rm ode;

.gitmodules

@@ -7,9 +7,6 @@
 [submodule "deps/msdfgen"]
 	path = deps/msdfgen
 	url = https://github.com/bjornbytes/msdfgen
-[submodule "deps/ode"]
-	path = deps/ode
-	url = https://github.com/bjornbytes/ode
 [submodule "deps/luajit"]
 	path = deps/luajit
 	url = https://github.com/WohlSoft/LuaJIT

CMakeLists.txt

@@ -35,17 +35,13 @@ option(LOVR_PROFILE "Enable Tracy integration" OFF)
 
 option(LOVR_SYSTEM_GLFW "Use the system-provided glfw" OFF)
 option(LOVR_SYSTEM_LUA "Use the system-provided Lua" OFF)
-option(LOVR_SYSTEM_ODE "Use the system-provided ODE" OFF)
 option(LOVR_SYSTEM_OPENXR "Use the system-provided OpenXR" OFF)
 
 option(LOVR_BUILD_EXE "Build an executable (or an apk on Android)" ON)
 option(LOVR_BUILD_SHARED "Build a shared library (takes precedence over LOVR_BUILD_EXE)" OFF)
 option(LOVR_BUILD_BUNDLE "On macOS, build a .app bundle instead of a raw program" OFF)
 option(LOVR_BUILD_WITH_SYMBOLS "Build with C function symbols exposed" OFF)
 
-set(LOVR_PHYSICS_LIBRARY "ODE" CACHE STRING "Physics library to use")
-set_property(CACHE LOVR_PHYSICS_LIBRARY PROPERTY STRINGS ODE JOLT)
-
 # Setup
 if(EMSCRIPTEN)
   string(CONCAT EMSCRIPTEN_LINKER_FLAGS
@@ -161,38 +157,13 @@ if(LOVR_ENABLE_DATA)
   endif()
 endif()
 
-# ODE
+# Jolt
 if(LOVR_ENABLE_PHYSICS)
-  if(LOVR_PHYSICS_LIBRARY STREQUAL "ODE")
-    if(LOVR_SYSTEM_ODE)
-      pkg_search_module(ODE REQUIRED ode)
-      pkg_search_module(CCD REQUIRED ccd)
-      include_directories(${ODE_INCLUDE_DIRS} ${CCD_INCLUDE_DIRS})
-      set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -lstdc++")
-      set(LOVR_PHYSICS_LIB ode ccd)
-    else()
-      if(EMSCRIPTEN)
-        set(ODE_BUILD_SHARED OFF CACHE BOOL "")
-      else()
-        set(ODE_BUILD_SHARED ON CACHE BOOL "")
-      endif()
-      add_subdirectory(deps/ode ode)
-      if(MSVC)
-        set_target_properties(ode PROPERTIES COMPILE_FLAGS "/wd4244 /wd4267")
-        target_compile_definitions(ode PRIVATE _CRT_SECURE_NO_WARNINGS)
-      else()
-        set_target_properties(ode PROPERTIES COMPILE_FLAGS "-Wno-unused-volatile-lvalue -Wno-array-bounds -Wno-undefined-var-template")
-      endif()
-      include_directories(deps/ode/include "${CMAKE_CURRENT_BINARY_DIR}/ode/include")
-      set(LOVR_PHYSICS_LIB ode)
-    endif()
-  elseif(LOVR_PHYSICS_LIBRARY STREQUAL "JOLT")
-    set(BUILD_SHARED_LIBS OFF)
-    set(DEBUG_RENDERER_IN_DEBUG_AND_RELEASE OFF CACHE BOOL "")
-    set(PROFILER_IN_DEBUG_AND_RELEASE OFF CACHE BOOL "")
-    add_subdirectory(deps/jolt-physics-sharp jolt)
-    set(LOVR_PHYSICS_LIB joltc)
-  endif()
+  set(BUILD_SHARED_LIBS OFF)
+  set(DEBUG_RENDERER_IN_DEBUG_AND_RELEASE OFF CACHE BOOL "")
+  set(PROFILER_IN_DEBUG_AND_RELEASE OFF CACHE BOOL "")
+  add_subdirectory(deps/jolt-physics-sharp jolt)
+  set(LOVR_JOLT joltc)
 endif()
 
