add collision system

4 files changed, 90 insertions, 11 deletions

diff --git a/honey/ecs-systems.lua b/honey/ecs-systems.lua
index 47c0f6d..c287d06 100644
--- a/honey/ecs-systems.lua
+++ b/honey/ecs-systems.lua
@@ -1,5 +1,6 @@
 local ecs = require 'honey.ecs'
 local glm = require 'honey.glm'
+local Mat4 = glm.Mat4
 local Vec3 = glm.Vec3
 local Quaternion = glm.Quaternion
 local gl = honey.gl
@@ -41,7 +42,7 @@ transform = function(params)
 	return {
 		db = params.db,
 		
-		priority = 1,
+		priority = 2,
 		update = function(self, dt)
 			local entities = self.db:queryComponent("transform")
 	
@@ -169,7 +170,7 @@ physics = function(params)
 		contactGroup=ode.JointGroupCreate(groupSize),
 		time=interval,
 
-		priority=0,
+		priority=1,
 		update=function(self, dt)
 			for i, ref in ipairs(refs) do
 				print(i, ref.tbl, ref.physics)
@@ -186,6 +187,12 @@ physics = function(params)
 						body = nil
 					end)
 
+					local collision = self.db:getComponent(id, "collision")
+					if collision then
+						print(id, collision.class)
+						ode.GeomSetBody(collision._geom, body)
+					end
+
 					local mass = ode.MassCreate()
 					local class = physics.mass.class
 					if not class then
@@ -247,12 +254,12 @@ physics = function(params)
 						-- create the joint
 						local joint = ode.JointCreateContact(
 							self.world,
-							self.contactgroup,
+							self.contactGroup,
 							contact
 						)
 						-- attach the two bodies
-						local bodyA = ode.GeomGetData(a)
-						local bodyB = ode.GeomGetData(b)
+						local bodyA = ode.GeomGetBody(a)
+						local bodyB = ode.GeomGetBody(b)
 						ode.JointAttach(joint, bodyA, bodyB)
 					end
 				end)
@@ -283,4 +290,48 @@ physics = function(params)
 end
 
 
+--===== collision space =====--
+
+
+local function createGeom(self, id, collision)
+	local geom
+	if collision.class == "sphere" then
+		geom = ode.CreateSphere(self.space, collision.radius)
+	elseif collision.class == "plane" then
+		local transform = self.db:getComponent(id, "transform")
+		local m = transform.matrix
+		local normal = transform.matrix:mulv3(Vec3{0,1,0}):normalize()
+		local position = Vec3{m[1][4], m[2][4], m[3][4]}
+		print(position)
+		local d = normal:dot(position)
+		print(normal, d)
+		geom = ode.CreatePlane(self.space, normal[1], normal[2], normal[3], d)
+	end
+	collision._geom = geom
+	collision._gc = honey.util.gc_canary(function()
+		print("release geom for id"..id)
+		ode.GeomDestroy(geom)
+	end)
+end
+
+function collision(params)
+	local db = params.db
+	local space = params.space
+	return {
+		db=db,
+		space=space,
+		priority=0,
+		update = function(self, dt)
+			local query = self.db:queryComponent("collision")
+			for id, collision in pairs(query) do
+				if not collision._geom then
+					createGeom(self, id, collision)
+					print(id, collision._geom)
+				end
+			end
+		end
+	}
+end
+
+
 return module
diff --git a/honey/glm.lua b/honey/glm.lua
index 3357815..c950b9a 100644
--- a/honey/glm.lua
+++ b/honey/glm.lua
@@ -167,6 +167,7 @@ end
 
 function Vec3.normalize(self)
 	glm.vec3_normalize(self.data)
+	return self
 end
 function Vec3.normalizeTo(self, dest)
 	glm.vec3_normalize_to(self.data, dest.data)
@@ -288,6 +289,11 @@ function Mat4.mul(self, other)
 	glm.mat4_mul(self.data, other.data, self.data)
 	return self
 end
+function Mat4.mulv3(self, v)
+	local dest = Vec3()
+	glm.mat4_mulv3(self.data, v.data, 1.0, dest.data)
+	return dest
+end
 
 
 function Mat4.translate(self, vec)
diff --git a/main.lua b/main.lua
index fe97123..0f46f70 100644
--- a/main.lua
+++ b/main.lua
@@ -38,6 +38,7 @@ local systems = ecs.SystemDb(entities)
 systems:addSystem(sys.transform)
 systems:addSystem(sys.renderCamera)
 systems:addSystem(sys.script)
+systems:addSystem(sys.collision, {space=space})
 systems:addSystem(sys.physics, {space=space, world=world})
 package.loaded['baseRotationScript'] = function(entities, id, dt)
 	local transform = entities:getComponent(id, "transform")
@@ -77,6 +78,19 @@ function setupEntities()
 		},
 		onWindowResize = { script = "cameraHandleResize" },
 	})
+
+
+	local plane = entities:createEntity()
+	entities:addComponents(plane, {
+		transform = { 
+			matrix = Mat4()
+				:identity()
+				:rotateZ(math.rad(5))
+		},
+		collision = {
+			class = "plane",
+		},
+	})
 	
 	
 	
