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Flip the order of the optional Collider in Joint constructors;
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Making the second collider the parent was messing up anchor points.
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@bjornbytes
bjornbytes committed Jun 3, 2024
1 parent 38ac0e4 commit 1b53029
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Showing 2 changed files with 56 additions and 56 deletions.
24 changes: 12 additions & 12 deletions src/api/l_physics.c
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Original file line number Diff line number Diff line change
Expand Up @@ -212,8 +212,8 @@ static int l_lovrPhysicsNewTerrainShape(lua_State* L) {
}

static int l_lovrPhysicsNewWeldJoint(lua_State* L) {
Collider* a = luax_checktype(L, 1, Collider);
Collider* b = luax_totype(L, 2, Collider);
Collider* a = luax_totype(L, 1, Collider);
Collider* b = luax_checktype(L, 2, Collider);
float anchor[3];
luax_readvec3(L, 3, anchor, NULL);
WeldJoint* joint = lovrWeldJointCreate(a, b, anchor);
Expand All @@ -223,8 +223,8 @@ static int l_lovrPhysicsNewWeldJoint(lua_State* L) {
}

static int l_lovrPhysicsNewBallJoint(lua_State* L) {
Collider* a = luax_checktype(L, 1, Collider);
Collider* b = luax_totype(L, 2, Collider);
Collider* a = luax_totype(L, 1, Collider);
Collider* b = luax_checktype(L, 2, Collider);
float anchor[3];
luax_readvec3(L, 3, anchor, NULL);
BallJoint* joint = lovrBallJointCreate(a, b, anchor);
Expand All @@ -234,8 +234,8 @@ static int l_lovrPhysicsNewBallJoint(lua_State* L) {
}

static int l_lovrPhysicsNewConeJoint(lua_State* L) {
Collider* a = luax_checktype(L, 1, Collider);
Collider* b = luax_totype(L, 2, Collider);
Collider* a = luax_totype(L, 1, Collider);
Collider* b = luax_checktype(L, 2, Collider);
float anchor[3], axis[3];
int index = luax_readvec3(L, 3, anchor, NULL);
luax_readvec3(L, index, axis, NULL);
Expand All @@ -246,8 +246,8 @@ static int l_lovrPhysicsNewConeJoint(lua_State* L) {
}

static int l_lovrPhysicsNewDistanceJoint(lua_State* L) {
Collider* a = luax_checktype(L, 1, Collider);
Collider* b = luax_totype(L, 2, Collider);
Collider* a = luax_totype(L, 1, Collider);
Collider* b = luax_checktype(L, 2, Collider);
float anchor1[3], anchor2[3];
int index = luax_readvec3(L, 3, anchor1, NULL);
luax_readvec3(L, index, anchor2, NULL);
Expand All @@ -258,8 +258,8 @@ static int l_lovrPhysicsNewDistanceJoint(lua_State* L) {
}

static int l_lovrPhysicsNewHingeJoint(lua_State* L) {
Collider* a = luax_checktype(L, 1, Collider);
Collider* b = luax_totype(L, 2, Collider);
Collider* a = luax_totype(L, 1, Collider);
Collider* b = luax_checktype(L, 2, Collider);
float anchor[3], axis[3];
int index = luax_readvec3(L, 3, anchor, NULL);
luax_readvec3(L, index, axis, NULL);
Expand All @@ -270,8 +270,8 @@ static int l_lovrPhysicsNewHingeJoint(lua_State* L) {
}

static int l_lovrPhysicsNewSliderJoint(lua_State* L) {
Collider* a = luax_checktype(L, 1, Collider);
Collider* b = luax_totype(L, 2, Collider);
Collider* a = luax_totype(L, 1, Collider);
Collider* b = luax_checktype(L, 2, Collider);
float axis[3];
luax_readvec3(L, 3, axis, NULL);
SliderJoint* joint = lovrSliderJointCreate(a, b, axis);
Expand Down
88 changes: 44 additions & 44 deletions src/modules/physics/physics.c
View file
Original file line number Diff line number Diff line change
Expand Up @@ -2025,24 +2025,24 @@ static JointNode* lovrJointGetNode(Joint* joint, Collider* collider) {
}

