add collision system

2 files changed, 62 insertions, 5 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)