Added spring and player classes. Apperenly fixed the no disabling of …

…physics objects issue somewhere along the way.

clode.asd

@@ -22,7 +22,9 @@
 			 (:file "box")
 			 (:file "plane")
 			 (:file "ray")
+			 (:file "spring")
 			 (:file "clode-node")
-			 (:file "shapes")))))
+			 (:file "shapes")
+			 (:file "player")))))
 
 

clode/bindings.lisp

@@ -611,8 +611,8 @@
 
 (defcfun-rename-function "dGeomRayGet" :void
   (ray dGeomID)
-  (start dVector3)
-  (dir dVector3))
+  (start :pointer)
+  (dir :pointer))
 
 
 (defcfun-rename-function "dGeomRaySetParams" :void 

clode/object.lisp

@@ -312,3 +312,9 @@
 	       do (joint-attach
 		   (joint-create-contact *physics-world* *physics-contact-group* (cffi:mem-aptr contact '(:struct clode::dContact) x))
 		   b1 b2))))))))
+
+
+(defmethod enabled ((this physics-object))
+  (let ((pbody (pointer (body this))))
+
+    (eq 1 (Body-Is-Enabled pbody))))

clode/package.lisp

@@ -29,6 +29,8 @@
      #:physics-init
      #:physics-step
      #:physics-uninit
+     #:body #:pointer
+     #:enabled
 
      #:BOX-INDEXES #:BOX-VERTEXES #:BOX-NORMALS #:BOX-TEXCOORDS #:SPHERE-INDEXES
      #:SPHERE-VERTEXES #:SPHERE-NORMALS
@@ -38,4 +40,6 @@
      #:set-position
      #:close-callback
      #:update
+     #:ray-length #:physics-spring #:springiness #:damping
+     #:physics-player
      ))

clode/player.lisp

@@ -1,22 +1,19 @@
 (in-package #:clode)
 
-(defclass spring ()
-  ())
-
 (defclass physics-player ()
-  ((head :initform nil
-	 :initarg :head
-	 :reader head)
-   (legs :initform nil
-	 :initarg :legs
-	 :reader legs)
-   (up :initform '(0 1 0)
-       :initarg :up
-       :reader up-vector)
-   (direction :initform '(1 0 0)
-	      :initarg :direction
-	      :reader direction-vector)
-   (max-speed :initform 1
-	      :initarg :max-speed
-	      :accessor max-speed)))
-   
+  ((body :initform (error "You must pass a physics-body to a physics-player object!")
+	 :initarg :body
+	 :reader body)))
+
+
+(defmethod initialize-instance :after ((this physics-player) &key)
+
+  (let ((pbody (clode::pointer (clode::body this))))
+
+  (clode:body-set-max-angular-speed pbody 0)
+  (clode::body-set-kinematic pbody)
+  (clode:Body-Set-Auto-Disable-Flag pbody 0)
+  (clode:Body-Set-Angular-Damping pbody 0)
+  (clode:Body-Set-linear-Damping pbody 0)))
+
+

clode/ray.lisp

@@ -14,6 +14,12 @@
   (when (body this)
     (clode:geom-set-body (geometry this) (pointer (body this)))))
 
+(defmethod ray-length ((this physics-ray) &key)
+  (geom-ray-get-length (geometry this)))
+
+(defmethod (setf transform)  ((length number) (this physics-ray))
+  (geom-ray-set-length (geometry this) length))
+
 (defmethod close-callback ((this physics-ray) (that physics-object))
 
   (let* ((o1 (geometry this))
@@ -33,8 +39,9 @@
 	      ;;(format t "CLODE:ray-callback b1 = ~A~%" distance)
 
 	      (let* ((vel (body-get-linear-vel b1))
+		     (len (ray-length this))
 		     (x  (+ (* .90 (aref vel 1))
-			    (* 1/2 (abs (- (abs distance) 3))))))
+			    (* 1/2 (abs (- (abs distance) len))))))
 		;; (+ (* 
 		;; 	(abs (* 1/25 (max 0 (- distance 1.5))))))))
 
@@ -46,3 +53,12 @@
 (defmethod close-callback ((this physics-object) (that physics-ray))
   (close-callback that this))
 
+(defmethod Ray-Get ((this physics-ray))
+
+  (cffi:with-foreign-objects ((start 'dVector3)
+			      (dir   'dVector3))
+
+    (Geom-Ray-Get (geometry this) start dir)
+    (values (cffi:convert-from-foreign start 'dVector3)
+	    (cffi:convert-from-foreign dir 'dVector3))))
+

clode/spring.lisp

@@ -0,0 +1,54 @@
+(in-package #:clode)
+
+
+(defclass physics-spring (physics-ray)
+  ((springiness :initform 1
+		:initarg :springiness
+		:accessor springiness)
+   (damping :initform .1
+	    :initarg :damping
+	    :accessor damping)))
+
+
+
+
+
+(defmethod close-callback ((this physics-spring) (that physics-object))
+
+  (let* ((o1 (geometry this))
+  	 (o2 (geometry that))
+  	 (b1 (geom-get-body o1))
+  	 (b2 (geom-get-body o2)))
+
+    (with-foreign-object (contact '(:struct dContact) *physics-max-contacts*)
+      (let ((gg (foreign-slot-pointer contact '(:struct ode::dContact) 'ode::geom)))
+
+
+	(let ((num-contacts (collide o1 o2 *physics-max-contacts* gg (foreign-type-size '(:struct ode::dContact)))))
+	  (unless (zerop num-contacts)
+
+	    (let ((distance (abs (foreign-slot-value gg '(:struct ode::dContactGeom) 'ode::depth))))
+
+	      ;;(format t "CLODE:ray-callback b1 = ~A~%" distance)
+	      (multiple-value-bind (start dir) (Ray-Get this)
+		;;(format t "spring dir: ~A start: ~A~%" dir start)
+
+
+	      (let* ((vel (body-get-linear-vel b1))
+		     (len (ray-length this))
+		     (x  (+ (* (- 1 (damping this)) (aref vel 1))
+			    (* (springiness this) (abs (- (abs distance) len))))))
+		     ;; (normal-dir (sb-cga:dot-product (apply #'clinch:make-vector
+		     ;; 					    (subseq (map 'list (lambda (x)
+		     ;; 								 (coerce x 'single-float))
+		     ;; 							 dir) 0 3))
+		     ;; 				     (apply #'clinch:make-vector
+		     ;; 					    (subseq (map 'list (lambda (x)
+		     ;; 								 (coerce x 'single-float))
+		     ;; 							 vel) 0 3)))))
+
+		(clode:body-set-linear-vel b1 (aref vel 0) x (aref vel 2)))))))))))
+
+
+(defmethod close-callback ((this physics-object) (that physics-ray))
+  (close-callback that this))