void lovrJointInit(Joint* joint, Collider* a, Collider* b) {
World* world = a->world;
World* world = b->world;

if (a->joints) {
joint->a.next = a->joints;
lovrJointGetNode(a->joints, a)->prev = joint;
}

a->joints = joint;

if (b) {
if (b->joints) {
joint->b.next = b->joints;
lovrJointGetNode(b->joints, b)->prev = joint;
if (a) {
if (a->joints) {
joint->a.next = a->joints;
lovrJointGetNode(a->joints, a)->prev = joint;
}

b->joints = joint;
a->joints = joint;
}

if (b->joints) {
joint->b.next = b->joints;
lovrJointGetNode(b->joints, b)->prev = joint;
}

b->joints = joint;

if (world->joints) {
joint->world.next = world->joints;
world->joints->world.prev = joint;
Expand All @@ -2066,7 +2066,7 @@ void lovrJointDestruct(Joint* joint) {
JPH_TwoBodyConstraint* constraint = (JPH_TwoBodyConstraint*) joint->constraint;
Collider* a = (Collider*) (uintptr_t) JPH_Body_GetUserData(JPH_TwoBodyConstraint_GetBody1(constraint));
Collider* b = (Collider*) (uintptr_t) JPH_Body_GetUserData(JPH_TwoBodyConstraint_GetBody2(constraint));
World* world = a->world;
World* world = b->world;
JointNode* node;

node = &joint->a;
Expand Down Expand Up @@ -2157,7 +2157,7 @@ float lovrJointGetForce(Joint* joint) {
JPH_TwoBodyConstraint* constraint = (JPH_TwoBodyConstraint*) joint->constraint;
Collider* a = (Collider*) (uintptr_t) JPH_Body_GetUserData(JPH_TwoBodyConstraint_GetBody1(constraint));
Collider* b = (Collider*) (uintptr_t) JPH_Body_GetUserData(JPH_TwoBodyConstraint_GetBody2(constraint));
World* world = a->world;
World* world = b->world;

JPH_Vec3 v;
float force[3], x, y;
Expand All @@ -2184,7 +2184,7 @@ float lovrJointGetTorque(Joint* joint) {
JPH_TwoBodyConstraint* constraint = (JPH_TwoBodyConstraint*) joint->constraint;
Collider* a = (Collider*) (uintptr_t) JPH_Body_GetUserData(JPH_TwoBodyConstraint_GetBody1(constraint));
Collider* b = (Collider*) (uintptr_t) JPH_Body_GetUserData(JPH_TwoBodyConstraint_GetBody2(constraint));
World* world = a->world;
World* world = b->world;

JPH_Vec3 v;
float torque[3], x, y;
Expand All @@ -2209,8 +2209,8 @@ float lovrJointGetTorque(Joint* joint) {
// WeldJoint

WeldJoint* lovrWeldJointCreate(Collider* a, Collider* b, float anchor[3]) {
lovrCheck(!b || a->world == b->world, "Joint bodies must exist in same World");
JPH_Body* parent = b ? b->body : JPH_Body_GetFixedToWorldBody();
lovrCheck(!a || a->world == b->world, "Joint bodies must exist in same World");
JPH_Body* parent = a ? a->body : JPH_Body_GetFixedToWorldBody();

