re-implement bouncing ball

8 files changed, 313 insertions, 40 deletions

diff --git a/src/ode/CMakeLists.txt b/src/ode/CMakeLists.txt
index f11573f..1538d1d 100644
--- a/src/ode/CMakeLists.txt
+++ b/src/ode/CMakeLists.txt
@@ -6,6 +6,7 @@ target_sources(honey PUBLIC
 	${CMAKE_CURRENT_LIST_DIR}/body.c
 	${CMAKE_CURRENT_LIST_DIR}/joint.c
 	${CMAKE_CURRENT_LIST_DIR}/geom.c
+	${CMAKE_CURRENT_LIST_DIR}/mass.c
 )
 
 
diff --git a/src/ode/bind b/src/ode/bind
new file mode 100644
index 0000000..1c28b65
--- /dev/null
+++ b/src/ode/bind
@@ -0,0 +1,15 @@
+void dMassSetZero (dMass *m);
+void dMassSetParameters (dMass *m, dReal themass, dReal cgx, dReal cgy, dReal cgz, dReal I11, dReal I22, dReal I33, dReal I12, dReal I13, dReal I23);
+void dMassSetSphere (dMass *m, dReal density, dReal radius);
+void dMassSetSphereTotal (dMass *m, dReal total_mass, dReal radius);
+void dMassSetCapsule (dMass *m, dReal density, int direction, dReal radius, dReal length);
+void dMassSetCapsuleTotal (dMass *m, dReal total_mass, int direction, dReal radius, dReal length);
+void dMassSetCylinder (dMass *m, dReal density, int direction, dReal radius, dReal length);
+void dMassSetCylinderTotal (dMass *m, dReal total_mass, int direction, dReal radius, dReal length);
+void dMassSetBox (dMass *m, dReal density, dReal lx, dReal ly, dReal lz);
+void dMassSetBoxTotal (dMass *m, dReal total_mass, dReal lx, dReal ly, dReal lz);
+void dMassSetTrimesh (dMass *m, dReal density, dGeomID g)
+void dMassAdjust (dMass *m, dReal newmass);
+void dMassTranslate (dMass *m, dReal x, dReal y, dReal z);
+void dMassRotate (dMass *m, const dMatrix3 R);
+void dMassAdd (dMass *ma, const dMass *mb);
diff --git a/src/ode/body.c b/src/ode/body.c
index f543b34..1284bb0 100644
--- a/src/ode/body.c
+++ b/src/ode/body.c
@@ -19,9 +19,11 @@ void ode_push_body(lua_State *L, dBodyID bb)
 {
 	struct body_t *b = lua_newuserdata(L, sizeof(struct body_t));
 	b->id = bb;
-	b->data.L = L;
-	b->data.callback_ref = LUA_NOREF;
-	dBodySetData(b->id, &(b->data));
+	if (bb != 0) {
+		b->data.L = L;
+		b->data.callback_ref = LUA_NOREF;
+		dBodySetData(b->id, &(b->data));
+	}
 	luaL_getmetatable(L, ode_body_tname);
 	lua_setmetatable(L, -2);
 }
@@ -140,7 +142,8 @@ int dBodyGetQuaternion_bind(lua_State *L)
 	lua_pushnumber(L, bind_result[0]);
 	lua_pushnumber(L, bind_result[1]);
 	lua_pushnumber(L, bind_result[2]);
-	return 3;
+	lua_pushnumber(L, bind_result[3]);
+	return 4;
 }
 
 
diff --git a/src/ode/joint.c b/src/ode/joint.c
index 6fa79b4..7ff4c22 100644
--- a/src/ode/joint.c
+++ b/src/ode/joint.c
@@ -56,7 +56,7 @@ static int get_field(lua_State *L, int tbl, const char *key, int type)
 {
 	lua_getfield(L, tbl, key);
 	int actual_type = lua_type(L, -1);
-	if (actual_type != type) {
+	if (actual_type != type && actual_type != LUA_TNIL) {
 		luaL_error(L, 
 			"field \"%s\" must have type %s but is %s instead",
 			key, lua_typename(L, type), lua_typename(L, actual_type)
@@ -67,49 +67,49 @@ static int get_field(lua_State *L, int tbl, const char *key, int type)
 static int parse_surface_params(lua_State *L, struct dSurfaceParameters *surface, int tbl)
 {
 	get_field(L, tbl, "mode", LUA_TNUMBER);
-	surface->mode = lua_tointeger(L, -1);
+	if (!lua_isnil(L, -1)) surface->mode = lua_tointeger(L, -1);
 