 # glslang
@@ -350,7 +321,7 @@ target_link_libraries(lovr
   ${LOVR_GLFW}
   ${LOVR_LUA}
   ${LOVR_MSDF}
-  ${LOVR_PHYSICS_LIB}
+  ${LOVR_JOLT}
   ${LOVR_GLSLANG}
   ${LOVR_OPENXR}
   ${LOVR_OCULUS_AUDIO}
@@ -558,18 +529,14 @@ endif()
 
 if(LOVR_ENABLE_PHYSICS)
   target_sources(lovr PRIVATE
+    src/modules/physics/physics.c
     src/api/l_physics.c
     src/api/l_physics_collider.c
     src/api/l_physics_contact.c
     src/api/l_physics_joints.c
     src/api/l_physics_shapes.c
     src/api/l_physics_world.c
   )
-  if(LOVR_PHYSICS_LIBRARY STREQUAL "ODE")
-    target_sources(lovr PRIVATE src/modules/physics/physics_ode.c)
-  elseif(LOVR_PHYSICS_LIBRARY STREQUAL "JOLT")
-    target_sources(lovr PRIVATE src/modules/physics/physics_jolt.c)
-  endif()
 else()
   target_compile_definitions(lovr PRIVATE LOVR_DISABLE_PHYSICS)
 endif()
@@ -724,7 +691,7 @@ if(WIN32)
 
   move_dll(${LOVR_GLFW})
   move_dll(${LOVR_LUA})
-  move_dll(${LOVR_PHYSICS_LIB})
+  move_dll(${LOVR_JOLT})
   move_dll(${LOVR_MSDF})
   move_dll(${LOVR_OCULUS_AUDIO})
   move_dll(${LOVR_PHONON})
@@ -775,7 +742,7 @@ elseif(APPLE)
   endfunction()
   move_lib(${LOVR_GLFW})
   move_lib(${LOVR_LUA})
-  move_lib(${LOVR_PHYSICS_LIB})
+  move_lib(${LOVR_JOLT})
   move_lib(${LOVR_MSDF})
   move_lib(${LOVR_OCULUS_AUDIO})
   move_lib(${LOVR_PHONON})
@@ -803,7 +770,7 @@ elseif(ANDROID)
   # Dynamically linked targets output libraries in raw/lib/<ABI> for easy including in apk with aapt
   set_target_properties(
     lovr
-    ${LOVR_PHYSICS_LIB}
+    ${LOVR_JOLT}
     ${LOVR_MSDF}
     PROPERTIES LIBRARY_OUTPUT_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/raw/lib/${ANDROID_ABI}"
   )
@@ -926,7 +893,7 @@ elseif(UNIX)
   endfunction()
   move_lib(${LOVR_GLFW})
   move_lib(${LOVR_LUA})
-  move_lib(${LOVR_PHYSICS_LIB})
+  move_lib(${LOVR_JOLT})
   move_lib(${LOVR_MSDF})
   move_lib(${LOVR_OPENXR})
   move_lib(${LOVR_OCULUS_AUDIO})

Tupfile.lua

@@ -8,7 +8,6 @@ config = {
   glfw = true,
   luajit = false,
   glslang = true,
-  physics = 'ode',
   utf8 = true,
   modules = {
     audio = true,
@@ -293,65 +292,7 @@ if config.modules.data then
 end
 