WeldJoint* joint = lovrCalloc(sizeof(WeldJoint));
joint->ref = 1;
Expand All @@ -2219,9 +2219,9 @@ WeldJoint* lovrWeldJointCreate(Collider* a, Collider* b, float anchor[3]) {
JPH_FixedConstraintSettings* settings = JPH_FixedConstraintSettings_Create();
JPH_FixedConstraintSettings_SetPoint1(settings, vec3_toJolt(anchor));
JPH_FixedConstraintSettings_SetPoint2(settings, vec3_toJolt(anchor));
joint->constraint = (JPH_Constraint*) JPH_FixedConstraintSettings_CreateConstraint(settings, parent, a->body);
joint->constraint = (JPH_Constraint*) JPH_FixedConstraintSettings_CreateConstraint(settings, parent, b->body);
JPH_ConstraintSettings_Destroy((JPH_ConstraintSettings*) settings);
JPH_PhysicsSystem_AddConstraint(a->world->system, joint->constraint);
JPH_PhysicsSystem_AddConstraint(b->world->system, joint->constraint);
lovrJointInit(joint, a, b);
lovrRetain(joint);
return joint;
Expand All @@ -2230,8 +2230,8 @@ WeldJoint* lovrWeldJointCreate(Collider* a, Collider* b, float anchor[3]) {
// BallJoint

BallJoint* lovrBallJointCreate(Collider* a, Collider* b, float anchor[3]) {
lovrCheck(!b || a->world == b->world, "Joint bodies must exist in same World");
JPH_Body* parent = b ? b->body : JPH_Body_GetFixedToWorldBody();
lovrCheck(!a || a->world == b->world, "Joint bodies must exist in same World");
JPH_Body* parent = a ? a->body : JPH_Body_GetFixedToWorldBody();

BallJoint* joint = lovrCalloc(sizeof(BallJoint));
joint->ref = 1;
Expand All @@ -2240,9 +2240,9 @@ BallJoint* lovrBallJointCreate(Collider* a, Collider* b, float anchor[3]) {
JPH_PointConstraintSettings* settings = JPH_PointConstraintSettings_Create();
JPH_PointConstraintSettings_SetPoint1(settings, vec3_toJolt(anchor));
JPH_PointConstraintSettings_SetPoint2(settings, vec3_toJolt(anchor));
joint->constraint = (JPH_Constraint*) JPH_PointConstraintSettings_CreateConstraint(settings, parent, a->body);
joint->constraint = (JPH_Constraint*) JPH_PointConstraintSettings_CreateConstraint(settings, parent, b->body);
JPH_ConstraintSettings_Destroy((JPH_ConstraintSettings*) settings);
JPH_PhysicsSystem_AddConstraint(a->world->system, joint->constraint);
JPH_PhysicsSystem_AddConstraint(b->world->system, joint->constraint);
lovrJointInit(joint, a, b);
lovrRetain(joint);
return joint;
Expand All @@ -2251,8 +2251,8 @@ BallJoint* lovrBallJointCreate(Collider* a, Collider* b, float anchor[3]) {
// ConeJoint

ConeJoint* lovrConeJointCreate(Collider* a, Collider* b, float anchor[3], float axis[3]) {
lovrCheck(!b || a->world == b->world, "Joint bodies must exist in same World");
JPH_Body* parent = b ? b->body : JPH_Body_GetFixedToWorldBody();
lovrCheck(!a || a->world == b->world, "Joint bodies must exist in same World");
JPH_Body* parent = a ? a->body : JPH_Body_GetFixedToWorldBody();

ConeJoint* joint = lovrCalloc(sizeof(ConeJoint));
joint->ref = 1;
Expand All @@ -2263,8 +2263,8 @@ ConeJoint* lovrConeJointCreate(Collider* a, Collider* b, float anchor[3], float
JPH_ConeConstraintSettings_SetPoint2(settings, vec3_toJolt(anchor));
JPH_ConeConstraintSettings_SetTwistAxis1(settings, vec3_toJolt(axis));
JPH_ConeConstraintSettings_SetTwistAxis2(settings, vec3_toJolt(axis));
joint->constraint = (JPH_Constraint*) JPH_ConeConstraintSettings_CreateConstraint(settings, parent, a->body);
JPH_PhysicsSystem_AddConstraint(a->world->system, joint->constraint);
joint->constraint = (JPH_Constraint*) JPH_ConeConstraintSettings_CreateConstraint(settings, parent, b->body);
JPH_PhysicsSystem_AddConstraint(b->world->system, joint->constraint);
lovrJointInit(joint, a, b);
lovrRetain(joint);
return joint;
Expand Down Expand Up @@ -2301,8 +2301,8 @@ void lovrConeJointSetLimit(ConeJoint* joint, float angle) {
// DistanceJoint

