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local ode = honey.ode
local ecs = require 'honey.ecs.ecs'
local node = require 'honey.ecs.node'
local script = require 'honey.ecs.script'
local glm = require 'honey.glm'
local Vec3 = glm.Vec3
local module = {}
setmetatable(module, {__index=_G})
setfenv(1, module)
--[[
collisions are split into two systems: geom updates and transform updates.
]]
local function createGeom(space, id, collision)
local class = collision.class
local geom
if class == "sphere" then
geom = ode.CreateSphere(space, collision.radius)
elseif class == "box" then
geom = ode.CreateBox(space, collision.lx, collision.ly, collision.lz)
elseif class == "plane" then
geom = ode.CreatePlane(space, collision.a, collision.b, collision.c, collision.d)
elseif class == "capsule" then
geom = ode.CreateCapsule(space, collision.radius, collision.length)
elseif class == "cylinder" then
geom = ode.CreateCylinder(space, collision.radius, collision.length)
elseif class == "ray" then
geom = ode.CreateRay(space, collision.length)
end
ode.GeomSetData(geom, id)
collision._geom = geom
collision._gc = honey.util.gc_canary(function()
ode.GeomDestroy(geom)
end)
end
local function updateGeom(collision)
local geom = collision._geom
ode.GeomSetCategoryBits(geom, collision.category or 0x1)
ode.GeomSetCollideBits(geom, collision.collide or 0xffffffff)
local class = collision.class
if class == "sphere" then
ode.GeomSphereSetRadius(geom, collision.radius)
elseif class == "box" then
ode.GeomBoxSetLengths(geom, collision.lx, collision.ly, collision.lz)
elseif class == "plane" then
ode.GeomPlaneSetParams(geom, collision.a, collision.b, collision.c, collision.d)
elseif class == "capsule" then
ode.GeomCapsuleSetParams(geom, collision.radius, collision.length)
elseif class == "cylinder" then
ode.GeomCylinderSetParams(geom, collision.radius, collision.length)
elseif class == "ray" then
GeomRaySetLength(geom, collision.length)
end
end
local updateGeom = ecs.System("collisionGeoms", function(db, dt, p)
for id, collision in pairs(db:queryComponent("collision")) do
if not collision._geom then
createGeom(p.space, id, collision)
end
updateGeom(collision)
end
end)
--===== update transform & collide =====--
local function isPlaceable(collision)
if collision.class == "plane" then return false end
return true
end
local function updateGeomTransform(collision, node)
local geom = collision._geom
local m = node._matrix
ode.GeomSetPosition(geom, m[1][4], m[2][4], m[3][4])
ode.GeomSetRotation(geom,
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]
)
end
local function runCollisionScript(db, id, other, collisions)
local handler = db:getComponent(id, "onCollision")
if handler then
local f = script.getFunction(handler)
f(db, id, other, collisions)
end
end
local updateTransform = ecs.System("collisionTransform", function(db, dt, p)
local query = db:queryComponent("collision")
-- update transforms
for id, collision in pairs(query) do
if isPlaceable(collision) then
local node = db:getComponent(id, "node")
if node then
updateGeomTransform(collision, node)
end
end
end
-- compute and handle collisions
ode.SpaceCollide(p.space, function(geomA, geomB)
local collisions = ode.Collide(geomA, geomB, p.maxPoints or 1)
if #collisions > 0 then
-- get entity ids
local idA = ode.GetData(geomA)
local idB = ode.GetData(geomB)
-- run handlers, if any
runCollisionScript(db, idA, idB, collisions)
runCollisionScript(db, idB, idA, collisions)
end
end)
end)
updateTransform:addDependencies(node.system)
updateTransform:addDependencies({updateGeom})
system = { updateGeom, updateTransform }
return module
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