 if config.modules.physics then
-  cflags += '-Ideps/ode/include'
-  lflags += '-lode'
-
-  -- ou
-  ode_cflags += '-DMAC_OS_X_VERSION=1030'
-  ode_cflags += '-D_OU_NAMESPACE=odeou'
-  ode_cflags += '-D_OU_FEATURE_SET=_OU_FEATURE_SET_TLS'
-  ode_cflags += '-DdATOMICS_ENABLED=1'
-  ode_cflags += '-Ideps/ode/ou/include'
-  ode_src += 'deps/ode/ou/src/ou/*.cpp'
-
-  -- ccd
-  ode_cflags += '-Ideps/ode/libccd/src'
-  ode_cflags += '-Ideps/ode/libccd/src/custom'
-  ode_cflags += {
-    '-DdLIBCCD_ENABLED',
-    '-DdLIBCCD_INTERNAL',
-    '-DdLIBCCD_BOX_CYL',
-    '-DdLIBCCD_CYL_CYL',
-    '-DdLIBCCD_CAP_CYL',
-    '-DdLIBCCD_CONVEX_BOX',
-    '-DdLIBCCD_CONVEX_CAP',
-    '-DdLIBCCD_CONVEX_CYL',
-    '-DdLIBCCD_CONVEX_SPHERE',
-    '-DdLIBCCD_CONVEX_CONVEX'
-  }
-  ode_c_src += 'deps/ode/libccd/src/*.c'
-
-  -- OPCODE
-  ode_cflags += '-Ideps/ode/OPCODE'
-  ode_src += 'deps/ode/OPCODE/*.cpp'
-  ode_src += 'deps/ode/OPCODE/Ice/*.cpp'
-
-  -- ode
-  ode_cflags += '-fPIC'
-  ode_cflags += config.optimize and '-DdNODEBUG' or ''
-  ode_cflags += '-Wno-implicit-float-conversion'
-  ode_cflags += '-Wno-array-bounds'
-  ode_cflags += '-Wno-undefined-var-template'
-  ode_cflags += '-Wno-undefined-bool-conversion'
-  ode_cflags += '-Wno-unused-value'
-  ode_cflags += '-Wno-null-dereference'
-  ode_cflags += '-Ideps/ode/include'
-  ode_cflags += '-Ideps/ode/ode/src'
-  ode_c_src += 'deps/ode/ode/src/*.c'
-  ode_src += {
-    'deps/ode/ode/src/*.cpp',
-    'deps/ode/ode/src/joints/*.cpp'
-  }
-
-  for i = #ode_src, 1, -1 do
-    if ode_src[i]:match('gimpact') or ode_src[i]:match('dif') then
-      table.remove(ode_src, i)
-    end
-  end
-
-  tup.foreach_rule(ode_c_src, '^ CC ode/%b^ $(cc) $(flags) $(ode_cflags) -c %f -o %o', '.obj/ode/%B.o')
-  tup.foreach_rule(ode_src, '^ CC ode/%b^ $(cxx) $(flags) $(ode_cflags) -c %f -o %o', '.obj/ode/%B.o')
-  tup.rule('.obj/ode/*.o', '^ LD %o^ $(cxx) $(flags) -shared -o %o %f', lib('ode'))
+  error('Compiling Jolt is not supported yet')
 end
 
 if config.headsets.openxr then
@@ -408,8 +349,7 @@ for module, enabled in pairs(config.modules) do
   if enabled then
     override = {
       audio = 'src/modules/audio/audio.c',
-      headset = 'src/modules/headset/headset.c',
-      physics = ('src/modules/physics/physics_%s.c'):format(config.physics)
+      headset = 'src/modules/headset/headset.c'
     }
     src += override[module] or ('src/modules/%s/*.c'):format(module)
     src += ('src/api/l_%s*.c'):format(module)

src/api/l_physics_shapes.c

@@ -92,20 +92,14 @@ Shape* luax_newmeshshape(lua_State* L, int index) {
 
   luax_readmesh(L, index, &vertices, &vertexCount, &indices, &indexCount, &shouldFree);
 
-  // If we do not own the mesh data, we must make a copy
-  // ode's trimesh collider needs to own the triangle info for the lifetime of the geom
-  // Note that if shouldFree is true, we don't free the data and let the physics module do it when
-  // the collider/shape is destroyed
-  if (!shouldFree) {
-    float* v = vertices;
-    uint32_t* i = indices;
-    vertices = lovrMalloc(3 * vertexCount * sizeof(float));
-    indices = lovrMalloc(indexCount * sizeof(uint32_t));
-    memcpy(vertices, v, 3 * vertexCount * sizeof(float));
-    memcpy(indices, i, indexCount * sizeof(uint32_t));
+  Shape* shape = lovrMeshShapeCreate(vertexCount, vertices, indexCount, indices);
+
+  if (shouldFree) {
+    lovrFree(vertices);
+    lovrFree(indices);
   }
 
-  return lovrMeshShapeCreate(vertexCount, vertices, indexCount, indices);
+  return shape;
 }
 
 Shape* luax_newterrainshape(lua_State* L, int index) {

src/modules/physics/physics_jolt.c → src/modules/physics/physics.c

@@ -1932,11 +1932,6 @@ MeshShape* lovrMeshShapeCreate(int vertexCount, float vertices[], int indexCount
   shape->handle = (JPH_Shape*) JPH_MeshShapeSettings_CreateShape(shape_settings);
   JPH_ShapeSettings_Destroy((JPH_ShapeSettings*) shape_settings);
   lovrFree(indexedTriangles);
-  // Note that we're responsible for freeing the vertices/indices when we're done with them because
-  // ODE took ownership of mesh data.  If ODE gets removed, we should probably get rid of this and
-  // have the caller free the vertices/indices themselves.
-  lovrFree(vertices);
-  lovrFree(indices);
   return shape;
 }
 

src/modules/physics/physics.h

@@ -4,9 +4,7 @@
 
 #pragma once
 
-#define MAX_CONTACTS 10
 #define MAX_TAGS 31
-#define NO_TAG ~0u
 
 typedef struct World World;
 typedef struct Collider Collider;