begin physics reimplementation

2 files changed, 107 insertions, 33 deletions

diff --git a/honey/ecs-systems.lua b/honey/ecs-systems.lua
index ed51e5d..cfd5675 100644
--- a/honey/ecs-systems.lua
+++ b/honey/ecs-systems.lua
@@ -1,6 +1,10 @@
 local ecs = require 'honey.ecs'
+local glm = require 'honey.glm'
+local Vec3 = glm.Vec3
+local Quaternion = glm.Quaternion
 local gl = honey.gl
 local glfw = honey.glfw
+local ode = honey.ode
 
 
 local module = {}
@@ -36,6 +40,8 @@ end
 transform = function(params)
 	return {
 		db = params.db,
+		
+		priority = 1,
 		update = function(self, dt)
 			local entities = self.db:queryComponent("transform")
 	
@@ -66,7 +72,6 @@ transform = function(params)
 				recursiveTransform(transform)
 			end
 		end,
-		priority = 0,
 	}
 end
 
@@ -160,9 +165,50 @@ physics = function(params)
 		world=params.world,
 		contactGroup=ode.JointGroupCreate(groupSize),
 		time=interval,
+
+		priority=0,
 		update=function(self, dt)
 			local query = self.db:queryComponent("physics")
-			-- TODO: create physics bodies 
+			for id, physics in pairs(query) do
+				if not physics._body then
+					physics._body = ode.BodyCreate(self.world)
+					local mass = ode.MassCreate()
+					local class = physics.mass.class
+					if not class then
+						-- configure mass manually
+					elseif class == "sphere" then
+						ode.MassSetSphere(
+							mass, 
+							physics.mass.density, 
+							physics.mass.radius
+						)
+					end
+					ode.BodySetMass(physics._body, mass)
+					local m = self.db:getComponent(id, "transform").matrix
+					ode.BodySetPosition(
+						physics._body,
+						m[1][4], m[2][4], m[3][4]
+					)
+					ode.BodySetRotation(
+						physics._body,
+						m[1][1], m[1][2], m[1][3],
+						m[2][1], m[2][2], m[2][3],
+						m[3][1], m[3][2], m[3][3]
+					)
+					ode.BodySetLinearVel(
+						physics._body,
+						physics.velocity[1],
+						physics.velocity[2],
+						physics.velocity[3]
+					)
+					ode.BodySetAngularVel(
+						physics._body,
+						physics.angularVelocity[1],
+						physics.angularVelocity[2],
+						physics.angularVelocity[3]
+					)
+				end
+			end
 
 			self.time = self.time + dt
 			-- only run the update every [interval] seconds
@@ -204,7 +250,9 @@ physics = function(params)
 				for id, physics in pairs(query) do
 					local x,y,z = ode.BodyGetPosition(physics._body)
 					local d,a,b,c = ode.BodyGetQuaternion(physics._body)
-					entity.transform
+					local transform = self.db:getComponent(id, "transform")
+					local q = Quaternion{a,b,c,d}
+					transform.matrix
 						:identity()
 						:translate(Vec3{x,y,z})
 						:mul(Quaternion{a,b,c,d}:toMat4())
diff --git a/main.lua b/main.lua
index a686daa..16e27e6 100644
--- a/main.lua
+++ b/main.lua
@@ -7,6 +7,7 @@ local Mat4 = honey.Mat4
 local Quaternion = honey.Quaternion
 local ecs = honey.ecs
 local sys = honey.standardSystems
+local dispatch = sys.dispatch
 local ode = honey.ode
 local nvg = honey.nvg
 
@@ -19,6 +20,16 @@ local vg = nvg.CreateContext()
 local november = nvg.CreateFont(vg, "November", "assets/november.regular.ttf")
 local vw, vh = 640, 480
 
+-- setup physics
+local space = ode.HashSpaceCreate(ode.Space0)
+local world = ode.WorldCreate()
+ode.WorldSetGravity(world, 0, -10, 0)
+ode.WorldSetCFM(world, 1e-5)
+local physicsGc = honey.util.gc_canary(function()
+	ode.SpaceDestroy(space)
+	ode.WorldDestroy(world)
+end)
+
 
