begin physics reimplementation

1 files changed, 51 insertions, 3 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())