idk

engine/src/physics.c

@@ -16,11 +16,13 @@ GSPhysics GSPhysicsCreate(GSServer server) {
 	physics->engine = server->engine;
 
 	physics->world	       = dWorldCreate();
-	physics->space	       = dSimpleSpaceCreate(0);
+	physics->space	       = dHashSpaceCreate(0);
 	physics->contact_group = dJointGroupCreate(0);
 
 	dWorldSetGravity(physics->world, 0, 0, -9.81);
 
+	dCreatePlane(physics->space, 0, 0, 1, 0);
+
 	GSLog(server->engine, GSLogInfo, "Created physics engine");
 
 	return physics;
@@ -67,3 +69,71 @@ void GSPhysicsStep(GSPhysics physics) {
 	dWorldStep(physics->world, 1.0 / physics->engine->tps);
 	dJointGroupEmpty(physics->contact_group);
 }
+
+GSPhysicsObject GSPhysicsCreateBox(GSPhysics physics, GSNumber mass, GSVector3 size) {
+	dMass		m;
+	GSPhysicsObject obj = malloc(sizeof(*obj));
+	dMatrix3	mat;
+
+	memset(obj, 0, sizeof(*obj));
+
+	obj->geom = dCreateBox(physics->space, size[0], size[2], size[1]);
+	obj->body = dBodyCreate(physics->world);
+
+	dMassSetBox(&m, 1, size[0], size[2], size[1]);
+	dMassAdjust(&m, mass);
+
+	dBodySetMass(obj->body, &m);
+	dGeomSetBody(obj->geom, obj->body);
+
+	dRSetIdentity(mat);
+	dBodySetRotation(obj->body, mat);
+
+	return obj;
+}
+
+GSPhysicsObject GSPhysicsCreateSphere(GSPhysics physics, GSNumber mass, GSNumber radius) {
+	dMass		m;
+	GSPhysicsObject obj = malloc(sizeof(*obj));
+
+	memset(obj, 0, sizeof(*obj));
+
+	obj->geom = dCreateSphere(physics->space, radius);
+	obj->body = dBodyCreate(physics->world);
+
+	dMassSetSphere(&m, 1, radius);
+	dMassAdjust(&m, mass);
+
+	dBodySetMass(obj->body, &m);
+	dGeomSetBody(obj->geom, obj->body);
+
+	return obj;
+}
+
+void GSPhysicsSetPosition(GSPhysicsObject obj, GSVector3 vec) {
+	dBodySetPosition(obj->body, vec[0], -vec[2], vec[1]);
+}
+
+void GSPhysicsGetPosition(GSPhysicsObject obj, GSVector3 vec) {
+	const dReal* r = dBodyGetPosition(obj->body);
+
+	vec[0] = r[0];
+	vec[1] = r[2];
+	vec[2] = -r[1];
+}
+
+void GSPhysicsGetRotation(GSPhysicsObject obj, GSMatrix3x3 mat) {
+	const dReal* r = dBodyGetRotation(obj->body);
+	int	     y, x;
+
+	for(y = 0; y < 3; y++) {
+		for(x = 0; x < 3; x++) mat[3 * y + x] = r[4 * y + x];
+	}
+}
+
+void GSPhysicsDestroyObject(GSPhysicsObject obj) {
+	dBodyDestroy(obj->body);
+	dGeomDestroy(obj->geom);
+
+	free(obj);
+}