 	get_field(L, tbl, "mu", LUA_TNUMBER);
-	surface->mu = lua_tointeger(L, -1);
+	if (!lua_isnil(L, -1)) surface->mu = lua_tointeger(L, -1);
 
 	get_field(L, tbl, "mu2", LUA_TNUMBER);
-	surface->mu2 = lua_tointeger(L, -1);
+	if (!lua_isnil(L, -1)) surface->mu2 = lua_tointeger(L, -1);
 	
 	get_field(L, tbl, "rho", LUA_TNUMBER);
-	surface->rho = lua_tointeger(L, -1);
+	if (!lua_isnil(L, -1)) surface->rho = lua_tointeger(L, -1);
 
 	get_field(L, tbl, "rho2", LUA_TNUMBER);
-	surface->rho2 = lua_tointeger(L, -1);
+	if (!lua_isnil(L, -1)) surface->rho2 = lua_tointeger(L, -1);
 
 	get_field(L, tbl, "rhoN", LUA_TNUMBER);
-	surface->rhoN = lua_tointeger(L, -1);
+	if (!lua_isnil(L, -1)) surface->rhoN = lua_tointeger(L, -1);
 
 	get_field(L, tbl, "bounce", LUA_TNUMBER);
-	surface->bounce = lua_tointeger(L, -1);
+	if (!lua_isnil(L, -1)) surface->bounce = lua_tointeger(L, -1);
 
 	get_field(L, tbl, "bounce_vel", LUA_TNUMBER);
-	surface->bounce_vel = lua_tointeger(L, -1);
+	if (!lua_isnil(L, -1)) surface->bounce_vel = lua_tointeger(L, -1);
 
 	get_field(L, tbl, "soft_erp", LUA_TNUMBER);
-	surface->soft_erp = lua_tointeger(L, -1);
+	if (!lua_isnil(L, -1)) surface->soft_erp = lua_tointeger(L, -1);
 
 	get_field(L, tbl, "soft_cfm", LUA_TNUMBER);
-	surface->soft_cfm = lua_tointeger(L, -1);
+	if (!lua_isnil(L, -1)) surface->soft_cfm = lua_tointeger(L, -1);
 
 	get_field(L, tbl, "motion1", LUA_TNUMBER);
-	surface->motion1 = lua_tointeger(L, -1);
+	if (!lua_isnil(L, -1)) surface->motion1 = lua_tointeger(L, -1);
 
 	get_field(L, tbl, "motion2", LUA_TNUMBER);
-	surface->motion2 = lua_tointeger(L, -1);
+	if (!lua_isnil(L, -1)) surface->motion2 = lua_tointeger(L, -1);
 
 	get_field(L, tbl, "motionN", LUA_TNUMBER);
-	surface->motionN = lua_tointeger(L, -1);
+	if (!lua_isnil(L, -1)) surface->motionN = lua_tointeger(L, -1);
 
 	get_field(L, tbl, "slip1", LUA_TNUMBER);
-	surface->slip1 = lua_tointeger(L, -1);
+	if (!lua_isnil(L, -1)) surface->slip1 = lua_tointeger(L, -1);
 
 	get_field(L, tbl, "slip2", LUA_TNUMBER);
-	surface->slip2 = lua_tointeger(L, -1);
+	if (!lua_isnil(L, -1)) surface->slip2 = lua_tointeger(L, -1);
 
 	lua_pop(L, 15);
 }
@@ -121,30 +121,50 @@ static int parse_contact_tbl(lua_State *L, dContact *contact, int tbl)
 	parse_surface_params(L, &(contact->surface), surface_tbl);
 	lua_pop(L, 1);
 
-	get_field(L, tbl, "geom", LUA_TUSERDATA);
-	dContactGeom *g = lua_touserdata(L, -1);
-	contact->geom = *g;
-	lua_pop(L, 1);
+	//get_field(L, tbl, "geom", LUA_TUSERDATA);
+	//dContactGeom *g = lua_touserdata(L, -1);
+	//contact->geom = *g;
+	//lua_pop(L, 1);
 
