes = NULL;
size_t meshcount;
tinyobj_material_t *materials = NULL;
size_t num_materials;
size_t data_len = 0;
FILE *objfile = fopen(ppath,"rb");
fseek(objfile,0,SEEK_END);
data_len = ftell(objfile);
//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");
int err = tinyobj_parse_obj(&attrib, &shapes, &meshcount, &materials, &num_materials, objdata, data_len, TINYOBJ_FLAG_TRIANGULATE);
//printf("Finished parsing tinyobj\n");
if(err != TINYOBJ_SUCCESS){
printf("Tinyobj failed to load model:%s\n",ppath);
}
//u32 meshcount = pmesh->getMeshBufferCount();
//__mingw_printf("attrib.num_vertices: %u\n",attrib.num_vertices);
//__mingw_printf("attrib.num_faces: %u\n",attrib.num_faces);
btTriangleMesh* trimesh = new btTriangleMesh();
btVector3 vertexes[attrib.num_vertices];
for(size_t i = 0; i < attrib.num_vertices; i++){ //0 - x, so num_vertices - 1
float *vs = attrib.vertices + (3*i);//3 floats per vertex
//For some reason irrlicht and bullet disagree with which direction +x is,
//negate the x in the physics engine so the graphical stuff lines up
//with the physics stuff
float v1 = -vs[0];
float v2 = vs[1];
float v3 = vs[2];
vertexes[i] = btVector3(v1,v2,v3);
}
//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];
i2 = attrib.faces[i+1];
i3 = attrib.faces[i+2];
btVector3 v1,v2,v3;
v1 = vertexes[i1.v_idx];
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
}
//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");
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");
lua_pushlightuserdata(L,rb);//ud_rigidbody
}
//newbphysmodel("graphicfile","physicfile",mass[,position][,lookat]) :: ud_rigidbody
static int newbphysmodel(lua_State* L){
//printf("Creating bphysmodel\n");
int nargs = lua_gettop(L);
double lx,ly,lz;
double x,y,z;
if(nargs > 4){
//"graphicsfile","physicsfile",{position},{lookat}
popvector3d(L,&lx,&ly,&lz);
}else{
lx = 1; ly = 1; lz = 1;
}
if(nargs > 3){
//"graphicsfile","physicsfile",{position}
popvector3d(L,&x,&y,&z);
}else{
x = 0; y = 0; z = 0;
}
//"graphicsfile","physicsfile"
double mass = lua_tonumber(L,-1);
const char *ppath = lua_tostring(L,-2);
//const char *gpath = lua_tostring(L,-3);
lua_pop(L,3);//
lua_pushstring(L,ppath);//"phys_path"
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");
makebphysmodel(L);//ud_rigidbody
//printf("Done making bphysmodel\n");
btRigidBody *rb = (btRigidBody*)lua_touserdata(L,-1);
//printf("bphysnode, createing the physics body\n");
//Create the lua representation
lua_newtable(L);//{}
lua_pushlightuserdata(L,rb);//{},ud_rigidbody
lua_setfield(L,-2,"collider");//{collider=ud_rigidbody}
lua_pushstring(L,"rigidbody");//{collider=ud_rigidbody},"rigidbody"
lua_setfield(L,-2,"type");//{rb}
//printf("Added collider to lua rep.\n");
//Add it to the global list of colliders
lua_getglobal(L,"phys");//{rb},{phys}
lua_getfield(L,-1,"colliders");//{rb},{phys},{phys.colliders}
lua_pushlightuserdata(L,rb);//{rb},{phys},{phys.colliders},ud_collider
lua_pushvalue(L,-4);//{rb},{phys},{phys.colliders},ud_collider,{rb}
lua_settable(L,-3);//{rb},{phys},{phys.colliders}
lua_pop(L,2);//{rb}
//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");
return 1;
}
static const luaL_reg bphysmodel_f[] = {
{"newphysmodel", newbphysmodel},
{0,0},
};
static const luaL_reg bphysmodel_m[] = {
{0, 0},
};
int bphysmodel_register(lua_State* L){
//device = d;
//printf("bphysmodel registered\n");
luaL_newmetatable(L, "phys.physmodel");//{m_physmodel}
lua_newtable(L);//{m_physmodel},{}
luaL_register(L,NULL,bcollider_m);
luaL_register(L,NULL,bphysmodel_m);
luaL_register(L,NULL,brigidbody_m);
lua_setfield(L,-2,"__index");//{m_physmodel}
lua_pop(L,1);//
//luaL_register(L,NULL,igeneric_m); //Inherit all the things to do with scene nodes
lua_getglobal(L,"phys");
luaL_register(L,NULL,bphysmodel_f);
lua_pop(L,1);
return 0;
}
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