 -- setup ecs
 local entities = ecs.EntityDb()
@@ -32,63 +43,78 @@ entities:addComponents(camera, {
 	transform={
 		matrix=Mat4():identity():translate(Vec3{0, 0, -6}),
 	},
+	z = {value=-6},
 	script={
 		script="cameraRotationScript",
 	},
+	onKey = {
+		script="cameraKeyHandler",
+	},
 })
---entities:addComponent(camera, "camera", {
---	projection=Mat4():perspective(math.rad(45), 640/480, 0.1, 100),
---})
---entities:addComponent(camera, "transform", {
---	matrix=Mat4():identity():translate(Vec3{0, 0, -6}),
---})
---entities:addComponent(camera, "script", {
---	name = "cameraRotationScript",
---})
---
 
 systems:addSystem(sys.transform)
 systems:addSystem(sys.renderCamera, {camera=camera})
 systems:addSystem(sys.script)
+systems:addSystem(sys.physics, {space=space, world=world})
 package.loaded['baseRotationScript'] = function(entities, id, dt)
 	local transform = entities:getComponent(id, "transform")
 	transform.matrix:rotateZ(math.pi * dt)
 end
 package.loaded['cameraRotationScript'] = function(entities, id, dt)
 	local transform = entities:getComponent(id, "transform")
-	transform.matrix:identity():translate(Vec3{0, 0, -6 + math.sin(math.pi * glfw.GetTime())})
+	local z = entities:getComponent(id, "z")
+	transform.matrix
+		:identity()
+		:translate(Vec3{0, 0, z.value + math.sin(math.pi * glfw.GetTime())})
+end
+package.loaded['cameraKeyHandler'] = function(entities, id, data)
+	local z = entities:getComponent(id, "z")
+	if data.key == glfw.KEY_W then
+		z.value = z.value + 1
+	elseif data.key == glfw.KEY_S then
+		z.value = z.value - 1
+	end	
 end
 
 
 local id = entities:createEntity()
-entities:addComponent(id, "renderMesh", {
-	textures = {
-		ourTexture={ filename="77155.png" },
+entities:addComponents(id, {
+	renderMesh = {
+		textures = { ourTexture={ filename="77155.png" } },
+		shader = { vertex="vertex.glsl", fragment="fragment.glsl" },
+		mesh = { filename="assets/icosahedron.obj", index=1 },
+	},
+	transform = {
+		matrix = Mat4():identity():rotateZ(math.rad(45)),
+	},
+	physics = {
+		mass = {
+			class = "sphere",
+			density = 1,
+			radius = 1,
+		},
+		velocity = Vec3{ 0, 0, 0 },
+		angularVelocity = Vec3{ 0, 0, 0 },
 	},
-	shader = { vertex="vertex.glsl", fragment="fragment.glsl" },
-	mesh = { filename="assets/icosahedron.obj", index=1 },
-})
-entities:addComponent(id, "transform", {
-	matrix = Mat4():identity():rotateZ(math.rad(45)),
-})
-entities:addComponent(id, "script", {
-	script = "baseRotationScript",
 })
 
 local id2 = entities:createEntity()
-entities:addComponent(id2, "renderMesh", {
-	shader = { vertex="vertex.glsl", fragment="fragment.glsl" },
-	mesh = { filename="assets/tetrahedron.obj", index=1 },
-})
-entities:addComponent(id2, "transform", {
-	parent=id,
-	matrix=Mat4():identity():translate(Vec3{0, 2, 0}),
+entities:addComponents(id2, {
+	renderMesh = {
+		shader = { vertex="vertex.glsl", fragment="fragment.glsl" },
+		mesh = { filename="assets/tetrahedron.obj", index=1 },
+	},
+	transform = {
+		parent=id,
+		matrix=Mat4():identity():translate(Vec3{0, 2, 0}),
+	},
 })
 
 
 
 -- close window on ESCAPE key
 window:setKeyCallback(function(_, key, scancode, action)
+	dispatch(entities, "onKey", {key=key, scancode=scancode, action=action})
 	if action == glfw.PRESS then
 		if key == glfw.KEY_ESCAPE then
 			window:setShouldClose(true)
@@ -100,7 +126,7 @@ end)
 window:setFramebufferSizeCallback(function(_, width, height)
 	gl.Viewport(0, 0, width, height)
 	vw, vh = width, height
-	sys.dispatch(entities, "onWindowResize", { width=width, height=height })
+	dispatch(entities, "onWindowResize", { width=width, height=height })
 end)
 
 package.loaded["cameraHandleResize"] = function(entities, id, data)