 	get_field(L, tbl, "fdir1", LUA_TTABLE);
-	int fdir_tbl = lua_gettop(L);
-	lua_rawgeti(L, fdir_tbl, 1);
-	contact->fdir1[0] = lua_tonumber(L, -1);
-	lua_rawgeti(L, fdir_tbl, 1);
-	contact->fdir1[1] = lua_tonumber(L, -1);
-	lua_rawgeti(L, fdir_tbl, 1);
-	contact->fdir1[2] = lua_tonumber(L, -1);
-	lua_pop(L, 4);
+	if (!lua_isnil(L, -1)) {
+		int fdir_tbl = lua_gettop(L);
+		lua_rawgeti(L, fdir_tbl, 1);
+		contact->fdir1[0] = lua_tonumber(L, -1);
+		lua_rawgeti(L, fdir_tbl, 1);
+		contact->fdir1[1] = lua_tonumber(L, -1);
+		lua_rawgeti(L, fdir_tbl, 1);
+		contact->fdir1[2] = lua_tonumber(L, -1);
+		lua_pop(L, 3);
+	}
+	lua_pop(L, 1);
+}
+
+
+int CreateContact_bind(lua_State *L)
+{
+	luaL_checktype(L, 1, LUA_TTABLE);
+	dContact *contact = lua_newuserdata(L, sizeof(dContact));
+	parse_contact_tbl(L, contact, 1);
+	return 1;
 }
 