@@ -88,7 +102,14 @@ function setupEntities()
 			mesh = { filename="assets/icosahedron.obj", index=1 },
 		},
 		transform = {
-			matrix = Mat4():identity():rotateZ(math.rad(45)),
+			matrix = Mat4()
+				:identity()
+				:translate(Vec3{0,1,0})
+				:rotateZ(math.rad(45)),
+		},
+		collision = {
+			class = "sphere",
+			radius = 1,
 		},
 		physics = {
 			mass = {
@@ -96,8 +117,8 @@ function setupEntities()
 				density = 1,
 				radius = 1,
 			},
-			velocity = Vec3{ 0, 10, 0 },
-			angularVelocity = Vec3{ 0, 1, 0 },
+			velocity = Vec3{ 0, 0, 0 },
+			angularVelocity = Vec3{ 0, 0, 0 },
 		},
 	})
 	
diff --git a/save b/save
index 778b248..22a16b1 100644
--- a/save
+++ b/save
@@ -1,3 +1,4 @@
-Entity("3b5d66ec-e448-4d45-81b4-55ea9664c2f9", {camera={projection=Mat4{1.8107, 0.0000, 0.0000, 0.0000, 0.0000, 2.4142, 0.0000, 0.0000, 0.0000, 0.0000, -1.0020, -0.2002, 0.0000, 0.0000, -1.0000, 0.0000}},z={value=-60},script={script="cameraRotationScript"},onKey={script="cameraKeyHandler"},onWindowResize={script="cameraHandleResize"},transform={matrix=Mat4{1.0000, 0.0000, 0.0000, 0.0000, 0.0000, 1.0000, 0.0000, 0.0000, 0.0000, 0.0000, 1.0000, -59.0040, 0.0000, 0.0000, 0.0000, 1.0000}}})
-Entity("8513af47-a427-4ff0-a1fc-bfe80c1e5c68", {renderMesh={shader={vertex="vertex.glsl",fragment="fragment.glsl"},mesh={index=1,filename="assets/icosahedron.obj"},textures={ourTexture={filename="77155.png"}}},physics={velocity=Vec3{0.0000, -12.7200, 0.0000},angularVelocity=Vec3{0.0000, 1.0000, -0.0000},mass={density=1,radius=1,class="sphere"}},transform={matrix=Mat4{-0.4562, 0.4562, 0.7641, 0.0000, 0.7071, 0.7071, 0.0000, -3.2717, -0.5403, 0.5403, -0.6451, 0.0000, 0.0000, 0.0000, 0.0000, 1.0000}}})
-Entity("fe3dd9ef-198c-4708-8d23-a05b06442dbf", {renderMesh={mesh={index=1,filename="assets/tetrahedron.obj"},shader={vertex="vertex.glsl",fragment="fragment.glsl"}},transform={parent="8513af47-a427-4ff0-a1fc-bfe80c1e5c68",matrix=Mat4{1.0000, 0.0000, 0.0000, 0.0000, 0.0000, 1.0000, 0.0000, 2.0000, 0.0000, 0.0000, 1.0000, 0.0000, 0.0000, 0.0000, 0.0000, 1.0000}}})
+Entity("252e3aec-c36d-4e59-a5b9-73872a63656b", {transform={parent="f451df85-d8d1-4b72-abf5-f384f2ffa730",matrix=Mat4{1.0000, 0.0000, 0.0000, 0.0000, 0.0000, 1.0000, 0.0000, 2.0000, 0.0000, 0.0000, 1.0000, 0.0000, 0.0000, 0.0000, 0.0000, 1.0000}},renderMesh={mesh={index=1,filename="assets/tetrahedron.obj"},shader={vertex="vertex.glsl",fragment="fragment.glsl"}}})
+Entity("4f4191ff-f1b7-4382-904b-156b07091850", {onKey={script="cameraKeyHandler"},transform={matrix=Mat4{1.0000, 0.0000, 0.0000, 0.0000, 0.0000, 1.0000, 0.0000, 0.0000, 0.0000, 0.0000, 1.0000, -59.1379, 0.0000, 0.0000, 0.0000, 1.0000}},script={script="cameraRotationScript"},camera={projection=Mat4{2.5518, 0.0000, 0.0000, 0.0000, 0.0000, 2.4142, 0.0000, 0.0000, 0.0000, 0.0000, -1.0020, -0.2002, 0.0000, 0.0000, -1.0000, 0.0000}},z={value=-60},onWindowResize={script="cameraHandleResize"}})
+Entity("268bfa52-f18b-4d23-bd02-7f3366ae9da3", {collision={class="plane"},transform={matrix=Mat4{1.0000, 0.0000, 0.0000, 0.0000, 0.0000, 1.0000, 0.0000, 0.0000, 0.0000, 0.0000, 1.0000, 0.0000, 0.0000, 0.0000, 0.0000, 1.0000}}})
+Entity("f451df85-d8d1-4b72-abf5-f384f2ffa730", {transform={matrix=Mat4{0.6164, -0.6164, 0.4899, -0.0000, 0.7071, 0.7071, 0.0000, 4.8477, -0.3464, 0.3464, 0.8718, -0.0000, 0.0000, 0.0000, 0.0000, 1.0000}},collision={radius=1,class="sphere"},physics={angularVelocity=Vec3{0.0000, 1.0000, 0.0000},mass={radius=1,class="sphere",density=1},velocity=Vec3{-0.0000, 6.9881, -0.0000}},renderMesh={mesh={index=1,filename="assets/icosahedron.obj"},textures={ourTexture={filename="77155.png"}},shader={vertex="vertex.glsl",fragment="fragment.glsl"}}})