DistanceJoint* lovrDistanceJointCreate(Collider* a, Collider* b, float anchor1[3], float anchor2[3]) {
lovrCheck(!b || a->world == b->world, "Joint bodies must exist in same World");
JPH_Body* parent = b ? b->body : JPH_Body_GetFixedToWorldBody();
lovrCheck(!a || a->world == b->world, "Joint bodies must exist in same World");
JPH_Body* parent = a ? a->body : JPH_Body_GetFixedToWorldBody();

DistanceJoint* joint = lovrCalloc(sizeof(DistanceJoint));
joint->ref = 1;
Expand All @@ -2311,9 +2311,9 @@ DistanceJoint* lovrDistanceJointCreate(Collider* a, Collider* b, float anchor1[3
JPH_DistanceConstraintSettings* settings = JPH_DistanceConstraintSettings_Create();
JPH_DistanceConstraintSettings_SetPoint1(settings, vec3_toJolt(anchor1));
JPH_DistanceConstraintSettings_SetPoint2(settings, vec3_toJolt(anchor2));
joint->constraint = (JPH_Constraint*) JPH_DistanceConstraintSettings_CreateConstraint(settings, parent, a->body);
joint->constraint = (JPH_Constraint*) JPH_DistanceConstraintSettings_CreateConstraint(settings, parent, b->body);
JPH_ConstraintSettings_Destroy((JPH_ConstraintSettings*) settings);
JPH_PhysicsSystem_AddConstraint(a->world->system, joint->constraint);
JPH_PhysicsSystem_AddConstraint(b->world->system, joint->constraint);
lovrJointInit(joint, a, b);
lovrRetain(joint);
return joint;
Expand Down Expand Up @@ -2347,8 +2347,8 @@ void lovrDistanceJointSetSpring(DistanceJoint* joint, float frequency, float dam
// HingeJoint

HingeJoint* lovrHingeJointCreate(Collider* a, Collider* b, float anchor[3], float axis[3]) {
lovrCheck(!b || a->world == b->world, "Joint bodies must exist in same World");
JPH_Body* parent = b ? b->body : JPH_Body_GetFixedToWorldBody();
lovrCheck(!a || a->world == b->world, "Joint bodies must exist in same World");
JPH_Body* parent = a ? a->body : JPH_Body_GetFixedToWorldBody();

HingeJoint* joint = lovrCalloc(sizeof(HingeJoint));
joint->ref = 1;
Expand All @@ -2359,9 +2359,9 @@ HingeJoint* lovrHingeJointCreate(Collider* a, Collider* b, float anchor[3], floa
JPH_HingeConstraintSettings_SetPoint2(settings, vec3_toJolt(anchor));
JPH_HingeConstraintSettings_SetHingeAxis1(settings, vec3_toJolt(axis));
JPH_HingeConstraintSettings_SetHingeAxis2(settings, vec3_toJolt(axis));
joint->constraint = (JPH_Constraint*) JPH_HingeConstraintSettings_CreateConstraint(settings, parent, a->body);
joint->constraint = (JPH_Constraint*) JPH_HingeConstraintSettings_CreateConstraint(settings, parent, b->body);
JPH_ConstraintSettings_Destroy((JPH_ConstraintSettings*) settings);
JPH_PhysicsSystem_AddConstraint(a->world->system, joint->constraint);
JPH_PhysicsSystem_AddConstraint(b->world->system, joint->constraint);
lovrJointInit(joint, a, b);
lovrRetain(joint);
return joint;
Expand Down Expand Up @@ -2465,8 +2465,8 @@ void lovrHingeJointSetMaxMotorTorque(HingeJoint* joint, float positive, float ne