+
+int ContactSetGeom_bind(lua_State *L)
+{
+	dContact *contact = lua_touserdata(L, 1);
+	dContactGeom *geom = lua_touserdata(L, 2);
+	contact->geom = *geom;
+	return 0;
+}
+
+
 int dJointCreateContact_bind(lua_State *L)
 {
 	dWorldID *w = luaL_checkudata(L, 1, ode_world_tname);
 	dJointGroupID *g = luaL_checkudata(L, 2, ode_jointgroup_tname);
-	luaL_checktype(L, 3, LUA_TTABLE);
-	dContact contact;
-	parse_contact_tbl(L, &contact, 3);
-	dJointID bind_result = dJointCreateContact(*w, *g, &contact);
+	dContact *contact = lua_touserdata(L, 3);
+	dJointID bind_result = dJointCreateContact(*w, *g, contact);
 	ode_push_joint(L, bind_result);
 	return 1;
 }
diff --git a/src/ode/mass.c b/src/ode/mass.c
new file mode 100644
index 0000000..fb90d65
--- /dev/null
+++ b/src/ode/mass.c
@@ -0,0 +1,192 @@
+#include <lua.h>
+#include <lauxlib.h>
+#include <ode/ode.h>
+#include "ode_bindings.h"
+
+
+int MassCreate_bind(lua_State *L)
+{
+	dMass *m = lua_newuserdata(L, sizeof(dMass));
+	luaL_getmetatable(L, ode_mass_tname);
+	lua_setmetatable(L, -2);
+	return 1;
+}
+
+
+int dMassSetZero_bind(lua_State *L)
+{
+	dMass * m = luaL_checkudata(L, 1, ode_mass_tname);
+	dMassSetZero(m);
+	return 0;
+}
+
+
+int dMassSetParameters_bind(lua_State *L)
+{
+	dMass * m = luaL_checkudata(L, 1, ode_mass_tname);
+	dReal themass = luaL_checknumber(L, 2);
+	dReal cgx = luaL_checknumber(L, 3);
+	dReal cgy = luaL_checknumber(L, 4);
+	dReal cgz = luaL_checknumber(L, 5);
+	dReal I11 = luaL_checknumber(L, 6);
+	dReal I22 = luaL_checknumber(L, 7);
+	dReal I33 = luaL_checknumber(L, 8);
+	dReal I12 = luaL_checknumber(L, 9);
+	dReal I13 = luaL_checknumber(L, 10);
+	dReal I23 = luaL_checknumber(L, 11);
+	dMassSetParameters(m, themass, cgx, cgy, cgz, I11, I22, I33, I12, I13, I23);
+	return 0;
+}
+
+
+int dMassSetSphere_bind(lua_State *L)
+{
+	dMass * m = luaL_checkudata(L, 1, ode_mass_tname);
+	dReal density = luaL_checknumber(L, 2);
+	dReal radius = luaL_checknumber(L, 3);
+	dMassSetSphere(m, density, radius);
+	return 0;
+}
+
+
+int dMassSetSphereTotal_bind(lua_State *L)
+{
+	dMass * m = luaL_checkudata(L, 1, ode_mass_tname);
+	dReal total_mass = luaL_checknumber(L, 2);
+	dReal radius = luaL_checknumber(L, 3);
+	dMassSetSphereTotal(m, total_mass, radius);
+	return 0;
+}
+
+
+int dMassSetCapsule_bind(lua_State *L)
+{
+	dMass * m = luaL_checkudata(L, 1, ode_mass_tname);
+	dReal density = luaL_checknumber(L, 2);
+	int direction = luaL_checkinteger(L, 3);
+	dReal radius = luaL_checknumber(L, 4);
+	dReal length = luaL_checknumber(L, 5);
+	dMassSetCapsule(m, density, direction, radius, length);
+	return 0;
+}
+
+
+int dMassSetCapsuleTotal_bind(lua_State *L)
+{
+	dMass * m = luaL_checkudata(L, 1, ode_mass_tname);
+	dReal total_mass = luaL_checknumber(L, 2);
+	int direction = luaL_checkinteger(L, 3);
+	dReal radius = luaL_checknumber(L, 4);
+	dReal length = luaL_checknumber(L, 5);
+	dMassSetCapsuleTotal(m, total_mass, direction, radius, length);
+	return 0;
+}
+
+
+int dMassSetCylinder_bind(lua_State *L)
+{
+	dMass * m = luaL_checkudata(L, 1, ode_mass_tname);
+	dReal density = luaL_checknumber(L, 2);
+	int direction = luaL_checkinteger(L, 3);
+	dReal radius = luaL_checknumber(L, 4);
+	dReal length = luaL_checknumber(L, 5);
+	dMassSetCylinder(m, density, direction, radius, length);
+	return 0;
+}
+
+
+int dMassSetCylinderTotal_bind(lua_State *L)
+{
+	dMass * m = luaL_checkudata(L, 1, ode_mass_tname);
+	dReal total_mass = luaL_checknumber(L, 2);
+	int direction = luaL_checkinteger(L, 3);
+	dReal radius = luaL_checknumber(L, 4);
+	dReal length = luaL_checknumber(L, 5);
+	dMassSetCylinderTotal(m, total_mass, direction, radius, length);
+	return 0;
+}
+
+
+int dMassSetBox_bind(lua_State *L)
+{
+	dMass * m = luaL_checkudata(L, 1, ode_mass_tname);
+	dReal density = luaL_checknumber(L, 2);
+	dReal lx = luaL_checknumber(L, 3);
+	dReal ly = luaL_checknumber(L, 4);
+	dReal lz = luaL_checknumber(L, 5);
+	dMassSetBox(m, density, lx, ly, lz);
+	return 0;
+}
+
+
+int dMassSetBoxTotal_bind(lua_State *L)
+{
+	dMass * m = luaL_checkudata(L, 1, ode_mass_tname);
+	dReal total_mass = luaL_checknumber(L, 2);
+	dReal lx = luaL_checknumber(L, 3);
+	dReal ly = luaL_checknumber(L, 4);
+	dReal lz = luaL_checknumber(L, 5);
+	dMassSetBoxTotal(m, total_mass, lx, ly, lz);
+	return 0;
+}
+
+
+int dMassSetTrimesh_bind(lua_State *L)
+{
+	dMass * m = luaL_checkudata(L, 1, ode_mass_tname);
+	dReal density = luaL_checknumber(L, 2);
+	dGeomID g = luaL_checkudata(L, 3, ode_geom_tname);
+	dMassSetTrimesh(m, density, g);
+	return 0;
+}
+
+
+int dMassAdjust_bind(lua_State *L)
+{
+	dMass * m = luaL_checkudata(L, 1, ode_mass_tname);
+	dReal newmass = luaL_checknumber(L, 2);
+	dMassAdjust(m, newmass);
+	return 0;
+}
+
+
+int dMassTranslate_bind(lua_State *L)
+{
+	dMass * m = luaL_checkudata(L, 1, ode_mass_tname);
+	dReal x = luaL_checknumber(L, 2);
+	dReal y = luaL_checknumber(L, 3);
+	dReal z = luaL_checknumber(L, 4);
+	dMassTranslate(m, x, y, z);
+	return 0;
+}
+
+
+int dMassRotate_bind(lua_State *L)
+{
+	dMass * m = luaL_checkudata(L, 1, ode_mass_tname);
+	dMatrix3 R;
+	R[0] = luaL_checknumber(L, 2);
+	R[1] = luaL_checknumber(L, 3);
+	R[2] = luaL_checknumber(L, 4);
+
+	R[4] = luaL_checknumber(L, 5);
+	R[5] = luaL_checknumber(L, 6);
+	R[6] = luaL_checknumber(L, 7);
+
+	R[8] = luaL_checknumber(L, 8);
+	R[9] = luaL_checknumber(L, 9);
+	R[10] = luaL_checknumber(L, 10);
+	dMassRotate(m, R);
+	return 0;
+}
+
+
+int dMassAdd_bind(lua_State *L)
+{
+	dMass * ma = luaL_checkudata(L, 1, ode_mass_tname);
+	const dMass * mb = luaL_checkudata(L, 2, ode_mass_tname);
+	dMassAdd(ma, mb);
+	return 0;
+}
+
+
diff --git a/src/ode/ode_bindings.h b/src/ode/ode_bindings.h
index 62c7bd9..3305b2a 100644
--- a/src/ode/ode_bindings.h
+++ b/src/ode/ode_bindings.h
@@ -412,12 +412,50 @@ void ode_push_space(lua_State *L, dSpaceID s);
 	X("CreateHeightfield", dCreateHeightfield_bind) \
 	X("GeomHeightfieldSetHeightfieldData", dGeomHeightfieldSetHeightfieldData_bind) \
 	X("GeomHeightfieldGetHeightfieldData", dGeomHeightfieldGetHeightfieldData_bind) \
-
-
+	X("CreateContact", CreateContact_bind) \
+	X("ContactSetGeom", ContactSetGeom_bind) \
+	/* mass */ \
+	X("MassCreate", MassCreate_bind) \
+	X("MassSetZero", dMassSetZero_bind) \
+	X("MassSetParameters", dMassSetParameters_bind) \
+	X("MassSetSphere", dMassSetSphere_bind) \
+	X("MassSetSphereTotal", dMassSetSphereTotal_bind) \
+	X("MassSetCapsule", dMassSetCapsule_bind) \
+	X("MassSetCapsuleTotal", dMassSetCapsuleTotal_bind) \
+	X("MassSetCylinder", dMassSetCylinder_bind) \
+	X("MassSetCylinderTotal", dMassSetCylinderTotal_bind) \
+	X("MassSetBox", dMassSetBox_bind) \
+	X("MassSetBoxTotal", dMassSetBoxTotal_bind) \
+	X("MassSetTrimesh", dMassSetTrimesh_bind) \
+	X("MassAdjust", dMassAdjust_bind) \
+	X("MassTranslate", dMassTranslate_bind) \
+	X("MassRotate", dMassRotate_bind) \
+	X("MassAdd", dMassAdd_bind) \
 
