correctly implement capsule collisions and camera view matrix

1 files changed, 25 insertions, 11 deletions

diff --git a/honey/ecs-systems.lua b/honey/ecs-systems.lua
index e400011..3243d02 100644
--- a/honey/ecs-systems.lua
+++ b/honey/ecs-systems.lua
@@ -121,11 +121,11 @@ function renderCamera(params)
 			for id, camera in pairs(self.db:queryComponent("camera")) do
 				local projection = camera.projection
 				local cameraTransform = self.db:getComponent(id, "transform")
-				local view
+				local view = Mat4()
 				if cameraTransform then
-					view = cameraTransform._matrix
+					honey.glm.mat4_inv(cameraTransform._matrix.data, view.data)
 				else
-					view = Mat4():identity()
+					view:identity()
 				end
 		
 				local entities = self.db:queryComponent("renderMesh")
@@ -227,6 +227,14 @@ physics = function(params)
 							physics.mass.density, 
 							physics.mass.radius
 						)
+					elseif class == "capsule" then
+						ode.MassSetCapsule(
+							mass,
+							physics.mass.density,
+							physics.mass.direction,
+							physics.mass.radius,
+							physics.mass.length
+						)
 					end
 					ode.BodySetMass(body, mass)
 					local m = self.db:getComponent(id, "transform").matrix
@@ -240,18 +248,22 @@ physics = function(params)
 						m[2][1], m[2][2], m[2][3],
 						m[3][1], m[3][2], m[3][3]
 					)
+					local vel = physics.velocity or Vec3{0,0,0}
 					ode.BodySetLinearVel(
-						body,
-						physics.velocity[1],
-						physics.velocity[2],
-						physics.velocity[3]
+						body, vel[1], vel[2], vel[3]
 					)
+					physics.velocity = vel
+
+					local avel = physics.angularVelocity or Vec3{0,0,0}
 					ode.BodySetAngularVel(
-						body,
-						physics.angularVelocity[1],
-						physics.angularVelocity[2],
-						physics.angularVelocity[3]
+						body, avel[1], avel[2], avel[3]
 					)
+					physics.angularVelocity = avel
+
+					if physics.maxAngularSpeed then
+						ode.BodySetMaxAngularSpeed(physics.maxAngularSpeed)
+					end
+
 					physics._body = body
 				end
 			end
@@ -321,6 +333,8 @@ local function createGeom(self, id, collision)
 	local geom
 	if collision.class == "sphere" then
 		geom = ode.CreateSphere(self.space, collision.radius)
+	elseif collision.class == "capsule" then
+		geom = ode.CreateCapsule(self.space, collision.radius, collision.length)
 	elseif collision.class == "plane" then
 		local transform = self.db:getComponent(id, "transform")
 		local m = transform.matrix