float lovrHingeJointGetMotorTorque(HingeJoint* joint) {
JPH_TwoBodyConstraint* constraint = (JPH_TwoBodyConstraint*) joint->constraint;
Collider* a = (Collider*) (uintptr_t) JPH_Body_GetUserData(JPH_TwoBodyConstraint_GetBody1(constraint));
return JPH_HingeConstraint_GetTotalLambdaMotor((JPH_HingeConstraint*) joint->constraint) * a->world->inverseDelta;
Collider* b = (Collider*) (uintptr_t) JPH_Body_GetUserData(JPH_TwoBodyConstraint_GetBody1(constraint));
return JPH_HingeConstraint_GetTotalLambdaMotor((JPH_HingeConstraint*) joint->constraint) * b->world->inverseDelta;
}

void lovrHingeJointGetSpring(HingeJoint* joint, float* frequency, float* damping) {
Expand All @@ -2486,18 +2486,18 @@ void lovrHingeJointSetSpring(HingeJoint* joint, float frequency, float damping)
// SliderJoint

SliderJoint* lovrSliderJointCreate(Collider* a, Collider* b, float axis[3]) {
lovrCheck(!b || a->world == b->world, "Joint bodies must exist in same World");
JPH_Body* parent = b ? b->body : JPH_Body_GetFixedToWorldBody();
lovrCheck(!a || a->world == b->world, "Joint bodies must exist in same World");
JPH_Body* parent = a ? a->body : JPH_Body_GetFixedToWorldBody();

SliderJoint* joint = lovrCalloc(sizeof(SliderJoint));
joint->ref = 1;
joint->type = JOINT_SLIDER;

JPH_SliderConstraintSettings* settings = JPH_SliderConstraintSettings_Create();
JPH_SliderConstraintSettings_SetSliderAxis(settings, vec3_toJolt(axis));
joint->constraint = (JPH_Constraint*) JPH_SliderConstraintSettings_CreateConstraint(settings, parent, a->body);
joint->constraint = (JPH_Constraint*) JPH_SliderConstraintSettings_CreateConstraint(settings, parent, b->body);
JPH_ConstraintSettings_Destroy((JPH_ConstraintSettings*) settings);
JPH_PhysicsSystem_AddConstraint(a->world->system, joint->constraint);
JPH_PhysicsSystem_AddConstraint(b->world->system, joint->constraint);
lovrJointInit(joint, a, b);
lovrRetain(joint);
return joint;
Expand Down Expand Up @@ -2603,8 +2603,8 @@ void lovrSliderJointSetMaxMotorForce(SliderJoint* joint, float positive, float n

float lovrSliderJointGetMotorForce(SliderJoint* joint) {
JPH_TwoBodyConstraint* constraint = (JPH_TwoBodyConstraint*) joint->constraint;
Collider* a = (Collider*) (uintptr_t) JPH_Body_GetUserData(JPH_TwoBodyConstraint_GetBody1(constraint));
return JPH_SliderConstraint_GetTotalLambdaMotor((JPH_SliderConstraint*) joint->constraint) * a->world->inverseDelta;
Collider* b = (Collider*) (uintptr_t) JPH_Body_GetUserData(JPH_TwoBodyConstraint_GetBody2(constraint));
return JPH_SliderConstraint_GetTotalLambdaMotor((JPH_SliderConstraint*) joint->constraint) * b->world->inverseDelta;
}

void lovrSliderJointGetSpring(SliderJoint* joint, float* frequency, float* damping) {
Expand Down

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