 
 #define X(name, func) int func(lua_State *L);
 ODE_FUNCTIONS
 #undef X
 
+
+
+#define ODE_ENUMS \
+	/* contact modes */ \
+	X("ContactMu2", dContactMu2) \
+	X("ContactFDir1", dContactFDir1) \
+	X("ContactBounce", dContactBounce) \
+	X("ContactSoftERP", dContactSoftERP) \
+	X("ContactSoftCFM", dContactSoftCFM) \
+	X("ContactMotion1", dContactMotion1) \
+	X("ContactMotion2", dContactMotion2) \
+	X("ContactMotionN", dContactMotionN) \
+	X("ContactSlip1", dContactSlip1) \
+	X("ContactSlip2", dContactSlip2) \
+	X("ContactRolling", dContactRolling) \
+	X("ContactApprox1_1", dContactApprox1_1) \
+	X("ContactApprox1_2", dContactApprox1_2) \
+	X("ContactApprox1_N", dContactApprox1_N) \
+	X("ContactApprox1", dContactApprox1) \
+
+
 #endif
diff --git a/src/ode/setup.c b/src/ode/setup.c
index 91e452c..2b5b1e3 100644
--- a/src/ode/setup.c
+++ b/src/ode/setup.c
@@ -28,6 +28,10 @@ void setup_ode(lua_State *L, int honey_tbl)
 		#define X(name, func) H_FUNC(name, func),
 		ODE_FUNCTIONS
 		#undef X
+		#define X(name, value) H_INT(name, value),
+		ODE_ENUMS
+		#undef X
+		H_NUM("Infinity", dInfinity),
 		H_END
 	};
 	create_table(L, ode);
diff --git a/src/ode/world.c b/src/ode/world.c
index 69b5a92..a38eb30 100644
--- a/src/ode/world.c
+++ b/src/ode/world.c
@@ -15,7 +15,7 @@ void ode_push_world(lua_State *L, dWorldID w)
 
 int dWorldCreate_bind(lua_State *L)
 {
-	dWorldID w = lua_newuserdata(L, sizeof(dWorldID));
+	dWorldID w = dWorldCreate();
 	ode_push_world(L, w);
 	return 1;
 }
@@ -206,7 +206,7 @@ int dWorldStep_bind(lua_State *L)
 int dWorldQuickStep_bind(lua_State *L)
 {
 	dWorldID *w = luaL_checkudata(L, 1, ode_world_tname);
-	dReal stepsize = luaL_checkinteger(L, 2);
+	dReal stepsize = luaL_checknumber(L, 2);
 	dWorldQuickStep(*w, stepsize);
 	return 0;
 }